| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Flight-Ctrl_MEGA644_V0_61.eep |
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| 0,0 → 1,129 |
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| :00000001FF |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Flight-Ctrl_MEGA644_V0_61.elf |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Flight-Ctrl_MEGA644_V0_61.lss |
|---|
| 0,0 → 1,13096 |
| Flight-Ctrl_MEGA644_V0_61.elf: file format elf32-avr |
| Sections: |
| Idx Name Size VMA LMA File off Algn |
| 0 .data 0000072a 00800100 00007e8e 00007f42 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 1 .text 00007e8e 00000000 00000000 000000b4 2**1 |
| CONTENTS, ALLOC, LOAD, READONLY, CODE |
| 2 .bss 000004f6 0080082a 0080082a 0000866c 2**0 |
| ALLOC |
| 3 .eeprom 00000800 00810000 00810000 0000866c 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 4 .stab 00000378 00000000 00000000 00008e6c 2**2 |
| CONTENTS, READONLY, DEBUGGING |
| 5 .stabstr 00000071 00000000 00000000 000091e4 2**0 |
| CONTENTS, READONLY, DEBUGGING |
| Disassembly of section .text: |
| 00000000 <__vectors>: |
| 0: 0c 94 e5 01 jmp 0x3ca ; 0x3ca <__ctors_end> |
| 4: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 8: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 10: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 14: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 18: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 1c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 20: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 24: 0c 94 ab 0c jmp 0x1956 ; 0x1956 <__vector_9> |
| 28: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 2c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 30: 0c 94 9c 15 jmp 0x2b38 ; 0x2b38 <__vector_12> |
| 34: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 38: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 3c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 40: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 44: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 48: 0c 94 ff 0b jmp 0x17fe ; 0x17fe <__vector_18> |
| 4c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 50: 0c 94 ad 04 jmp 0x95a ; 0x95a <__vector_20> |
| 54: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 58: 0c 94 9e 03 jmp 0x73c ; 0x73c <__vector_22> |
| 5c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 60: 0c 94 91 0d jmp 0x1b22 ; 0x1b22 <__vector_24> |
| 64: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 68: 0c 94 e9 14 jmp 0x29d2 ; 0x29d2 <__vector_26> |
| 6c: 0c 94 02 02 jmp 0x404 ; 0x404 <__bad_interrupt> |
| 00000070 <__c.2052>: |
| 70: 0a 0a 0d 00 .... |
| 00000074 <__c.2050>: |
| 74: 4e 65 75 74 72 61 6c 00 Neutral. |
| 0000007c <__c.2048>: |
| 7c: 48 65 61 64 69 6e 67 48 6f 6c 64 00 HeadingHold. |
| 00000088 <__c.2046>: |
| 88: 0a 0d 53 74 65 75 65 72 75 6e 67 3a 20 00 ..Steuerung: . |
| 00000096 <__c.2044>: |
| 96: 4f 4b 0a 0d 00 OK... |
| 0000009b <__c.2039>: |
| 9b: 0a 0d 41 62 67 6c 65 69 63 68 20 4c 75 66 74 64 ..Abgleich Luftd |
| ab: 72 75 63 6b 73 65 6e 73 6f 72 2e 2e 00 rucksensor... |
| 000000b8 <__c.2037>: |
| b8: 0a 0d 42 65 6e 75 74 7a 65 20 50 61 72 61 6d 65 ..Benutze Parame |
| c8: 74 65 72 73 61 74 7a 20 25 64 00 tersatz %d. |
| 000000d3 <__c.2031>: |
| d3: 0a 0d 49 6e 69 74 2e 20 45 45 50 52 4f 4d 3a 20 ..Init. EEPROM: |
| e3: 47 65 6e 65 72 69 65 72 65 20 44 65 66 61 75 6c Generiere Defaul |
| f3: 74 2d 50 61 72 61 6d 65 74 65 72 2e 2e 2e 00 t-Parameter.... |
| 00000102 <__c.2029>: |
| 102: 0a 0d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ..============== |
| 112: 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ================ |
| ... |
| 00000123 <__c.2027>: |
| 123: 0a 0d 46 6c 69 67 68 74 43 6f 6e 74 72 6f 6c 20 ..FlightControl |
| 133: 56 25 64 2e 25 64 20 00 V%d.%d . |
| 0000013b <__c.2026>: |
| 13b: 2e 00 .. |
| 0000013d <__c.2108>: |
| 13d: 52 61 6e 67 65 3a 25 33 69 2d 25 33 69 00 Range:%3i-%3i. |
| 0000014b <__c.2106>: |
| 14b: 53 74 65 6c 6c 75 6e 67 3a 20 25 33 69 00 Stellung: %3i. |
| 00000159 <__c.2104>: |
| 159: 53 65 74 70 6f 69 6e 74 20 20 25 33 69 00 Setpoint %3i. |
| 00000167 <__c.2102>: |
| 167: 53 65 72 76 6f 20 20 00 Servo . |
| 0000016f <__c.2099>: |
| 16f: 50 6f 34 3a 20 25 33 69 20 50 6f 38 3a 20 25 33 Po4: %3i Po8: %3 |
| 17f: 69 00 i. |
| 00000181 <__c.2097>: |
| 181: 50 6f 33 3a 20 25 33 69 20 50 6f 37 3a 20 25 33 Po3: %3i Po7: %3 |
| 191: 69 00 i. |
| 00000193 <__c.2095>: |
| 193: 50 6f 32 3a 20 25 33 69 20 50 6f 36 3a 20 25 33 Po2: %3i Po6: %3 |
| 1a3: 69 00 i. |
| 000001a5 <__c.2093>: |
| 1a5: 50 6f 31 3a 20 25 33 69 20 50 6f 35 3a 20 25 33 Po1: %3i Po5: %3 |
| 1b5: 69 00 i. |
| 000001b7 <__c.2090>: |
| 1b7: 53 74 61 72 74 3a 20 20 20 20 20 25 35 69 00 Start: %5i. |
| 000001c6 <__c.2088>: |
| 1c6: 4d 65 73 73 77 65 72 74 3a 20 20 25 35 69 00 Messwert: %5i. |
| 000001d5 <__c.2086>: |
| 1d5: 52 69 63 68 74 75 6e 67 3a 20 20 25 35 69 00 Richtung: %5i. |
| 000001e4 <__c.2084>: |
| 1e4: 4b 6f 6d 70 61 73 73 20 20 20 20 20 20 20 00 Kompass . |
| 000001f3 <__c.2081>: |
| 1f3: 45 6d 70 66 2e 50 65 67 65 6c 3a 25 35 69 00 Empf.Pegel:%5i. |
| 00000202 <__c.2079>: |
| 202: 53 70 61 6e 6e 75 6e 67 3a 20 20 25 35 69 00 Spannung: %5i. |
| 00000211 <__c.2076>: |
| 211: 48 6f 63 68 20 25 34 69 20 28 25 33 69 29 00 Hoch %4i (%3i). |
| 00000220 <__c.2074>: |
| 220: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 0000022f <__c.2072>: |
| 22f: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 0000023e <__c.2070>: |
| 23e: 41 43 43 20 2d 20 53 65 6e 73 6f 72 00 ACC - Sensor. |
| 0000024b <__c.2067>: |
| 24b: 47 69 65 72 20 25 34 69 20 28 25 33 69 29 00 Gier %4i (%3i). |
| 0000025a <__c.2065>: |
| 25a: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 00000269 <__c.2063>: |
| 269: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 00000278 <__c.2061>: |
| 278: 47 79 72 6f 20 2d 20 53 65 6e 73 6f 72 00 Gyro - Sensor. |
| 00000286 <__c.2058>: |
| 286: 50 33 3a 25 34 69 20 20 50 34 3a 25 34 69 20 00 P3:%4i P4:%4i . |
| 00000296 <__c.2056>: |
| 296: 50 31 3a 25 34 69 20 20 50 32 3a 25 34 69 20 00 P1:%4i P2:%4i . |
| 000002a6 <__c.2054>: |
| 2a6: 47 73 3a 25 34 69 20 20 47 69 3a 25 34 69 20 00 Gs:%4i Gi:%4i . |
| 000002b6 <__c.2052>: |
| 2b6: 4e 69 3a 25 34 69 20 20 52 6f 3a 25 34 69 20 00 Ni:%4i Ro:%4i . |
| 000002c6 <__c.2049>: |
| 2c6: 4b 37 3a 25 34 69 20 20 4b 38 3a 25 34 69 20 00 K7:%4i K8:%4i . |
| 000002d6 <__c.2047>: |
| 2d6: 4b 35 3a 25 34 69 20 20 4b 36 3a 25 34 69 20 00 K5:%4i K6:%4i . |
| 000002e6 <__c.2045>: |
| 2e6: 4b 33 3a 25 34 69 20 20 4b 34 3a 25 34 69 20 00 K3:%4i K4:%4i . |
| 000002f6 <__c.2043>: |
| 2f6: 4b 31 3a 25 34 69 20 20 4b 32 3a 25 34 69 20 00 K1:%4i K2:%4i . |
| 00000306 <__c.2040>: |
| 306: 4b 6f 6d 70 61 73 73 3a 20 20 20 25 35 69 00 Kompass: %5i. |
| 00000315 <__c.2038>: |
| 315: 52 6f 6c 6c 3a 20 20 20 20 20 20 25 35 69 00 Roll: %5i. |
| 00000324 <__c.2036>: |
| 324: 4e 69 63 6b 3a 20 20 20 20 20 20 25 35 69 00 Nick: %5i. |
| 00000333 <__c.2034>: |
| 333: 61 6b 74 2e 20 4c 61 67 65 00 akt. Lage. |
| 0000033d <__c.2031>: |
| 33d: 48 f6 68 65 6e 72 65 67 65 6c 75 6e 67 00 H.henregelung. |
| 0000034b <__c.2029>: |
| 34b: 4b 65 69 6e 65 20 00 Keine . |
| 00000352 <__c.2027>: |
| 352: 4f 66 66 20 20 20 20 20 20 3a 20 25 35 69 00 Off : %5i. |
| 00000361 <__c.2025>: |
| 361: 4c 75 66 74 64 72 75 63 6b 3a 20 25 35 69 00 Luftdruck: %5i. |
| 00000370 <__c.2023>: |
| 370: 53 6f 6c 6c 48 6f 65 68 65 3a 20 25 35 69 00 SollHoehe: %5i. |
| 0000037f <__c.2021>: |
| 37f: 48 6f 65 68 65 3a 20 20 20 20 20 25 35 69 00 Hoehe: %5i. |
| 0000038e <__c.2017>: |
| 38e: 28 63 29 20 48 6f 6c 67 65 72 20 42 75 73 73 00 (c) Holger Buss. |
| 0000039e <__c.2015>: |
| 39e: 53 65 74 74 69 6e 67 3a 20 25 64 20 00 Setting: %d . |
| 000003ab <__c.2013>: |
| 3ab: 56 25 64 2e 25 64 00 V%d.%d. |
| 000003b2 <__c.2011>: |
| 3b2: 2b 2b 20 4d 69 6b 72 6f 4b 6f 70 74 65 72 20 2b ++ MikroKopter + |
| 3c2: 2b 00 +. |
| 000003c4 <__c.2008>: |
| 3c4: 5b 25 69 5d 00 00 [%i].. |
| 000003ca <__ctors_end>: |
| 3ca: 11 24 eor r1, r1 |
| 3cc: 1f be out 0x3f, r1 ; 63 |
| 3ce: cf ef ldi r28, 0xFF ; 255 |
| 3d0: d0 e1 ldi r29, 0x10 ; 16 |
| 3d2: de bf out 0x3e, r29 ; 62 |
| 3d4: cd bf out 0x3d, r28 ; 61 |
| 000003d6 <__do_copy_data>: |
| 3d6: 18 e0 ldi r17, 0x08 ; 8 |
| 3d8: a0 e0 ldi r26, 0x00 ; 0 |
| 3da: b1 e0 ldi r27, 0x01 ; 1 |
| 3dc: ee e8 ldi r30, 0x8E ; 142 |
| 3de: fe e7 ldi r31, 0x7E ; 126 |
| 3e0: 02 c0 rjmp .+4 ; 0x3e6 <.do_copy_data_start> |
| 000003e2 <.do_copy_data_loop>: |
| 3e2: 05 90 lpm r0, Z+ |
| 3e4: 0d 92 st X+, r0 |
| 000003e6 <.do_copy_data_start>: |
| 3e6: aa 32 cpi r26, 0x2A ; 42 |
| 3e8: b1 07 cpc r27, r17 |
| 3ea: d9 f7 brne .-10 ; 0x3e2 <.do_copy_data_loop> |
| 000003ec <__do_clear_bss>: |
| 3ec: 1d e0 ldi r17, 0x0D ; 13 |
| 3ee: aa e2 ldi r26, 0x2A ; 42 |
| 3f0: b8 e0 ldi r27, 0x08 ; 8 |
| 3f2: 01 c0 rjmp .+2 ; 0x3f6 <.do_clear_bss_start> |
| 000003f4 <.do_clear_bss_loop>: |
| 3f4: 1d 92 st X+, r1 |
| 000003f6 <.do_clear_bss_start>: |
| 3f6: a0 32 cpi r26, 0x20 ; 32 |
| 3f8: b1 07 cpc r27, r17 |
| 3fa: e1 f7 brne .-8 ; 0x3f4 <.do_clear_bss_loop> |
| 3fc: 0e 94 39 02 call 0x472 ; 0x472 <main> |
| 400: 0c 94 46 3f jmp 0x7e8c ; 0x7e8c <_exit> |
| 00000404 <__bad_interrupt>: |
| 404: 0c 94 00 00 jmp 0 ; 0x0 <__vectors> |
| 00000408 <GetActiveParamSetNumber>: |
| 408: a2 e0 ldi r26, 0x02 ; 2 |
| 40a: b0 e0 ldi r27, 0x00 ; 0 |
| 40c: 0e 94 32 3f call 0x7e64 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 410: 80 2d mov r24, r0 |
| 412: 99 27 eor r25, r25 |
| 414: 08 95 ret |
| 00000416 <WriteParameterSet>: |
| 416: fb 01 movw r30, r22 |
| 418: 28 2f mov r18, r24 |
| 41a: 86 30 cpi r24, 0x06 ; 6 |
| 41c: 08 f0 brcs .+2 ; 0x420 <WriteParameterSet+0xa> |
| 41e: 25 e0 ldi r18, 0x05 ; 5 |
| 420: 84 2f mov r24, r20 |
| 422: 99 27 eor r25, r25 |
| 424: 42 9f mul r20, r18 |
| 426: d0 01 movw r26, r0 |
| 428: 11 24 eor r1, r1 |
| 42a: ac 59 subi r26, 0x9C ; 156 |
| 42c: bf 4f sbci r27, 0xFF ; 255 |
| 0000042e <.26_start>: |
| 42e: 01 97 sbiw r24, 0x01 ; 1 |
| 430: 24 f0 brlt .+8 ; 0x43a <.26_finished> |
| 432: 01 90 ld r0, Z+ |
| 434: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 438: fa cf rjmp .-12 ; 0x42e <.26_start> |
| 0000043a <.26_finished>: |
| 43a: a2 e0 ldi r26, 0x02 ; 2 |
| 43c: b0 e0 ldi r27, 0x00 ; 0 |
| 43e: 02 2e mov r0, r18 |
| 440: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 444: 08 95 ret |
| 00000446 <ReadParameterSet>: |
| 446: cf 93 push r28 |
| 448: df 93 push r29 |
| 44a: fb 01 movw r30, r22 |
| 44c: c4 2f mov r28, r20 |
| 44e: dd 27 eor r29, r29 |
| 450: 86 30 cpi r24, 0x06 ; 6 |
| 452: 08 f0 brcs .+2 ; 0x456 <ReadParameterSet+0x10> |
| 454: 85 e0 ldi r24, 0x05 ; 5 |
| 456: 48 9f mul r20, r24 |
| 458: d0 01 movw r26, r0 |
| 45a: 11 24 eor r1, r1 |
| 45c: ac 59 subi r26, 0x9C ; 156 |
| 45e: bf 4f sbci r27, 0xFF ; 255 |
| 00000460 <.44_start>: |
| 460: 21 97 sbiw r28, 0x01 ; 1 |
| 462: 24 f0 brlt .+8 ; 0x46c <.44_finished> |
| 464: 0e 94 32 3f call 0x7e64 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 468: 01 92 st Z+, r0 |
| 46a: fa cf rjmp .-12 ; 0x460 <.44_start> |
| 0000046c <.44_finished>: |
| 46c: df 91 pop r29 |
| 46e: cf 91 pop r28 |
| 470: 08 95 ret |
| 00000472 <main>: |
| 472: 0f 93 push r16 |
| 474: 1f 93 push r17 |
| 476: cf 93 push r28 |
| 478: df 93 push r29 |
| 47a: 91 e0 ldi r25, 0x01 ; 1 |
| 47c: 97 b9 out 0x07, r25 ; 7 |
| 47e: 8f ef ldi r24, 0xFF ; 255 |
| 480: 88 b9 out 0x08, r24 ; 8 |
| 482: 8b e1 ldi r24, 0x1B ; 27 |
| 484: 84 b9 out 0x04, r24 ; 4 |
| 486: 95 b9 out 0x05, r25 ; 5 |
| 488: 8e e3 ldi r24, 0x3E ; 62 |
| 48a: 8a b9 out 0x0a, r24 ; 10 |
| 48c: 57 9a sbi 0x0a, 7 ; 10 |
| 48e: 87 ef ldi r24, 0xF7 ; 247 |
| 490: 8b b9 out 0x0b, r24 ; 11 |
| 492: 84 b7 in r24, 0x34 ; 52 |
| 494: 87 7f andi r24, 0xF7 ; 247 |
| 496: 84 bf out 0x34, r24 ; 52 |
| 498: 80 91 60 00 lds r24, 0x0060 |
| 49c: 88 61 ori r24, 0x18 ; 24 |
| 49e: 80 93 60 00 sts 0x0060, r24 |
| 4a2: 10 92 60 00 sts 0x0060, r1 |
| 4a6: 80 ed ldi r24, 0xD0 ; 208 |
| 4a8: 97 e0 ldi r25, 0x07 ; 7 |
| 4aa: 90 93 48 08 sts 0x0848, r25 |
| 4ae: 80 93 47 08 sts 0x0847, r24 |
| 4b2: 10 92 d5 08 sts 0x08D5, r1 |
| 4b6: 10 92 d4 08 sts 0x08D4, r1 |
| 4ba: 10 92 59 0c sts 0x0C59, r1 |
| 4be: 10 92 58 0c sts 0x0C58, r1 |
| 4c2: 10 92 d3 08 sts 0x08D3, r1 |
| 4c6: 10 92 d2 08 sts 0x08D2, r1 |
| 4ca: 10 92 d1 08 sts 0x08D1, r1 |
| 4ce: 10 92 d0 08 sts 0x08D0, r1 |
| 4d2: 28 98 cbi 0x05, 0 ; 5 |
| 4d4: 0e 94 52 0d call 0x1aa4 ; 0x1aa4 <Timer_Init> |
| 4d8: 0e 94 c8 07 call 0xf90 ; 0xf90 <UART_Init> |
| 4dc: 0e 94 87 15 call 0x2b0e ; 0x2b0e <rc_sum_init> |
| 4e0: 0e 94 8b 0d call 0x1b16 ; 0x1b16 <ADC_Init> |
| 4e4: 0e 94 cf 14 call 0x299e ; 0x299e <i2c_init> |
| 4e8: 78 94 sei |
| 4ea: 10 92 c6 0a sts 0x0AC6, r1 |
| 4ee: 8d e3 ldi r24, 0x3D ; 61 |
| 4f0: 80 93 c7 0a sts 0x0AC7, r24 |
| 4f4: 84 e0 ldi r24, 0x04 ; 4 |
| 4f6: 80 93 c8 0a sts 0x0AC8, r24 |
| 4fa: 8d e3 ldi r24, 0x3D ; 61 |
| 4fc: 90 e0 ldi r25, 0x00 ; 0 |
| 4fe: 9f 93 push r25 |
| 500: 8f 93 push r24 |
| 502: 1f 92 push r1 |
| 504: 1f 92 push r1 |
| 506: 83 e2 ldi r24, 0x23 ; 35 |
| 508: 91 e0 ldi r25, 0x01 ; 1 |
| 50a: 9f 93 push r25 |
| 50c: 8f 93 push r24 |
| 50e: 1f 92 push r1 |
| 510: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 514: 82 e0 ldi r24, 0x02 ; 2 |
| 516: 91 e0 ldi r25, 0x01 ; 1 |
| 518: 9f 93 push r25 |
| 51a: 8f 93 push r24 |
| 51c: 1f 92 push r1 |
| 51e: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 522: 29 9a sbi 0x05, 1 ; 5 |
| 524: a1 e0 ldi r26, 0x01 ; 1 |
| 526: b0 e0 ldi r27, 0x00 ; 0 |
| 528: 0e 94 32 3f call 0x7e64 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 52c: 80 2d mov r24, r0 |
| 52e: 2d b7 in r18, 0x3d ; 61 |
| 530: 3e b7 in r19, 0x3e ; 62 |
| 532: 26 5f subi r18, 0xF6 ; 246 |
| 534: 3f 4f sbci r19, 0xFF ; 255 |
| 536: 0f b6 in r0, 0x3f ; 63 |
| 538: f8 94 cli |
| 53a: 3e bf out 0x3e, r19 ; 62 |
| 53c: 0f be out 0x3f, r0 ; 63 |
| 53e: 2d bf out 0x3d, r18 ; 61 |
| 540: 8b 33 cpi r24, 0x3B ; 59 |
| 542: a9 f1 breq .+106 ; 0x5ae <main+0x13c> |
| 544: 83 ed ldi r24, 0xD3 ; 211 |
| 546: 90 e0 ldi r25, 0x00 ; 0 |
| 548: 9f 93 push r25 |
| 54a: 8f 93 push r24 |
| 54c: 1f 92 push r1 |
| 54e: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 552: 0e 94 09 1f call 0x3e12 ; 0x3e12 <DefaultKonstanten1> |
| 556: 4a e3 ldi r20, 0x3A ; 58 |
| 558: 60 e9 ldi r22, 0x90 ; 144 |
| 55a: 7c e0 ldi r23, 0x0C ; 12 |
| 55c: 80 e0 ldi r24, 0x00 ; 0 |
| 55e: 0e 94 0b 02 call 0x416 ; 0x416 <WriteParameterSet> |
| 562: 01 e0 ldi r16, 0x01 ; 1 |
| 564: 0f 90 pop r0 |
| 566: 0f 90 pop r0 |
| 568: 0f 90 pop r0 |
| 56a: 02 30 cpi r16, 0x02 ; 2 |
| 56c: 49 f4 brne .+18 ; 0x580 <main+0x10e> |
| 56e: 0e 94 9d 1e call 0x3d3a ; 0x3d3a <DefaultKonstanten2> |
| 572: 4a e3 ldi r20, 0x3A ; 58 |
| 574: 60 e9 ldi r22, 0x90 ; 144 |
| 576: 7c e0 ldi r23, 0x0C ; 12 |
| 578: 82 e0 ldi r24, 0x02 ; 2 |
| 57a: 0e 94 0b 02 call 0x416 ; 0x416 <WriteParameterSet> |
| 57e: 03 e0 ldi r16, 0x03 ; 3 |
| 580: 4a e3 ldi r20, 0x3A ; 58 |
| 582: 60 e9 ldi r22, 0x90 ; 144 |
| 584: 7c e0 ldi r23, 0x0C ; 12 |
| 586: 80 2f mov r24, r16 |
| 588: 0e 94 0b 02 call 0x416 ; 0x416 <WriteParameterSet> |
| 58c: 0f 5f subi r16, 0xFF ; 255 |
| 58e: 06 30 cpi r16, 0x06 ; 6 |
| 590: 60 f3 brcs .-40 ; 0x56a <main+0xf8> |
| 592: 81 e0 ldi r24, 0x01 ; 1 |
| 594: 22 e0 ldi r18, 0x02 ; 2 |
| 596: 30 e0 ldi r19, 0x00 ; 0 |
| 598: d9 01 movw r26, r18 |
| 59a: 08 2e mov r0, r24 |
| 59c: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 5a0: 8b e3 ldi r24, 0x3B ; 59 |
| 5a2: 21 50 subi r18, 0x01 ; 1 |
| 5a4: 30 40 sbci r19, 0x00 ; 0 |
| 5a6: d9 01 movw r26, r18 |
| 5a8: 08 2e mov r0, r24 |
| 5aa: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 5ae: 02 e0 ldi r16, 0x02 ; 2 |
| 5b0: 10 e0 ldi r17, 0x00 ; 0 |
| 5b2: d8 01 movw r26, r16 |
| 5b4: 0e 94 32 3f call 0x7e64 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 5b8: 80 2d mov r24, r0 |
| 5ba: 4a e3 ldi r20, 0x3A ; 58 |
| 5bc: 60 e9 ldi r22, 0x90 ; 144 |
| 5be: 7c e0 ldi r23, 0x0C ; 12 |
| 5c0: 0e 94 23 02 call 0x446 ; 0x446 <ReadParameterSet> |
| 5c4: d8 01 movw r26, r16 |
| 5c6: 0e 94 32 3f call 0x7e64 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 5ca: 80 2d mov r24, r0 |
| 5cc: 99 27 eor r25, r25 |
| 5ce: 9f 93 push r25 |
| 5d0: 8f 93 push r24 |
| 5d2: 88 eb ldi r24, 0xB8 ; 184 |
| 5d4: 90 e0 ldi r25, 0x00 ; 0 |
| 5d6: 9f 93 push r25 |
| 5d8: 8f 93 push r24 |
| 5da: 1f 92 push r1 |
| 5dc: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 5e0: 80 91 98 0c lds r24, 0x0C98 |
| 5e4: 0f 90 pop r0 |
| 5e6: 0f 90 pop r0 |
| 5e8: 0f 90 pop r0 |
| 5ea: 0f 90 pop r0 |
| 5ec: 0f 90 pop r0 |
| 5ee: 80 ff sbrs r24, 0 |
| 5f0: 20 c0 rjmp .+64 ; 0x632 <main+0x1c0> |
| 5f2: 8b e9 ldi r24, 0x9B ; 155 |
| 5f4: 90 e0 ldi r25, 0x00 ; 0 |
| 5f6: 9f 93 push r25 |
| 5f8: 8f 93 push r24 |
| 5fa: 1f 92 push r1 |
| 5fc: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 600: 84 ec ldi r24, 0xC4 ; 196 |
| 602: 99 e0 ldi r25, 0x09 ; 9 |
| 604: 0e 94 96 0c call 0x192c ; 0x192c <SetDelay> |
| 608: ec 01 movw r28, r24 |
| 60a: 0e 94 b5 10 call 0x216a ; 0x216a <SucheLuftruckOffset> |
| 60e: 0f 90 pop r0 |
| 610: 0f 90 pop r0 |
| 612: 0f 90 pop r0 |
| 614: ce 01 movw r24, r28 |
| 616: 0e 94 9f 0c call 0x193e ; 0x193e <CheckDelay> |
| 61a: 88 23 and r24, r24 |
| 61c: d9 f3 breq .-10 ; 0x614 <main+0x1a2> |
| 61e: 86 e9 ldi r24, 0x96 ; 150 |
| 620: 90 e0 ldi r25, 0x00 ; 0 |
| 622: 9f 93 push r25 |
| 624: 8f 93 push r24 |
| 626: 1f 92 push r1 |
| 628: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 62c: 0f 90 pop r0 |
| 62e: 0f 90 pop r0 |
| 630: 0f 90 pop r0 |
| 632: 0e 94 a4 1f call 0x3f48 ; 0x3f48 <SetNeutral> |
| 636: 28 98 cbi 0x05, 0 ; 5 |
| 638: 80 ed ldi r24, 0xD0 ; 208 |
| 63a: 97 e0 ldi r25, 0x07 ; 7 |
| 63c: 90 93 48 08 sts 0x0848, r25 |
| 640: 80 93 47 08 sts 0x0847, r24 |
| 644: 88 ee ldi r24, 0xE8 ; 232 |
| 646: 93 e0 ldi r25, 0x03 ; 3 |
| 648: 90 93 c1 0a sts 0x0AC1, r25 |
| 64c: 80 93 c0 0a sts 0x0AC0, r24 |
| 650: 85 e5 ldi r24, 0x55 ; 85 |
| 652: 80 93 bb 0a sts 0x0ABB, r24 |
| 656: 88 e8 ldi r24, 0x88 ; 136 |
| 658: 90 e0 ldi r25, 0x00 ; 0 |
| 65a: 9f 93 push r25 |
| 65c: 8f 93 push r24 |
| 65e: 1f 92 push r1 |
| 660: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 664: 80 91 98 0c lds r24, 0x0C98 |
| 668: 0f 90 pop r0 |
| 66a: 0f 90 pop r0 |
| 66c: 0f 90 pop r0 |
| 66e: 82 ff sbrs r24, 2 |
| 670: 03 c0 rjmp .+6 ; 0x678 <main+0x206> |
| 672: 8c e7 ldi r24, 0x7C ; 124 |
| 674: 90 e0 ldi r25, 0x00 ; 0 |
| 676: 02 c0 rjmp .+4 ; 0x67c <main+0x20a> |
| 678: 84 e7 ldi r24, 0x74 ; 116 |
| 67a: 90 e0 ldi r25, 0x00 ; 0 |
| 67c: 9f 93 push r25 |
| 67e: 8f 93 push r24 |
| 680: 1f 92 push r1 |
| 682: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 686: 0f 90 pop r0 |
| 688: 0f 90 pop r0 |
| 68a: 0f 90 pop r0 |
| 68c: 80 e7 ldi r24, 0x70 ; 112 |
| 68e: 90 e0 ldi r25, 0x00 ; 0 |
| 690: 9f 93 push r25 |
| 692: 8f 93 push r24 |
| 694: 1f 92 push r1 |
| 696: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 69a: 0e 94 dc 10 call 0x21b8 ; 0x21b8 <LcdClear> |
| 69e: 0f 90 pop r0 |
| 6a0: 0f 90 pop r0 |
| 6a2: 0f 90 pop r0 |
| 6a4: 80 91 44 08 lds r24, 0x0844 |
| 6a8: 88 23 and r24, r24 |
| 6aa: 79 f1 breq .+94 ; 0x70a <main+0x298> |
| 6ac: 10 92 44 08 sts 0x0844, r1 |
| 6b0: 0e 94 b5 20 call 0x416a ; 0x416a <MotorRegler> |
| 6b4: 0e 94 79 1f call 0x3ef2 ; 0x3ef2 <SendMotorData> |
| 6b8: 28 98 cbi 0x05, 0 ; 5 |
| 6ba: 80 91 01 01 lds r24, 0x0101 |
| 6be: 88 23 and r24, r24 |
| 6c0: 19 f0 breq .+6 ; 0x6c8 <main+0x256> |
| 6c2: 81 50 subi r24, 0x01 ; 1 |
| 6c4: 80 93 01 01 sts 0x0101, r24 |
| 6c8: 80 91 cf 08 lds r24, 0x08CF |
| 6cc: 88 23 and r24, r24 |
| 6ce: 29 f0 breq .+10 ; 0x6da <main+0x268> |
| 6d0: 80 91 cf 08 lds r24, 0x08CF |
| 6d4: 81 50 subi r24, 0x01 ; 1 |
| 6d6: 80 93 cf 08 sts 0x08CF, r24 |
| 6da: 20 91 04 01 lds r18, 0x0104 |
| 6de: 30 91 05 01 lds r19, 0x0105 |
| 6e2: 80 91 a8 0c lds r24, 0x0CA8 |
| 6e6: 99 27 eor r25, r25 |
| 6e8: 28 17 cp r18, r24 |
| 6ea: 39 07 cpc r19, r25 |
| 6ec: 34 f4 brge .+12 ; 0x6fa <main+0x288> |
| 6ee: 80 ed ldi r24, 0xD0 ; 208 |
| 6f0: 97 e0 ldi r25, 0x07 ; 7 |
| 6f2: 90 93 48 08 sts 0x0848, r25 |
| 6f6: 80 93 47 08 sts 0x0847, r24 |
| 6fa: 80 91 72 08 lds r24, 0x0872 |
| 6fe: 88 23 and r24, r24 |
| 700: 19 f4 brne .+6 ; 0x708 <main+0x296> |
| 702: 0e 94 cf 14 call 0x299e ; 0x299e <i2c_init> |
| 706: 01 c0 rjmp .+2 ; 0x70a <main+0x298> |
| 708: 28 98 cbi 0x05, 0 ; 5 |
| 70a: 0e 94 e5 07 call 0xfca ; 0xfca <DatenUebertragung> |
| 70e: 0e 94 53 08 call 0x10a6 ; 0x10a6 <BearbeiteRxDaten> |
| 712: 80 e0 ldi r24, 0x00 ; 0 |
| 714: 90 e0 ldi r25, 0x00 ; 0 |
| 716: 0e 94 9f 0c call 0x193e ; 0x193e <CheckDelay> |
| 71a: 88 23 and r24, r24 |
| 71c: 19 f2 breq .-122 ; 0x6a4 <main+0x232> |
| 71e: 80 91 d6 08 lds r24, 0x08D6 |
| 722: 88 23 and r24, r24 |
| 724: 29 f0 breq .+10 ; 0x730 <main+0x2be> |
| 726: 88 b1 in r24, 0x08 ; 8 |
| 728: 90 e1 ldi r25, 0x10 ; 16 |
| 72a: 89 27 eor r24, r25 |
| 72c: 88 b9 out 0x08, r24 ; 8 |
| 72e: 01 c0 rjmp .+2 ; 0x732 <main+0x2c0> |
| 730: 44 98 cbi 0x08, 4 ; 8 |
| 732: 84 ef ldi r24, 0xF4 ; 244 |
| 734: 91 e0 ldi r25, 0x01 ; 1 |
| 736: 0e 94 96 0c call 0x192c ; 0x192c <SetDelay> |
| 73a: b4 cf rjmp .-152 ; 0x6a4 <main+0x232> |
| 0000073c <__vector_22>: |
| 73c: 1f 92 push r1 |
| 73e: 0f 92 push r0 |
| 740: 0f b6 in r0, 0x3f ; 63 |
| 742: 0f 92 push r0 |
| 744: 11 24 eor r1, r1 |
| 746: 8f 93 push r24 |
| 748: 9f 93 push r25 |
| 74a: ef 93 push r30 |
| 74c: ff 93 push r31 |
| 74e: 80 91 00 01 lds r24, 0x0100 |
| 752: 88 23 and r24, r24 |
| 754: e1 f4 brne .+56 ; 0x78e <__vector_22+0x52> |
| 756: 80 91 3f 08 lds r24, 0x083F |
| 75a: 90 91 40 08 lds r25, 0x0840 |
| 75e: 01 96 adiw r24, 0x01 ; 1 |
| 760: 90 93 40 08 sts 0x0840, r25 |
| 764: 80 93 3f 08 sts 0x083F, r24 |
| 768: fc 01 movw r30, r24 |
| 76a: e5 58 subi r30, 0x85 ; 133 |
| 76c: f6 4f sbci r31, 0xF6 ; 246 |
| 76e: e0 81 ld r30, Z |
| 770: ed 30 cpi r30, 0x0D ; 13 |
| 772: 19 f0 breq .+6 ; 0x77a <__vector_22+0x3e> |
| 774: 86 39 cpi r24, 0x96 ; 150 |
| 776: 91 05 cpc r25, r1 |
| 778: 39 f4 brne .+14 ; 0x788 <__vector_22+0x4c> |
| 77a: 10 92 40 08 sts 0x0840, r1 |
| 77e: 10 92 3f 08 sts 0x083F, r1 |
| 782: 81 e0 ldi r24, 0x01 ; 1 |
| 784: 80 93 00 01 sts 0x0100, r24 |
| 788: e0 93 c6 00 sts 0x00C6, r30 |
| 78c: 04 c0 rjmp .+8 ; 0x796 <__vector_22+0x5a> |
| 78e: 10 92 40 08 sts 0x0840, r1 |
| 792: 10 92 3f 08 sts 0x083F, r1 |
| 796: ff 91 pop r31 |
| 798: ef 91 pop r30 |
| 79a: 9f 91 pop r25 |
| 79c: 8f 91 pop r24 |
| 79e: 0f 90 pop r0 |
| 7a0: 0f be out 0x3f, r0 ; 63 |
| 7a2: 0f 90 pop r0 |
| 7a4: 1f 90 pop r1 |
| 7a6: 18 95 reti |
| 000007a8 <GPSscanData>: |
| 7a8: 80 91 b0 0b lds r24, 0x0BB0 |
| 7ac: 81 30 cpi r24, 0x01 ; 1 |
| 7ae: 91 f5 brne .+100 ; 0x814 <GPSscanData+0x6c> |
| 7b0: 80 91 a0 0b lds r24, 0x0BA0 |
| 7b4: 90 91 a1 0b lds r25, 0x0BA1 |
| 7b8: a0 91 a2 0b lds r26, 0x0BA2 |
| 7bc: b0 91 a3 0b lds r27, 0x0BA3 |
| 7c0: 80 93 e3 0b sts 0x0BE3, r24 |
| 7c4: 90 93 e4 0b sts 0x0BE4, r25 |
| 7c8: a0 93 e5 0b sts 0x0BE5, r26 |
| 7cc: b0 93 e6 0b sts 0x0BE6, r27 |
| 7d0: 80 91 a4 0b lds r24, 0x0BA4 |
| 7d4: 90 91 a5 0b lds r25, 0x0BA5 |
| 7d8: a0 91 a6 0b lds r26, 0x0BA6 |
| 7dc: b0 91 a7 0b lds r27, 0x0BA7 |
| 7e0: 80 93 e7 0b sts 0x0BE7, r24 |
| 7e4: 90 93 e8 0b sts 0x0BE8, r25 |
| 7e8: a0 93 e9 0b sts 0x0BE9, r26 |
| 7ec: b0 93 ea 0b sts 0x0BEA, r27 |
| 7f0: 80 91 a8 0b lds r24, 0x0BA8 |
| 7f4: 90 91 a9 0b lds r25, 0x0BA9 |
| 7f8: a0 91 aa 0b lds r26, 0x0BAA |
| 7fc: b0 91 ab 0b lds r27, 0x0BAB |
| 800: 80 93 eb 0b sts 0x0BEB, r24 |
| 804: 90 93 ec 0b sts 0x0BEC, r25 |
| 808: a0 93 ed 0b sts 0x0BED, r26 |
| 80c: b0 93 ee 0b sts 0x0BEE, r27 |
| 810: 10 92 b0 0b sts 0x0BB0, r1 |
| 814: 90 91 ba 0a lds r25, 0x0ABA |
| 818: 91 30 cpi r25, 0x01 ; 1 |
| 81a: 41 f4 brne .+16 ; 0x82c <GPSscanData+0x84> |
| 81c: 80 91 ae 0a lds r24, 0x0AAE |
| 820: 80 93 10 0c sts 0x0C10, r24 |
| 824: 90 93 0f 0c sts 0x0C0F, r25 |
| 828: 10 92 ba 0a sts 0x0ABA, r1 |
| 82c: 80 91 ea 0a lds r24, 0x0AEA |
| 830: 81 30 cpi r24, 0x01 ; 1 |
| 832: 91 f5 brne .+100 ; 0x898 <GPSscanData+0xf0> |
| 834: 80 91 da 0a lds r24, 0x0ADA |
| 838: 90 91 db 0a lds r25, 0x0ADB |
| 83c: a0 91 dc 0a lds r26, 0x0ADC |
| 840: b0 91 dd 0a lds r27, 0x0ADD |
| 844: 80 93 ef 0b sts 0x0BEF, r24 |
| 848: 90 93 f0 0b sts 0x0BF0, r25 |
| 84c: a0 93 f1 0b sts 0x0BF1, r26 |
| 850: b0 93 f2 0b sts 0x0BF2, r27 |
| 854: 80 91 de 0a lds r24, 0x0ADE |
| 858: 90 91 df 0a lds r25, 0x0ADF |
| 85c: a0 91 e0 0a lds r26, 0x0AE0 |
| 860: b0 91 e1 0a lds r27, 0x0AE1 |
| 864: 80 93 f3 0b sts 0x0BF3, r24 |
| 868: 90 93 f4 0b sts 0x0BF4, r25 |
| 86c: a0 93 f5 0b sts 0x0BF5, r26 |
| 870: b0 93 f6 0b sts 0x0BF6, r27 |
| 874: 80 91 e2 0a lds r24, 0x0AE2 |
| 878: 90 91 e3 0a lds r25, 0x0AE3 |
| 87c: a0 91 e4 0a lds r26, 0x0AE4 |
| 880: b0 91 e5 0a lds r27, 0x0AE5 |
| 884: 80 93 f7 0b sts 0x0BF7, r24 |
| 888: 90 93 f8 0b sts 0x0BF8, r25 |
| 88c: a0 93 f9 0b sts 0x0BF9, r26 |
| 890: b0 93 fa 0b sts 0x0BFA, r27 |
| 894: 10 92 ea 0a sts 0x0AEA, r1 |
| 898: 80 91 93 0b lds r24, 0x0B93 |
| 89c: 81 30 cpi r24, 0x01 ; 1 |
| 89e: 91 f5 brne .+100 ; 0x904 <GPSscanData+0x15c> |
| 8a0: 80 91 89 0b lds r24, 0x0B89 |
| 8a4: 90 91 8a 0b lds r25, 0x0B8A |
| 8a8: a0 91 8b 0b lds r26, 0x0B8B |
| 8ac: b0 91 8c 0b lds r27, 0x0B8C |
| 8b0: 80 93 fb 0b sts 0x0BFB, r24 |
| 8b4: 90 93 fc 0b sts 0x0BFC, r25 |
| 8b8: a0 93 fd 0b sts 0x0BFD, r26 |
| 8bc: b0 93 fe 0b sts 0x0BFE, r27 |
| 8c0: 80 91 85 0b lds r24, 0x0B85 |
| 8c4: 90 91 86 0b lds r25, 0x0B86 |
| 8c8: a0 91 87 0b lds r26, 0x0B87 |
| 8cc: b0 91 88 0b lds r27, 0x0B88 |
| 8d0: 80 93 ff 0b sts 0x0BFF, r24 |
| 8d4: 90 93 00 0c sts 0x0C00, r25 |
| 8d8: a0 93 01 0c sts 0x0C01, r26 |
| 8dc: b0 93 02 0c sts 0x0C02, r27 |
| 8e0: 80 91 8d 0b lds r24, 0x0B8D |
| 8e4: 90 91 8e 0b lds r25, 0x0B8E |
| 8e8: a0 91 8f 0b lds r26, 0x0B8F |
| 8ec: b0 91 90 0b lds r27, 0x0B90 |
| 8f0: 80 93 03 0c sts 0x0C03, r24 |
| 8f4: 90 93 04 0c sts 0x0C04, r25 |
| 8f8: a0 93 05 0c sts 0x0C05, r26 |
| 8fc: b0 93 06 0c sts 0x0C06, r27 |
| 900: 10 92 93 0b sts 0x0B93, r1 |
| 904: 80 91 38 0c lds r24, 0x0C38 |
| 908: 81 30 cpi r24, 0x01 ; 1 |
| 90a: 11 f5 brne .+68 ; 0x950 <GPSscanData+0x1a8> |
| 90c: 80 91 18 0c lds r24, 0x0C18 |
| 910: 90 91 19 0c lds r25, 0x0C19 |
| 914: a0 91 1a 0c lds r26, 0x0C1A |
| 918: b0 91 1b 0c lds r27, 0x0C1B |
| 91c: 80 93 07 0c sts 0x0C07, r24 |
| 920: 90 93 08 0c sts 0x0C08, r25 |
| 924: a0 93 09 0c sts 0x0C09, r26 |
| 928: b0 93 0a 0c sts 0x0C0A, r27 |
| 92c: 80 91 1c 0c lds r24, 0x0C1C |
| 930: 90 91 1d 0c lds r25, 0x0C1D |
| 934: a0 91 1e 0c lds r26, 0x0C1E |
| 938: b0 91 1f 0c lds r27, 0x0C1F |
| 93c: 80 93 0b 0c sts 0x0C0B, r24 |
| 940: 90 93 0c 0c sts 0x0C0C, r25 |
| 944: a0 93 0d 0c sts 0x0C0D, r26 |
| 948: b0 93 0e 0c sts 0x0C0E, r27 |
| 94c: 10 92 38 0c sts 0x0C38, r1 |
| 950: 80 91 0f 0c lds r24, 0x0C0F |
| 954: 81 11 cpse r24, r1 |
| 956: 28 9a sbi 0x05, 0 ; 5 |
| 958: 08 95 ret |
| 0000095a <__vector_20>: |
| 95a: 1f 92 push r1 |
| 95c: 0f 92 push r0 |
| 95e: 0f b6 in r0, 0x3f ; 63 |
| 960: 0f 92 push r0 |
| 962: 11 24 eor r1, r1 |
| 964: 2f 93 push r18 |
| 966: 3f 93 push r19 |
| 968: 4f 93 push r20 |
| 96a: 5f 93 push r21 |
| 96c: 6f 93 push r22 |
| 96e: 7f 93 push r23 |
| 970: 8f 93 push r24 |
| 972: 9f 93 push r25 |
| 974: af 93 push r26 |
| 976: bf 93 push r27 |
| 978: cf 93 push r28 |
| 97a: df 93 push r29 |
| 97c: ef 93 push r30 |
| 97e: ff 93 push r31 |
| 980: 80 91 c6 00 lds r24, 0x00C6 |
| 984: 80 93 2e 08 sts 0x082E, r24 |
| 988: 80 91 c0 00 lds r24, 0x00C0 |
| 98c: 40 91 2e 08 lds r20, 0x082E |
| 990: 88 71 andi r24, 0x18 ; 24 |
| 992: 09 f0 breq .+2 ; 0x996 <__vector_20+0x3c> |
| 994: 36 c1 rjmp .+620 ; 0xc02 <__vector_20+0x2a8> |
| 996: 80 91 41 08 lds r24, 0x0841 |
| 99a: 84 30 cpi r24, 0x04 ; 4 |
| 99c: 09 f4 brne .+2 ; 0x9a0 <__vector_20+0x46> |
| 99e: bb c0 rjmp .+374 ; 0xb16 <__vector_20+0x1bc> |
| 9a0: 85 30 cpi r24, 0x05 ; 5 |
| 9a2: 50 f4 brcc .+20 ; 0x9b8 <__vector_20+0x5e> |
| 9a4: 81 30 cpi r24, 0x01 ; 1 |
| 9a6: d1 f0 breq .+52 ; 0x9dc <__vector_20+0x82> |
| 9a8: 81 30 cpi r24, 0x01 ; 1 |
| 9aa: 98 f0 brcs .+38 ; 0x9d2 <__vector_20+0x78> |
| 9ac: 82 30 cpi r24, 0x02 ; 2 |
| 9ae: 01 f1 breq .+64 ; 0x9f0 <__vector_20+0x96> |
| 9b0: 83 30 cpi r24, 0x03 ; 3 |
| 9b2: 09 f0 breq .+2 ; 0x9b6 <__vector_20+0x5c> |
| 9b4: 23 c1 rjmp .+582 ; 0xbfc <__vector_20+0x2a2> |
| 9b6: 21 c0 rjmp .+66 ; 0x9fa <__vector_20+0xa0> |
| 9b8: 86 30 cpi r24, 0x06 ; 6 |
| 9ba: 09 f4 brne .+2 ; 0x9be <__vector_20+0x64> |
| 9bc: dc c0 rjmp .+440 ; 0xb76 <__vector_20+0x21c> |
| 9be: 86 30 cpi r24, 0x06 ; 6 |
| 9c0: 08 f4 brcc .+2 ; 0x9c4 <__vector_20+0x6a> |
| 9c2: bd c0 rjmp .+378 ; 0xb3e <__vector_20+0x1e4> |
| 9c4: 87 30 cpi r24, 0x07 ; 7 |
| 9c6: 09 f4 brne .+2 ; 0x9ca <__vector_20+0x70> |
| 9c8: 07 c1 rjmp .+526 ; 0xbd8 <__vector_20+0x27e> |
| 9ca: 88 30 cpi r24, 0x08 ; 8 |
| 9cc: 09 f0 breq .+2 ; 0x9d0 <__vector_20+0x76> |
| 9ce: 16 c1 rjmp .+556 ; 0xbfc <__vector_20+0x2a2> |
| 9d0: 09 c1 rjmp .+530 ; 0xbe4 <__vector_20+0x28a> |
| 9d2: 45 3b cpi r20, 0xB5 ; 181 |
| 9d4: 09 f0 breq .+2 ; 0x9d8 <__vector_20+0x7e> |
| 9d6: 19 c1 rjmp .+562 ; 0xc0a <__vector_20+0x2b0> |
| 9d8: 81 e0 ldi r24, 0x01 ; 1 |
| 9da: 03 c0 rjmp .+6 ; 0x9e2 <__vector_20+0x88> |
| 9dc: 42 36 cpi r20, 0x62 ; 98 |
| 9de: 21 f4 brne .+8 ; 0x9e8 <__vector_20+0x8e> |
| 9e0: 82 e0 ldi r24, 0x02 ; 2 |
| 9e2: 80 93 41 08 sts 0x0841, r24 |
| 9e6: 11 c1 rjmp .+546 ; 0xc0a <__vector_20+0x2b0> |
| 9e8: 45 3b cpi r20, 0xB5 ; 181 |
| 9ea: 09 f4 brne .+2 ; 0x9ee <__vector_20+0x94> |
| 9ec: 0e c1 rjmp .+540 ; 0xc0a <__vector_20+0x2b0> |
| 9ee: 06 c1 rjmp .+524 ; 0xbfc <__vector_20+0x2a2> |
| 9f0: 41 30 cpi r20, 0x01 ; 1 |
| 9f2: 09 f0 breq .+2 ; 0x9f6 <__vector_20+0x9c> |
| 9f4: 03 c1 rjmp .+518 ; 0xbfc <__vector_20+0x2a2> |
| 9f6: 83 e0 ldi r24, 0x03 ; 3 |
| 9f8: f4 cf rjmp .-24 ; 0x9e2 <__vector_20+0x88> |
| 9fa: 40 93 12 0c sts 0x0C12, r20 |
| 9fe: 4f 5f subi r20, 0xFF ; 255 |
| a00: 40 93 7a 09 sts 0x097A, r20 |
| a04: 80 91 7a 09 lds r24, 0x097A |
| a08: 8f 5f subi r24, 0xFF ; 255 |
| a0a: 80 93 a9 0a sts 0x0AA9, r24 |
| a0e: 84 e0 ldi r24, 0x04 ; 4 |
| a10: 80 93 41 08 sts 0x0841, r24 |
| a14: 80 91 12 0c lds r24, 0x0C12 |
| a18: 88 30 cpi r24, 0x08 ; 8 |
| a1a: 09 f4 brne .+2 ; 0xa1e <__vector_20+0xc4> |
| a1c: 4a c0 rjmp .+148 ; 0xab2 <__vector_20+0x158> |
| a1e: 89 30 cpi r24, 0x09 ; 9 |
| a20: 30 f4 brcc .+12 ; 0xa2e <__vector_20+0xd4> |
| a22: 81 30 cpi r24, 0x01 ; 1 |
| a24: f1 f0 breq .+60 ; 0xa62 <__vector_20+0x108> |
| a26: 83 30 cpi r24, 0x03 ; 3 |
| a28: 09 f0 breq .+2 ; 0xa2c <__vector_20+0xd2> |
| a2a: 6d c0 rjmp .+218 ; 0xb06 <__vector_20+0x1ac> |
| a2c: 06 c0 rjmp .+12 ; 0xa3a <__vector_20+0xe0> |
| a2e: 81 31 cpi r24, 0x11 ; 17 |
| a30: 61 f1 breq .+88 ; 0xa8a <__vector_20+0x130> |
| a32: 82 31 cpi r24, 0x12 ; 18 |
| a34: 09 f0 breq .+2 ; 0xa38 <__vector_20+0xde> |
| a36: 67 c0 rjmp .+206 ; 0xb06 <__vector_20+0x1ac> |
| a38: 50 c0 rjmp .+160 ; 0xada <__vector_20+0x180> |
| a3a: 8a ea ldi r24, 0xAA ; 170 |
| a3c: 9a e0 ldi r25, 0x0A ; 10 |
| a3e: 90 93 d5 0a sts 0x0AD5, r25 |
| a42: 80 93 d4 0a sts 0x0AD4, r24 |
| a46: 2b ec ldi r18, 0xCB ; 203 |
| a48: 3b e0 ldi r19, 0x0B ; 11 |
| a4a: 30 93 78 09 sts 0x0978, r19 |
| a4e: 20 93 77 09 sts 0x0977, r18 |
| a52: 40 96 adiw r24, 0x10 ; 16 |
| a54: 90 93 95 0b sts 0x0B95, r25 |
| a58: 80 93 94 0b sts 0x0B94, r24 |
| a5c: 80 91 ba 0a lds r24, 0x0ABA |
| a60: 4f c0 rjmp .+158 ; 0xb00 <__vector_20+0x1a6> |
| a62: 8c e9 ldi r24, 0x9C ; 156 |
| a64: 9b e0 ldi r25, 0x0B ; 11 |
| a66: 90 93 d5 0a sts 0x0AD5, r25 |
| a6a: 80 93 d4 0a sts 0x0AD4, r24 |
| a6e: 25 e5 ldi r18, 0x55 ; 85 |
| a70: 3d e0 ldi r19, 0x0D ; 13 |
| a72: 30 93 78 09 sts 0x0978, r19 |
| a76: 20 93 77 09 sts 0x0977, r18 |
| a7a: 44 96 adiw r24, 0x14 ; 20 |
| a7c: 90 93 95 0b sts 0x0B95, r25 |
| a80: 80 93 94 0b sts 0x0B94, r24 |
| a84: 80 91 b0 0b lds r24, 0x0BB0 |
| a88: 3b c0 rjmp .+118 ; 0xb00 <__vector_20+0x1a6> |
| a8a: 86 ed ldi r24, 0xD6 ; 214 |
| a8c: 9a e0 ldi r25, 0x0A ; 10 |
| a8e: 90 93 d5 0a sts 0x0AD5, r25 |
| a92: 80 93 d4 0a sts 0x0AD4, r24 |
| a96: 2f e8 ldi r18, 0x8F ; 143 |
| a98: 3c e0 ldi r19, 0x0C ; 12 |
| a9a: 30 93 78 09 sts 0x0978, r19 |
| a9e: 20 93 77 09 sts 0x0977, r18 |
| aa2: 44 96 adiw r24, 0x14 ; 20 |
| aa4: 90 93 95 0b sts 0x0B95, r25 |
| aa8: 80 93 94 0b sts 0x0B94, r24 |
| aac: 80 91 ea 0a lds r24, 0x0AEA |
| ab0: 27 c0 rjmp .+78 ; 0xb00 <__vector_20+0x1a6> |
| ab2: 81 e8 ldi r24, 0x81 ; 129 |
| ab4: 9b e0 ldi r25, 0x0B ; 11 |
| ab6: 90 93 d5 0a sts 0x0AD5, r25 |
| aba: 80 93 d4 0a sts 0x0AD4, r24 |
| abe: 2a ee ldi r18, 0xEA ; 234 |
| ac0: 3c e0 ldi r19, 0x0C ; 12 |
| ac2: 30 93 78 09 sts 0x0978, r19 |
| ac6: 20 93 77 09 sts 0x0977, r18 |
| aca: 42 96 adiw r24, 0x12 ; 18 |
| acc: 90 93 95 0b sts 0x0B95, r25 |
| ad0: 80 93 94 0b sts 0x0B94, r24 |
| ad4: 80 91 93 0b lds r24, 0x0B93 |
| ad8: 13 c0 rjmp .+38 ; 0xb00 <__vector_20+0x1a6> |
| ada: 84 e1 ldi r24, 0x14 ; 20 |
| adc: 9c e0 ldi r25, 0x0C ; 12 |
| ade: 90 93 d5 0a sts 0x0AD5, r25 |
| ae2: 80 93 d4 0a sts 0x0AD4, r24 |
| ae6: 2d e6 ldi r18, 0x6D ; 109 |
| ae8: 31 e1 ldi r19, 0x11 ; 17 |
| aea: 30 93 78 09 sts 0x0978, r19 |
| aee: 20 93 77 09 sts 0x0977, r18 |
| af2: 84 96 adiw r24, 0x24 ; 36 |
| af4: 90 93 95 0b sts 0x0B95, r25 |
| af8: 80 93 94 0b sts 0x0B94, r24 |
| afc: 80 91 38 0c lds r24, 0x0C38 |
| b00: 80 93 13 0c sts 0x0C13, r24 |
| b04: 82 c0 rjmp .+260 ; 0xc0a <__vector_20+0x2b0> |
| b06: 81 e0 ldi r24, 0x01 ; 1 |
| b08: 80 93 13 0c sts 0x0C13, r24 |
| b0c: 10 92 95 0b sts 0x0B95, r1 |
| b10: 10 92 94 0b sts 0x0B94, r1 |
| b14: 7a c0 rjmp .+244 ; 0xc0a <__vector_20+0x2b0> |
| b16: 84 2f mov r24, r20 |
| b18: 99 27 eor r25, r25 |
| b1a: 90 93 97 0b sts 0x0B97, r25 |
| b1e: 80 93 96 0b sts 0x0B96, r24 |
| b22: 80 91 7a 09 lds r24, 0x097A |
| b26: 84 0f add r24, r20 |
| b28: 80 93 7a 09 sts 0x097A, r24 |
| b2c: 80 91 a9 0a lds r24, 0x0AA9 |
| b30: 90 91 7a 09 lds r25, 0x097A |
| b34: 89 0f add r24, r25 |
| b36: 80 93 a9 0a sts 0x0AA9, r24 |
| b3a: 85 e0 ldi r24, 0x05 ; 5 |
| b3c: 52 cf rjmp .-348 ; 0x9e2 <__vector_20+0x88> |
| b3e: 20 91 96 0b lds r18, 0x0B96 |
| b42: 30 91 97 0b lds r19, 0x0B97 |
| b46: 84 2f mov r24, r20 |
| b48: 99 27 eor r25, r25 |
| b4a: 98 2f mov r25, r24 |
| b4c: 88 27 eor r24, r24 |
| b4e: 28 0f add r18, r24 |
| b50: 39 1f adc r19, r25 |
| b52: 30 93 97 0b sts 0x0B97, r19 |
| b56: 20 93 96 0b sts 0x0B96, r18 |
| b5a: 80 91 7a 09 lds r24, 0x097A |
| b5e: 84 0f add r24, r20 |
| b60: 80 93 7a 09 sts 0x097A, r24 |
| b64: 80 91 a9 0a lds r24, 0x0AA9 |
| b68: 90 91 7a 09 lds r25, 0x097A |
| b6c: 89 0f add r24, r25 |
| b6e: 80 93 a9 0a sts 0x0AA9, r24 |
| b72: 86 e0 ldi r24, 0x06 ; 6 |
| b74: 36 cf rjmp .-404 ; 0x9e2 <__vector_20+0x88> |
| b76: 80 91 7a 09 lds r24, 0x097A |
| b7a: 84 0f add r24, r20 |
| b7c: 80 93 7a 09 sts 0x097A, r24 |
| b80: 80 91 a9 0a lds r24, 0x0AA9 |
| b84: 90 91 7a 09 lds r25, 0x097A |
| b88: 89 0f add r24, r25 |
| b8a: 80 93 a9 0a sts 0x0AA9, r24 |
| b8e: 80 91 13 0c lds r24, 0x0C13 |
| b92: 88 23 and r24, r24 |
| b94: 81 f4 brne .+32 ; 0xbb6 <__vector_20+0x25c> |
| b96: e0 91 d4 0a lds r30, 0x0AD4 |
| b9a: f0 91 d5 0a lds r31, 0x0AD5 |
| b9e: 80 91 77 09 lds r24, 0x0977 |
| ba2: 90 91 78 09 lds r25, 0x0978 |
| ba6: e8 17 cp r30, r24 |
| ba8: f9 07 cpc r31, r25 |
| baa: 28 f4 brcc .+10 ; 0xbb6 <__vector_20+0x25c> |
| bac: 41 93 st Z+, r20 |
| bae: f0 93 d5 0a sts 0x0AD5, r31 |
| bb2: e0 93 d4 0a sts 0x0AD4, r30 |
| bb6: 80 91 96 0b lds r24, 0x0B96 |
| bba: 90 91 97 0b lds r25, 0x0B97 |
| bbe: 01 97 sbiw r24, 0x01 ; 1 |
| bc0: 90 93 97 0b sts 0x0B97, r25 |
| bc4: 80 93 96 0b sts 0x0B96, r24 |
| bc8: 80 91 96 0b lds r24, 0x0B96 |
| bcc: 90 91 97 0b lds r25, 0x0B97 |
| bd0: 89 2b or r24, r25 |
| bd2: d9 f4 brne .+54 ; 0xc0a <__vector_20+0x2b0> |
| bd4: 87 e0 ldi r24, 0x07 ; 7 |
| bd6: 05 cf rjmp .-502 ; 0x9e2 <__vector_20+0x88> |
| bd8: 80 91 7a 09 lds r24, 0x097A |
| bdc: 48 17 cp r20, r24 |
| bde: 71 f4 brne .+28 ; 0xbfc <__vector_20+0x2a2> |
| be0: 88 e0 ldi r24, 0x08 ; 8 |
| be2: ff ce rjmp .-514 ; 0x9e2 <__vector_20+0x88> |
| be4: 80 91 a9 0a lds r24, 0x0AA9 |
| be8: 48 17 cp r20, r24 |
| bea: 41 f4 brne .+16 ; 0xbfc <__vector_20+0x2a2> |
| bec: e0 91 94 0b lds r30, 0x0B94 |
| bf0: f0 91 95 0b lds r31, 0x0B95 |
| bf4: 30 97 sbiw r30, 0x00 ; 0 |
| bf6: 11 f0 breq .+4 ; 0xbfc <__vector_20+0x2a2> |
| bf8: 81 e0 ldi r24, 0x01 ; 1 |
| bfa: 80 83 st Z, r24 |
| bfc: 10 92 41 08 sts 0x0841, r1 |
| c00: 04 c0 rjmp .+8 ; 0xc0a <__vector_20+0x2b0> |
| c02: 10 92 41 08 sts 0x0841, r1 |
| c06: 0e 94 d4 03 call 0x7a8 ; 0x7a8 <GPSscanData> |
| c0a: 0e 94 d4 03 call 0x7a8 ; 0x7a8 <GPSscanData> |
| c0e: 40 91 3a 08 lds r20, 0x083A |
| c12: 46 39 cpi r20, 0x96 ; 150 |
| c14: 10 f0 brcs .+4 ; 0xc1a <__vector_20+0x2c0> |
| c16: 10 92 39 08 sts 0x0839, r1 |
| c1a: 80 91 2e 08 lds r24, 0x082E |
| c1e: 8d 30 cpi r24, 0x0D ; 13 |
| c20: 09 f0 breq .+2 ; 0xc24 <__vector_20+0x2ca> |
| c22: 5c c0 rjmp .+184 ; 0xcdc <__vector_20+0x382> |
| c24: 80 91 39 08 lds r24, 0x0839 |
| c28: 82 30 cpi r24, 0x02 ; 2 |
| c2a: 09 f0 breq .+2 ; 0xc2e <__vector_20+0x2d4> |
| c2c: 57 c0 rjmp .+174 ; 0xcdc <__vector_20+0x382> |
| c2e: 10 92 39 08 sts 0x0839, r1 |
| c32: a4 2f mov r26, r20 |
| c34: bb 27 eor r27, r27 |
| c36: fd 01 movw r30, r26 |
| c38: e7 51 subi r30, 0x17 ; 23 |
| c3a: f5 4f sbci r31, 0xF5 ; 245 |
| c3c: 30 81 ld r19, Z |
| c3e: ed 01 movw r28, r26 |
| c40: c6 51 subi r28, 0x16 ; 22 |
| c42: d5 4f sbci r29, 0xF5 ; 245 |
| c44: 28 81 ld r18, Y |
| c46: 80 91 3d 08 lds r24, 0x083D |
| c4a: 90 91 3e 08 lds r25, 0x083E |
| c4e: 83 1b sub r24, r19 |
| c50: 91 09 sbc r25, r1 |
| c52: 82 1b sub r24, r18 |
| c54: 91 09 sbc r25, r1 |
| c56: 9f 70 andi r25, 0x0F ; 15 |
| c58: 90 93 3e 08 sts 0x083E, r25 |
| c5c: 80 93 3d 08 sts 0x083D, r24 |
| c60: 9c 01 movw r18, r24 |
| c62: 96 e0 ldi r25, 0x06 ; 6 |
| c64: 36 95 lsr r19 |
| c66: 27 95 ror r18 |
| c68: 9a 95 dec r25 |
| c6a: e1 f7 brne .-8 ; 0xc64 <__vector_20+0x30a> |
| c6c: 23 5c subi r18, 0xC3 ; 195 |
| c6e: 20 93 3c 08 sts 0x083C, r18 |
| c72: 98 2f mov r25, r24 |
| c74: 9f 73 andi r25, 0x3F ; 63 |
| c76: 93 5c subi r25, 0xC3 ; 195 |
| c78: 90 93 3b 08 sts 0x083B, r25 |
| c7c: 80 81 ld r24, Z |
| c7e: 28 17 cp r18, r24 |
| c80: 29 f4 brne .+10 ; 0xc8c <__vector_20+0x332> |
| c82: 88 81 ld r24, Y |
| c84: 98 17 cp r25, r24 |
| c86: 11 f4 brne .+4 ; 0xc8c <__vector_20+0x332> |
| c88: 91 e0 ldi r25, 0x01 ; 1 |
| c8a: 06 c0 rjmp .+12 ; 0xc98 <__vector_20+0x33e> |
| c8c: 80 91 31 08 lds r24, 0x0831 |
| c90: 8f 5f subi r24, 0xFF ; 255 |
| c92: 80 93 31 08 sts 0x0831, r24 |
| c96: 90 e0 ldi r25, 0x00 ; 0 |
| c98: 80 91 2f 08 lds r24, 0x082F |
| c9c: 88 23 and r24, r24 |
| c9e: 09 f0 breq .+2 ; 0xca2 <__vector_20+0x348> |
| ca0: 64 c0 rjmp .+200 ; 0xd6a <__vector_20+0x410> |
| ca2: 99 23 and r25, r25 |
| ca4: 09 f4 brne .+2 ; 0xca8 <__vector_20+0x34e> |
| ca6: 61 c0 rjmp .+194 ; 0xd6a <__vector_20+0x410> |
| ca8: 81 e0 ldi r24, 0x01 ; 1 |
| caa: 80 93 2f 08 sts 0x082F, r24 |
| cae: 40 93 32 08 sts 0x0832, r20 |
| cb2: a5 51 subi r26, 0x15 ; 21 |
| cb4: b5 4f sbci r27, 0xF5 ; 245 |
| cb6: 8d e0 ldi r24, 0x0D ; 13 |
| cb8: 8c 93 st X, r24 |
| cba: 80 91 ed 0a lds r24, 0x0AED |
| cbe: 82 35 cpi r24, 0x52 ; 82 |
| cc0: 09 f0 breq .+2 ; 0xcc4 <__vector_20+0x36a> |
| cc2: 53 c0 rjmp .+166 ; 0xd6a <__vector_20+0x410> |
| cc4: 88 e1 ldi r24, 0x18 ; 24 |
| cc6: 90 e0 ldi r25, 0x00 ; 0 |
| cc8: 2c e0 ldi r18, 0x0C ; 12 |
| cca: 0f b6 in r0, 0x3f ; 63 |
| ccc: f8 94 cli |
| cce: a8 95 wdr |
| cd0: 80 93 60 00 sts 0x0060, r24 |
| cd4: 0f be out 0x3f, r0 ; 63 |
| cd6: 20 93 60 00 sts 0x0060, r18 |
| cda: 47 c0 rjmp .+142 ; 0xd6a <__vector_20+0x410> |
| cdc: 80 91 39 08 lds r24, 0x0839 |
| ce0: 81 30 cpi r24, 0x01 ; 1 |
| ce2: d9 f0 breq .+54 ; 0xd1a <__vector_20+0x3c0> |
| ce4: 81 30 cpi r24, 0x01 ; 1 |
| ce6: 18 f0 brcs .+6 ; 0xcee <__vector_20+0x394> |
| ce8: 82 30 cpi r24, 0x02 ; 2 |
| cea: e9 f5 brne .+122 ; 0xd66 <__vector_20+0x40c> |
| cec: 30 c0 rjmp .+96 ; 0xd4e <__vector_20+0x3f4> |
| cee: 80 91 2e 08 lds r24, 0x082E |
| cf2: 83 32 cpi r24, 0x23 ; 35 |
| cf4: 39 f4 brne .+14 ; 0xd04 <__vector_20+0x3aa> |
| cf6: 80 91 2f 08 lds r24, 0x082F |
| cfa: 88 23 and r24, r24 |
| cfc: 19 f4 brne .+6 ; 0xd04 <__vector_20+0x3aa> |
| cfe: 81 e0 ldi r24, 0x01 ; 1 |
| d00: 80 93 39 08 sts 0x0839, r24 |
| d04: 80 91 2e 08 lds r24, 0x082E |
| d08: 80 93 eb 0a sts 0x0AEB, r24 |
| d0c: 81 e0 ldi r24, 0x01 ; 1 |
| d0e: 80 93 3a 08 sts 0x083A, r24 |
| d12: 80 91 2e 08 lds r24, 0x082E |
| d16: 99 27 eor r25, r25 |
| d18: 15 c0 rjmp .+42 ; 0xd44 <__vector_20+0x3ea> |
| d1a: 82 e0 ldi r24, 0x02 ; 2 |
| d1c: 80 93 39 08 sts 0x0839, r24 |
| d20: e4 2f mov r30, r20 |
| d22: ff 27 eor r31, r31 |
| d24: 80 91 2e 08 lds r24, 0x082E |
| d28: e5 51 subi r30, 0x15 ; 21 |
| d2a: f5 4f sbci r31, 0xF5 ; 245 |
| d2c: 80 83 st Z, r24 |
| d2e: 4f 5f subi r20, 0xFF ; 255 |
| d30: 40 93 3a 08 sts 0x083A, r20 |
| d34: 20 91 2e 08 lds r18, 0x082E |
| d38: 80 91 3d 08 lds r24, 0x083D |
| d3c: 90 91 3e 08 lds r25, 0x083E |
| d40: 82 0f add r24, r18 |
| d42: 91 1d adc r25, r1 |
| d44: 90 93 3e 08 sts 0x083E, r25 |
| d48: 80 93 3d 08 sts 0x083D, r24 |
| d4c: 0e c0 rjmp .+28 ; 0xd6a <__vector_20+0x410> |
| d4e: e4 2f mov r30, r20 |
| d50: ff 27 eor r31, r31 |
| d52: 80 91 2e 08 lds r24, 0x082E |
| d56: e5 51 subi r30, 0x15 ; 21 |
| d58: f5 4f sbci r31, 0xF5 ; 245 |
| d5a: 80 83 st Z, r24 |
| d5c: 46 39 cpi r20, 0x96 ; 150 |
| d5e: 38 f3 brcs .-50 ; 0xd2e <__vector_20+0x3d4> |
| d60: 10 92 39 08 sts 0x0839, r1 |
| d64: e7 cf rjmp .-50 ; 0xd34 <__vector_20+0x3da> |
| d66: 10 92 39 08 sts 0x0839, r1 |
| d6a: ff 91 pop r31 |
| d6c: ef 91 pop r30 |
| d6e: df 91 pop r29 |
| d70: cf 91 pop r28 |
| d72: bf 91 pop r27 |
| d74: af 91 pop r26 |
| d76: 9f 91 pop r25 |
| d78: 8f 91 pop r24 |
| d7a: 7f 91 pop r23 |
| d7c: 6f 91 pop r22 |
| d7e: 5f 91 pop r21 |
| d80: 4f 91 pop r20 |
| d82: 3f 91 pop r19 |
| d84: 2f 91 pop r18 |
| d86: 0f 90 pop r0 |
| d88: 0f be out 0x3f, r0 ; 63 |
| d8a: 0f 90 pop r0 |
| d8c: 1f 90 pop r1 |
| d8e: 18 95 reti |
| 00000d90 <AddCRC>: |
| d90: dc 01 movw r26, r24 |
| d92: 20 e0 ldi r18, 0x00 ; 0 |
| d94: 30 e0 ldi r19, 0x00 ; 0 |
| d96: 40 e0 ldi r20, 0x00 ; 0 |
| d98: 50 e0 ldi r21, 0x00 ; 0 |
| d9a: eb e7 ldi r30, 0x7B ; 123 |
| d9c: f9 e0 ldi r31, 0x09 ; 9 |
| d9e: 05 c0 rjmp .+10 ; 0xdaa <AddCRC+0x1a> |
| da0: 81 91 ld r24, Z+ |
| da2: 28 0f add r18, r24 |
| da4: 31 1d adc r19, r1 |
| da6: 4f 5f subi r20, 0xFF ; 255 |
| da8: 5f 4f sbci r21, 0xFF ; 255 |
| daa: 4a 17 cp r20, r26 |
| dac: 5b 07 cpc r21, r27 |
| dae: c1 f7 brne .-16 ; 0xda0 <AddCRC+0x10> |
| db0: 3f 70 andi r19, 0x0F ; 15 |
| db2: c9 01 movw r24, r18 |
| db4: 66 e0 ldi r22, 0x06 ; 6 |
| db6: 96 95 lsr r25 |
| db8: 87 95 ror r24 |
| dba: 6a 95 dec r22 |
| dbc: e1 f7 brne .-8 ; 0xdb6 <AddCRC+0x26> |
| dbe: 83 5c subi r24, 0xC3 ; 195 |
| dc0: fd 01 movw r30, r26 |
| dc2: e5 58 subi r30, 0x85 ; 133 |
| dc4: f6 4f sbci r31, 0xF6 ; 246 |
| dc6: 80 83 st Z, r24 |
| dc8: 11 96 adiw r26, 0x01 ; 1 |
| dca: 2f 73 andi r18, 0x3F ; 63 |
| dcc: 23 5c subi r18, 0xC3 ; 195 |
| dce: fd 01 movw r30, r26 |
| dd0: e5 58 subi r30, 0x85 ; 133 |
| dd2: f6 4f sbci r31, 0xF6 ; 246 |
| dd4: 20 83 st Z, r18 |
| dd6: a4 58 subi r26, 0x84 ; 132 |
| dd8: b6 4f sbci r27, 0xF6 ; 246 |
| dda: 8d e0 ldi r24, 0x0D ; 13 |
| ddc: 8c 93 st X, r24 |
| dde: 10 92 00 01 sts 0x0100, r1 |
| de2: 80 91 7b 09 lds r24, 0x097B |
| de6: 80 93 c6 00 sts 0x00C6, r24 |
| dea: 08 95 ret |
| 00000dec <SendOutData>: |
| dec: ef 92 push r14 |
| dee: ff 92 push r15 |
| df0: 0f 93 push r16 |
| df2: 1f 93 push r17 |
| df4: cf 93 push r28 |
| df6: df 93 push r29 |
| df8: 7a 01 movw r14, r20 |
| dfa: 72 2f mov r23, r18 |
| dfc: 93 e2 ldi r25, 0x23 ; 35 |
| dfe: 90 93 7b 09 sts 0x097B, r25 |
| e02: 60 93 7c 09 sts 0x097C, r22 |
| e06: 80 93 7d 09 sts 0x097D, r24 |
| e0a: 03 e0 ldi r16, 0x03 ; 3 |
| e0c: 10 e0 ldi r17, 0x00 ; 0 |
| e0e: 60 e0 ldi r22, 0x00 ; 0 |
| e10: ae e7 ldi r26, 0x7E ; 126 |
| e12: b9 e0 ldi r27, 0x09 ; 9 |
| e14: 46 c0 rjmp .+140 ; 0xea2 <SendOutData+0xb6> |
| e16: f7 01 movw r30, r14 |
| e18: e6 0f add r30, r22 |
| e1a: f1 1d adc r31, r1 |
| e1c: 90 81 ld r25, Z |
| e1e: 6f 5f subi r22, 0xFF ; 255 |
| e20: 71 50 subi r23, 0x01 ; 1 |
| e22: 19 f4 brne .+6 ; 0xe2a <SendOutData+0x3e> |
| e24: e0 e0 ldi r30, 0x00 ; 0 |
| e26: 40 e0 ldi r20, 0x00 ; 0 |
| e28: 0f c0 rjmp .+30 ; 0xe48 <SendOutData+0x5c> |
| e2a: f7 01 movw r30, r14 |
| e2c: e6 0f add r30, r22 |
| e2e: f1 1d adc r31, r1 |
| e30: 40 81 ld r20, Z |
| e32: 6f 5f subi r22, 0xFF ; 255 |
| e34: 71 50 subi r23, 0x01 ; 1 |
| e36: 11 f4 brne .+4 ; 0xe3c <SendOutData+0x50> |
| e38: e0 e0 ldi r30, 0x00 ; 0 |
| e3a: 06 c0 rjmp .+12 ; 0xe48 <SendOutData+0x5c> |
| e3c: f7 01 movw r30, r14 |
| e3e: e6 0f add r30, r22 |
| e40: f1 1d adc r31, r1 |
| e42: e0 81 ld r30, Z |
| e44: 6f 5f subi r22, 0xFF ; 255 |
| e46: 71 50 subi r23, 0x01 ; 1 |
| e48: 89 2f mov r24, r25 |
| e4a: 86 95 lsr r24 |
| e4c: 86 95 lsr r24 |
| e4e: 83 5c subi r24, 0xC3 ; 195 |
| e50: 8c 93 st X, r24 |
| e52: 55 27 eor r21, r21 |
| e54: 89 2f mov r24, r25 |
| e56: 99 27 eor r25, r25 |
| e58: 83 70 andi r24, 0x03 ; 3 |
| e5a: 90 70 andi r25, 0x00 ; 0 |
| e5c: 24 e0 ldi r18, 0x04 ; 4 |
| e5e: 88 0f add r24, r24 |
| e60: 99 1f adc r25, r25 |
| e62: 2a 95 dec r18 |
| e64: e1 f7 brne .-8 ; 0xe5e <SendOutData+0x72> |
| e66: 9a 01 movw r18, r20 |
| e68: 94 e0 ldi r25, 0x04 ; 4 |
| e6a: 36 95 lsr r19 |
| e6c: 27 95 ror r18 |
| e6e: 9a 95 dec r25 |
| e70: e1 f7 brne .-8 ; 0xe6a <SendOutData+0x7e> |
| e72: 82 2b or r24, r18 |
| e74: 83 5c subi r24, 0xC3 ; 195 |
| e76: ed 01 movw r28, r26 |
| e78: 89 83 std Y+1, r24 ; 0x01 |
| e7a: 4f 70 andi r20, 0x0F ; 15 |
| e7c: 50 70 andi r21, 0x00 ; 0 |
| e7e: 44 0f add r20, r20 |
| e80: 55 1f adc r21, r21 |
| e82: 44 0f add r20, r20 |
| e84: 55 1f adc r21, r21 |
| e86: 8e 2f mov r24, r30 |
| e88: 82 95 swap r24 |
| e8a: 86 95 lsr r24 |
| e8c: 86 95 lsr r24 |
| e8e: 83 70 andi r24, 0x03 ; 3 |
| e90: 84 2b or r24, r20 |
| e92: 83 5c subi r24, 0xC3 ; 195 |
| e94: 8a 83 std Y+2, r24 ; 0x02 |
| e96: ef 73 andi r30, 0x3F ; 63 |
| e98: e3 5c subi r30, 0xC3 ; 195 |
| e9a: eb 83 std Y+3, r30 ; 0x03 |
| e9c: 0c 5f subi r16, 0xFC ; 252 |
| e9e: 1f 4f sbci r17, 0xFF ; 255 |
| ea0: 14 96 adiw r26, 0x04 ; 4 |
| ea2: 77 23 and r23, r23 |
| ea4: 09 f0 breq .+2 ; 0xea8 <SendOutData+0xbc> |
| ea6: b7 cf rjmp .-146 ; 0xe16 <SendOutData+0x2a> |
| ea8: c8 01 movw r24, r16 |
| eaa: 0e 94 c8 06 call 0xd90 ; 0xd90 <AddCRC> |
| eae: df 91 pop r29 |
| eb0: cf 91 pop r28 |
| eb2: 1f 91 pop r17 |
| eb4: 0f 91 pop r16 |
| eb6: ff 90 pop r15 |
| eb8: ef 90 pop r14 |
| eba: 08 95 ret |
| 00000ebc <Decode64>: |
| ebc: 1f 93 push r17 |
| ebe: cf 93 push r28 |
| ec0: df 93 push r29 |
| ec2: ec 01 movw r28, r24 |
| ec4: 70 e0 ldi r23, 0x00 ; 0 |
| ec6: a2 2f mov r26, r18 |
| ec8: bb 27 eor r27, r27 |
| eca: 12 97 sbiw r26, 0x02 ; 2 |
| ecc: 48 c0 rjmp .+144 ; 0xf5e <Decode64+0xa2> |
| ece: e4 2f mov r30, r20 |
| ed0: ff 27 eor r31, r31 |
| ed2: e5 51 subi r30, 0x15 ; 21 |
| ed4: f5 4f sbci r31, 0xF5 ; 245 |
| ed6: 30 81 ld r19, Z |
| ed8: 4f 5f subi r20, 0xFF ; 255 |
| eda: e4 2f mov r30, r20 |
| edc: ff 27 eor r31, r31 |
| ede: e5 51 subi r30, 0x15 ; 21 |
| ee0: f5 4f sbci r31, 0xF5 ; 245 |
| ee2: 50 81 ld r21, Z |
| ee4: 4f 5f subi r20, 0xFF ; 255 |
| ee6: e4 2f mov r30, r20 |
| ee8: ff 27 eor r31, r31 |
| eea: e5 51 subi r30, 0x15 ; 21 |
| eec: f5 4f sbci r31, 0xF5 ; 245 |
| eee: 10 81 ld r17, Z |
| ef0: 4f 5f subi r20, 0xFF ; 255 |
| ef2: e4 2f mov r30, r20 |
| ef4: ff 27 eor r31, r31 |
| ef6: e5 51 subi r30, 0x15 ; 21 |
| ef8: f5 4f sbci r31, 0xF5 ; 245 |
| efa: 20 81 ld r18, Z |
| efc: 4f 5f subi r20, 0xFF ; 255 |
| efe: 84 2f mov r24, r20 |
| f00: 99 27 eor r25, r25 |
| f02: a8 17 cp r26, r24 |
| f04: b9 07 cpc r27, r25 |
| f06: 74 f1 brlt .+92 ; 0xf64 <Decode64+0xa8> |
| f08: 5d 53 subi r21, 0x3D ; 61 |
| f0a: fe 01 movw r30, r28 |
| f0c: e7 0f add r30, r23 |
| f0e: f1 1d adc r31, r1 |
| f10: 3d 53 subi r19, 0x3D ; 61 |
| f12: 33 0f add r19, r19 |
| f14: 33 0f add r19, r19 |
| f16: 85 2f mov r24, r21 |
| f18: 82 95 swap r24 |
| f1a: 8f 70 andi r24, 0x0F ; 15 |
| f1c: 38 2b or r19, r24 |
| f1e: 30 83 st Z, r19 |
| f20: 61 30 cpi r22, 0x01 ; 1 |
| f22: 01 f1 breq .+64 ; 0xf64 <Decode64+0xa8> |
| f24: 91 2f mov r25, r17 |
| f26: 9d 53 subi r25, 0x3D ; 61 |
| f28: 7f 5f subi r23, 0xFF ; 255 |
| f2a: fe 01 movw r30, r28 |
| f2c: e7 0f add r30, r23 |
| f2e: f1 1d adc r31, r1 |
| f30: 71 50 subi r23, 0x01 ; 1 |
| f32: 52 95 swap r21 |
| f34: 50 7f andi r21, 0xF0 ; 240 |
| f36: 89 2f mov r24, r25 |
| f38: 86 95 lsr r24 |
| f3a: 86 95 lsr r24 |
| f3c: 58 2b or r21, r24 |
| f3e: 50 83 st Z, r21 |
| f40: 63 50 subi r22, 0x03 ; 3 |
| f42: 6f 3f cpi r22, 0xFF ; 255 |
| f44: 79 f0 breq .+30 ; 0xf64 <Decode64+0xa8> |
| f46: 7e 5f subi r23, 0xFE ; 254 |
| f48: fe 01 movw r30, r28 |
| f4a: e7 0f add r30, r23 |
| f4c: f1 1d adc r31, r1 |
| f4e: 92 95 swap r25 |
| f50: 99 0f add r25, r25 |
| f52: 99 0f add r25, r25 |
| f54: 90 7c andi r25, 0xC0 ; 192 |
| f56: 2d 53 subi r18, 0x3D ; 61 |
| f58: 92 2b or r25, r18 |
| f5a: 90 83 st Z, r25 |
| f5c: 7f 5f subi r23, 0xFF ; 255 |
| f5e: 66 23 and r22, r22 |
| f60: 09 f0 breq .+2 ; 0xf64 <Decode64+0xa8> |
| f62: b5 cf rjmp .-150 ; 0xece <Decode64+0x12> |
| f64: df 91 pop r29 |
| f66: cf 91 pop r28 |
| f68: 1f 91 pop r17 |
| f6a: 08 95 ret |
| 00000f6c <uart_putchar>: |
| f6c: 1f 93 push r17 |
| f6e: 18 2f mov r17, r24 |
| f70: 8a 30 cpi r24, 0x0A ; 10 |
| f72: 19 f4 brne .+6 ; 0xf7a <uart_putchar+0xe> |
| f74: 8d e0 ldi r24, 0x0D ; 13 |
| f76: 0e 94 b6 07 call 0xf6c ; 0xf6c <uart_putchar> |
| f7a: 80 91 c0 00 lds r24, 0x00C0 |
| f7e: 85 ff sbrs r24, 5 |
| f80: fc cf rjmp .-8 ; 0xf7a <uart_putchar+0xe> |
| f82: 10 93 c6 00 sts 0x00C6, r17 |
| f86: 80 e0 ldi r24, 0x00 ; 0 |
| f88: 90 e0 ldi r25, 0x00 ; 0 |
| f8a: 1f 91 pop r17 |
| f8c: 08 95 ret |
| 00000f8e <WriteProgramData>: |
| f8e: 08 95 ret |
| 00000f90 <UART_Init>: |
| f90: e1 ec ldi r30, 0xC1 ; 193 |
| f92: f0 e0 ldi r31, 0x00 ; 0 |
| f94: 88 e1 ldi r24, 0x18 ; 24 |
| f96: 80 83 st Z, r24 |
| f98: a0 ec ldi r26, 0xC0 ; 192 |
| f9a: b0 e0 ldi r27, 0x00 ; 0 |
| f9c: 8c 91 ld r24, X |
| f9e: 82 60 ori r24, 0x02 ; 2 |
| fa0: 8c 93 st X, r24 |
| fa2: 80 81 ld r24, Z |
| fa4: 80 68 ori r24, 0x80 ; 128 |
| fa6: 80 83 st Z, r24 |
| fa8: 80 81 ld r24, Z |
| faa: 80 64 ori r24, 0x40 ; 64 |
| fac: 80 83 st Z, r24 |
| fae: 8a e2 ldi r24, 0x2A ; 42 |
| fb0: 80 93 c4 00 sts 0x00C4, r24 |
| fb4: 88 ec ldi r24, 0xC8 ; 200 |
| fb6: 90 e0 ldi r25, 0x00 ; 0 |
| fb8: 0e 94 96 0c call 0x192c ; 0x192c <SetDelay> |
| fbc: 90 93 a8 0a sts 0x0AA8, r25 |
| fc0: 80 93 a7 0a sts 0x0AA7, r24 |
| fc4: 10 92 41 08 sts 0x0841, r1 |
| fc8: 08 95 ret |
| 00000fca <DatenUebertragung>: |
| fca: 80 91 00 01 lds r24, 0x0100 |
| fce: 88 23 and r24, r24 |
| fd0: 09 f4 brne .+2 ; 0xfd4 <DatenUebertragung+0xa> |
| fd2: 68 c0 rjmp .+208 ; 0x10a4 <DatenUebertragung+0xda> |
| fd4: 80 91 2a 08 lds r24, 0x082A |
| fd8: 88 23 and r24, r24 |
| fda: 71 f0 breq .+28 ; 0xff8 <DatenUebertragung+0x2e> |
| fdc: 80 91 00 01 lds r24, 0x0100 |
| fe0: 88 23 and r24, r24 |
| fe2: 51 f0 breq .+20 ; 0xff8 <DatenUebertragung+0x2e> |
| fe4: 2b e0 ldi r18, 0x0B ; 11 |
| fe6: 4b eb ldi r20, 0xBB ; 187 |
| fe8: 5a e0 ldi r21, 0x0A ; 10 |
| fea: 60 91 79 09 lds r22, 0x0979 |
| fee: 87 e4 ldi r24, 0x47 ; 71 |
| ff0: 0e 94 f6 06 call 0xdec ; 0xdec <SendOutData> |
| ff4: 10 92 2a 08 sts 0x082A, r1 |
| ff8: 80 91 a7 0a lds r24, 0x0AA7 |
| ffc: 90 91 a8 0a lds r25, 0x0AA8 |
| 1000: 0e 94 9f 0c call 0x193e ; 0x193e <CheckDelay> |
| 1004: 88 23 and r24, r24 |
| 1006: 21 f4 brne .+8 ; 0x1010 <DatenUebertragung+0x46> |
| 1008: 80 91 2c 08 lds r24, 0x082C |
| 100c: 88 23 and r24, r24 |
| 100e: b1 f0 breq .+44 ; 0x103c <DatenUebertragung+0x72> |
| 1010: 80 91 00 01 lds r24, 0x0100 |
| 1014: 88 23 and r24, r24 |
| 1016: 91 f0 breq .+36 ; 0x103c <DatenUebertragung+0x72> |
| 1018: 22 e3 ldi r18, 0x32 ; 50 |
| 101a: 41 eb ldi r20, 0xB1 ; 177 |
| 101c: 5b e0 ldi r21, 0x0B ; 11 |
| 101e: 60 91 79 09 lds r22, 0x0979 |
| 1022: 84 e4 ldi r24, 0x44 ; 68 |
| 1024: 0e 94 f6 06 call 0xdec ; 0xdec <SendOutData> |
| 1028: 10 92 2c 08 sts 0x082C, r1 |
| 102c: 8a ef ldi r24, 0xFA ; 250 |
| 102e: 90 e0 ldi r25, 0x00 ; 0 |
| 1030: 0e 94 96 0c call 0x192c ; 0x192c <SetDelay> |
| 1034: 90 93 a8 0a sts 0x0AA8, r25 |
| 1038: 80 93 a7 0a sts 0x0AA7, r24 |
| 103c: 80 91 2b 08 lds r24, 0x082B |
| 1040: 88 23 and r24, r24 |
| 1042: f1 f0 breq .+60 ; 0x1080 <DatenUebertragung+0xb6> |
| 1044: 80 91 00 01 lds r24, 0x0100 |
| 1048: 88 23 and r24, r24 |
| 104a: d1 f0 breq .+52 ; 0x1080 <DatenUebertragung+0xb6> |
| 104c: 0e 94 e5 10 call 0x21ca ; 0x21ca <Menu> |
| 1050: 10 92 2b 08 sts 0x082B, r1 |
| 1054: 80 91 38 08 lds r24, 0x0838 |
| 1058: 8f 5f subi r24, 0xFF ; 255 |
| 105a: 80 93 38 08 sts 0x0838, r24 |
| 105e: 84 30 cpi r24, 0x04 ; 4 |
| 1060: 11 f4 brne .+4 ; 0x1066 <DatenUebertragung+0x9c> |
| 1062: 10 92 38 08 sts 0x0838, r1 |
| 1066: 80 91 38 08 lds r24, 0x0838 |
| 106a: 44 e1 ldi r20, 0x14 ; 20 |
| 106c: 84 9f mul r24, r20 |
| 106e: a0 01 movw r20, r0 |
| 1070: 11 24 eor r1, r1 |
| 1072: 4a 5e subi r20, 0xEA ; 234 |
| 1074: 5e 4f sbci r21, 0xFE ; 254 |
| 1076: 24 e1 ldi r18, 0x14 ; 20 |
| 1078: 60 e0 ldi r22, 0x00 ; 0 |
| 107a: 80 5d subi r24, 0xD0 ; 208 |
| 107c: 0e 94 f6 06 call 0xdec ; 0xdec <SendOutData> |
| 1080: 80 91 2d 08 lds r24, 0x082D |
| 1084: 88 23 and r24, r24 |
| 1086: 71 f0 breq .+28 ; 0x10a4 <DatenUebertragung+0xda> |
| 1088: 80 91 00 01 lds r24, 0x0100 |
| 108c: 88 23 and r24, r24 |
| 108e: 51 f0 breq .+20 ; 0x10a4 <DatenUebertragung+0xda> |
| 1090: 2a e0 ldi r18, 0x0A ; 10 |
| 1092: 46 ec ldi r20, 0xC6 ; 198 |
| 1094: 5a e0 ldi r21, 0x0A ; 10 |
| 1096: 60 91 79 09 lds r22, 0x0979 |
| 109a: 86 e5 ldi r24, 0x56 ; 86 |
| 109c: 0e 94 f6 06 call 0xdec ; 0xdec <SendOutData> |
| 10a0: 10 92 2d 08 sts 0x082D, r1 |
| 10a4: 08 95 ret |
| 000010a6 <BearbeiteRxDaten>: |
| 10a6: 1f 93 push r17 |
| 10a8: cf 93 push r28 |
| 10aa: df 93 push r29 |
| 10ac: cd b7 in r28, 0x3d ; 61 |
| 10ae: de b7 in r29, 0x3e ; 62 |
| 10b0: 22 97 sbiw r28, 0x02 ; 2 |
| 10b2: 0f b6 in r0, 0x3f ; 63 |
| 10b4: f8 94 cli |
| 10b6: de bf out 0x3e, r29 ; 62 |
| 10b8: 0f be out 0x3f, r0 ; 63 |
| 10ba: cd bf out 0x3d, r28 ; 61 |
| 10bc: 80 91 2f 08 lds r24, 0x082F |
| 10c0: 88 23 and r24, r24 |
| 10c2: 09 f4 brne .+2 ; 0x10c6 <BearbeiteRxDaten+0x20> |
| 10c4: 97 c0 rjmp .+302 ; 0x11f4 <__stack+0xf5> |
| 10c6: 8f ef ldi r24, 0xFF ; 255 |
| 10c8: 80 93 01 01 sts 0x0101, r24 |
| 10cc: 80 91 ed 0a lds r24, 0x0AED |
| 10d0: 81 37 cpi r24, 0x71 ; 113 |
| 10d2: 60 f4 brcc .+24 ; 0x10ec <BearbeiteRxDaten+0x46> |
| 10d4: 8c 36 cpi r24, 0x6C ; 108 |
| 10d6: 08 f0 brcs .+2 ; 0x10da <BearbeiteRxDaten+0x34> |
| 10d8: 6f c0 rjmp .+222 ; 0x11b8 <__stack+0xb9> |
| 10da: 87 36 cpi r24, 0x67 ; 103 |
| 10dc: 09 f4 brne .+2 ; 0x10e0 <BearbeiteRxDaten+0x3a> |
| 10de: 40 c0 rjmp .+128 ; 0x1160 <__stack+0x61> |
| 10e0: 88 36 cpi r24, 0x68 ; 104 |
| 10e2: f9 f0 breq .+62 ; 0x1122 <__stack+0x23> |
| 10e4: 83 36 cpi r24, 0x63 ; 99 |
| 10e6: 09 f0 breq .+2 ; 0x10ea <BearbeiteRxDaten+0x44> |
| 10e8: 83 c0 rjmp .+262 ; 0x11f0 <__stack+0xf1> |
| 10ea: 08 c0 rjmp .+16 ; 0x10fc <BearbeiteRxDaten+0x56> |
| 10ec: 84 37 cpi r24, 0x74 ; 116 |
| 10ee: 59 f1 breq .+86 ; 0x1146 <__stack+0x47> |
| 10f0: 86 37 cpi r24, 0x76 ; 118 |
| 10f2: 91 f1 breq .+100 ; 0x1158 <__stack+0x59> |
| 10f4: 81 37 cpi r24, 0x71 ; 113 |
| 10f6: 09 f0 breq .+2 ; 0x10fa <BearbeiteRxDaten+0x54> |
| 10f8: 7b c0 rjmp .+246 ; 0x11f0 <__stack+0xf1> |
| 10fa: 36 c0 rjmp .+108 ; 0x1168 <__stack+0x69> |
| 10fc: 20 91 32 08 lds r18, 0x0832 |
| 1100: 43 e0 ldi r20, 0x03 ; 3 |
| 1102: 6b e0 ldi r22, 0x0B ; 11 |
| 1104: 8b eb ldi r24, 0xBB ; 187 |
| 1106: 9a e0 ldi r25, 0x0A ; 10 |
| 1108: 0e 94 5e 07 call 0xebc ; 0xebc <Decode64> |
| 110c: 80 91 69 08 lds r24, 0x0869 |
| 1110: 90 91 bd 0a lds r25, 0x0ABD |
| 1114: 89 2b or r24, r25 |
| 1116: 80 93 69 08 sts 0x0869, r24 |
| 111a: 81 e0 ldi r24, 0x01 ; 1 |
| 111c: 80 93 2c 08 sts 0x082C, r24 |
| 1120: 67 c0 rjmp .+206 ; 0x11f0 <__stack+0xf1> |
| 1122: 20 91 32 08 lds r18, 0x0832 |
| 1126: 43 e0 ldi r20, 0x03 ; 3 |
| 1128: 62 e0 ldi r22, 0x02 ; 2 |
| 112a: ce 01 movw r24, r28 |
| 112c: 01 96 adiw r24, 0x01 ; 1 |
| 112e: 0e 94 5e 07 call 0xebc ; 0xebc <Decode64> |
| 1132: 80 91 69 08 lds r24, 0x0869 |
| 1136: 99 81 ldd r25, Y+1 ; 0x01 |
| 1138: 89 2b or r24, r25 |
| 113a: 80 93 69 08 sts 0x0869, r24 |
| 113e: 81 e0 ldi r24, 0x01 ; 1 |
| 1140: 80 93 2b 08 sts 0x082B, r24 |
| 1144: 55 c0 rjmp .+170 ; 0x11f0 <__stack+0xf1> |
| 1146: 20 91 32 08 lds r18, 0x0832 |
| 114a: 43 e0 ldi r20, 0x03 ; 3 |
| 114c: 64 e0 ldi r22, 0x04 ; 4 |
| 114e: 84 e3 ldi r24, 0x34 ; 52 |
| 1150: 98 e0 ldi r25, 0x08 ; 8 |
| 1152: 0e 94 5e 07 call 0xebc ; 0xebc <Decode64> |
| 1156: 4c c0 rjmp .+152 ; 0x11f0 <__stack+0xf1> |
| 1158: 81 e0 ldi r24, 0x01 ; 1 |
| 115a: 80 93 2d 08 sts 0x082D, r24 |
| 115e: 48 c0 rjmp .+144 ; 0x11f0 <__stack+0xf1> |
| 1160: 81 e0 ldi r24, 0x01 ; 1 |
| 1162: 80 93 2a 08 sts 0x082A, r24 |
| 1166: 44 c0 rjmp .+136 ; 0x11f0 <__stack+0xf1> |
| 1168: 20 91 32 08 lds r18, 0x0832 |
| 116c: 43 e0 ldi r20, 0x03 ; 3 |
| 116e: 62 e0 ldi r22, 0x02 ; 2 |
| 1170: ce 01 movw r24, r28 |
| 1172: 01 96 adiw r24, 0x01 ; 1 |
| 1174: 0e 94 5e 07 call 0xebc ; 0xebc <Decode64> |
| 1178: 89 81 ldd r24, Y+1 ; 0x01 |
| 117a: 8f 3f cpi r24, 0xFF ; 255 |
| 117c: 89 f0 breq .+34 ; 0x11a0 <__stack+0xa1> |
| 117e: 86 30 cpi r24, 0x06 ; 6 |
| 1180: 10 f0 brcs .+4 ; 0x1186 <__stack+0x87> |
| 1182: 85 e0 ldi r24, 0x05 ; 5 |
| 1184: 89 83 std Y+1, r24 ; 0x01 |
| 1186: 4a e3 ldi r20, 0x3A ; 58 |
| 1188: 60 e9 ldi r22, 0x90 ; 144 |
| 118a: 7c e0 ldi r23, 0x0C ; 12 |
| 118c: 89 81 ldd r24, Y+1 ; 0x01 |
| 118e: 0e 94 23 02 call 0x446 ; 0x446 <ReadParameterSet> |
| 1192: 89 81 ldd r24, Y+1 ; 0x01 |
| 1194: 2a e3 ldi r18, 0x3A ; 58 |
| 1196: 40 e9 ldi r20, 0x90 ; 144 |
| 1198: 5c e0 ldi r21, 0x0C ; 12 |
| 119a: 60 91 79 09 lds r22, 0x0979 |
| 119e: 08 c0 rjmp .+16 ; 0x11b0 <__stack+0xb1> |
| 11a0: 10 91 79 09 lds r17, 0x0979 |
| 11a4: 0e 94 04 02 call 0x408 ; 0x408 <GetActiveParamSetNumber> |
| 11a8: 2a e3 ldi r18, 0x3A ; 58 |
| 11aa: 40 e9 ldi r20, 0x90 ; 144 |
| 11ac: 5c e0 ldi r21, 0x0C ; 12 |
| 11ae: 61 2f mov r22, r17 |
| 11b0: 85 5b subi r24, 0xB5 ; 181 |
| 11b2: 0e 94 f6 06 call 0xdec ; 0xdec <SendOutData> |
| 11b6: 1c c0 rjmp .+56 ; 0x11f0 <__stack+0xf1> |
| 11b8: 20 91 32 08 lds r18, 0x0832 |
| 11bc: 43 e0 ldi r20, 0x03 ; 3 |
| 11be: 6a e3 ldi r22, 0x3A ; 58 |
| 11c0: 80 e9 ldi r24, 0x90 ; 144 |
| 11c2: 9c e0 ldi r25, 0x0C ; 12 |
| 11c4: 0e 94 5e 07 call 0xebc ; 0xebc <Decode64> |
| 11c8: 80 91 ed 0a lds r24, 0x0AED |
| 11cc: 4a e3 ldi r20, 0x3A ; 58 |
| 11ce: 60 e9 ldi r22, 0x90 ; 144 |
| 11d0: 7c e0 ldi r23, 0x0C ; 12 |
| 11d2: 8b 56 subi r24, 0x6B ; 107 |
| 11d4: 0e 94 0b 02 call 0x416 ; 0x416 <WriteParameterSet> |
| 11d8: 80 91 ed 0a lds r24, 0x0AED |
| 11dc: 8b 56 subi r24, 0x6B ; 107 |
| 11de: a2 e0 ldi r26, 0x02 ; 2 |
| 11e0: b0 e0 ldi r27, 0x00 ; 0 |
| 11e2: 08 2e mov r0, r24 |
| 11e4: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 11e8: 0e 94 04 02 call 0x408 ; 0x408 <GetActiveParamSetNumber> |
| 11ec: 0e 94 a0 20 call 0x4140 ; 0x4140 <Piep> |
| 11f0: 10 92 2f 08 sts 0x082F, r1 |
| 11f4: 22 96 adiw r28, 0x02 ; 2 |
| 11f6: 0f b6 in r0, 0x3f ; 63 |
| 11f8: f8 94 cli |
| 11fa: de bf out 0x3e, r29 ; 62 |
| 11fc: 0f be out 0x3f, r0 ; 63 |
| 11fe: cd bf out 0x3d, r28 ; 61 |
| 1200: df 91 pop r29 |
| 1202: cf 91 pop r28 |
| 1204: 1f 91 pop r17 |
| 1206: 08 95 ret |
| 00001208 <Putchar>: |
| 1208: 98 2f mov r25, r24 |
| 120a: 80 91 39 0c lds r24, 0x0C39 |
| 120e: 81 30 cpi r24, 0x01 ; 1 |
| 1210: 69 f4 brne .+26 ; 0x122c <Putchar+0x24> |
| 1212: 80 91 68 08 lds r24, 0x0868 |
| 1216: e8 2f mov r30, r24 |
| 1218: ff 27 eor r31, r31 |
| 121a: ea 5e subi r30, 0xEA ; 234 |
| 121c: fe 4f sbci r31, 0xFE ; 254 |
| 121e: 90 83 st Z, r25 |
| 1220: 8f 5f subi r24, 0xFF ; 255 |
| 1222: 80 93 68 08 sts 0x0868, r24 |
| 1226: 21 e0 ldi r18, 0x01 ; 1 |
| 1228: 30 e0 ldi r19, 0x00 ; 0 |
| 122a: 05 c0 rjmp .+10 ; 0x1236 <Putchar+0x2e> |
| 122c: 89 2f mov r24, r25 |
| 122e: 0e 94 b6 07 call 0xf6c ; 0xf6c <uart_putchar> |
| 1232: 28 2f mov r18, r24 |
| 1234: 33 27 eor r19, r19 |
| 1236: c9 01 movw r24, r18 |
| 1238: 08 95 ret |
| 0000123a <PAD_0>: |
| 123a: 1f 93 push r17 |
| 123c: 18 2f mov r17, r24 |
| 123e: 04 c0 rjmp .+8 ; 0x1248 <PAD_0+0xe> |
| 1240: 80 e3 ldi r24, 0x30 ; 48 |
| 1242: 0e 94 04 09 call 0x1208 ; 0x1208 <Putchar> |
| 1246: 11 50 subi r17, 0x01 ; 1 |
| 1248: 11 16 cp r1, r17 |
| 124a: d4 f3 brlt .-12 ; 0x1240 <PAD_0+0x6> |
| 124c: 1f 91 pop r17 |
| 124e: 08 95 ret |
| 00001250 <PAD_SP>: |
| 1250: 1f 93 push r17 |
| 1252: 18 2f mov r17, r24 |
| 1254: 04 c0 rjmp .+8 ; 0x125e <PAD_SP+0xe> |
| 1256: 80 e2 ldi r24, 0x20 ; 32 |
| 1258: 0e 94 04 09 call 0x1208 ; 0x1208 <Putchar> |
| 125c: 11 50 subi r17, 0x01 ; 1 |
| 125e: 11 16 cp r1, r17 |
| 1260: d4 f3 brlt .-12 ; 0x1256 <PAD_SP+0x6> |
| 1262: 1f 91 pop r17 |
| 1264: 08 95 ret |
| 00001266 <PRINTP>: |
| 1266: 0f 93 push r16 |
| 1268: 1f 93 push r17 |
| 126a: cf 93 push r28 |
| 126c: df 93 push r29 |
| 126e: 8c 01 movw r16, r24 |
| 1270: eb 01 movw r28, r22 |
| 1272: 08 c0 rjmp .+16 ; 0x1284 <PRINTP+0x1e> |
| 1274: f8 01 movw r30, r16 |
| 1276: 0f 5f subi r16, 0xFF ; 255 |
| 1278: 1f 4f sbci r17, 0xFF ; 255 |
| 127a: e4 91 lpm r30, Z |
| 127c: 8e 2f mov r24, r30 |
| 127e: 0e 94 04 09 call 0x1208 ; 0x1208 <Putchar> |
| 1282: 21 97 sbiw r28, 0x01 ; 1 |
| 1284: 20 97 sbiw r28, 0x00 ; 0 |
| 1286: b1 f7 brne .-20 ; 0x1274 <PRINTP+0xe> |
| 1288: df 91 pop r29 |
| 128a: cf 91 pop r28 |
| 128c: 1f 91 pop r17 |
| 128e: 0f 91 pop r16 |
| 1290: 08 95 ret |
| 00001292 <PRINT>: |
| 1292: 0f 93 push r16 |
| 1294: 1f 93 push r17 |
| 1296: cf 93 push r28 |
| 1298: df 93 push r29 |
| 129a: 8c 01 movw r16, r24 |
| 129c: eb 01 movw r28, r22 |
| 129e: 06 c0 rjmp .+12 ; 0x12ac <PRINT+0x1a> |
| 12a0: f8 01 movw r30, r16 |
| 12a2: 81 91 ld r24, Z+ |
| 12a4: 8f 01 movw r16, r30 |
| 12a6: 0e 94 04 09 call 0x1208 ; 0x1208 <Putchar> |
| 12aa: 21 97 sbiw r28, 0x01 ; 1 |
| 12ac: 20 97 sbiw r28, 0x00 ; 0 |
| 12ae: c1 f7 brne .-16 ; 0x12a0 <PRINT+0xe> |
| 12b0: df 91 pop r29 |
| 12b2: cf 91 pop r28 |
| 12b4: 1f 91 pop r17 |
| 12b6: 0f 91 pop r16 |
| 12b8: 08 95 ret |
| 000012ba <_printf_P>: |
| 12ba: 2f 92 push r2 |
| 12bc: 3f 92 push r3 |
| 12be: 4f 92 push r4 |
| 12c0: 5f 92 push r5 |
| 12c2: 6f 92 push r6 |
| 12c4: 7f 92 push r7 |
| 12c6: 8f 92 push r8 |
| 12c8: 9f 92 push r9 |
| 12ca: af 92 push r10 |
| 12cc: bf 92 push r11 |
| 12ce: cf 92 push r12 |
| 12d0: df 92 push r13 |
| 12d2: ef 92 push r14 |
| 12d4: ff 92 push r15 |
| 12d6: 0f 93 push r16 |
| 12d8: 1f 93 push r17 |
| 12da: cf 93 push r28 |
| 12dc: df 93 push r29 |
| 12de: cd b7 in r28, 0x3d ; 61 |
| 12e0: de b7 in r29, 0x3e ; 62 |
| 12e2: e3 97 sbiw r28, 0x33 ; 51 |
| 12e4: 0f b6 in r0, 0x3f ; 63 |
| 12e6: f8 94 cli |
| 12e8: de bf out 0x3e, r29 ; 62 |
| 12ea: 0f be out 0x3f, r0 ; 63 |
| 12ec: cd bf out 0x3d, r28 ; 61 |
| 12ee: 29 96 adiw r28, 0x09 ; 9 |
| 12f0: 8f ad ldd r24, Y+63 ; 0x3f |
| 12f2: 29 97 sbiw r28, 0x09 ; 9 |
| 12f4: 80 93 39 0c sts 0x0C39, r24 |
| 12f8: ce 01 movw r24, r28 |
| 12fa: 85 5b subi r24, 0xB5 ; 181 |
| 12fc: 9f 4f sbci r25, 0xFF ; 255 |
| 12fe: 9d 83 std Y+5, r25 ; 0x05 |
| 1300: 8c 83 std Y+4, r24 ; 0x04 |
| 1302: 2b 96 adiw r28, 0x0b ; 11 |
| 1304: 8e ad ldd r24, Y+62 ; 0x3e |
| 1306: 9f ad ldd r25, Y+63 ; 0x3f |
| 1308: 2b 97 sbiw r28, 0x0b ; 11 |
| 130a: 9f a7 std Y+47, r25 ; 0x2f |
| 130c: 8e a7 std Y+46, r24 ; 0x2e |
| 130e: 22 24 eor r2, r2 |
| 1310: 33 24 eor r3, r3 |
| 1312: 21 01 movw r4, r2 |
| 1314: 02 c0 rjmp .+4 ; 0x131a <_printf_P+0x60> |
| 1316: 13 01 movw r2, r6 |
| 1318: 24 01 movw r4, r8 |
| 131a: 0e a5 ldd r16, Y+46 ; 0x2e |
| 131c: 1f a5 ldd r17, Y+47 ; 0x2f |
| 131e: 02 c0 rjmp .+4 ; 0x1324 <_printf_P+0x6a> |
| 1320: 0f 5f subi r16, 0xFF ; 255 |
| 1322: 1f 4f sbci r17, 0xFF ; 255 |
| 1324: f8 01 movw r30, r16 |
| 1326: f4 90 lpm r15, Z |
| 1328: ff 20 and r15, r15 |
| 132a: 19 f0 breq .+6 ; 0x1332 <_printf_P+0x78> |
| 132c: f5 e2 ldi r31, 0x25 ; 37 |
| 132e: ff 16 cp r15, r31 |
| 1330: b9 f7 brne .-18 ; 0x1320 <_printf_P+0x66> |
| 1332: b8 01 movw r22, r16 |
| 1334: 8e a5 ldd r24, Y+46 ; 0x2e |
| 1336: 9f a5 ldd r25, Y+47 ; 0x2f |
| 1338: 68 1b sub r22, r24 |
| 133a: 79 0b sbc r23, r25 |
| 133c: 11 f0 breq .+4 ; 0x1342 <_printf_P+0x88> |
| 133e: 0e 94 33 09 call 0x1266 ; 0x1266 <PRINTP> |
| 1342: ff 20 and r15, r15 |
| 1344: 09 f4 brne .+2 ; 0x1348 <_printf_P+0x8e> |
| 1346: 42 c2 rjmp .+1156 ; 0x17cc <_printf_P+0x512> |
| 1348: 0f 5f subi r16, 0xFF ; 255 |
| 134a: 1f 4f sbci r17, 0xFF ; 255 |
| 134c: 1f a7 std Y+47, r17 ; 0x2f |
| 134e: 0e a7 std Y+46, r16 ; 0x2e |
| 1350: 19 82 std Y+1, r1 ; 0x01 |
| 1352: ac 81 ldd r26, Y+4 ; 0x04 |
| 1354: bd 81 ldd r27, Y+5 ; 0x05 |
| 1356: 1b aa std Y+51, r1 ; 0x33 |
| 1358: 1a aa std Y+50, r1 ; 0x32 |
| 135a: 9f ef ldi r25, 0xFF ; 255 |
| 135c: 99 ab std Y+49, r25 ; 0x31 |
| 135e: ee a5 ldd r30, Y+46 ; 0x2e |
| 1360: ff a5 ldd r31, Y+47 ; 0x2f |
| 1362: cf 01 movw r24, r30 |
| 1364: 01 96 adiw r24, 0x01 ; 1 |
| 1366: 9f a7 std Y+47, r25 ; 0x2f |
| 1368: 8e a7 std Y+46, r24 ; 0x2e |
| 136a: b4 90 lpm r11, Z |
| 136c: 95 e7 ldi r25, 0x75 ; 117 |
| 136e: b9 16 cp r11, r25 |
| 1370: 21 f0 breq .+8 ; 0x137a <_printf_P+0xc0> |
| 1372: 8b 2d mov r24, r11 |
| 1374: 80 62 ori r24, 0x20 ; 32 |
| 1376: 88 37 cpi r24, 0x78 ; 120 |
| 1378: 89 f4 brne .+34 ; 0x139c <_printf_P+0xe2> |
| 137a: eb a9 ldd r30, Y+51 ; 0x33 |
| 137c: e0 ff sbrs r30, 0 |
| 137e: 07 c0 rjmp .+14 ; 0x138e <_printf_P+0xd4> |
| 1380: 2d 90 ld r2, X+ |
| 1382: 3d 90 ld r3, X+ |
| 1384: 4d 90 ld r4, X+ |
| 1386: 5c 90 ld r5, X |
| 1388: 13 97 sbiw r26, 0x03 ; 3 |
| 138a: 14 96 adiw r26, 0x04 ; 4 |
| 138c: 07 c0 rjmp .+14 ; 0x139c <_printf_P+0xe2> |
| 138e: 8d 91 ld r24, X+ |
| 1390: 9c 91 ld r25, X |
| 1392: 11 97 sbiw r26, 0x01 ; 1 |
| 1394: 1c 01 movw r2, r24 |
| 1396: 44 24 eor r4, r4 |
| 1398: 55 24 eor r5, r5 |
| 139a: 12 96 adiw r26, 0x02 ; 2 |
| 139c: f0 e2 ldi r31, 0x20 ; 32 |
| 139e: bf 16 cp r11, r31 |
| 13a0: 21 f4 brne .+8 ; 0x13aa <_printf_P+0xf0> |
| 13a2: 89 81 ldd r24, Y+1 ; 0x01 |
| 13a4: 88 23 and r24, r24 |
| 13a6: d9 f6 brne .-74 ; 0x135e <_printf_P+0xa4> |
| 13a8: 85 c0 rjmp .+266 ; 0x14b4 <_printf_P+0x1fa> |
| 13aa: 83 e2 ldi r24, 0x23 ; 35 |
| 13ac: b8 16 cp r11, r24 |
| 13ae: 09 f4 brne .+2 ; 0x13b2 <_printf_P+0xf8> |
| 13b0: 83 c0 rjmp .+262 ; 0x14b8 <_printf_P+0x1fe> |
| 13b2: 9a e2 ldi r25, 0x2A ; 42 |
| 13b4: b9 16 cp r11, r25 |
| 13b6: 21 f0 breq .+8 ; 0x13c0 <_printf_P+0x106> |
| 13b8: ed e2 ldi r30, 0x2D ; 45 |
| 13ba: be 16 cp r11, r30 |
| 13bc: 69 f4 brne .+26 ; 0x13d8 <_printf_P+0x11e> |
| 13be: 08 c0 rjmp .+16 ; 0x13d0 <_printf_P+0x116> |
| 13c0: fd 01 movw r30, r26 |
| 13c2: 12 96 adiw r26, 0x02 ; 2 |
| 13c4: e0 81 ld r30, Z |
| 13c6: ea ab std Y+50, r30 ; 0x32 |
| 13c8: e7 ff sbrs r30, 7 |
| 13ca: c9 cf rjmp .-110 ; 0x135e <_printf_P+0xa4> |
| 13cc: e1 95 neg r30 |
| 13ce: ea ab std Y+50, r30 ; 0x32 |
| 13d0: fb a9 ldd r31, Y+51 ; 0x33 |
| 13d2: f0 61 ori r31, 0x10 ; 16 |
| 13d4: ff 7d andi r31, 0xDF ; 223 |
| 13d6: 72 c0 rjmp .+228 ; 0x14bc <_printf_P+0x202> |
| 13d8: 8b e2 ldi r24, 0x2B ; 43 |
| 13da: b8 16 cp r11, r24 |
| 13dc: 09 f4 brne .+2 ; 0x13e0 <_printf_P+0x126> |
| 13de: 6a c0 rjmp .+212 ; 0x14b4 <_printf_P+0x1fa> |
| 13e0: 9e e2 ldi r25, 0x2E ; 46 |
| 13e2: b9 16 cp r11, r25 |
| 13e4: b1 f5 brne .+108 ; 0x1452 <_printf_P+0x198> |
| 13e6: 2e a5 ldd r18, Y+46 ; 0x2e |
| 13e8: 3f a5 ldd r19, Y+47 ; 0x2f |
| 13ea: 2f 5f subi r18, 0xFF ; 255 |
| 13ec: 3f 4f sbci r19, 0xFF ; 255 |
| 13ee: ee a5 ldd r30, Y+46 ; 0x2e |
| 13f0: ff a5 ldd r31, Y+47 ; 0x2f |
| 13f2: 84 91 lpm r24, Z |
| 13f4: 8a 32 cpi r24, 0x2A ; 42 |
| 13f6: 21 f0 breq .+8 ; 0x1400 <_printf_P+0x146> |
| 13f8: b8 2e mov r11, r24 |
| 13fa: 20 e0 ldi r18, 0x00 ; 0 |
| 13fc: 30 e0 ldi r19, 0x00 ; 0 |
| 13fe: 1b c0 rjmp .+54 ; 0x1436 <_printf_P+0x17c> |
| 1400: fd 01 movw r30, r26 |
| 1402: 12 96 adiw r26, 0x02 ; 2 |
| 1404: 40 81 ld r20, Z |
| 1406: 51 81 ldd r21, Z+1 ; 0x01 |
| 1408: 57 ff sbrs r21, 7 |
| 140a: 02 c0 rjmp .+4 ; 0x1410 <_printf_P+0x156> |
| 140c: 4f ef ldi r20, 0xFF ; 255 |
| 140e: 5f ef ldi r21, 0xFF ; 255 |
| 1410: 49 ab std Y+49, r20 ; 0x31 |
| 1412: 3f a7 std Y+47, r19 ; 0x2f |
| 1414: 2e a7 std Y+46, r18 ; 0x2e |
| 1416: a3 cf rjmp .-186 ; 0x135e <_printf_P+0xa4> |
| 1418: c9 01 movw r24, r18 |
| 141a: 03 e0 ldi r16, 0x03 ; 3 |
| 141c: 88 0f add r24, r24 |
| 141e: 99 1f adc r25, r25 |
| 1420: 0a 95 dec r16 |
| 1422: e1 f7 brne .-8 ; 0x141c <_printf_P+0x162> |
| 1424: 22 0f add r18, r18 |
| 1426: 33 1f adc r19, r19 |
| 1428: 28 0f add r18, r24 |
| 142a: 39 1f adc r19, r25 |
| 142c: 2b 0d add r18, r11 |
| 142e: 31 1d adc r19, r1 |
| 1430: 20 53 subi r18, 0x30 ; 48 |
| 1432: 30 40 sbci r19, 0x00 ; 0 |
| 1434: b4 90 lpm r11, Z |
| 1436: 31 96 adiw r30, 0x01 ; 1 |
| 1438: 8b 2d mov r24, r11 |
| 143a: 80 53 subi r24, 0x30 ; 48 |
| 143c: 8a 30 cpi r24, 0x0A ; 10 |
| 143e: 60 f3 brcs .-40 ; 0x1418 <_printf_P+0x15e> |
| 1440: ff a7 std Y+47, r31 ; 0x2f |
| 1442: ee a7 std Y+46, r30 ; 0x2e |
| 1444: a9 01 movw r20, r18 |
| 1446: 37 ff sbrs r19, 7 |
| 1448: 02 c0 rjmp .+4 ; 0x144e <_printf_P+0x194> |
| 144a: 4f ef ldi r20, 0xFF ; 255 |
| 144c: 5f ef ldi r21, 0xFF ; 255 |
| 144e: 49 ab std Y+49, r20 ; 0x31 |
| 1450: 8d cf rjmp .-230 ; 0x136c <_printf_P+0xb2> |
| 1452: f0 e3 ldi r31, 0x30 ; 48 |
| 1454: bf 16 cp r11, r31 |
| 1456: 31 f4 brne .+12 ; 0x1464 <_printf_P+0x1aa> |
| 1458: 8b a9 ldd r24, Y+51 ; 0x33 |
| 145a: 84 fd sbrc r24, 4 |
| 145c: 80 cf rjmp .-256 ; 0x135e <_printf_P+0xa4> |
| 145e: 80 62 ori r24, 0x20 ; 32 |
| 1460: 8b ab std Y+51, r24 ; 0x33 |
| 1462: 7d cf rjmp .-262 ; 0x135e <_printf_P+0xa4> |
| 1464: 8b 2d mov r24, r11 |
| 1466: 81 53 subi r24, 0x31 ; 49 |
| 1468: 89 30 cpi r24, 0x09 ; 9 |
| 146a: e8 f4 brcc .+58 ; 0x14a6 <_printf_P+0x1ec> |
| 146c: 20 e0 ldi r18, 0x00 ; 0 |
| 146e: 30 e0 ldi r19, 0x00 ; 0 |
| 1470: c9 01 movw r24, r18 |
| 1472: f3 e0 ldi r31, 0x03 ; 3 |
| 1474: 88 0f add r24, r24 |
| 1476: 99 1f adc r25, r25 |
| 1478: fa 95 dec r31 |
| 147a: e1 f7 brne .-8 ; 0x1474 <_printf_P+0x1ba> |
| 147c: 22 0f add r18, r18 |
| 147e: 33 1f adc r19, r19 |
| 1480: 28 0f add r18, r24 |
| 1482: 39 1f adc r19, r25 |
| 1484: 2b 0d add r18, r11 |
| 1486: 31 1d adc r19, r1 |
| 1488: 20 53 subi r18, 0x30 ; 48 |
| 148a: 30 40 sbci r19, 0x00 ; 0 |
| 148c: ee a5 ldd r30, Y+46 ; 0x2e |
| 148e: ff a5 ldd r31, Y+47 ; 0x2f |
| 1490: cf 01 movw r24, r30 |
| 1492: 01 96 adiw r24, 0x01 ; 1 |
| 1494: 9f a7 std Y+47, r25 ; 0x2f |
| 1496: 8e a7 std Y+46, r24 ; 0x2e |
| 1498: b4 90 lpm r11, Z |
| 149a: 8b 2d mov r24, r11 |
| 149c: 80 53 subi r24, 0x30 ; 48 |
| 149e: 8a 30 cpi r24, 0x0A ; 10 |
| 14a0: 38 f3 brcs .-50 ; 0x1470 <_printf_P+0x1b6> |
| 14a2: 2a ab std Y+50, r18 ; 0x32 |
| 14a4: 63 cf rjmp .-314 ; 0x136c <_printf_P+0xb2> |
| 14a6: 98 e6 ldi r25, 0x68 ; 104 |
| 14a8: b9 16 cp r11, r25 |
| 14aa: 51 f4 brne .+20 ; 0x14c0 <_printf_P+0x206> |
| 14ac: eb a9 ldd r30, Y+51 ; 0x33 |
| 14ae: e4 60 ori r30, 0x04 ; 4 |
| 14b0: eb ab std Y+51, r30 ; 0x33 |
| 14b2: 55 cf rjmp .-342 ; 0x135e <_printf_P+0xa4> |
| 14b4: b9 82 std Y+1, r11 ; 0x01 |
| 14b6: 53 cf rjmp .-346 ; 0x135e <_printf_P+0xa4> |
| 14b8: fb a9 ldd r31, Y+51 ; 0x33 |
| 14ba: f8 60 ori r31, 0x08 ; 8 |
| 14bc: fb ab std Y+51, r31 ; 0x33 |
| 14be: 4f cf rjmp .-354 ; 0x135e <_printf_P+0xa4> |
| 14c0: 8c e6 ldi r24, 0x6C ; 108 |
| 14c2: b8 16 cp r11, r24 |
| 14c4: 21 f4 brne .+8 ; 0x14ce <_printf_P+0x214> |
| 14c6: 9b a9 ldd r25, Y+51 ; 0x33 |
| 14c8: 91 60 ori r25, 0x01 ; 1 |
| 14ca: 9b ab std Y+51, r25 ; 0x33 |
| 14cc: 48 cf rjmp .-368 ; 0x135e <_printf_P+0xa4> |
| 14ce: bd 83 std Y+5, r27 ; 0x05 |
| 14d0: ac 83 std Y+4, r26 ; 0x04 |
| 14d2: e3 e6 ldi r30, 0x63 ; 99 |
| 14d4: be 16 cp r11, r30 |
| 14d6: 39 f4 brne .+14 ; 0x14e6 <_printf_P+0x22c> |
| 14d8: 12 96 adiw r26, 0x02 ; 2 |
| 14da: bd 83 std Y+5, r27 ; 0x05 |
| 14dc: ac 83 std Y+4, r26 ; 0x04 |
| 14de: 12 97 sbiw r26, 0x02 ; 2 |
| 14e0: 8c 91 ld r24, X |
| 14e2: 8e 83 std Y+6, r24 ; 0x06 |
| 14e4: 18 c1 rjmp .+560 ; 0x1716 <_printf_P+0x45c> |
| 14e6: f4 e4 ldi r31, 0x44 ; 68 |
| 14e8: bf 16 cp r11, r31 |
| 14ea: 39 f0 breq .+14 ; 0x14fa <_printf_P+0x240> |
| 14ec: 84 e6 ldi r24, 0x64 ; 100 |
| 14ee: b8 16 cp r11, r24 |
| 14f0: 39 f0 breq .+14 ; 0x1500 <_printf_P+0x246> |
| 14f2: 99 e6 ldi r25, 0x69 ; 105 |
| 14f4: b9 16 cp r11, r25 |
| 14f6: 59 f5 brne .+86 ; 0x154e <_printf_P+0x294> |
| 14f8: 03 c0 rjmp .+6 ; 0x1500 <_printf_P+0x246> |
| 14fa: eb a9 ldd r30, Y+51 ; 0x33 |
| 14fc: e1 60 ori r30, 0x01 ; 1 |
| 14fe: eb ab std Y+51, r30 ; 0x33 |
| 1500: fb a9 ldd r31, Y+51 ; 0x33 |
| 1502: f0 ff sbrs r31, 0 |
| 1504: 08 c0 rjmp .+16 ; 0x1516 <_printf_P+0x25c> |
| 1506: 14 96 adiw r26, 0x04 ; 4 |
| 1508: bd 83 std Y+5, r27 ; 0x05 |
| 150a: ac 83 std Y+4, r26 ; 0x04 |
| 150c: 5e 90 ld r5, -X |
| 150e: 4e 90 ld r4, -X |
| 1510: 3e 90 ld r3, -X |
| 1512: 2e 90 ld r2, -X |
| 1514: 0a c0 rjmp .+20 ; 0x152a <_printf_P+0x270> |
| 1516: 12 96 adiw r26, 0x02 ; 2 |
| 1518: bd 83 std Y+5, r27 ; 0x05 |
| 151a: ac 83 std Y+4, r26 ; 0x04 |
| 151c: 9e 91 ld r25, -X |
| 151e: 8e 91 ld r24, -X |
| 1520: 1c 01 movw r2, r24 |
| 1522: 44 24 eor r4, r4 |
| 1524: 37 fc sbrc r3, 7 |
| 1526: 40 94 com r4 |
| 1528: 54 2c mov r5, r4 |
| 152a: 57 fc sbrc r5, 7 |
| 152c: 03 c0 rjmp .+6 ; 0x1534 <_printf_P+0x27a> |
| 152e: 8a e0 ldi r24, 0x0A ; 10 |
| 1530: 88 ab std Y+48, r24 ; 0x30 |
| 1532: 92 c0 rjmp .+292 ; 0x1658 <_printf_P+0x39e> |
| 1534: 50 94 com r5 |
| 1536: 40 94 com r4 |
| 1538: 30 94 com r3 |
| 153a: 20 94 com r2 |
| 153c: 21 1c adc r2, r1 |
| 153e: 31 1c adc r3, r1 |
| 1540: 41 1c adc r4, r1 |
| 1542: 51 1c adc r5, r1 |
| 1544: 8d e2 ldi r24, 0x2D ; 45 |
| 1546: 89 83 std Y+1, r24 ; 0x01 |
| 1548: 9a e0 ldi r25, 0x0A ; 10 |
| 154a: 98 ab std Y+48, r25 ; 0x30 |
| 154c: 85 c0 rjmp .+266 ; 0x1658 <_printf_P+0x39e> |
| 154e: ef e4 ldi r30, 0x4F ; 79 |
| 1550: be 16 cp r11, r30 |
| 1552: 29 f0 breq .+10 ; 0x155e <_printf_P+0x2a4> |
| 1554: ff e6 ldi r31, 0x6F ; 111 |
| 1556: bf 16 cp r11, r31 |
| 1558: 39 f4 brne .+14 ; 0x1568 <_printf_P+0x2ae> |
| 155a: 88 e0 ldi r24, 0x08 ; 8 |
| 155c: 61 c0 rjmp .+194 ; 0x1620 <_printf_P+0x366> |
| 155e: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1560: 91 60 ori r25, 0x01 ; 1 |
| 1562: 9b ab std Y+51, r25 ; 0x33 |
| 1564: e8 e0 ldi r30, 0x08 ; 8 |
| 1566: 56 c0 rjmp .+172 ; 0x1614 <_printf_P+0x35a> |
| 1568: f0 e7 ldi r31, 0x70 ; 112 |
| 156a: bf 16 cp r11, r31 |
| 156c: 71 f4 brne .+28 ; 0x158a <_printf_P+0x2d0> |
| 156e: 12 96 adiw r26, 0x02 ; 2 |
| 1570: bd 83 std Y+5, r27 ; 0x05 |
| 1572: ac 83 std Y+4, r26 ; 0x04 |
| 1574: 9e 91 ld r25, -X |
| 1576: 8e 91 ld r24, -X |
| 1578: 1c 01 movw r2, r24 |
| 157a: 44 24 eor r4, r4 |
| 157c: 55 24 eor r5, r5 |
| 157e: 8b a9 ldd r24, Y+51 ; 0x33 |
| 1580: 80 64 ori r24, 0x40 ; 64 |
| 1582: 8b ab std Y+51, r24 ; 0x33 |
| 1584: 78 e7 ldi r23, 0x78 ; 120 |
| 1586: b7 2e mov r11, r23 |
| 1588: 5e c0 rjmp .+188 ; 0x1646 <_printf_P+0x38c> |
| 158a: e3 e7 ldi r30, 0x73 ; 115 |
| 158c: be 16 cp r11, r30 |
| 158e: d9 f5 brne .+118 ; 0x1606 <_printf_P+0x34c> |
| 1590: 12 96 adiw r26, 0x02 ; 2 |
| 1592: bd 83 std Y+5, r27 ; 0x05 |
| 1594: ac 83 std Y+4, r26 ; 0x04 |
| 1596: de 90 ld r13, -X |
| 1598: ce 90 ld r12, -X |
| 159a: c1 14 cp r12, r1 |
| 159c: d1 04 cpc r13, r1 |
| 159e: 89 f4 brne .+34 ; 0x15c2 <_printf_P+0x308> |
| 15a0: 88 e2 ldi r24, 0x28 ; 40 |
| 15a2: 8e 83 std Y+6, r24 ; 0x06 |
| 15a4: 8e e6 ldi r24, 0x6E ; 110 |
| 15a6: 8f 83 std Y+7, r24 ; 0x07 |
| 15a8: 85 e7 ldi r24, 0x75 ; 117 |
| 15aa: 88 87 std Y+8, r24 ; 0x08 |
| 15ac: 8c e6 ldi r24, 0x6C ; 108 |
| 15ae: 89 87 std Y+9, r24 ; 0x09 |
| 15b0: 8a 87 std Y+10, r24 ; 0x0a |
| 15b2: 89 e2 ldi r24, 0x29 ; 41 |
| 15b4: 8b 87 std Y+11, r24 ; 0x0b |
| 15b6: 1c 86 std Y+12, r1 ; 0x0c |
| 15b8: 66 e0 ldi r22, 0x06 ; 6 |
| 15ba: c6 2e mov r12, r22 |
| 15bc: d1 2c mov r13, r1 |
| 15be: cc 0e add r12, r28 |
| 15c0: dd 1e adc r13, r29 |
| 15c2: f9 a9 ldd r31, Y+49 ; 0x31 |
| 15c4: f7 fd sbrc r31, 7 |
| 15c6: 13 c0 rjmp .+38 ; 0x15ee <_printf_P+0x334> |
| 15c8: 4f 2f mov r20, r31 |
| 15ca: 55 27 eor r21, r21 |
| 15cc: 47 fd sbrc r20, 7 |
| 15ce: 50 95 com r21 |
| 15d0: 60 e0 ldi r22, 0x00 ; 0 |
| 15d2: 70 e0 ldi r23, 0x00 ; 0 |
| 15d4: c6 01 movw r24, r12 |
| 15d6: 0e 94 03 3d call 0x7a06 ; 0x7a06 <memchr> |
| 15da: 00 97 sbiw r24, 0x00 ; 0 |
| 15dc: 11 f4 brne .+4 ; 0x15e2 <_printf_P+0x328> |
| 15de: 19 a9 ldd r17, Y+49 ; 0x31 |
| 15e0: 0d c0 rjmp .+26 ; 0x15fc <_printf_P+0x342> |
| 15e2: 8c 19 sub r24, r12 |
| 15e4: 19 a9 ldd r17, Y+49 ; 0x31 |
| 15e6: 81 17 cp r24, r17 |
| 15e8: 4c f4 brge .+18 ; 0x15fc <_printf_P+0x342> |
| 15ea: 18 2f mov r17, r24 |
| 15ec: 07 c0 rjmp .+14 ; 0x15fc <_printf_P+0x342> |
| 15ee: f6 01 movw r30, r12 |
| 15f0: 01 90 ld r0, Z+ |
| 15f2: 00 20 and r0, r0 |
| 15f4: e9 f7 brne .-6 ; 0x15f0 <_printf_P+0x336> |
| 15f6: 31 97 sbiw r30, 0x01 ; 1 |
| 15f8: 1e 2f mov r17, r30 |
| 15fa: 1c 19 sub r17, r12 |
| 15fc: 19 82 std Y+1, r1 ; 0x01 |
| 15fe: 42 01 movw r8, r4 |
| 1600: 31 01 movw r6, r2 |
| 1602: 40 e0 ldi r20, 0x00 ; 0 |
| 1604: 94 c0 rjmp .+296 ; 0x172e <_printf_P+0x474> |
| 1606: 85 e5 ldi r24, 0x55 ; 85 |
| 1608: b8 16 cp r11, r24 |
| 160a: 31 f0 breq .+12 ; 0x1618 <_printf_P+0x35e> |
| 160c: 95 e7 ldi r25, 0x75 ; 117 |
| 160e: b9 16 cp r11, r25 |
| 1610: 49 f4 brne .+18 ; 0x1624 <_printf_P+0x36a> |
| 1612: ea e0 ldi r30, 0x0A ; 10 |
| 1614: e8 ab std Y+48, r30 ; 0x30 |
| 1616: 1f c0 rjmp .+62 ; 0x1656 <_printf_P+0x39c> |
| 1618: fb a9 ldd r31, Y+51 ; 0x33 |
| 161a: f1 60 ori r31, 0x01 ; 1 |
| 161c: fb ab std Y+51, r31 ; 0x33 |
| 161e: 8a e0 ldi r24, 0x0A ; 10 |
| 1620: 88 ab std Y+48, r24 ; 0x30 |
| 1622: 19 c0 rjmp .+50 ; 0x1656 <_printf_P+0x39c> |
| 1624: 98 e5 ldi r25, 0x58 ; 88 |
| 1626: b9 16 cp r11, r25 |
| 1628: 21 f0 breq .+8 ; 0x1632 <_printf_P+0x378> |
| 162a: e8 e7 ldi r30, 0x78 ; 120 |
| 162c: be 16 cp r11, r30 |
| 162e: 09 f0 breq .+2 ; 0x1632 <_printf_P+0x378> |
| 1630: 6e c0 rjmp .+220 ; 0x170e <_printf_P+0x454> |
| 1632: fb a9 ldd r31, Y+51 ; 0x33 |
| 1634: f3 fd sbrc r31, 3 |
| 1636: 02 c0 rjmp .+4 ; 0x163c <_printf_P+0x382> |
| 1638: 80 e1 ldi r24, 0x10 ; 16 |
| 163a: f2 cf rjmp .-28 ; 0x1620 <_printf_P+0x366> |
| 163c: 21 14 cp r2, r1 |
| 163e: 31 04 cpc r3, r1 |
| 1640: 41 04 cpc r4, r1 |
| 1642: 51 04 cpc r5, r1 |
| 1644: 19 f4 brne .+6 ; 0x164c <_printf_P+0x392> |
| 1646: 90 e1 ldi r25, 0x10 ; 16 |
| 1648: 98 ab std Y+48, r25 ; 0x30 |
| 164a: 05 c0 rjmp .+10 ; 0x1656 <_printf_P+0x39c> |
| 164c: eb a9 ldd r30, Y+51 ; 0x33 |
| 164e: e0 64 ori r30, 0x40 ; 64 |
| 1650: eb ab std Y+51, r30 ; 0x33 |
| 1652: f0 e1 ldi r31, 0x10 ; 16 |
| 1654: f8 ab std Y+48, r31 ; 0x30 |
| 1656: 19 82 std Y+1, r1 ; 0x01 |
| 1658: 89 a9 ldd r24, Y+49 ; 0x31 |
| 165a: 87 fd sbrc r24, 7 |
| 165c: 03 c0 rjmp .+6 ; 0x1664 <_printf_P+0x3aa> |
| 165e: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1660: 9f 7d andi r25, 0xDF ; 223 |
| 1662: 9b ab std Y+51, r25 ; 0x33 |
| 1664: 21 14 cp r2, r1 |
| 1666: 31 04 cpc r3, r1 |
| 1668: 41 04 cpc r4, r1 |
| 166a: 51 04 cpc r5, r1 |
| 166c: 61 f4 brne .+24 ; 0x1686 <_printf_P+0x3cc> |
| 166e: e9 a9 ldd r30, Y+49 ; 0x31 |
| 1670: ee 23 and r30, r30 |
| 1672: 49 f4 brne .+18 ; 0x1686 <_printf_P+0x3cc> |
| 1674: 66 24 eor r6, r6 |
| 1676: 77 24 eor r7, r7 |
| 1678: 43 01 movw r8, r6 |
| 167a: 5e e2 ldi r21, 0x2E ; 46 |
| 167c: c5 2e mov r12, r21 |
| 167e: d1 2c mov r13, r1 |
| 1680: cc 0e add r12, r28 |
| 1682: dd 1e adc r13, r29 |
| 1684: 3e c0 rjmp .+124 ; 0x1702 <_printf_P+0x448> |
| 1686: 4e e2 ldi r20, 0x2E ; 46 |
| 1688: c4 2e mov r12, r20 |
| 168a: d1 2c mov r13, r1 |
| 168c: cc 0e add r12, r28 |
| 168e: dd 1e adc r13, r29 |
| 1690: f8 a9 ldd r31, Y+48 ; 0x30 |
| 1692: ef 2e mov r14, r31 |
| 1694: ff 24 eor r15, r15 |
| 1696: 00 27 eor r16, r16 |
| 1698: 11 27 eor r17, r17 |
| 169a: c2 01 movw r24, r4 |
| 169c: b1 01 movw r22, r2 |
| 169e: a8 01 movw r20, r16 |
| 16a0: 97 01 movw r18, r14 |
| 16a2: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 16a6: 6a 30 cpi r22, 0x0A ; 10 |
| 16a8: 20 f4 brcc .+8 ; 0x16b2 <_printf_P+0x3f8> |
| 16aa: 30 e3 ldi r19, 0x30 ; 48 |
| 16ac: a3 2e mov r10, r19 |
| 16ae: a6 0e add r10, r22 |
| 16b0: 08 c0 rjmp .+16 ; 0x16c2 <_printf_P+0x408> |
| 16b2: 27 e5 ldi r18, 0x57 ; 87 |
| 16b4: a2 2e mov r10, r18 |
| 16b6: a6 0e add r10, r22 |
| 16b8: 88 e5 ldi r24, 0x58 ; 88 |
| 16ba: b8 16 cp r11, r24 |
| 16bc: 11 f4 brne .+4 ; 0x16c2 <_printf_P+0x408> |
| 16be: 9f ed ldi r25, 0xDF ; 223 |
| 16c0: a9 22 and r10, r25 |
| 16c2: f6 01 movw r30, r12 |
| 16c4: a2 92 st -Z, r10 |
| 16c6: 6f 01 movw r12, r30 |
| 16c8: c2 01 movw r24, r4 |
| 16ca: b1 01 movw r22, r2 |
| 16cc: a8 01 movw r20, r16 |
| 16ce: 97 01 movw r18, r14 |
| 16d0: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 16d4: 39 01 movw r6, r18 |
| 16d6: 4a 01 movw r8, r20 |
| 16d8: 2e 14 cp r2, r14 |
| 16da: 3f 04 cpc r3, r15 |
| 16dc: 40 06 cpc r4, r16 |
| 16de: 51 06 cpc r5, r17 |
| 16e0: 18 f0 brcs .+6 ; 0x16e8 <_printf_P+0x42e> |
| 16e2: 19 01 movw r2, r18 |
| 16e4: 2a 01 movw r4, r20 |
| 16e6: d9 cf rjmp .-78 ; 0x169a <_printf_P+0x3e0> |
| 16e8: f8 a9 ldd r31, Y+48 ; 0x30 |
| 16ea: f8 30 cpi r31, 0x08 ; 8 |
| 16ec: 51 f4 brne .+20 ; 0x1702 <_printf_P+0x448> |
| 16ee: 8b a9 ldd r24, Y+51 ; 0x33 |
| 16f0: 83 ff sbrs r24, 3 |
| 16f2: 07 c0 rjmp .+14 ; 0x1702 <_printf_P+0x448> |
| 16f4: 90 e3 ldi r25, 0x30 ; 48 |
| 16f6: a9 16 cp r10, r25 |
| 16f8: 21 f0 breq .+8 ; 0x1702 <_printf_P+0x448> |
| 16fa: 80 e3 ldi r24, 0x30 ; 48 |
| 16fc: f6 01 movw r30, r12 |
| 16fe: 82 93 st -Z, r24 |
| 1700: 6f 01 movw r12, r30 |
| 1702: ce 01 movw r24, r28 |
| 1704: 8c 19 sub r24, r12 |
| 1706: 18 2f mov r17, r24 |
| 1708: 12 5d subi r17, 0xD2 ; 210 |
| 170a: 49 a9 ldd r20, Y+49 ; 0x31 |
| 170c: 10 c0 rjmp .+32 ; 0x172e <_printf_P+0x474> |
| 170e: bb 20 and r11, r11 |
| 1710: 09 f4 brne .+2 ; 0x1714 <_printf_P+0x45a> |
| 1712: 5c c0 rjmp .+184 ; 0x17cc <_printf_P+0x512> |
| 1714: be 82 std Y+6, r11 ; 0x06 |
| 1716: 19 82 std Y+1, r1 ; 0x01 |
| 1718: 42 01 movw r8, r4 |
| 171a: 31 01 movw r6, r2 |
| 171c: 00 e0 ldi r16, 0x00 ; 0 |
| 171e: 96 e0 ldi r25, 0x06 ; 6 |
| 1720: c9 2e mov r12, r25 |
| 1722: d1 2c mov r13, r1 |
| 1724: cc 0e add r12, r28 |
| 1726: dd 1e adc r13, r29 |
| 1728: 11 e0 ldi r17, 0x01 ; 1 |
| 172a: 21 e0 ldi r18, 0x01 ; 1 |
| 172c: 05 c0 rjmp .+10 ; 0x1738 <_printf_P+0x47e> |
| 172e: 21 2f mov r18, r17 |
| 1730: 04 2f mov r16, r20 |
| 1732: 01 1b sub r16, r17 |
| 1734: 07 fd sbrc r16, 7 |
| 1736: 00 e0 ldi r16, 0x00 ; 0 |
| 1738: 89 81 ldd r24, Y+1 ; 0x01 |
| 173a: 88 23 and r24, r24 |
| 173c: 19 f0 breq .+6 ; 0x1744 <_printf_P+0x48a> |
| 173e: 81 2f mov r24, r17 |
| 1740: 8f 5f subi r24, 0xFF ; 255 |
| 1742: 07 c0 rjmp .+14 ; 0x1752 <_printf_P+0x498> |
| 1744: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1746: 96 fd sbrc r25, 6 |
| 1748: 02 c0 rjmp .+4 ; 0x174e <_printf_P+0x494> |
| 174a: 81 2f mov r24, r17 |
| 174c: 02 c0 rjmp .+4 ; 0x1752 <_printf_P+0x498> |
| 174e: 82 2f mov r24, r18 |
| 1750: 8e 5f subi r24, 0xFE ; 254 |
| 1752: a8 2e mov r10, r24 |
| 1754: a0 0e add r10, r16 |
| 1756: eb a9 ldd r30, Y+51 ; 0x33 |
| 1758: ee 2e mov r14, r30 |
| 175a: ff 24 eor r15, r15 |
| 175c: 80 e3 ldi r24, 0x30 ; 48 |
| 175e: 48 2e mov r4, r24 |
| 1760: 51 2c mov r5, r1 |
| 1762: 4e 20 and r4, r14 |
| 1764: 5f 20 and r5, r15 |
| 1766: 41 14 cp r4, r1 |
| 1768: 51 04 cpc r5, r1 |
| 176a: 21 f4 brne .+8 ; 0x1774 <_printf_P+0x4ba> |
| 176c: 8a a9 ldd r24, Y+50 ; 0x32 |
| 176e: 8a 19 sub r24, r10 |
| 1770: 0e 94 28 09 call 0x1250 ; 0x1250 <PAD_SP> |
| 1774: 89 81 ldd r24, Y+1 ; 0x01 |
| 1776: 88 23 and r24, r24 |
| 1778: 29 f0 breq .+10 ; 0x1784 <_printf_P+0x4ca> |
| 177a: 61 e0 ldi r22, 0x01 ; 1 |
| 177c: 70 e0 ldi r23, 0x00 ; 0 |
| 177e: ce 01 movw r24, r28 |
| 1780: 01 96 adiw r24, 0x01 ; 1 |
| 1782: 09 c0 rjmp .+18 ; 0x1796 <_printf_P+0x4dc> |
| 1784: e6 fe sbrs r14, 6 |
| 1786: 09 c0 rjmp .+18 ; 0x179a <_printf_P+0x4e0> |
| 1788: 80 e3 ldi r24, 0x30 ; 48 |
| 178a: 8a 83 std Y+2, r24 ; 0x02 |
| 178c: bb 82 std Y+3, r11 ; 0x03 |
| 178e: 62 e0 ldi r22, 0x02 ; 2 |
| 1790: 70 e0 ldi r23, 0x00 ; 0 |
| 1792: ce 01 movw r24, r28 |
| 1794: 02 96 adiw r24, 0x02 ; 2 |
| 1796: 0e 94 49 09 call 0x1292 ; 0x1292 <PRINT> |
| 179a: f0 e2 ldi r31, 0x20 ; 32 |
| 179c: 4f 16 cp r4, r31 |
| 179e: 51 04 cpc r5, r1 |
| 17a0: 21 f4 brne .+8 ; 0x17aa <_printf_P+0x4f0> |
| 17a2: 8a a9 ldd r24, Y+50 ; 0x32 |
| 17a4: 8a 19 sub r24, r10 |
| 17a6: 0e 94 1d 09 call 0x123a ; 0x123a <PAD_0> |
| 17aa: 80 2f mov r24, r16 |
| 17ac: 0e 94 1d 09 call 0x123a ; 0x123a <PAD_0> |
| 17b0: 61 2f mov r22, r17 |
| 17b2: 77 27 eor r23, r23 |
| 17b4: 67 fd sbrc r22, 7 |
| 17b6: 70 95 com r23 |
| 17b8: c6 01 movw r24, r12 |
| 17ba: 0e 94 49 09 call 0x1292 ; 0x1292 <PRINT> |
| 17be: e4 fe sbrs r14, 4 |
| 17c0: aa cd rjmp .-1196 ; 0x1316 <_printf_P+0x5c> |
| 17c2: 8a a9 ldd r24, Y+50 ; 0x32 |
| 17c4: 8a 19 sub r24, r10 |
| 17c6: 0e 94 28 09 call 0x1250 ; 0x1250 <PAD_SP> |
| 17ca: a5 cd rjmp .-1206 ; 0x1316 <_printf_P+0x5c> |
| 17cc: e3 96 adiw r28, 0x33 ; 51 |
| 17ce: 0f b6 in r0, 0x3f ; 63 |
| 17d0: f8 94 cli |
| 17d2: de bf out 0x3e, r29 ; 62 |
| 17d4: 0f be out 0x3f, r0 ; 63 |
| 17d6: cd bf out 0x3d, r28 ; 61 |
| 17d8: df 91 pop r29 |
| 17da: cf 91 pop r28 |
| 17dc: 1f 91 pop r17 |
| 17de: 0f 91 pop r16 |
| 17e0: ff 90 pop r15 |
| 17e2: ef 90 pop r14 |
| 17e4: df 90 pop r13 |
| 17e6: cf 90 pop r12 |
| 17e8: bf 90 pop r11 |
| 17ea: af 90 pop r10 |
| 17ec: 9f 90 pop r9 |
| 17ee: 8f 90 pop r8 |
| 17f0: 7f 90 pop r7 |
| 17f2: 6f 90 pop r6 |
| 17f4: 5f 90 pop r5 |
| 17f6: 4f 90 pop r4 |
| 17f8: 3f 90 pop r3 |
| 17fa: 2f 90 pop r2 |
| 17fc: 08 95 ret |
| 000017fe <__vector_18>: |
| 17fe: 1f 92 push r1 |
| 1800: 0f 92 push r0 |
| 1802: 0f b6 in r0, 0x3f ; 63 |
| 1804: 0f 92 push r0 |
| 1806: 11 24 eor r1, r1 |
| 1808: 2f 93 push r18 |
| 180a: 3f 93 push r19 |
| 180c: 5f 93 push r21 |
| 180e: 6f 93 push r22 |
| 1810: 7f 93 push r23 |
| 1812: 8f 93 push r24 |
| 1814: 9f 93 push r25 |
| 1816: af 93 push r26 |
| 1818: bf 93 push r27 |
| 181a: 80 91 4b 08 lds r24, 0x084B |
| 181e: 81 50 subi r24, 0x01 ; 1 |
| 1820: 80 93 4b 08 sts 0x084B, r24 |
| 1824: 8f 3f cpi r24, 0xFF ; 255 |
| 1826: 01 f5 brne .+64 ; 0x1868 <__vector_18+0x6a> |
| 1828: 89 e0 ldi r24, 0x09 ; 9 |
| 182a: 80 93 4b 08 sts 0x084B, r24 |
| 182e: 80 91 03 01 lds r24, 0x0103 |
| 1832: 8f 5f subi r24, 0xFF ; 255 |
| 1834: 81 70 andi r24, 0x01 ; 1 |
| 1836: 80 93 03 01 sts 0x0103, r24 |
| 183a: 88 23 and r24, r24 |
| 183c: 19 f4 brne .+6 ; 0x1844 <__vector_18+0x46> |
| 183e: 81 e0 ldi r24, 0x01 ; 1 |
| 1840: 80 93 44 08 sts 0x0844, r24 |
| 1844: 80 91 42 08 lds r24, 0x0842 |
| 1848: 90 91 43 08 lds r25, 0x0843 |
| 184c: 01 96 adiw r24, 0x01 ; 1 |
| 184e: 90 93 43 08 sts 0x0843, r25 |
| 1852: 80 93 42 08 sts 0x0842, r24 |
| 1856: 80 91 72 08 lds r24, 0x0872 |
| 185a: 88 23 and r24, r24 |
| 185c: 29 f0 breq .+10 ; 0x1868 <__vector_18+0x6a> |
| 185e: 80 91 72 08 lds r24, 0x0872 |
| 1862: 81 50 subi r24, 0x01 ; 1 |
| 1864: 80 93 72 08 sts 0x0872, r24 |
| 1868: 80 91 47 08 lds r24, 0x0847 |
| 186c: 90 91 48 08 lds r25, 0x0848 |
| 1870: 02 97 sbiw r24, 0x02 ; 2 |
| 1872: 58 f0 brcs .+22 ; 0x188a <__vector_18+0x8c> |
| 1874: 80 91 47 08 lds r24, 0x0847 |
| 1878: 90 91 48 08 lds r25, 0x0848 |
| 187c: 01 97 sbiw r24, 0x01 ; 1 |
| 187e: 90 93 48 08 sts 0x0848, r25 |
| 1882: 80 93 47 08 sts 0x0847, r24 |
| 1886: 5a 9a sbi 0x0b, 2 ; 11 |
| 1888: 01 c0 rjmp .+2 ; 0x188c <__vector_18+0x8e> |
| 188a: 5a 98 cbi 0x0b, 2 ; 11 |
| 188c: 80 91 98 0c lds r24, 0x0C98 |
| 1890: 99 27 eor r25, r25 |
| 1892: 83 fd sbrc r24, 3 |
| 1894: 02 c0 rjmp .+4 ; 0x189a <__vector_18+0x9c> |
| 1896: 85 ff sbrs r24, 5 |
| 1898: 3b c0 rjmp .+118 ; 0x1910 <__vector_18+0x112> |
| 189a: 34 9b sbis 0x06, 4 ; 6 |
| 189c: 0a c0 rjmp .+20 ; 0x18b2 <__vector_18+0xb4> |
| 189e: 80 91 45 08 lds r24, 0x0845 |
| 18a2: 90 91 46 08 lds r25, 0x0846 |
| 18a6: 01 96 adiw r24, 0x01 ; 1 |
| 18a8: 90 93 46 08 sts 0x0846, r25 |
| 18ac: 80 93 45 08 sts 0x0845, r24 |
| 18b0: 2f c0 rjmp .+94 ; 0x1910 <__vector_18+0x112> |
| 18b2: 80 91 45 08 lds r24, 0x0845 |
| 18b6: 90 91 46 08 lds r25, 0x0846 |
| 18ba: 89 2b or r24, r25 |
| 18bc: 79 f0 breq .+30 ; 0x18dc <__vector_18+0xde> |
| 18be: 80 91 45 08 lds r24, 0x0845 |
| 18c2: 90 91 46 08 lds r25, 0x0846 |
| 18c6: 80 5a subi r24, 0xA0 ; 160 |
| 18c8: 9f 40 sbci r25, 0x0F ; 15 |
| 18ca: 40 f4 brcc .+16 ; 0x18dc <__vector_18+0xde> |
| 18cc: 80 91 45 08 lds r24, 0x0845 |
| 18d0: 90 91 46 08 lds r25, 0x0846 |
| 18d4: 90 93 b4 08 sts 0x08B4, r25 |
| 18d8: 80 93 b3 08 sts 0x08B3, r24 |
| 18dc: 80 91 b3 08 lds r24, 0x08B3 |
| 18e0: 90 91 b4 08 lds r25, 0x08B4 |
| 18e4: 20 91 b5 08 lds r18, 0x08B5 |
| 18e8: 30 91 b6 08 lds r19, 0x08B6 |
| 18ec: 82 1b sub r24, r18 |
| 18ee: 93 0b sbc r25, r19 |
| 18f0: 84 5e subi r24, 0xE4 ; 228 |
| 18f2: 9d 4f sbci r25, 0xFD ; 253 |
| 18f4: 68 e6 ldi r22, 0x68 ; 104 |
| 18f6: 71 e0 ldi r23, 0x01 ; 1 |
| 18f8: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 18fc: 84 5b subi r24, 0xB4 ; 180 |
| 18fe: 90 40 sbci r25, 0x00 ; 0 |
| 1900: 90 93 b8 08 sts 0x08B8, r25 |
| 1904: 80 93 b7 08 sts 0x08B7, r24 |
| 1908: 10 92 46 08 sts 0x0846, r1 |
| 190c: 10 92 45 08 sts 0x0845, r1 |
| 1910: bf 91 pop r27 |
| 1912: af 91 pop r26 |
| 1914: 9f 91 pop r25 |
| 1916: 8f 91 pop r24 |
| 1918: 7f 91 pop r23 |
| 191a: 6f 91 pop r22 |
| 191c: 5f 91 pop r21 |
| 191e: 3f 91 pop r19 |
| 1920: 2f 91 pop r18 |
| 1922: 0f 90 pop r0 |
| 1924: 0f be out 0x3f, r0 ; 63 |
| 1926: 0f 90 pop r0 |
| 1928: 1f 90 pop r1 |
| 192a: 18 95 reti |
| 0000192c <SetDelay>: |
| 192c: 20 91 42 08 lds r18, 0x0842 |
| 1930: 30 91 43 08 lds r19, 0x0843 |
| 1934: 2f 5f subi r18, 0xFF ; 255 |
| 1936: 3f 4f sbci r19, 0xFF ; 255 |
| 1938: 82 0f add r24, r18 |
| 193a: 93 1f adc r25, r19 |
| 193c: 08 95 ret |
| 0000193e <CheckDelay>: |
| 193e: 20 91 42 08 lds r18, 0x0842 |
| 1942: 30 91 43 08 lds r19, 0x0843 |
| 1946: 82 1b sub r24, r18 |
| 1948: 93 0b sbc r25, r19 |
| 194a: 89 2f mov r24, r25 |
| 194c: 99 27 eor r25, r25 |
| 194e: 86 95 lsr r24 |
| 1950: 80 74 andi r24, 0x40 ; 64 |
| 1952: 99 27 eor r25, r25 |
| 1954: 08 95 ret |
| 00001956 <__vector_9>: |
| 1956: 1f 92 push r1 |
| 1958: 0f 92 push r0 |
| 195a: 0f b6 in r0, 0x3f ; 63 |
| 195c: 0f 92 push r0 |
| 195e: 11 24 eor r1, r1 |
| 1960: ef 92 push r14 |
| 1962: ff 92 push r15 |
| 1964: 0f 93 push r16 |
| 1966: 1f 93 push r17 |
| 1968: 2f 93 push r18 |
| 196a: 3f 93 push r19 |
| 196c: 4f 93 push r20 |
| 196e: 5f 93 push r21 |
| 1970: 6f 93 push r22 |
| 1972: 7f 93 push r23 |
| 1974: 8f 93 push r24 |
| 1976: 9f 93 push r25 |
| 1978: af 93 push r26 |
| 197a: bf 93 push r27 |
| 197c: cf 93 push r28 |
| 197e: df 93 push r29 |
| 1980: ef 93 push r30 |
| 1982: ff 93 push r31 |
| 1984: 80 91 02 01 lds r24, 0x0102 |
| 1988: 81 50 subi r24, 0x01 ; 1 |
| 198a: 80 93 02 01 sts 0x0102, r24 |
| 198e: 8f 3f cpi r24, 0xFF ; 255 |
| 1990: 09 f0 breq .+2 ; 0x1994 <__vector_9+0x3e> |
| 1992: 6d c0 rjmp .+218 ; 0x1a6e <__vector_9+0x118> |
| 1994: 83 e8 ldi r24, 0x83 ; 131 |
| 1996: 80 93 b0 00 sts 0x00B0, r24 |
| 199a: 80 91 89 01 lds r24, 0x0189 |
| 199e: c8 2f mov r28, r24 |
| 19a0: dd 27 eor r29, r29 |
| 19a2: d0 93 4a 08 sts 0x084A, r29 |
| 19a6: c0 93 49 08 sts 0x0849, r28 |
| 19aa: 80 91 b6 0c lds r24, 0x0CB6 |
| 19ae: e0 90 b2 0c lds r14, 0x0CB2 |
| 19b2: 80 ff sbrs r24, 0 |
| 19b4: 1e c0 rjmp .+60 ; 0x19f2 <__vector_9+0x9c> |
| 19b6: 60 91 83 08 lds r22, 0x0883 |
| 19ba: 70 91 84 08 lds r23, 0x0884 |
| 19be: 80 91 85 08 lds r24, 0x0885 |
| 19c2: 90 91 86 08 lds r25, 0x0886 |
| 19c6: ff 24 eor r15, r15 |
| 19c8: 00 27 eor r16, r16 |
| 19ca: 11 27 eor r17, r17 |
| 19cc: 20 e8 ldi r18, 0x80 ; 128 |
| 19ce: 30 e0 ldi r19, 0x00 ; 0 |
| 19d0: 40 e0 ldi r20, 0x00 ; 0 |
| 19d2: 50 e0 ldi r21, 0x00 ; 0 |
| 19d4: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 19d8: c8 01 movw r24, r16 |
| 19da: b7 01 movw r22, r14 |
| 19dc: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 19e0: 20 e0 ldi r18, 0x00 ; 0 |
| 19e2: 32 e0 ldi r19, 0x02 ; 2 |
| 19e4: 40 e0 ldi r20, 0x00 ; 0 |
| 19e6: 50 e0 ldi r21, 0x00 ; 0 |
| 19e8: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 19ec: c2 0f add r28, r18 |
| 19ee: d3 1f adc r29, r19 |
| 19f0: 1d c0 rjmp .+58 ; 0x1a2c <__vector_9+0xd6> |
| 19f2: 60 91 83 08 lds r22, 0x0883 |
| 19f6: 70 91 84 08 lds r23, 0x0884 |
| 19fa: 80 91 85 08 lds r24, 0x0885 |
| 19fe: 90 91 86 08 lds r25, 0x0886 |
| 1a02: ff 24 eor r15, r15 |
| 1a04: 00 27 eor r16, r16 |
| 1a06: 11 27 eor r17, r17 |
| 1a08: 20 e8 ldi r18, 0x80 ; 128 |
| 1a0a: 30 e0 ldi r19, 0x00 ; 0 |
| 1a0c: 40 e0 ldi r20, 0x00 ; 0 |
| 1a0e: 50 e0 ldi r21, 0x00 ; 0 |
| 1a10: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 1a14: c8 01 movw r24, r16 |
| 1a16: b7 01 movw r22, r14 |
| 1a18: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 1a1c: 20 e0 ldi r18, 0x00 ; 0 |
| 1a1e: 32 e0 ldi r19, 0x02 ; 2 |
| 1a20: 40 e0 ldi r20, 0x00 ; 0 |
| 1a22: 50 e0 ldi r21, 0x00 ; 0 |
| 1a24: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 1a28: c2 1b sub r28, r18 |
| 1a2a: d3 0b sbc r29, r19 |
| 1a2c: d0 93 4a 08 sts 0x084A, r29 |
| 1a30: c0 93 49 08 sts 0x0849, r28 |
| 1a34: 20 91 49 08 lds r18, 0x0849 |
| 1a38: 30 91 4a 08 lds r19, 0x084A |
| 1a3c: 80 91 b3 0c lds r24, 0x0CB3 |
| 1a40: 99 27 eor r25, r25 |
| 1a42: 28 17 cp r18, r24 |
| 1a44: 39 07 cpc r19, r25 |
| 1a46: 34 f0 brlt .+12 ; 0x1a54 <__vector_9+0xfe> |
| 1a48: 80 91 b4 0c lds r24, 0x0CB4 |
| 1a4c: 99 27 eor r25, r25 |
| 1a4e: 82 17 cp r24, r18 |
| 1a50: 93 07 cpc r25, r19 |
| 1a52: 24 f4 brge .+8 ; 0x1a5c <__vector_9+0x106> |
| 1a54: 90 93 4a 08 sts 0x084A, r25 |
| 1a58: 80 93 49 08 sts 0x0849, r24 |
| 1a5c: 80 91 49 08 lds r24, 0x0849 |
| 1a60: 80 93 b3 00 sts 0x00B3, r24 |
| 1a64: 80 91 b5 0c lds r24, 0x0CB5 |
| 1a68: 80 93 02 01 sts 0x0102, r24 |
| 1a6c: 04 c0 rjmp .+8 ; 0x1a76 <__vector_9+0x120> |
| 1a6e: 83 e0 ldi r24, 0x03 ; 3 |
| 1a70: 80 93 b0 00 sts 0x00B0, r24 |
| 1a74: 5f 98 cbi 0x0b, 7 ; 11 |
| 1a76: ff 91 pop r31 |
| 1a78: ef 91 pop r30 |
| 1a7a: df 91 pop r29 |
| 1a7c: cf 91 pop r28 |
| 1a7e: bf 91 pop r27 |
| 1a80: af 91 pop r26 |
| 1a82: 9f 91 pop r25 |
| 1a84: 8f 91 pop r24 |
| 1a86: 7f 91 pop r23 |
| 1a88: 6f 91 pop r22 |
| 1a8a: 5f 91 pop r21 |
| 1a8c: 4f 91 pop r20 |
| 1a8e: 3f 91 pop r19 |
| 1a90: 2f 91 pop r18 |
| 1a92: 1f 91 pop r17 |
| 1a94: 0f 91 pop r16 |
| 1a96: ff 90 pop r15 |
| 1a98: ef 90 pop r14 |
| 1a9a: 0f 90 pop r0 |
| 1a9c: 0f be out 0x3f, r0 ; 63 |
| 1a9e: 0f 90 pop r0 |
| 1aa0: 1f 90 pop r1 |
| 1aa2: 18 95 reti |
| 00001aa4 <Timer_Init>: |
| 1aa4: 80 91 42 08 lds r24, 0x0842 |
| 1aa8: 90 91 43 08 lds r25, 0x0843 |
| 1aac: 0b 96 adiw r24, 0x0b ; 11 |
| 1aae: 90 93 4d 08 sts 0x084D, r25 |
| 1ab2: 80 93 4c 08 sts 0x084C, r24 |
| 1ab6: 82 e0 ldi r24, 0x02 ; 2 |
| 1ab8: 85 bd out 0x25, r24 ; 37 |
| 1aba: 83 ea ldi r24, 0xA3 ; 163 |
| 1abc: 84 bd out 0x24, r24 ; 36 |
| 1abe: 17 bc out 0x27, r1 ; 39 |
| 1ac0: 88 e7 ldi r24, 0x78 ; 120 |
| 1ac2: 88 bd out 0x28, r24 ; 40 |
| 1ac4: 96 e0 ldi r25, 0x06 ; 6 |
| 1ac6: 96 bd out 0x26, r25 ; 38 |
| 1ac8: 83 ec ldi r24, 0xC3 ; 195 |
| 1aca: 80 93 b0 00 sts 0x00B0, r24 |
| 1ace: 90 93 b1 00 sts 0x00B1, r25 |
| 1ad2: e0 e7 ldi r30, 0x70 ; 112 |
| 1ad4: f0 e0 ldi r31, 0x00 ; 0 |
| 1ad6: 80 81 ld r24, Z |
| 1ad8: 82 60 ori r24, 0x02 ; 2 |
| 1ada: 80 83 st Z, r24 |
| 1adc: ee e6 ldi r30, 0x6E ; 110 |
| 1ade: f0 e0 ldi r31, 0x00 ; 0 |
| 1ae0: 80 81 ld r24, Z |
| 1ae2: 81 60 ori r24, 0x01 ; 1 |
| 1ae4: 80 83 st Z, r24 |
| 1ae6: 8a e0 ldi r24, 0x0A ; 10 |
| 1ae8: 80 93 b3 00 sts 0x00B3, r24 |
| 1aec: 10 92 b2 00 sts 0x00B2, r1 |
| 1af0: 08 95 ret |
| 00001af2 <Delay_ms>: |
| 1af2: 20 91 42 08 lds r18, 0x0842 |
| 1af6: 30 91 43 08 lds r19, 0x0843 |
| 1afa: 2f 5f subi r18, 0xFF ; 255 |
| 1afc: 3f 4f sbci r19, 0xFF ; 255 |
| 1afe: 28 0f add r18, r24 |
| 1b00: 39 1f adc r19, r25 |
| 1b02: 80 91 42 08 lds r24, 0x0842 |
| 1b06: 90 91 43 08 lds r25, 0x0843 |
| 1b0a: a9 01 movw r20, r18 |
| 1b0c: 48 1b sub r20, r24 |
| 1b0e: 59 0b sbc r21, r25 |
| 1b10: 57 ff sbrs r21, 7 |
| 1b12: f7 cf rjmp .-18 ; 0x1b02 <Delay_ms+0x10> |
| 1b14: 08 95 ret |
| 00001b16 <ADC_Init>: |
| 1b16: 10 92 7c 00 sts 0x007C, r1 |
| 1b1a: 8f ee ldi r24, 0xEF ; 239 |
| 1b1c: 80 93 7a 00 sts 0x007A, r24 |
| 1b20: 08 95 ret |
| 00001b22 <__vector_24>: |
| 1b22: 1f 92 push r1 |
| 1b24: 0f 92 push r0 |
| 1b26: 0f b6 in r0, 0x3f ; 63 |
| 1b28: 0f 92 push r0 |
| 1b2a: 11 24 eor r1, r1 |
| 1b2c: ef 92 push r14 |
| 1b2e: ff 92 push r15 |
| 1b30: 0f 93 push r16 |
| 1b32: 1f 93 push r17 |
| 1b34: 2f 93 push r18 |
| 1b36: 3f 93 push r19 |
| 1b38: 4f 93 push r20 |
| 1b3a: 5f 93 push r21 |
| 1b3c: 6f 93 push r22 |
| 1b3e: 7f 93 push r23 |
| 1b40: 8f 93 push r24 |
| 1b42: 9f 93 push r25 |
| 1b44: af 93 push r26 |
| 1b46: bf 93 push r27 |
| 1b48: cf 93 push r28 |
| 1b4a: df 93 push r29 |
| 1b4c: ef 93 push r30 |
| 1b4e: ff 93 push r31 |
| 1b50: 10 92 7a 00 sts 0x007A, r1 |
| 1b54: 40 91 64 08 lds r20, 0x0864 |
| 1b58: 4f 5f subi r20, 0xFF ; 255 |
| 1b5a: 40 93 64 08 sts 0x0864, r20 |
| 1b5e: 41 50 subi r20, 0x01 ; 1 |
| 1b60: 43 30 cpi r20, 0x03 ; 3 |
| 1b62: 09 f4 brne .+2 ; 0x1b66 <__vector_24+0x44> |
| 1b64: 1c c1 rjmp .+568 ; 0x1d9e <__vector_24+0x27c> |
| 1b66: 44 30 cpi r20, 0x04 ; 4 |
| 1b68: 38 f4 brcc .+14 ; 0x1b78 <__vector_24+0x56> |
| 1b6a: 41 30 cpi r20, 0x01 ; 1 |
| 1b6c: 09 f4 brne .+2 ; 0x1b70 <__vector_24+0x4e> |
| 1b6e: 63 c0 rjmp .+198 ; 0x1c36 <__vector_24+0x114> |
| 1b70: 42 30 cpi r20, 0x02 ; 2 |
| 1b72: 08 f0 brcs .+2 ; 0x1b76 <__vector_24+0x54> |
| 1b74: b9 c0 rjmp .+370 ; 0x1ce8 <__vector_24+0x1c6> |
| 1b76: 0d c0 rjmp .+26 ; 0x1b92 <__vector_24+0x70> |
| 1b78: 45 30 cpi r20, 0x05 ; 5 |
| 1b7a: 09 f4 brne .+2 ; 0x1b7e <__vector_24+0x5c> |
| 1b7c: 50 c1 rjmp .+672 ; 0x1e1e <__vector_24+0x2fc> |
| 1b7e: 45 30 cpi r20, 0x05 ; 5 |
| 1b80: 08 f4 brcc .+2 ; 0x1b84 <__vector_24+0x62> |
| 1b82: 2a c1 rjmp .+596 ; 0x1dd8 <__vector_24+0x2b6> |
| 1b84: 46 30 cpi r20, 0x06 ; 6 |
| 1b86: 09 f4 brne .+2 ; 0x1b8a <__vector_24+0x68> |
| 1b88: 6f c1 rjmp .+734 ; 0x1e68 <__vector_24+0x346> |
| 1b8a: 47 30 cpi r20, 0x07 ; 7 |
| 1b8c: 09 f0 breq .+2 ; 0x1b90 <__vector_24+0x6e> |
| 1b8e: cb c2 rjmp .+1430 ; 0x2126 <__vector_24+0x604> |
| 1b90: 52 c2 rjmp .+1188 ; 0x2036 <__vector_24+0x514> |
| 1b92: 20 91 77 08 lds r18, 0x0877 |
| 1b96: 30 91 78 08 lds r19, 0x0878 |
| 1b9a: 80 91 78 00 lds r24, 0x0078 |
| 1b9e: 90 91 79 00 lds r25, 0x0079 |
| 1ba2: 28 1b sub r18, r24 |
| 1ba4: 39 0b sbc r19, r25 |
| 1ba6: 80 91 52 08 lds r24, 0x0852 |
| 1baa: 90 91 53 08 lds r25, 0x0853 |
| 1bae: 82 0f add r24, r18 |
| 1bb0: 93 1f adc r25, r19 |
| 1bb2: 90 93 53 08 sts 0x0853, r25 |
| 1bb6: 80 93 52 08 sts 0x0852, r24 |
| 1bba: 80 91 5c 08 lds r24, 0x085C |
| 1bbe: 8f 5f subi r24, 0xFF ; 255 |
| 1bc0: 80 93 5c 08 sts 0x085C, r24 |
| 1bc4: 80 91 a7 08 lds r24, 0x08A7 |
| 1bc8: 90 91 a8 08 lds r25, 0x08A8 |
| 1bcc: a0 91 a9 08 lds r26, 0x08A9 |
| 1bd0: b0 91 aa 08 lds r27, 0x08AA |
| 1bd4: 44 27 eor r20, r20 |
| 1bd6: 37 fd sbrc r19, 7 |
| 1bd8: 40 95 com r20 |
| 1bda: 54 2f mov r21, r20 |
| 1bdc: 82 0f add r24, r18 |
| 1bde: 93 1f adc r25, r19 |
| 1be0: a4 1f adc r26, r20 |
| 1be2: b5 1f adc r27, r21 |
| 1be4: 80 93 a7 08 sts 0x08A7, r24 |
| 1be8: 90 93 a8 08 sts 0x08A8, r25 |
| 1bec: a0 93 a9 08 sts 0x08A9, r26 |
| 1bf0: b0 93 aa 08 sts 0x08AA, r27 |
| 1bf4: 80 91 ab 08 lds r24, 0x08AB |
| 1bf8: 90 91 ac 08 lds r25, 0x08AC |
| 1bfc: a0 91 ad 08 lds r26, 0x08AD |
| 1c00: b0 91 ae 08 lds r27, 0x08AE |
| 1c04: 82 0f add r24, r18 |
| 1c06: 93 1f adc r25, r19 |
| 1c08: a4 1f adc r26, r20 |
| 1c0a: b5 1f adc r27, r21 |
| 1c0c: 80 93 ab 08 sts 0x08AB, r24 |
| 1c10: 90 93 ac 08 sts 0x08AC, r25 |
| 1c14: a0 93 ad 08 sts 0x08AD, r26 |
| 1c18: b0 93 ae 08 sts 0x08AE, r27 |
| 1c1c: 81 e0 ldi r24, 0x01 ; 1 |
| 1c1e: 80 93 65 08 sts 0x0865, r24 |
| 1c22: 80 91 62 08 lds r24, 0x0862 |
| 1c26: 90 91 63 08 lds r25, 0x0863 |
| 1c2a: 01 96 adiw r24, 0x01 ; 1 |
| 1c2c: 90 93 63 08 sts 0x0863, r25 |
| 1c30: 80 93 62 08 sts 0x0862, r24 |
| 1c34: 7c c2 rjmp .+1272 ; 0x212e <__vector_24+0x60c> |
| 1c36: 60 91 78 00 lds r22, 0x0078 |
| 1c3a: 70 91 79 00 lds r23, 0x0079 |
| 1c3e: 80 91 75 08 lds r24, 0x0875 |
| 1c42: 90 91 76 08 lds r25, 0x0876 |
| 1c46: 68 1b sub r22, r24 |
| 1c48: 79 0b sbc r23, r25 |
| 1c4a: 80 91 9f 08 lds r24, 0x089F |
| 1c4e: 90 91 a0 08 lds r25, 0x08A0 |
| 1c52: a0 91 a1 08 lds r26, 0x08A1 |
| 1c56: b0 91 a2 08 lds r27, 0x08A2 |
| 1c5a: 9b 01 movw r18, r22 |
| 1c5c: 44 27 eor r20, r20 |
| 1c5e: 37 fd sbrc r19, 7 |
| 1c60: 40 95 com r20 |
| 1c62: 54 2f mov r21, r20 |
| 1c64: 82 0f add r24, r18 |
| 1c66: 93 1f adc r25, r19 |
| 1c68: a4 1f adc r26, r20 |
| 1c6a: b5 1f adc r27, r21 |
| 1c6c: 80 93 9f 08 sts 0x089F, r24 |
| 1c70: 90 93 a0 08 sts 0x08A0, r25 |
| 1c74: a0 93 a1 08 sts 0x08A1, r26 |
| 1c78: b0 93 a2 08 sts 0x08A2, r27 |
| 1c7c: 80 91 a3 08 lds r24, 0x08A3 |
| 1c80: 90 91 a4 08 lds r25, 0x08A4 |
| 1c84: a0 91 a5 08 lds r26, 0x08A5 |
| 1c88: b0 91 a6 08 lds r27, 0x08A6 |
| 1c8c: 82 0f add r24, r18 |
| 1c8e: 93 1f adc r25, r19 |
| 1c90: a4 1f adc r26, r20 |
| 1c92: b5 1f adc r27, r21 |
| 1c94: 80 93 a3 08 sts 0x08A3, r24 |
| 1c98: 90 93 a4 08 sts 0x08A4, r25 |
| 1c9c: a0 93 a5 08 sts 0x08A5, r26 |
| 1ca0: b0 93 a6 08 sts 0x08A6, r27 |
| 1ca4: 80 91 78 00 lds r24, 0x0078 |
| 1ca8: 90 91 79 00 lds r25, 0x0079 |
| 1cac: 0a 97 sbiw r24, 0x0a ; 10 |
| 1cae: 10 f4 brcc .+4 ; 0x1cb4 <__vector_24+0x192> |
| 1cb0: 64 e4 ldi r22, 0x44 ; 68 |
| 1cb2: 7d ef ldi r23, 0xFD ; 253 |
| 1cb4: 80 91 78 00 lds r24, 0x0078 |
| 1cb8: 90 91 79 00 lds r25, 0x0079 |
| 1cbc: 89 5e subi r24, 0xE9 ; 233 |
| 1cbe: 93 40 sbci r25, 0x03 ; 3 |
| 1cc0: 10 f0 brcs .+4 ; 0x1cc6 <__vector_24+0x1a4> |
| 1cc2: 6c eb ldi r22, 0xBC ; 188 |
| 1cc4: 72 e0 ldi r23, 0x02 ; 2 |
| 1cc6: 80 91 50 08 lds r24, 0x0850 |
| 1cca: 90 91 51 08 lds r25, 0x0851 |
| 1cce: 86 0f add r24, r22 |
| 1cd0: 97 1f adc r25, r23 |
| 1cd2: 90 93 51 08 sts 0x0851, r25 |
| 1cd6: 80 93 50 08 sts 0x0850, r24 |
| 1cda: 80 91 5b 08 lds r24, 0x085B |
| 1cde: 8f 5f subi r24, 0xFF ; 255 |
| 1ce0: 80 93 5b 08 sts 0x085B, r24 |
| 1ce4: 82 e0 ldi r24, 0x02 ; 2 |
| 1ce6: 58 c0 rjmp .+176 ; 0x1d98 <__vector_24+0x276> |
| 1ce8: 60 91 78 00 lds r22, 0x0078 |
| 1cec: 70 91 79 00 lds r23, 0x0079 |
| 1cf0: 80 91 73 08 lds r24, 0x0873 |
| 1cf4: 90 91 74 08 lds r25, 0x0874 |
| 1cf8: 68 1b sub r22, r24 |
| 1cfa: 79 0b sbc r23, r25 |
| 1cfc: 80 91 97 08 lds r24, 0x0897 |
| 1d00: 90 91 98 08 lds r25, 0x0898 |
| 1d04: a0 91 99 08 lds r26, 0x0899 |
| 1d08: b0 91 9a 08 lds r27, 0x089A |
| 1d0c: 9b 01 movw r18, r22 |
| 1d0e: 44 27 eor r20, r20 |
| 1d10: 37 fd sbrc r19, 7 |
| 1d12: 40 95 com r20 |
| 1d14: 54 2f mov r21, r20 |
| 1d16: 82 0f add r24, r18 |
| 1d18: 93 1f adc r25, r19 |
| 1d1a: a4 1f adc r26, r20 |
| 1d1c: b5 1f adc r27, r21 |
| 1d1e: 80 93 97 08 sts 0x0897, r24 |
| 1d22: 90 93 98 08 sts 0x0898, r25 |
| 1d26: a0 93 99 08 sts 0x0899, r26 |
| 1d2a: b0 93 9a 08 sts 0x089A, r27 |
| 1d2e: 80 91 9b 08 lds r24, 0x089B |
| 1d32: 90 91 9c 08 lds r25, 0x089C |
| 1d36: a0 91 9d 08 lds r26, 0x089D |
| 1d3a: b0 91 9e 08 lds r27, 0x089E |
| 1d3e: 82 0f add r24, r18 |
| 1d40: 93 1f adc r25, r19 |
| 1d42: a4 1f adc r26, r20 |
| 1d44: b5 1f adc r27, r21 |
| 1d46: 80 93 9b 08 sts 0x089B, r24 |
| 1d4a: 90 93 9c 08 sts 0x089C, r25 |
| 1d4e: a0 93 9d 08 sts 0x089D, r26 |
| 1d52: b0 93 9e 08 sts 0x089E, r27 |
| 1d56: 80 91 78 00 lds r24, 0x0078 |
| 1d5a: 90 91 79 00 lds r25, 0x0079 |
| 1d5e: 0a 97 sbiw r24, 0x0a ; 10 |
| 1d60: 10 f4 brcc .+4 ; 0x1d66 <__vector_24+0x244> |
| 1d62: 64 e4 ldi r22, 0x44 ; 68 |
| 1d64: 7d ef ldi r23, 0xFD ; 253 |
| 1d66: 80 91 78 00 lds r24, 0x0078 |
| 1d6a: 90 91 79 00 lds r25, 0x0079 |
| 1d6e: 89 5e subi r24, 0xE9 ; 233 |
| 1d70: 93 40 sbci r25, 0x03 ; 3 |
| 1d72: 10 f0 brcs .+4 ; 0x1d78 <__vector_24+0x256> |
| 1d74: 6c eb ldi r22, 0xBC ; 188 |
| 1d76: 72 e0 ldi r23, 0x02 ; 2 |
| 1d78: 80 91 4e 08 lds r24, 0x084E |
| 1d7c: 90 91 4f 08 lds r25, 0x084F |
| 1d80: 86 0f add r24, r22 |
| 1d82: 97 1f adc r25, r23 |
| 1d84: 90 93 4f 08 sts 0x084F, r25 |
| 1d88: 80 93 4e 08 sts 0x084E, r24 |
| 1d8c: 80 91 5a 08 lds r24, 0x085A |
| 1d90: 8f 5f subi r24, 0xFF ; 255 |
| 1d92: 80 93 5a 08 sts 0x085A, r24 |
| 1d96: 84 e0 ldi r24, 0x04 ; 4 |
| 1d98: 80 93 65 08 sts 0x0865, r24 |
| 1d9c: c8 c1 rjmp .+912 ; 0x212e <__vector_24+0x60c> |
| 1d9e: 40 91 04 01 lds r20, 0x0104 |
| 1da2: 50 91 05 01 lds r21, 0x0105 |
| 1da6: 80 91 78 00 lds r24, 0x0078 |
| 1daa: 90 91 79 00 lds r25, 0x0079 |
| 1dae: 9a 01 movw r18, r20 |
| 1db0: 22 0f add r18, r18 |
| 1db2: 33 1f adc r19, r19 |
| 1db4: 24 0f add r18, r20 |
| 1db6: 35 1f adc r19, r21 |
| 1db8: 63 e0 ldi r22, 0x03 ; 3 |
| 1dba: 70 e0 ldi r23, 0x00 ; 0 |
| 1dbc: 0e 94 97 3e call 0x7d2e ; 0x7d2e <__udivmodhi4> |
| 1dc0: 26 0f add r18, r22 |
| 1dc2: 37 1f adc r19, r23 |
| 1dc4: 36 95 lsr r19 |
| 1dc6: 27 95 ror r18 |
| 1dc8: 36 95 lsr r19 |
| 1dca: 27 95 ror r18 |
| 1dcc: 30 93 05 01 sts 0x0105, r19 |
| 1dd0: 20 93 04 01 sts 0x0104, r18 |
| 1dd4: 86 e0 ldi r24, 0x06 ; 6 |
| 1dd6: e0 cf rjmp .-64 ; 0x1d98 <__vector_24+0x276> |
| 1dd8: 80 91 7b 08 lds r24, 0x087B |
| 1ddc: 90 91 7c 08 lds r25, 0x087C |
| 1de0: 20 91 78 00 lds r18, 0x0078 |
| 1de4: 30 91 79 00 lds r19, 0x0079 |
| 1de8: 82 1b sub r24, r18 |
| 1dea: 93 0b sbc r25, r19 |
| 1dec: 90 93 3b 0c sts 0x0C3B, r25 |
| 1df0: 80 93 3a 0c sts 0x0C3A, r24 |
| 1df4: 80 91 54 08 lds r24, 0x0854 |
| 1df8: 90 91 55 08 lds r25, 0x0855 |
| 1dfc: 20 91 3a 0c lds r18, 0x0C3A |
| 1e00: 30 91 3b 0c lds r19, 0x0C3B |
| 1e04: 82 0f add r24, r18 |
| 1e06: 93 1f adc r25, r19 |
| 1e08: 90 93 55 08 sts 0x0855, r25 |
| 1e0c: 80 93 54 08 sts 0x0854, r24 |
| 1e10: 80 91 5e 08 lds r24, 0x085E |
| 1e14: 8f 5f subi r24, 0xFF ; 255 |
| 1e16: 80 93 5e 08 sts 0x085E, r24 |
| 1e1a: 87 e0 ldi r24, 0x07 ; 7 |
| 1e1c: bd cf rjmp .-134 ; 0x1d98 <__vector_24+0x276> |
| 1e1e: 80 91 78 00 lds r24, 0x0078 |
| 1e22: 90 91 79 00 lds r25, 0x0079 |
| 1e26: 20 91 79 08 lds r18, 0x0879 |
| 1e2a: 30 91 7a 08 lds r19, 0x087A |
| 1e2e: 82 1b sub r24, r18 |
| 1e30: 93 0b sbc r25, r19 |
| 1e32: 90 93 46 0c sts 0x0C46, r25 |
| 1e36: 80 93 45 0c sts 0x0C45, r24 |
| 1e3a: 80 91 56 08 lds r24, 0x0856 |
| 1e3e: 90 91 57 08 lds r25, 0x0857 |
| 1e42: 20 91 45 0c lds r18, 0x0C45 |
| 1e46: 30 91 46 0c lds r19, 0x0C46 |
| 1e4a: 82 0f add r24, r18 |
| 1e4c: 93 1f adc r25, r19 |
| 1e4e: 90 93 57 08 sts 0x0857, r25 |
| 1e52: 80 93 56 08 sts 0x0856, r24 |
| 1e56: 80 91 5d 08 lds r24, 0x085D |
| 1e5a: 8f 5f subi r24, 0xFF ; 255 |
| 1e5c: 80 93 5d 08 sts 0x085D, r24 |
| 1e60: 40 93 65 08 sts 0x0865, r20 |
| 1e64: 86 e0 ldi r24, 0x06 ; 6 |
| 1e66: e4 c0 rjmp .+456 ; 0x2030 <__vector_24+0x50e> |
| 1e68: 60 91 78 00 lds r22, 0x0078 |
| 1e6c: 70 91 79 00 lds r23, 0x0079 |
| 1e70: e0 90 7d 08 lds r14, 0x087D |
| 1e74: f0 90 7e 08 lds r15, 0x087E |
| 1e78: 00 91 7f 08 lds r16, 0x087F |
| 1e7c: 10 91 80 08 lds r17, 0x0880 |
| 1e80: 88 27 eor r24, r24 |
| 1e82: 77 fd sbrc r23, 7 |
| 1e84: 80 95 com r24 |
| 1e86: 98 2f mov r25, r24 |
| 1e88: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 1e8c: a8 01 movw r20, r16 |
| 1e8e: 97 01 movw r18, r14 |
| 1e90: 0e 94 10 3d call 0x7a20 ; 0x7a20 <__subsf3> |
| 1e94: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 1e98: 70 93 59 08 sts 0x0859, r23 |
| 1e9c: 60 93 58 08 sts 0x0858, r22 |
| 1ea0: 20 91 58 08 lds r18, 0x0858 |
| 1ea4: 30 91 59 08 lds r19, 0x0859 |
| 1ea8: e0 91 3a 0c lds r30, 0x0C3A |
| 1eac: f0 91 3b 0c lds r31, 0x0C3B |
| 1eb0: 80 91 45 0c lds r24, 0x0C45 |
| 1eb4: 90 91 46 0c lds r25, 0x0C46 |
| 1eb8: 97 ff sbrs r25, 7 |
| 1eba: 03 c0 rjmp .+6 ; 0x1ec2 <__vector_24+0x3a0> |
| 1ebc: 90 95 com r25 |
| 1ebe: 81 95 neg r24 |
| 1ec0: 9f 4f sbci r25, 0xFF ; 255 |
| 1ec2: 64 e0 ldi r22, 0x04 ; 4 |
| 1ec4: 70 e0 ldi r23, 0x00 ; 0 |
| 1ec6: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 1eca: eb 01 movw r28, r22 |
| 1ecc: cf 01 movw r24, r30 |
| 1ece: f7 ff sbrs r31, 7 |
| 1ed0: 03 c0 rjmp .+6 ; 0x1ed8 <__vector_24+0x3b6> |
| 1ed2: 90 95 com r25 |
| 1ed4: 81 95 neg r24 |
| 1ed6: 9f 4f sbci r25, 0xFF ; 255 |
| 1ed8: 64 e0 ldi r22, 0x04 ; 4 |
| 1eda: 70 e0 ldi r23, 0x00 ; 0 |
| 1edc: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 1ee0: 26 0f add r18, r22 |
| 1ee2: 37 1f adc r19, r23 |
| 1ee4: 2c 0f add r18, r28 |
| 1ee6: 3d 1f adc r19, r29 |
| 1ee8: 30 93 59 08 sts 0x0859, r19 |
| 1eec: 20 93 58 08 sts 0x0858, r18 |
| 1ef0: 80 91 58 08 lds r24, 0x0858 |
| 1ef4: 90 91 59 08 lds r25, 0x0859 |
| 1ef8: 02 97 sbiw r24, 0x02 ; 2 |
| 1efa: 04 f1 brlt .+64 ; 0x1f3c <__vector_24+0x41a> |
| 1efc: 60 91 7d 08 lds r22, 0x087D |
| 1f00: 70 91 7e 08 lds r23, 0x087E |
| 1f04: 80 91 7f 08 lds r24, 0x087F |
| 1f08: 90 91 80 08 lds r25, 0x0880 |
| 1f0c: 20 e0 ldi r18, 0x00 ; 0 |
| 1f0e: 30 e0 ldi r19, 0x00 ; 0 |
| 1f10: 48 e4 ldi r20, 0x48 ; 72 |
| 1f12: 54 e4 ldi r21, 0x44 ; 68 |
| 1f14: 0e 94 c0 3d call 0x7b80 ; 0x7b80 <__eqsf2> |
| 1f18: 88 23 and r24, r24 |
| 1f1a: 0c f0 brlt .+2 ; 0x1f1e <__vector_24+0x3fc> |
| 1f1c: 3c c0 rjmp .+120 ; 0x1f96 <__vector_24+0x474> |
| 1f1e: 60 91 7d 08 lds r22, 0x087D |
| 1f22: 70 91 7e 08 lds r23, 0x087E |
| 1f26: 80 91 7f 08 lds r24, 0x087F |
| 1f2a: 90 91 80 08 lds r25, 0x0880 |
| 1f2e: 2a e0 ldi r18, 0x0A ; 10 |
| 1f30: 37 ed ldi r19, 0xD7 ; 215 |
| 1f32: 43 ea ldi r20, 0xA3 ; 163 |
| 1f34: 5c e3 ldi r21, 0x3C ; 60 |
| 1f36: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 1f3a: 25 c0 rjmp .+74 ; 0x1f86 <__vector_24+0x464> |
| 1f3c: 80 91 58 08 lds r24, 0x0858 |
| 1f40: 90 91 59 08 lds r25, 0x0859 |
| 1f44: 8f 5f subi r24, 0xFF ; 255 |
| 1f46: 9f 4f sbci r25, 0xFF ; 255 |
| 1f48: 34 f5 brge .+76 ; 0x1f96 <__vector_24+0x474> |
| 1f4a: 60 91 7d 08 lds r22, 0x087D |
| 1f4e: 70 91 7e 08 lds r23, 0x087E |
| 1f52: 80 91 7f 08 lds r24, 0x087F |
| 1f56: 90 91 80 08 lds r25, 0x0880 |
| 1f5a: 20 e0 ldi r18, 0x00 ; 0 |
| 1f5c: 30 e0 ldi r19, 0x00 ; 0 |
| 1f5e: 46 e1 ldi r20, 0x16 ; 22 |
| 1f60: 54 e4 ldi r21, 0x44 ; 68 |
| 1f62: 0e 94 c3 3d call 0x7b86 ; 0x7b86 <__gesf2> |
| 1f66: 18 16 cp r1, r24 |
| 1f68: b4 f4 brge .+44 ; 0x1f96 <__vector_24+0x474> |
| 1f6a: 60 91 7d 08 lds r22, 0x087D |
| 1f6e: 70 91 7e 08 lds r23, 0x087E |
| 1f72: 80 91 7f 08 lds r24, 0x087F |
| 1f76: 90 91 80 08 lds r25, 0x0880 |
| 1f7a: 2a e0 ldi r18, 0x0A ; 10 |
| 1f7c: 37 ed ldi r19, 0xD7 ; 215 |
| 1f7e: 43 ea ldi r20, 0xA3 ; 163 |
| 1f80: 5c e3 ldi r21, 0x3C ; 60 |
| 1f82: 0e 94 10 3d call 0x7a20 ; 0x7a20 <__subsf3> |
| 1f86: 60 93 7d 08 sts 0x087D, r22 |
| 1f8a: 70 93 7e 08 sts 0x087E, r23 |
| 1f8e: 80 93 7f 08 sts 0x087F, r24 |
| 1f92: 90 93 80 08 sts 0x0880, r25 |
| 1f96: 81 e0 ldi r24, 0x01 ; 1 |
| 1f98: 80 93 5f 08 sts 0x085F, r24 |
| 1f9c: 80 91 78 00 lds r24, 0x0078 |
| 1fa0: 90 91 79 00 lds r25, 0x0079 |
| 1fa4: 90 93 3d 0c sts 0x0C3D, r25 |
| 1fa8: 80 93 3c 0c sts 0x0C3C, r24 |
| 1fac: 20 91 af 08 lds r18, 0x08AF |
| 1fb0: 30 91 b0 08 lds r19, 0x08B0 |
| 1fb4: 40 91 b1 08 lds r20, 0x08B1 |
| 1fb8: 50 91 b2 08 lds r21, 0x08B2 |
| 1fbc: 80 91 58 08 lds r24, 0x0858 |
| 1fc0: 90 91 59 08 lds r25, 0x0859 |
| 1fc4: aa 27 eor r26, r26 |
| 1fc6: 97 fd sbrc r25, 7 |
| 1fc8: a0 95 com r26 |
| 1fca: ba 2f mov r27, r26 |
| 1fcc: 28 0f add r18, r24 |
| 1fce: 39 1f adc r19, r25 |
| 1fd0: 4a 1f adc r20, r26 |
| 1fd2: 5b 1f adc r21, r27 |
| 1fd4: 20 93 af 08 sts 0x08AF, r18 |
| 1fd8: 30 93 b0 08 sts 0x08B0, r19 |
| 1fdc: 40 93 b1 08 sts 0x08B1, r20 |
| 1fe0: 50 93 b2 08 sts 0x08B2, r21 |
| 1fe4: e0 90 af 08 lds r14, 0x08AF |
| 1fe8: f0 90 b0 08 lds r15, 0x08B0 |
| 1fec: 00 91 b1 08 lds r16, 0x08B1 |
| 1ff0: 10 91 b2 08 lds r17, 0x08B2 |
| 1ff4: 60 91 af 08 lds r22, 0x08AF |
| 1ff8: 70 91 b0 08 lds r23, 0x08B0 |
| 1ffc: 80 91 b1 08 lds r24, 0x08B1 |
| 2000: 90 91 b2 08 lds r25, 0x08B2 |
| 2004: 20 e0 ldi r18, 0x00 ; 0 |
| 2006: 34 e0 ldi r19, 0x04 ; 4 |
| 2008: 40 e0 ldi r20, 0x00 ; 0 |
| 200a: 50 e0 ldi r21, 0x00 ; 0 |
| 200c: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2010: e2 1a sub r14, r18 |
| 2012: f3 0a sbc r15, r19 |
| 2014: 04 0b sbc r16, r20 |
| 2016: 15 0b sbc r17, r21 |
| 2018: e0 92 af 08 sts 0x08AF, r14 |
| 201c: f0 92 b0 08 sts 0x08B0, r15 |
| 2020: 00 93 b1 08 sts 0x08B1, r16 |
| 2024: 10 93 b2 08 sts 0x08B2, r17 |
| 2028: 83 e0 ldi r24, 0x03 ; 3 |
| 202a: 80 93 65 08 sts 0x0865, r24 |
| 202e: 87 e0 ldi r24, 0x07 ; 7 |
| 2030: 80 93 64 08 sts 0x0864, r24 |
| 2034: 7c c0 rjmp .+248 ; 0x212e <__vector_24+0x60c> |
| 2036: 80 91 4a 0c lds r24, 0x0C4A |
| 203a: 90 91 4b 0c lds r25, 0x0C4B |
| 203e: 20 91 78 00 lds r18, 0x0078 |
| 2042: 30 91 79 00 lds r19, 0x0079 |
| 2046: 82 0f add r24, r18 |
| 2048: 93 1f adc r25, r19 |
| 204a: 90 93 4b 0c sts 0x0C4B, r25 |
| 204e: 80 93 4a 0c sts 0x0C4A, r24 |
| 2052: 80 91 42 0c lds r24, 0x0C42 |
| 2056: 8f 5f subi r24, 0xFF ; 255 |
| 2058: 80 93 42 0c sts 0x0C42, r24 |
| 205c: 80 91 42 0c lds r24, 0x0C42 |
| 2060: 85 30 cpi r24, 0x05 ; 5 |
| 2062: 08 f4 brcc .+2 ; 0x2066 <__vector_24+0x544> |
| 2064: 60 c0 rjmp .+192 ; 0x2126 <__vector_24+0x604> |
| 2066: 80 91 78 00 lds r24, 0x0078 |
| 206a: 90 91 79 00 lds r25, 0x0079 |
| 206e: 90 93 0b 01 sts 0x010B, r25 |
| 2072: 80 93 0a 01 sts 0x010A, r24 |
| 2076: 10 92 42 0c sts 0x0C42, r1 |
| 207a: 80 91 3e 0c lds r24, 0x0C3E |
| 207e: 90 91 3f 0c lds r25, 0x0C3F |
| 2082: 20 91 4a 0c lds r18, 0x0C4A |
| 2086: 30 91 4b 0c lds r19, 0x0C4B |
| 208a: 82 1b sub r24, r18 |
| 208c: 93 0b sbc r25, r19 |
| 208e: 20 91 d7 08 lds r18, 0x08D7 |
| 2092: 30 91 d8 08 lds r19, 0x08D8 |
| 2096: 82 1b sub r24, r18 |
| 2098: 93 0b sbc r25, r19 |
| 209a: 90 93 61 08 sts 0x0861, r25 |
| 209e: 80 93 60 08 sts 0x0860, r24 |
| 20a2: 60 91 4a 0c lds r22, 0x0C4A |
| 20a6: 70 91 4b 0c lds r23, 0x0C4B |
| 20aa: e0 90 06 01 lds r14, 0x0106 |
| 20ae: f0 90 07 01 lds r15, 0x0107 |
| 20b2: 00 91 08 01 lds r16, 0x0108 |
| 20b6: 10 91 09 01 lds r17, 0x0109 |
| 20ba: 88 27 eor r24, r24 |
| 20bc: 77 fd sbrc r23, 7 |
| 20be: 80 95 com r24 |
| 20c0: 98 2f mov r25, r24 |
| 20c2: a8 01 movw r20, r16 |
| 20c4: 97 01 movw r18, r14 |
| 20c6: 22 0f add r18, r18 |
| 20c8: 33 1f adc r19, r19 |
| 20ca: 44 1f adc r20, r20 |
| 20cc: 55 1f adc r21, r21 |
| 20ce: 2e 0d add r18, r14 |
| 20d0: 3f 1d adc r19, r15 |
| 20d2: 40 1f adc r20, r16 |
| 20d4: 51 1f adc r21, r17 |
| 20d6: 62 0f add r22, r18 |
| 20d8: 73 1f adc r23, r19 |
| 20da: 84 1f adc r24, r20 |
| 20dc: 95 1f adc r25, r21 |
| 20de: 24 e0 ldi r18, 0x04 ; 4 |
| 20e0: 30 e0 ldi r19, 0x00 ; 0 |
| 20e2: 40 e0 ldi r20, 0x00 ; 0 |
| 20e4: 50 e0 ldi r21, 0x00 ; 0 |
| 20e6: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 20ea: 20 93 06 01 sts 0x0106, r18 |
| 20ee: 30 93 07 01 sts 0x0107, r19 |
| 20f2: 40 93 08 01 sts 0x0108, r20 |
| 20f6: 50 93 09 01 sts 0x0109, r21 |
| 20fa: 20 91 3e 0c lds r18, 0x0C3E |
| 20fe: 30 91 3f 0c lds r19, 0x0C3F |
| 2102: 80 91 06 01 lds r24, 0x0106 |
| 2106: 90 91 07 01 lds r25, 0x0107 |
| 210a: a0 91 08 01 lds r26, 0x0108 |
| 210e: b0 91 09 01 lds r27, 0x0109 |
| 2112: 28 1b sub r18, r24 |
| 2114: 39 0b sbc r19, r25 |
| 2116: 30 93 d8 08 sts 0x08D8, r19 |
| 211a: 20 93 d7 08 sts 0x08D7, r18 |
| 211e: 10 92 4b 0c sts 0x0C4B, r1 |
| 2122: 10 92 4a 0c sts 0x0C4A, r1 |
| 2126: 10 92 65 08 sts 0x0865, r1 |
| 212a: 10 92 64 08 sts 0x0864, r1 |
| 212e: 80 91 65 08 lds r24, 0x0865 |
| 2132: 80 93 7c 00 sts 0x007C, r24 |
| 2136: 8f ee ldi r24, 0xEF ; 239 |
| 2138: 80 93 7a 00 sts 0x007A, r24 |
| 213c: ff 91 pop r31 |
| 213e: ef 91 pop r30 |
| 2140: df 91 pop r29 |
| 2142: cf 91 pop r28 |
| 2144: bf 91 pop r27 |
| 2146: af 91 pop r26 |
| 2148: 9f 91 pop r25 |
| 214a: 8f 91 pop r24 |
| 214c: 7f 91 pop r23 |
| 214e: 6f 91 pop r22 |
| 2150: 5f 91 pop r21 |
| 2152: 4f 91 pop r20 |
| 2154: 3f 91 pop r19 |
| 2156: 2f 91 pop r18 |
| 2158: 1f 91 pop r17 |
| 215a: 0f 91 pop r16 |
| 215c: ff 90 pop r15 |
| 215e: ef 90 pop r14 |
| 2160: 0f 90 pop r0 |
| 2162: 0f be out 0x3f, r0 ; 63 |
| 2164: 0f 90 pop r0 |
| 2166: 1f 90 pop r1 |
| 2168: 18 95 reti |
| 0000216a <SucheLuftruckOffset>: |
| 216a: cf 93 push r28 |
| 216c: df 93 push r29 |
| 216e: c0 e0 ldi r28, 0x00 ; 0 |
| 2170: d0 e0 ldi r29, 0x00 ; 0 |
| 2172: c7 bd out 0x27, r28 ; 39 |
| 2174: 82 e3 ldi r24, 0x32 ; 50 |
| 2176: 90 e0 ldi r25, 0x00 ; 0 |
| 2178: 0e 94 79 0d call 0x1af2 ; 0x1af2 <Delay_ms> |
| 217c: 8b e3 ldi r24, 0x3B ; 59 |
| 217e: 91 e0 ldi r25, 0x01 ; 1 |
| 2180: 9f 93 push r25 |
| 2182: 8f 93 push r24 |
| 2184: 1f 92 push r1 |
| 2186: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 218a: 80 91 0a 01 lds r24, 0x010A |
| 218e: 90 91 0b 01 lds r25, 0x010B |
| 2192: 0f 90 pop r0 |
| 2194: 0f 90 pop r0 |
| 2196: 0f 90 pop r0 |
| 2198: 84 58 subi r24, 0x84 ; 132 |
| 219a: 93 40 sbci r25, 0x03 ; 3 |
| 219c: 20 f0 brcs .+8 ; 0x21a6 <SucheLuftruckOffset+0x3c> |
| 219e: 21 96 adiw r28, 0x01 ; 1 |
| 21a0: ca 3f cpi r28, 0xFA ; 250 |
| 21a2: d1 05 cpc r29, r1 |
| 21a4: 31 f7 brne .-52 ; 0x2172 <SucheLuftruckOffset+0x8> |
| 21a6: c0 93 47 0c sts 0x0C47, r28 |
| 21aa: 88 ec ldi r24, 0xC8 ; 200 |
| 21ac: 90 e0 ldi r25, 0x00 ; 0 |
| 21ae: 0e 94 79 0d call 0x1af2 ; 0x1af2 <Delay_ms> |
| 21b2: df 91 pop r29 |
| 21b4: cf 91 pop r28 |
| 21b6: 08 95 ret |
| 000021b8 <LcdClear>: |
| 21b8: e6 e1 ldi r30, 0x16 ; 22 |
| 21ba: f1 e0 ldi r31, 0x01 ; 1 |
| 21bc: 80 e2 ldi r24, 0x20 ; 32 |
| 21be: 81 93 st Z+, r24 |
| 21c0: 91 e0 ldi r25, 0x01 ; 1 |
| 21c2: e6 36 cpi r30, 0x66 ; 102 |
| 21c4: f9 07 cpc r31, r25 |
| 21c6: d9 f7 brne .-10 ; 0x21be <LcdClear+0x6> |
| 21c8: 08 95 ret |
| 000021ca <Menu>: |
| 21ca: ff 92 push r15 |
| 21cc: 0f 93 push r16 |
| 21ce: 1f 93 push r17 |
| 21d0: 80 91 69 08 lds r24, 0x0869 |
| 21d4: 28 2f mov r18, r24 |
| 21d6: 33 27 eor r19, r19 |
| 21d8: c9 01 movw r24, r18 |
| 21da: 81 70 andi r24, 0x01 ; 1 |
| 21dc: 90 70 andi r25, 0x00 ; 0 |
| 21de: 68 2f mov r22, r24 |
| 21e0: 88 23 and r24, r24 |
| 21e2: 91 f0 breq .+36 ; 0x2208 <Menu+0x3e> |
| 21e4: 80 91 6a 08 lds r24, 0x086A |
| 21e8: 88 23 and r24, r24 |
| 21ea: 11 f0 breq .+4 ; 0x21f0 <Menu+0x26> |
| 21ec: 81 50 subi r24, 0x01 ; 1 |
| 21ee: 02 c0 rjmp .+4 ; 0x21f4 <Menu+0x2a> |
| 21f0: 80 91 66 01 lds r24, 0x0166 |
| 21f4: 80 93 6a 08 sts 0x086A, r24 |
| 21f8: e6 e1 ldi r30, 0x16 ; 22 |
| 21fa: f1 e0 ldi r31, 0x01 ; 1 |
| 21fc: 80 e2 ldi r24, 0x20 ; 32 |
| 21fe: 81 93 st Z+, r24 |
| 2200: 91 e0 ldi r25, 0x01 ; 1 |
| 2202: e6 36 cpi r30, 0x66 ; 102 |
| 2204: f9 07 cpc r31, r25 |
| 2206: d9 f7 brne .-10 ; 0x21fe <Menu+0x34> |
| 2208: a9 01 movw r20, r18 |
| 220a: 42 70 andi r20, 0x02 ; 2 |
| 220c: 50 70 andi r21, 0x00 ; 0 |
| 220e: 21 ff sbrs r18, 1 |
| 2210: 0d c0 rjmp .+26 ; 0x222c <Menu+0x62> |
| 2212: 80 91 6a 08 lds r24, 0x086A |
| 2216: 8f 5f subi r24, 0xFF ; 255 |
| 2218: 80 93 6a 08 sts 0x086A, r24 |
| 221c: e6 e1 ldi r30, 0x16 ; 22 |
| 221e: f1 e0 ldi r31, 0x01 ; 1 |
| 2220: 80 e2 ldi r24, 0x20 ; 32 |
| 2222: 81 93 st Z+, r24 |
| 2224: 91 e0 ldi r25, 0x01 ; 1 |
| 2226: e6 36 cpi r30, 0x66 ; 102 |
| 2228: f9 07 cpc r31, r25 |
| 222a: d9 f7 brne .-10 ; 0x2222 <Menu+0x58> |
| 222c: 66 23 and r22, r22 |
| 222e: 21 f0 breq .+8 ; 0x2238 <Menu+0x6e> |
| 2230: 45 2b or r20, r21 |
| 2232: 11 f0 breq .+4 ; 0x2238 <Menu+0x6e> |
| 2234: 10 92 6a 08 sts 0x086A, r1 |
| 2238: 81 e1 ldi r24, 0x11 ; 17 |
| 223a: 80 93 68 08 sts 0x0868, r24 |
| 223e: 80 91 6a 08 lds r24, 0x086A |
| 2242: 99 27 eor r25, r25 |
| 2244: 9f 93 push r25 |
| 2246: 8f 93 push r24 |
| 2248: 84 ec ldi r24, 0xC4 ; 196 |
| 224a: 93 e0 ldi r25, 0x03 ; 3 |
| 224c: 9f 93 push r25 |
| 224e: 8f 93 push r24 |
| 2250: 11 e0 ldi r17, 0x01 ; 1 |
| 2252: f1 2e mov r15, r17 |
| 2254: ff 92 push r15 |
| 2256: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 225a: 00 91 6a 08 lds r16, 0x086A |
| 225e: 0f 90 pop r0 |
| 2260: 0f 90 pop r0 |
| 2262: 0f 90 pop r0 |
| 2264: 0f 90 pop r0 |
| 2266: 0f 90 pop r0 |
| 2268: 05 30 cpi r16, 0x05 ; 5 |
| 226a: 09 f4 brne .+2 ; 0x226e <Menu+0xa4> |
| 226c: e0 c1 rjmp .+960 ; 0x262e <Menu+0x464> |
| 226e: 06 30 cpi r16, 0x06 ; 6 |
| 2270: 90 f4 brcc .+36 ; 0x2296 <Menu+0xcc> |
| 2272: 02 30 cpi r16, 0x02 ; 2 |
| 2274: 09 f4 brne .+2 ; 0x2278 <Menu+0xae> |
| 2276: b8 c0 rjmp .+368 ; 0x23e8 <Menu+0x21e> |
| 2278: 03 30 cpi r16, 0x03 ; 3 |
| 227a: 30 f4 brcc .+12 ; 0x2288 <Menu+0xbe> |
| 227c: 00 23 and r16, r16 |
| 227e: f1 f0 breq .+60 ; 0x22bc <Menu+0xf2> |
| 2280: 01 30 cpi r16, 0x01 ; 1 |
| 2282: 09 f0 breq .+2 ; 0x2286 <Menu+0xbc> |
| 2284: 81 c3 rjmp .+1794 ; 0x2988 <Menu+0x7be> |
| 2286: 4d c0 rjmp .+154 ; 0x2322 <Menu+0x158> |
| 2288: 03 30 cpi r16, 0x03 ; 3 |
| 228a: 09 f4 brne .+2 ; 0x228e <Menu+0xc4> |
| 228c: 02 c1 rjmp .+516 ; 0x2492 <Menu+0x2c8> |
| 228e: 04 30 cpi r16, 0x04 ; 4 |
| 2290: 09 f0 breq .+2 ; 0x2294 <Menu+0xca> |
| 2292: 7a c3 rjmp .+1780 ; 0x2988 <Menu+0x7be> |
| 2294: 51 c1 rjmp .+674 ; 0x2538 <Menu+0x36e> |
| 2296: 08 30 cpi r16, 0x08 ; 8 |
| 2298: 09 f4 brne .+2 ; 0x229c <Menu+0xd2> |
| 229a: a1 c2 rjmp .+1346 ; 0x27de <Menu+0x614> |
| 229c: 09 30 cpi r16, 0x09 ; 9 |
| 229e: 38 f4 brcc .+14 ; 0x22ae <Menu+0xe4> |
| 22a0: 06 30 cpi r16, 0x06 ; 6 |
| 22a2: 09 f4 brne .+2 ; 0x22a6 <Menu+0xdc> |
| 22a4: 1a c2 rjmp .+1076 ; 0x26da <Menu+0x510> |
| 22a6: 07 30 cpi r16, 0x07 ; 7 |
| 22a8: 09 f0 breq .+2 ; 0x22ac <Menu+0xe2> |
| 22aa: 6e c3 rjmp .+1756 ; 0x2988 <Menu+0x7be> |
| 22ac: 75 c2 rjmp .+1258 ; 0x2798 <Menu+0x5ce> |
| 22ae: 09 30 cpi r16, 0x09 ; 9 |
| 22b0: 09 f4 brne .+2 ; 0x22b4 <Menu+0xea> |
| 22b2: d2 c2 rjmp .+1444 ; 0x2858 <Menu+0x68e> |
| 22b4: 0a 30 cpi r16, 0x0A ; 10 |
| 22b6: 09 f0 breq .+2 ; 0x22ba <Menu+0xf0> |
| 22b8: 67 c3 rjmp .+1742 ; 0x2988 <Menu+0x7be> |
| 22ba: 29 c3 rjmp .+1618 ; 0x290e <Menu+0x744> |
| 22bc: 10 92 68 08 sts 0x0868, r1 |
| 22c0: 82 eb ldi r24, 0xB2 ; 178 |
| 22c2: 93 e0 ldi r25, 0x03 ; 3 |
| 22c4: 9f 93 push r25 |
| 22c6: 8f 93 push r24 |
| 22c8: ff 92 push r15 |
| 22ca: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 22ce: 84 e1 ldi r24, 0x14 ; 20 |
| 22d0: 80 93 68 08 sts 0x0868, r24 |
| 22d4: 8d e3 ldi r24, 0x3D ; 61 |
| 22d6: 90 e0 ldi r25, 0x00 ; 0 |
| 22d8: 9f 93 push r25 |
| 22da: 8f 93 push r24 |
| 22dc: 1f 92 push r1 |
| 22de: 1f 92 push r1 |
| 22e0: 8b ea ldi r24, 0xAB ; 171 |
| 22e2: 93 e0 ldi r25, 0x03 ; 3 |
| 22e4: 9f 93 push r25 |
| 22e6: 8f 93 push r24 |
| 22e8: ff 92 push r15 |
| 22ea: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 22ee: 88 e2 ldi r24, 0x28 ; 40 |
| 22f0: 80 93 68 08 sts 0x0868, r24 |
| 22f4: 0e 94 04 02 call 0x408 ; 0x408 <GetActiveParamSetNumber> |
| 22f8: 99 27 eor r25, r25 |
| 22fa: 9f 93 push r25 |
| 22fc: 8f 93 push r24 |
| 22fe: 8e e9 ldi r24, 0x9E ; 158 |
| 2300: 93 e0 ldi r25, 0x03 ; 3 |
| 2302: 9f 93 push r25 |
| 2304: 8f 93 push r24 |
| 2306: ff 92 push r15 |
| 2308: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 230c: 8c e3 ldi r24, 0x3C ; 60 |
| 230e: 80 93 68 08 sts 0x0868, r24 |
| 2312: 8e e8 ldi r24, 0x8E ; 142 |
| 2314: 93 e0 ldi r25, 0x03 ; 3 |
| 2316: 9f 93 push r25 |
| 2318: 8f 93 push r24 |
| 231a: ff 92 push r15 |
| 231c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2320: 97 c2 rjmp .+1326 ; 0x2850 <Menu+0x686> |
| 2322: 80 91 98 0c lds r24, 0x0C98 |
| 2326: 80 ff sbrs r24, 0 |
| 2328: 47 c0 rjmp .+142 ; 0x23b8 <Menu+0x1ee> |
| 232a: 10 92 68 08 sts 0x0868, r1 |
| 232e: 80 91 d7 08 lds r24, 0x08D7 |
| 2332: 90 91 d8 08 lds r25, 0x08D8 |
| 2336: 9f 93 push r25 |
| 2338: 8f 93 push r24 |
| 233a: 8f e7 ldi r24, 0x7F ; 127 |
| 233c: 93 e0 ldi r25, 0x03 ; 3 |
| 233e: 9f 93 push r25 |
| 2340: 8f 93 push r24 |
| 2342: 0f 93 push r16 |
| 2344: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2348: 84 e1 ldi r24, 0x14 ; 20 |
| 234a: 80 93 68 08 sts 0x0868, r24 |
| 234e: 80 91 d9 08 lds r24, 0x08D9 |
| 2352: 90 91 da 08 lds r25, 0x08DA |
| 2356: 9f 93 push r25 |
| 2358: 8f 93 push r24 |
| 235a: 80 e7 ldi r24, 0x70 ; 112 |
| 235c: 93 e0 ldi r25, 0x03 ; 3 |
| 235e: 9f 93 push r25 |
| 2360: 8f 93 push r24 |
| 2362: 0f 93 push r16 |
| 2364: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2368: 88 e2 ldi r24, 0x28 ; 40 |
| 236a: 80 93 68 08 sts 0x0868, r24 |
| 236e: 80 91 0a 01 lds r24, 0x010A |
| 2372: 90 91 0b 01 lds r25, 0x010B |
| 2376: 9f 93 push r25 |
| 2378: 8f 93 push r24 |
| 237a: 81 e6 ldi r24, 0x61 ; 97 |
| 237c: 93 e0 ldi r25, 0x03 ; 3 |
| 237e: 9f 93 push r25 |
| 2380: 8f 93 push r24 |
| 2382: 0f 93 push r16 |
| 2384: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2388: 8c e3 ldi r24, 0x3C ; 60 |
| 238a: 80 93 68 08 sts 0x0868, r24 |
| 238e: 80 91 47 0c lds r24, 0x0C47 |
| 2392: 99 27 eor r25, r25 |
| 2394: 9f 93 push r25 |
| 2396: 8f 93 push r24 |
| 2398: 82 e5 ldi r24, 0x52 ; 82 |
| 239a: 93 e0 ldi r25, 0x03 ; 3 |
| 239c: 9f 93 push r25 |
| 239e: 8f 93 push r24 |
| 23a0: 0f 93 push r16 |
| 23a2: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 23a6: 8d b7 in r24, 0x3d ; 61 |
| 23a8: 9e b7 in r25, 0x3e ; 62 |
| 23aa: 44 96 adiw r24, 0x14 ; 20 |
| 23ac: 0f b6 in r0, 0x3f ; 63 |
| 23ae: f8 94 cli |
| 23b0: 9e bf out 0x3e, r25 ; 62 |
| 23b2: 0f be out 0x3f, r0 ; 63 |
| 23b4: 8d bf out 0x3d, r24 ; 61 |
| 23b6: ed c2 rjmp .+1498 ; 0x2992 <Menu+0x7c8> |
| 23b8: 84 e1 ldi r24, 0x14 ; 20 |
| 23ba: 80 93 68 08 sts 0x0868, r24 |
| 23be: 8b e4 ldi r24, 0x4B ; 75 |
| 23c0: 93 e0 ldi r25, 0x03 ; 3 |
| 23c2: 9f 93 push r25 |
| 23c4: 8f 93 push r24 |
| 23c6: 0f 93 push r16 |
| 23c8: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 23cc: 88 e2 ldi r24, 0x28 ; 40 |
| 23ce: 80 93 68 08 sts 0x0868, r24 |
| 23d2: 8d e3 ldi r24, 0x3D ; 61 |
| 23d4: 93 e0 ldi r25, 0x03 ; 3 |
| 23d6: 9f 93 push r25 |
| 23d8: 8f 93 push r24 |
| 23da: 0f 93 push r16 |
| 23dc: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 23e0: 8d b7 in r24, 0x3d ; 61 |
| 23e2: 9e b7 in r25, 0x3e ; 62 |
| 23e4: 06 96 adiw r24, 0x06 ; 6 |
| 23e6: e2 cf rjmp .-60 ; 0x23ac <Menu+0x1e2> |
| 23e8: 10 92 68 08 sts 0x0868, r1 |
| 23ec: 83 e3 ldi r24, 0x33 ; 51 |
| 23ee: 93 e0 ldi r25, 0x03 ; 3 |
| 23f0: 9f 93 push r25 |
| 23f2: 8f 93 push r24 |
| 23f4: ff 92 push r15 |
| 23f6: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 23fa: 84 e1 ldi r24, 0x14 ; 20 |
| 23fc: 80 93 68 08 sts 0x0868, r24 |
| 2400: 60 91 83 08 lds r22, 0x0883 |
| 2404: 70 91 84 08 lds r23, 0x0884 |
| 2408: 80 91 85 08 lds r24, 0x0885 |
| 240c: 90 91 86 08 lds r25, 0x0886 |
| 2410: 20 e0 ldi r18, 0x00 ; 0 |
| 2412: 34 e0 ldi r19, 0x04 ; 4 |
| 2414: 40 e0 ldi r20, 0x00 ; 0 |
| 2416: 50 e0 ldi r21, 0x00 ; 0 |
| 2418: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 241c: 5f 93 push r21 |
| 241e: 4f 93 push r20 |
| 2420: 3f 93 push r19 |
| 2422: 2f 93 push r18 |
| 2424: 84 e2 ldi r24, 0x24 ; 36 |
| 2426: 93 e0 ldi r25, 0x03 ; 3 |
| 2428: 9f 93 push r25 |
| 242a: 8f 93 push r24 |
| 242c: ff 92 push r15 |
| 242e: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2432: 88 e2 ldi r24, 0x28 ; 40 |
| 2434: 80 93 68 08 sts 0x0868, r24 |
| 2438: 60 91 8b 08 lds r22, 0x088B |
| 243c: 70 91 8c 08 lds r23, 0x088C |
| 2440: 80 91 8d 08 lds r24, 0x088D |
| 2444: 90 91 8e 08 lds r25, 0x088E |
| 2448: 20 e0 ldi r18, 0x00 ; 0 |
| 244a: 34 e0 ldi r19, 0x04 ; 4 |
| 244c: 40 e0 ldi r20, 0x00 ; 0 |
| 244e: 50 e0 ldi r21, 0x00 ; 0 |
| 2450: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2454: 5f 93 push r21 |
| 2456: 4f 93 push r20 |
| 2458: 3f 93 push r19 |
| 245a: 2f 93 push r18 |
| 245c: 85 e1 ldi r24, 0x15 ; 21 |
| 245e: 93 e0 ldi r25, 0x03 ; 3 |
| 2460: 9f 93 push r25 |
| 2462: 8f 93 push r24 |
| 2464: ff 92 push r15 |
| 2466: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 246a: 8c e3 ldi r24, 0x3C ; 60 |
| 246c: 80 93 68 08 sts 0x0868, r24 |
| 2470: 80 91 b3 08 lds r24, 0x08B3 |
| 2474: 90 91 b4 08 lds r25, 0x08B4 |
| 2478: 9f 93 push r25 |
| 247a: 8f 93 push r24 |
| 247c: 86 e0 ldi r24, 0x06 ; 6 |
| 247e: 93 e0 ldi r25, 0x03 ; 3 |
| 2480: 9f 93 push r25 |
| 2482: 8f 93 push r24 |
| 2484: ff 92 push r15 |
| 2486: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 248a: 8d b7 in r24, 0x3d ; 61 |
| 248c: 9e b7 in r25, 0x3e ; 62 |
| 248e: 46 96 adiw r24, 0x16 ; 22 |
| 2490: 8d cf rjmp .-230 ; 0x23ac <Menu+0x1e2> |
| 2492: 10 92 68 08 sts 0x0868, r1 |
| 2496: 80 91 58 0c lds r24, 0x0C58 |
| 249a: 90 91 59 0c lds r25, 0x0C59 |
| 249e: 20 91 56 0c lds r18, 0x0C56 |
| 24a2: 30 91 57 0c lds r19, 0x0C57 |
| 24a6: 9f 93 push r25 |
| 24a8: 8f 93 push r24 |
| 24aa: 3f 93 push r19 |
| 24ac: 2f 93 push r18 |
| 24ae: 86 ef ldi r24, 0xF6 ; 246 |
| 24b0: 92 e0 ldi r25, 0x02 ; 2 |
| 24b2: 9f 93 push r25 |
| 24b4: 8f 93 push r24 |
| 24b6: ff 92 push r15 |
| 24b8: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 24bc: 84 e1 ldi r24, 0x14 ; 20 |
| 24be: 80 93 68 08 sts 0x0868, r24 |
| 24c2: 80 91 5c 0c lds r24, 0x0C5C |
| 24c6: 90 91 5d 0c lds r25, 0x0C5D |
| 24ca: 20 91 5a 0c lds r18, 0x0C5A |
| 24ce: 30 91 5b 0c lds r19, 0x0C5B |
| 24d2: 9f 93 push r25 |
| 24d4: 8f 93 push r24 |
| 24d6: 3f 93 push r19 |
| 24d8: 2f 93 push r18 |
| 24da: 86 ee ldi r24, 0xE6 ; 230 |
| 24dc: 92 e0 ldi r25, 0x02 ; 2 |
| 24de: 9f 93 push r25 |
| 24e0: 8f 93 push r24 |
| 24e2: ff 92 push r15 |
| 24e4: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 24e8: 88 e2 ldi r24, 0x28 ; 40 |
| 24ea: 80 93 68 08 sts 0x0868, r24 |
| 24ee: 80 91 60 0c lds r24, 0x0C60 |
| 24f2: 90 91 61 0c lds r25, 0x0C61 |
| 24f6: 20 91 5e 0c lds r18, 0x0C5E |
| 24fa: 30 91 5f 0c lds r19, 0x0C5F |
| 24fe: 9f 93 push r25 |
| 2500: 8f 93 push r24 |
| 2502: 3f 93 push r19 |
| 2504: 2f 93 push r18 |
| 2506: 86 ed ldi r24, 0xD6 ; 214 |
| 2508: 92 e0 ldi r25, 0x02 ; 2 |
| 250a: 9f 93 push r25 |
| 250c: 8f 93 push r24 |
| 250e: ff 92 push r15 |
| 2510: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2514: 8c e3 ldi r24, 0x3C ; 60 |
| 2516: 80 93 68 08 sts 0x0868, r24 |
| 251a: 80 91 64 0c lds r24, 0x0C64 |
| 251e: 90 91 65 0c lds r25, 0x0C65 |
| 2522: 20 91 62 0c lds r18, 0x0C62 |
| 2526: 30 91 63 0c lds r19, 0x0C63 |
| 252a: 9f 93 push r25 |
| 252c: 8f 93 push r24 |
| 252e: 3f 93 push r19 |
| 2530: 2f 93 push r18 |
| 2532: 86 ec ldi r24, 0xC6 ; 198 |
| 2534: 92 e0 ldi r25, 0x02 ; 2 |
| 2536: e2 c1 rjmp .+964 ; 0x28fc <Menu+0x732> |
| 2538: 10 92 68 08 sts 0x0868, r1 |
| 253c: e0 91 91 0c lds r30, 0x0C91 |
| 2540: ff 27 eor r31, r31 |
| 2542: ee 0f add r30, r30 |
| 2544: ff 1f adc r31, r31 |
| 2546: ec 5a subi r30, 0xAC ; 172 |
| 2548: f3 4f sbci r31, 0xF3 ; 243 |
| 254a: 20 81 ld r18, Z |
| 254c: 31 81 ldd r19, Z+1 ; 0x01 |
| 254e: e0 91 90 0c lds r30, 0x0C90 |
| 2552: ff 27 eor r31, r31 |
| 2554: ee 0f add r30, r30 |
| 2556: ff 1f adc r31, r31 |
| 2558: ec 5a subi r30, 0xAC ; 172 |
| 255a: f3 4f sbci r31, 0xF3 ; 243 |
| 255c: 80 81 ld r24, Z |
| 255e: 91 81 ldd r25, Z+1 ; 0x01 |
| 2560: 3f 93 push r19 |
| 2562: 2f 93 push r18 |
| 2564: 9f 93 push r25 |
| 2566: 8f 93 push r24 |
| 2568: 86 eb ldi r24, 0xB6 ; 182 |
| 256a: 92 e0 ldi r25, 0x02 ; 2 |
| 256c: 9f 93 push r25 |
| 256e: 8f 93 push r24 |
| 2570: ff 92 push r15 |
| 2572: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2576: 84 e1 ldi r24, 0x14 ; 20 |
| 2578: 80 93 68 08 sts 0x0868, r24 |
| 257c: e0 91 93 0c lds r30, 0x0C93 |
| 2580: ff 27 eor r31, r31 |
| 2582: ee 0f add r30, r30 |
| 2584: ff 1f adc r31, r31 |
| 2586: ec 5a subi r30, 0xAC ; 172 |
| 2588: f3 4f sbci r31, 0xF3 ; 243 |
| 258a: 20 81 ld r18, Z |
| 258c: 31 81 ldd r19, Z+1 ; 0x01 |
| 258e: e0 91 92 0c lds r30, 0x0C92 |
| 2592: ff 27 eor r31, r31 |
| 2594: ee 0f add r30, r30 |
| 2596: ff 1f adc r31, r31 |
| 2598: ec 5a subi r30, 0xAC ; 172 |
| 259a: f3 4f sbci r31, 0xF3 ; 243 |
| 259c: 80 81 ld r24, Z |
| 259e: 91 81 ldd r25, Z+1 ; 0x01 |
| 25a0: 3f 93 push r19 |
| 25a2: 2f 93 push r18 |
| 25a4: 9f 93 push r25 |
| 25a6: 8f 93 push r24 |
| 25a8: 86 ea ldi r24, 0xA6 ; 166 |
| 25aa: 92 e0 ldi r25, 0x02 ; 2 |
| 25ac: 9f 93 push r25 |
| 25ae: 8f 93 push r24 |
| 25b0: ff 92 push r15 |
| 25b2: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 25b6: 88 e2 ldi r24, 0x28 ; 40 |
| 25b8: 80 93 68 08 sts 0x0868, r24 |
| 25bc: e0 91 95 0c lds r30, 0x0C95 |
| 25c0: ff 27 eor r31, r31 |
| 25c2: ee 0f add r30, r30 |
| 25c4: ff 1f adc r31, r31 |
| 25c6: ec 5a subi r30, 0xAC ; 172 |
| 25c8: f3 4f sbci r31, 0xF3 ; 243 |
| 25ca: 20 81 ld r18, Z |
| 25cc: 31 81 ldd r19, Z+1 ; 0x01 |
| 25ce: e0 91 94 0c lds r30, 0x0C94 |
| 25d2: ff 27 eor r31, r31 |
| 25d4: ee 0f add r30, r30 |
| 25d6: ff 1f adc r31, r31 |
| 25d8: ec 5a subi r30, 0xAC ; 172 |
| 25da: f3 4f sbci r31, 0xF3 ; 243 |
| 25dc: 80 81 ld r24, Z |
| 25de: 91 81 ldd r25, Z+1 ; 0x01 |
| 25e0: 3f 93 push r19 |
| 25e2: 2f 93 push r18 |
| 25e4: 9f 93 push r25 |
| 25e6: 8f 93 push r24 |
| 25e8: 86 e9 ldi r24, 0x96 ; 150 |
| 25ea: 92 e0 ldi r25, 0x02 ; 2 |
| 25ec: 9f 93 push r25 |
| 25ee: 8f 93 push r24 |
| 25f0: ff 92 push r15 |
| 25f2: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 25f6: 8c e3 ldi r24, 0x3C ; 60 |
| 25f8: 80 93 68 08 sts 0x0868, r24 |
| 25fc: e0 91 97 0c lds r30, 0x0C97 |
| 2600: ff 27 eor r31, r31 |
| 2602: ee 0f add r30, r30 |
| 2604: ff 1f adc r31, r31 |
| 2606: ec 5a subi r30, 0xAC ; 172 |
| 2608: f3 4f sbci r31, 0xF3 ; 243 |
| 260a: 20 81 ld r18, Z |
| 260c: 31 81 ldd r19, Z+1 ; 0x01 |
| 260e: e0 91 96 0c lds r30, 0x0C96 |
| 2612: ff 27 eor r31, r31 |
| 2614: ee 0f add r30, r30 |
| 2616: ff 1f adc r31, r31 |
| 2618: ec 5a subi r30, 0xAC ; 172 |
| 261a: f3 4f sbci r31, 0xF3 ; 243 |
| 261c: 80 81 ld r24, Z |
| 261e: 91 81 ldd r25, Z+1 ; 0x01 |
| 2620: 3f 93 push r19 |
| 2622: 2f 93 push r18 |
| 2624: 9f 93 push r25 |
| 2626: 8f 93 push r24 |
| 2628: 86 e8 ldi r24, 0x86 ; 134 |
| 262a: 92 e0 ldi r25, 0x02 ; 2 |
| 262c: 67 c1 rjmp .+718 ; 0x28fc <Menu+0x732> |
| 262e: 10 92 68 08 sts 0x0868, r1 |
| 2632: 88 e7 ldi r24, 0x78 ; 120 |
| 2634: 92 e0 ldi r25, 0x02 ; 2 |
| 2636: 9f 93 push r25 |
| 2638: 8f 93 push r24 |
| 263a: ff 92 push r15 |
| 263c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2640: 84 e1 ldi r24, 0x14 ; 20 |
| 2642: 80 93 68 08 sts 0x0868, r24 |
| 2646: 20 91 73 08 lds r18, 0x0873 |
| 264a: 30 91 74 08 lds r19, 0x0874 |
| 264e: 80 91 4e 08 lds r24, 0x084E |
| 2652: 90 91 4f 08 lds r25, 0x084F |
| 2656: 60 91 5a 08 lds r22, 0x085A |
| 265a: 3f 93 push r19 |
| 265c: 2f 93 push r18 |
| 265e: 77 27 eor r23, r23 |
| 2660: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2664: 7f 93 push r23 |
| 2666: 6f 93 push r22 |
| 2668: 89 e6 ldi r24, 0x69 ; 105 |
| 266a: 92 e0 ldi r25, 0x02 ; 2 |
| 266c: 9f 93 push r25 |
| 266e: 8f 93 push r24 |
| 2670: ff 92 push r15 |
| 2672: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2676: 88 e2 ldi r24, 0x28 ; 40 |
| 2678: 80 93 68 08 sts 0x0868, r24 |
| 267c: 20 91 75 08 lds r18, 0x0875 |
| 2680: 30 91 76 08 lds r19, 0x0876 |
| 2684: 80 91 50 08 lds r24, 0x0850 |
| 2688: 90 91 51 08 lds r25, 0x0851 |
| 268c: 60 91 5b 08 lds r22, 0x085B |
| 2690: 3f 93 push r19 |
| 2692: 2f 93 push r18 |
| 2694: 77 27 eor r23, r23 |
| 2696: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 269a: 7f 93 push r23 |
| 269c: 6f 93 push r22 |
| 269e: 8a e5 ldi r24, 0x5A ; 90 |
| 26a0: 92 e0 ldi r25, 0x02 ; 2 |
| 26a2: 9f 93 push r25 |
| 26a4: 8f 93 push r24 |
| 26a6: ff 92 push r15 |
| 26a8: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 26ac: 8c e3 ldi r24, 0x3C ; 60 |
| 26ae: 80 93 68 08 sts 0x0868, r24 |
| 26b2: 20 91 77 08 lds r18, 0x0877 |
| 26b6: 30 91 78 08 lds r19, 0x0878 |
| 26ba: 80 91 52 08 lds r24, 0x0852 |
| 26be: 90 91 53 08 lds r25, 0x0853 |
| 26c2: 60 91 5c 08 lds r22, 0x085C |
| 26c6: 3f 93 push r19 |
| 26c8: 2f 93 push r18 |
| 26ca: 77 27 eor r23, r23 |
| 26cc: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 26d0: 7f 93 push r23 |
| 26d2: 6f 93 push r22 |
| 26d4: 8b e4 ldi r24, 0x4B ; 75 |
| 26d6: 92 e0 ldi r25, 0x02 ; 2 |
| 26d8: 56 c0 rjmp .+172 ; 0x2786 <Menu+0x5bc> |
| 26da: 10 92 68 08 sts 0x0868, r1 |
| 26de: 8e e3 ldi r24, 0x3E ; 62 |
| 26e0: 92 e0 ldi r25, 0x02 ; 2 |
| 26e2: 9f 93 push r25 |
| 26e4: 8f 93 push r24 |
| 26e6: ff 92 push r15 |
| 26e8: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 26ec: 84 e1 ldi r24, 0x14 ; 20 |
| 26ee: 80 93 68 08 sts 0x0868, r24 |
| 26f2: 20 91 79 08 lds r18, 0x0879 |
| 26f6: 30 91 7a 08 lds r19, 0x087A |
| 26fa: 80 91 56 08 lds r24, 0x0856 |
| 26fe: 90 91 57 08 lds r25, 0x0857 |
| 2702: 60 91 5d 08 lds r22, 0x085D |
| 2706: 3f 93 push r19 |
| 2708: 2f 93 push r18 |
| 270a: 77 27 eor r23, r23 |
| 270c: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2710: 7f 93 push r23 |
| 2712: 6f 93 push r22 |
| 2714: 8f e2 ldi r24, 0x2F ; 47 |
| 2716: 92 e0 ldi r25, 0x02 ; 2 |
| 2718: 9f 93 push r25 |
| 271a: 8f 93 push r24 |
| 271c: ff 92 push r15 |
| 271e: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2722: 88 e2 ldi r24, 0x28 ; 40 |
| 2724: 80 93 68 08 sts 0x0868, r24 |
| 2728: 20 91 7b 08 lds r18, 0x087B |
| 272c: 30 91 7c 08 lds r19, 0x087C |
| 2730: 80 91 54 08 lds r24, 0x0854 |
| 2734: 90 91 55 08 lds r25, 0x0855 |
| 2738: 60 91 5e 08 lds r22, 0x085E |
| 273c: 3f 93 push r19 |
| 273e: 2f 93 push r18 |
| 2740: 77 27 eor r23, r23 |
| 2742: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2746: 7f 93 push r23 |
| 2748: 6f 93 push r22 |
| 274a: 80 e2 ldi r24, 0x20 ; 32 |
| 274c: 92 e0 ldi r25, 0x02 ; 2 |
| 274e: 9f 93 push r25 |
| 2750: 8f 93 push r24 |
| 2752: ff 92 push r15 |
| 2754: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2758: 8c e3 ldi r24, 0x3C ; 60 |
| 275a: 80 93 68 08 sts 0x0868, r24 |
| 275e: 60 91 7d 08 lds r22, 0x087D |
| 2762: 70 91 7e 08 lds r23, 0x087E |
| 2766: 80 91 7f 08 lds r24, 0x087F |
| 276a: 90 91 80 08 lds r25, 0x0880 |
| 276e: 00 91 3c 0c lds r16, 0x0C3C |
| 2772: 10 91 3d 0c lds r17, 0x0C3D |
| 2776: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 277a: 7f 93 push r23 |
| 277c: 6f 93 push r22 |
| 277e: 1f 93 push r17 |
| 2780: 0f 93 push r16 |
| 2782: 81 e1 ldi r24, 0x11 ; 17 |
| 2784: 92 e0 ldi r25, 0x02 ; 2 |
| 2786: 9f 93 push r25 |
| 2788: 8f 93 push r24 |
| 278a: ff 92 push r15 |
| 278c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2790: 8d b7 in r24, 0x3d ; 61 |
| 2792: 9e b7 in r25, 0x3e ; 62 |
| 2794: 48 96 adiw r24, 0x18 ; 24 |
| 2796: 0a ce rjmp .-1004 ; 0x23ac <Menu+0x1e2> |
| 2798: 84 e1 ldi r24, 0x14 ; 20 |
| 279a: 80 93 68 08 sts 0x0868, r24 |
| 279e: 80 91 04 01 lds r24, 0x0104 |
| 27a2: 90 91 05 01 lds r25, 0x0105 |
| 27a6: 9f 93 push r25 |
| 27a8: 8f 93 push r24 |
| 27aa: 82 e0 ldi r24, 0x02 ; 2 |
| 27ac: 92 e0 ldi r25, 0x02 ; 2 |
| 27ae: 9f 93 push r25 |
| 27b0: 8f 93 push r24 |
| 27b2: ff 92 push r15 |
| 27b4: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 27b8: 88 e2 ldi r24, 0x28 ; 40 |
| 27ba: 80 93 68 08 sts 0x0868, r24 |
| 27be: 80 91 cf 08 lds r24, 0x08CF |
| 27c2: 99 27 eor r25, r25 |
| 27c4: 9f 93 push r25 |
| 27c6: 8f 93 push r24 |
| 27c8: 83 ef ldi r24, 0xF3 ; 243 |
| 27ca: 91 e0 ldi r25, 0x01 ; 1 |
| 27cc: 9f 93 push r25 |
| 27ce: 8f 93 push r24 |
| 27d0: ff 92 push r15 |
| 27d2: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 27d6: 8d b7 in r24, 0x3d ; 61 |
| 27d8: 9e b7 in r25, 0x3e ; 62 |
| 27da: 0a 96 adiw r24, 0x0a ; 10 |
| 27dc: e7 cd rjmp .-1074 ; 0x23ac <Menu+0x1e2> |
| 27de: 10 92 68 08 sts 0x0868, r1 |
| 27e2: 84 ee ldi r24, 0xE4 ; 228 |
| 27e4: 91 e0 ldi r25, 0x01 ; 1 |
| 27e6: 9f 93 push r25 |
| 27e8: 8f 93 push r24 |
| 27ea: ff 92 push r15 |
| 27ec: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 27f0: 84 e1 ldi r24, 0x14 ; 20 |
| 27f2: 80 93 68 08 sts 0x0868, r24 |
| 27f6: 80 91 b7 08 lds r24, 0x08B7 |
| 27fa: 90 91 b8 08 lds r25, 0x08B8 |
| 27fe: 9f 93 push r25 |
| 2800: 8f 93 push r24 |
| 2802: 85 ed ldi r24, 0xD5 ; 213 |
| 2804: 91 e0 ldi r25, 0x01 ; 1 |
| 2806: 9f 93 push r25 |
| 2808: 8f 93 push r24 |
| 280a: ff 92 push r15 |
| 280c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2810: 88 e2 ldi r24, 0x28 ; 40 |
| 2812: 80 93 68 08 sts 0x0868, r24 |
| 2816: 80 91 b3 08 lds r24, 0x08B3 |
| 281a: 90 91 b4 08 lds r25, 0x08B4 |
| 281e: 9f 93 push r25 |
| 2820: 8f 93 push r24 |
| 2822: 86 ec ldi r24, 0xC6 ; 198 |
| 2824: 91 e0 ldi r25, 0x01 ; 1 |
| 2826: 9f 93 push r25 |
| 2828: 8f 93 push r24 |
| 282a: ff 92 push r15 |
| 282c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2830: 8c e3 ldi r24, 0x3C ; 60 |
| 2832: 80 93 68 08 sts 0x0868, r24 |
| 2836: 80 91 b5 08 lds r24, 0x08B5 |
| 283a: 90 91 b6 08 lds r25, 0x08B6 |
| 283e: 9f 93 push r25 |
| 2840: 8f 93 push r24 |
| 2842: 87 eb ldi r24, 0xB7 ; 183 |
| 2844: 91 e0 ldi r25, 0x01 ; 1 |
| 2846: 9f 93 push r25 |
| 2848: 8f 93 push r24 |
| 284a: ff 92 push r15 |
| 284c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2850: 8d b7 in r24, 0x3d ; 61 |
| 2852: 9e b7 in r25, 0x3e ; 62 |
| 2854: 42 96 adiw r24, 0x12 ; 18 |
| 2856: aa cd rjmp .-1196 ; 0x23ac <Menu+0x1e2> |
| 2858: 10 92 68 08 sts 0x0868, r1 |
| 285c: 80 91 c7 08 lds r24, 0x08C7 |
| 2860: 90 91 c8 08 lds r25, 0x08C8 |
| 2864: 9f 93 push r25 |
| 2866: 8f 93 push r24 |
| 2868: 80 91 bf 08 lds r24, 0x08BF |
| 286c: 90 91 c0 08 lds r25, 0x08C0 |
| 2870: 9f 93 push r25 |
| 2872: 8f 93 push r24 |
| 2874: 85 ea ldi r24, 0xA5 ; 165 |
| 2876: 91 e0 ldi r25, 0x01 ; 1 |
| 2878: 9f 93 push r25 |
| 287a: 8f 93 push r24 |
| 287c: ff 92 push r15 |
| 287e: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2882: 84 e1 ldi r24, 0x14 ; 20 |
| 2884: 80 93 68 08 sts 0x0868, r24 |
| 2888: 80 91 c9 08 lds r24, 0x08C9 |
| 288c: 90 91 ca 08 lds r25, 0x08CA |
| 2890: 9f 93 push r25 |
| 2892: 8f 93 push r24 |
| 2894: 80 91 c1 08 lds r24, 0x08C1 |
| 2898: 90 91 c2 08 lds r25, 0x08C2 |
| 289c: 9f 93 push r25 |
| 289e: 8f 93 push r24 |
| 28a0: 83 e9 ldi r24, 0x93 ; 147 |
| 28a2: 91 e0 ldi r25, 0x01 ; 1 |
| 28a4: 9f 93 push r25 |
| 28a6: 8f 93 push r24 |
| 28a8: ff 92 push r15 |
| 28aa: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 28ae: 88 e2 ldi r24, 0x28 ; 40 |
| 28b0: 80 93 68 08 sts 0x0868, r24 |
| 28b4: 80 91 cb 08 lds r24, 0x08CB |
| 28b8: 90 91 cc 08 lds r25, 0x08CC |
| 28bc: 9f 93 push r25 |
| 28be: 8f 93 push r24 |
| 28c0: 80 91 c3 08 lds r24, 0x08C3 |
| 28c4: 90 91 c4 08 lds r25, 0x08C4 |
| 28c8: 9f 93 push r25 |
| 28ca: 8f 93 push r24 |
| 28cc: 81 e8 ldi r24, 0x81 ; 129 |
| 28ce: 91 e0 ldi r25, 0x01 ; 1 |
| 28d0: 9f 93 push r25 |
| 28d2: 8f 93 push r24 |
| 28d4: ff 92 push r15 |
| 28d6: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 28da: 8c e3 ldi r24, 0x3C ; 60 |
| 28dc: 80 93 68 08 sts 0x0868, r24 |
| 28e0: 80 91 cd 08 lds r24, 0x08CD |
| 28e4: 90 91 ce 08 lds r25, 0x08CE |
| 28e8: 9f 93 push r25 |
| 28ea: 8f 93 push r24 |
| 28ec: 80 91 c5 08 lds r24, 0x08C5 |
| 28f0: 90 91 c6 08 lds r25, 0x08C6 |
| 28f4: 9f 93 push r25 |
| 28f6: 8f 93 push r24 |
| 28f8: 8f e6 ldi r24, 0x6F ; 111 |
| 28fa: 91 e0 ldi r25, 0x01 ; 1 |
| 28fc: 9f 93 push r25 |
| 28fe: 8f 93 push r24 |
| 2900: ff 92 push r15 |
| 2902: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2906: 8d b7 in r24, 0x3d ; 61 |
| 2908: 9e b7 in r25, 0x3e ; 62 |
| 290a: 4c 96 adiw r24, 0x1c ; 28 |
| 290c: 4f cd rjmp .-1378 ; 0x23ac <Menu+0x1e2> |
| 290e: 10 92 68 08 sts 0x0868, r1 |
| 2912: 87 e6 ldi r24, 0x67 ; 103 |
| 2914: 91 e0 ldi r25, 0x01 ; 1 |
| 2916: 9f 93 push r25 |
| 2918: 8f 93 push r24 |
| 291a: ff 92 push r15 |
| 291c: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2920: 84 e1 ldi r24, 0x14 ; 20 |
| 2922: 80 93 68 08 sts 0x0868, r24 |
| 2926: 80 91 89 01 lds r24, 0x0189 |
| 292a: 99 27 eor r25, r25 |
| 292c: 9f 93 push r25 |
| 292e: 8f 93 push r24 |
| 2930: 89 e5 ldi r24, 0x59 ; 89 |
| 2932: 91 e0 ldi r25, 0x01 ; 1 |
| 2934: 9f 93 push r25 |
| 2936: 8f 93 push r24 |
| 2938: ff 92 push r15 |
| 293a: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 293e: 88 e2 ldi r24, 0x28 ; 40 |
| 2940: 80 93 68 08 sts 0x0868, r24 |
| 2944: 80 91 49 08 lds r24, 0x0849 |
| 2948: 90 91 4a 08 lds r25, 0x084A |
| 294c: 9f 93 push r25 |
| 294e: 8f 93 push r24 |
| 2950: 8b e4 ldi r24, 0x4B ; 75 |
| 2952: 91 e0 ldi r25, 0x01 ; 1 |
| 2954: 9f 93 push r25 |
| 2956: 8f 93 push r24 |
| 2958: ff 92 push r15 |
| 295a: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 295e: 8c e3 ldi r24, 0x3C ; 60 |
| 2960: 80 93 68 08 sts 0x0868, r24 |
| 2964: 80 91 b4 0c lds r24, 0x0CB4 |
| 2968: 99 27 eor r25, r25 |
| 296a: 9f 93 push r25 |
| 296c: 8f 93 push r24 |
| 296e: 80 91 b3 0c lds r24, 0x0CB3 |
| 2972: 99 27 eor r25, r25 |
| 2974: 9f 93 push r25 |
| 2976: 8f 93 push r24 |
| 2978: 8d e3 ldi r24, 0x3D ; 61 |
| 297a: 91 e0 ldi r25, 0x01 ; 1 |
| 297c: 9f 93 push r25 |
| 297e: 8f 93 push r24 |
| 2980: ff 92 push r15 |
| 2982: 0e 94 5d 09 call 0x12ba ; 0x12ba <_printf_P> |
| 2986: 0f cd rjmp .-1506 ; 0x23a6 <Menu+0x1dc> |
| 2988: 01 50 subi r16, 0x01 ; 1 |
| 298a: 00 93 66 01 sts 0x0166, r16 |
| 298e: 10 92 6a 08 sts 0x086A, r1 |
| 2992: 10 92 69 08 sts 0x0869, r1 |
| 2996: 1f 91 pop r17 |
| 2998: 0f 91 pop r16 |
| 299a: ff 90 pop r15 |
| 299c: 08 95 ret |
| 0000299e <i2c_init>: |
| 299e: 10 92 b9 00 sts 0x00B9, r1 |
| 29a2: 8a e2 ldi r24, 0x2A ; 42 |
| 29a4: 80 93 b8 00 sts 0x00B8, r24 |
| 29a8: 08 95 ret |
| 000029aa <i2c_start>: |
| 29aa: 85 ea ldi r24, 0xA5 ; 165 |
| 29ac: 80 93 bc 00 sts 0x00BC, r24 |
| 29b0: 80 e0 ldi r24, 0x00 ; 0 |
| 29b2: 90 e0 ldi r25, 0x00 ; 0 |
| 29b4: 08 95 ret |
| 000029b6 <i2c_stop>: |
| 29b6: 84 e9 ldi r24, 0x94 ; 148 |
| 29b8: 80 93 bc 00 sts 0x00BC, r24 |
| 29bc: 08 95 ret |
| 000029be <i2c_write_byte>: |
| 29be: 10 92 b9 00 sts 0x00B9, r1 |
| 29c2: 80 93 bb 00 sts 0x00BB, r24 |
| 29c6: 85 e8 ldi r24, 0x85 ; 133 |
| 29c8: 80 93 bc 00 sts 0x00BC, r24 |
| 29cc: 80 e0 ldi r24, 0x00 ; 0 |
| 29ce: 90 e0 ldi r25, 0x00 ; 0 |
| 29d0: 08 95 ret |
| 000029d2 <__vector_26>: |
| 29d2: 1f 92 push r1 |
| 29d4: 0f 92 push r0 |
| 29d6: 0f b6 in r0, 0x3f ; 63 |
| 29d8: 0f 92 push r0 |
| 29da: 11 24 eor r1, r1 |
| 29dc: 8f 93 push r24 |
| 29de: 9f 93 push r25 |
| 29e0: ef 93 push r30 |
| 29e2: ff 93 push r31 |
| 29e4: 80 91 6b 08 lds r24, 0x086B |
| 29e8: 8f 5f subi r24, 0xFF ; 255 |
| 29ea: 80 93 6b 08 sts 0x086B, r24 |
| 29ee: 81 50 subi r24, 0x01 ; 1 |
| 29f0: 83 30 cpi r24, 0x03 ; 3 |
| 29f2: 09 f4 brne .+2 ; 0x29f6 <__vector_26+0x24> |
| 29f4: 42 c0 rjmp .+132 ; 0x2a7a <__vector_26+0xa8> |
| 29f6: 84 30 cpi r24, 0x04 ; 4 |
| 29f8: 28 f4 brcc .+10 ; 0x2a04 <__vector_26+0x32> |
| 29fa: 81 30 cpi r24, 0x01 ; 1 |
| 29fc: a1 f0 breq .+40 ; 0x2a26 <__vector_26+0x54> |
| 29fe: 82 30 cpi r24, 0x02 ; 2 |
| 2a00: 70 f5 brcc .+92 ; 0x2a5e <__vector_26+0x8c> |
| 2a02: 0c c0 rjmp .+24 ; 0x2a1c <__vector_26+0x4a> |
| 2a04: 85 30 cpi r24, 0x05 ; 5 |
| 2a06: 09 f4 brne .+2 ; 0x2a0a <__vector_26+0x38> |
| 2a08: 48 c0 rjmp .+144 ; 0x2a9a <__vector_26+0xc8> |
| 2a0a: 85 30 cpi r24, 0x05 ; 5 |
| 2a0c: d8 f1 brcs .+118 ; 0x2a84 <__vector_26+0xb2> |
| 2a0e: 86 30 cpi r24, 0x06 ; 6 |
| 2a10: 09 f4 brne .+2 ; 0x2a14 <__vector_26+0x42> |
| 2a12: 4b c0 rjmp .+150 ; 0x2aaa <__vector_26+0xd8> |
| 2a14: 87 30 cpi r24, 0x07 ; 7 |
| 2a16: 09 f0 breq .+2 ; 0x2a1a <__vector_26+0x48> |
| 2a18: 71 c0 rjmp .+226 ; 0x2afc <__vector_26+0x12a> |
| 2a1a: 5b c0 rjmp .+182 ; 0x2ad2 <__vector_26+0x100> |
| 2a1c: 80 91 6c 08 lds r24, 0x086C |
| 2a20: 88 0f add r24, r24 |
| 2a22: 8e 5a subi r24, 0xAE ; 174 |
| 2a24: 14 c0 rjmp .+40 ; 0x2a4e <__vector_26+0x7c> |
| 2a26: 80 91 6c 08 lds r24, 0x086C |
| 2a2a: 8f 5f subi r24, 0xFF ; 255 |
| 2a2c: 80 93 6c 08 sts 0x086C, r24 |
| 2a30: 81 50 subi r24, 0x01 ; 1 |
| 2a32: 81 30 cpi r24, 0x01 ; 1 |
| 2a34: 09 f4 brne .+2 ; 0x2a38 <__vector_26+0x66> |
| 2a36: 44 c0 rjmp .+136 ; 0x2ac0 <__vector_26+0xee> |
| 2a38: 81 30 cpi r24, 0x01 ; 1 |
| 2a3a: 38 f0 brcs .+14 ; 0x2a4a <__vector_26+0x78> |
| 2a3c: 82 30 cpi r24, 0x02 ; 2 |
| 2a3e: 09 f4 brne .+2 ; 0x2a42 <__vector_26+0x70> |
| 2a40: 42 c0 rjmp .+132 ; 0x2ac6 <__vector_26+0xf4> |
| 2a42: 83 30 cpi r24, 0x03 ; 3 |
| 2a44: 09 f0 breq .+2 ; 0x2a48 <__vector_26+0x76> |
| 2a46: 5a c0 rjmp .+180 ; 0x2afc <__vector_26+0x12a> |
| 2a48: 41 c0 rjmp .+130 ; 0x2acc <__vector_26+0xfa> |
| 2a4a: 80 91 60 09 lds r24, 0x0960 |
| 2a4e: 10 92 b9 00 sts 0x00B9, r1 |
| 2a52: 80 93 bb 00 sts 0x00BB, r24 |
| 2a56: 85 e8 ldi r24, 0x85 ; 133 |
| 2a58: 80 93 bc 00 sts 0x00BC, r24 |
| 2a5c: 4f c0 rjmp .+158 ; 0x2afc <__vector_26+0x12a> |
| 2a5e: 84 e9 ldi r24, 0x94 ; 148 |
| 2a60: 80 93 bc 00 sts 0x00BC, r24 |
| 2a64: 80 91 6c 08 lds r24, 0x086C |
| 2a68: 84 30 cpi r24, 0x04 ; 4 |
| 2a6a: 18 f4 brcc .+6 ; 0x2a72 <__vector_26+0xa0> |
| 2a6c: 10 92 6b 08 sts 0x086B, r1 |
| 2a70: 02 c0 rjmp .+4 ; 0x2a76 <__vector_26+0xa4> |
| 2a72: 10 92 6c 08 sts 0x086C, r1 |
| 2a76: 85 ea ldi r24, 0xA5 ; 165 |
| 2a78: ef cf rjmp .-34 ; 0x2a58 <__vector_26+0x86> |
| 2a7a: 80 91 6d 08 lds r24, 0x086D |
| 2a7e: 88 0f add r24, r24 |
| 2a80: 8d 5a subi r24, 0xAD ; 173 |
| 2a82: e5 cf rjmp .-54 ; 0x2a4e <__vector_26+0x7c> |
| 2a84: 80 91 6d 08 lds r24, 0x086D |
| 2a88: 81 30 cpi r24, 0x01 ; 1 |
| 2a8a: d1 f0 breq .+52 ; 0x2ac0 <__vector_26+0xee> |
| 2a8c: 81 30 cpi r24, 0x01 ; 1 |
| 2a8e: e8 f2 brcs .-70 ; 0x2a4a <__vector_26+0x78> |
| 2a90: 82 30 cpi r24, 0x02 ; 2 |
| 2a92: c9 f0 breq .+50 ; 0x2ac6 <__vector_26+0xf4> |
| 2a94: 83 30 cpi r24, 0x03 ; 3 |
| 2a96: 91 f5 brne .+100 ; 0x2afc <__vector_26+0x12a> |
| 2a98: 19 c0 rjmp .+50 ; 0x2acc <__vector_26+0xfa> |
| 2a9a: 80 91 bb 00 lds r24, 0x00BB |
| 2a9e: e0 91 6d 08 lds r30, 0x086D |
| 2aa2: ff 27 eor r31, r31 |
| 2aa4: e4 5b subi r30, 0xB4 ; 180 |
| 2aa6: f3 4f sbci r31, 0xF3 ; 243 |
| 2aa8: 80 83 st Z, r24 |
| 2aaa: 80 91 6d 08 lds r24, 0x086D |
| 2aae: 81 30 cpi r24, 0x01 ; 1 |
| 2ab0: 39 f0 breq .+14 ; 0x2ac0 <__vector_26+0xee> |
| 2ab2: 81 30 cpi r24, 0x01 ; 1 |
| 2ab4: 50 f2 brcs .-108 ; 0x2a4a <__vector_26+0x78> |
| 2ab6: 82 30 cpi r24, 0x02 ; 2 |
| 2ab8: 31 f0 breq .+12 ; 0x2ac6 <__vector_26+0xf4> |
| 2aba: 83 30 cpi r24, 0x03 ; 3 |
| 2abc: f9 f4 brne .+62 ; 0x2afc <__vector_26+0x12a> |
| 2abe: 06 c0 rjmp .+12 ; 0x2acc <__vector_26+0xfa> |
| 2ac0: 80 91 61 09 lds r24, 0x0961 |
| 2ac4: c4 cf rjmp .-120 ; 0x2a4e <__vector_26+0x7c> |
| 2ac6: 80 91 66 09 lds r24, 0x0966 |
| 2aca: c1 cf rjmp .-126 ; 0x2a4e <__vector_26+0x7c> |
| 2acc: 80 91 6c 09 lds r24, 0x096C |
| 2ad0: be cf rjmp .-132 ; 0x2a4e <__vector_26+0x7c> |
| 2ad2: 80 91 6d 08 lds r24, 0x086D |
| 2ad6: 90 91 bb 00 lds r25, 0x00BB |
| 2ada: e8 2f mov r30, r24 |
| 2adc: ff 27 eor r31, r31 |
| 2ade: e4 5b subi r30, 0xB4 ; 180 |
| 2ae0: f3 4f sbci r31, 0xF3 ; 243 |
| 2ae2: 94 83 std Z+4, r25 ; 0x04 |
| 2ae4: 8f 5f subi r24, 0xFF ; 255 |
| 2ae6: 80 93 6d 08 sts 0x086D, r24 |
| 2aea: 84 30 cpi r24, 0x04 ; 4 |
| 2aec: 10 f0 brcs .+4 ; 0x2af2 <__vector_26+0x120> |
| 2aee: 10 92 6d 08 sts 0x086D, r1 |
| 2af2: 84 e9 ldi r24, 0x94 ; 148 |
| 2af4: 80 93 bc 00 sts 0x00BC, r24 |
| 2af8: 10 92 6b 08 sts 0x086B, r1 |
| 2afc: ff 91 pop r31 |
| 2afe: ef 91 pop r30 |
| 2b00: 9f 91 pop r25 |
| 2b02: 8f 91 pop r24 |
| 2b04: 0f 90 pop r0 |
| 2b06: 0f be out 0x3f, r0 ; 63 |
| 2b08: 0f 90 pop r0 |
| 2b0a: 1f 90 pop r1 |
| 2b0c: 18 95 reti |
| 00002b0e <rc_sum_init>: |
| 2b0e: 83 ec ldi r24, 0xC3 ; 195 |
| 2b10: 80 93 81 00 sts 0x0081, r24 |
| 2b14: ef e6 ldi r30, 0x6F ; 111 |
| 2b16: f0 e0 ldi r31, 0x00 ; 0 |
| 2b18: 80 81 ld r24, Z |
| 2b1a: 80 62 ori r24, 0x20 ; 32 |
| 2b1c: 80 83 st Z, r24 |
| 2b1e: 10 92 78 08 sts 0x0878, r1 |
| 2b22: 10 92 77 08 sts 0x0877, r1 |
| 2b26: 10 92 76 08 sts 0x0876, r1 |
| 2b2a: 10 92 75 08 sts 0x0875, r1 |
| 2b2e: 10 92 74 08 sts 0x0874, r1 |
| 2b32: 10 92 73 08 sts 0x0873, r1 |
| 2b36: 08 95 ret |
| 00002b38 <__vector_12>: |
| 2b38: 1f 92 push r1 |
| 2b3a: 0f 92 push r0 |
| 2b3c: 0f b6 in r0, 0x3f ; 63 |
| 2b3e: 0f 92 push r0 |
| 2b40: 11 24 eor r1, r1 |
| 2b42: 0f 93 push r16 |
| 2b44: 1f 93 push r17 |
| 2b46: 2f 93 push r18 |
| 2b48: 3f 93 push r19 |
| 2b4a: 4f 93 push r20 |
| 2b4c: 5f 93 push r21 |
| 2b4e: 6f 93 push r22 |
| 2b50: 7f 93 push r23 |
| 2b52: 8f 93 push r24 |
| 2b54: 9f 93 push r25 |
| 2b56: af 93 push r26 |
| 2b58: bf 93 push r27 |
| 2b5a: cf 93 push r28 |
| 2b5c: df 93 push r29 |
| 2b5e: ef 93 push r30 |
| 2b60: ff 93 push r31 |
| 2b62: 20 91 86 00 lds r18, 0x0086 |
| 2b66: 30 91 87 00 lds r19, 0x0087 |
| 2b6a: 80 91 70 08 lds r24, 0x0870 |
| 2b6e: 90 91 71 08 lds r25, 0x0871 |
| 2b72: 28 1b sub r18, r24 |
| 2b74: 39 0b sbc r19, r25 |
| 2b76: 80 91 86 00 lds r24, 0x0086 |
| 2b7a: 90 91 87 00 lds r25, 0x0087 |
| 2b7e: 90 93 71 08 sts 0x0871, r25 |
| 2b82: 80 93 70 08 sts 0x0870, r24 |
| 2b86: c9 01 movw r24, r18 |
| 2b88: 8d 5d subi r24, 0xDD ; 221 |
| 2b8a: 95 40 sbci r25, 0x05 ; 5 |
| 2b8c: 83 56 subi r24, 0x63 ; 99 |
| 2b8e: 99 41 sbci r25, 0x19 ; 25 |
| 2b90: 48 f4 brcc .+18 ; 0x2ba4 <__vector_12+0x6c> |
| 2b92: 81 e0 ldi r24, 0x01 ; 1 |
| 2b94: 90 e0 ldi r25, 0x00 ; 0 |
| 2b96: 90 93 6f 08 sts 0x086F, r25 |
| 2b9a: 80 93 6e 08 sts 0x086E, r24 |
| 2b9e: 10 92 67 01 sts 0x0167, r1 |
| 2ba2: 54 c0 rjmp .+168 ; 0x2c4c <__vector_12+0x114> |
| 2ba4: c0 91 6e 08 lds r28, 0x086E |
| 2ba8: d0 91 6f 08 lds r29, 0x086F |
| 2bac: ce 30 cpi r28, 0x0E ; 14 |
| 2bae: d1 05 cpc r29, r1 |
| 2bb0: 0c f0 brlt .+2 ; 0x2bb4 <__vector_12+0x7c> |
| 2bb2: 4c c0 rjmp .+152 ; 0x2c4c <__vector_12+0x114> |
| 2bb4: c9 01 movw r24, r18 |
| 2bb6: 8b 5f subi r24, 0xFB ; 251 |
| 2bb8: 90 40 sbci r25, 0x00 ; 0 |
| 2bba: 84 5b subi r24, 0xB4 ; 180 |
| 2bbc: 91 40 sbci r25, 0x01 ; 1 |
| 2bbe: 08 f0 brcs .+2 ; 0x2bc2 <__vector_12+0x8a> |
| 2bc0: 40 c0 rjmp .+128 ; 0x2c42 <__vector_12+0x10a> |
| 2bc2: a9 01 movw r20, r18 |
| 2bc4: 42 5d subi r20, 0xD2 ; 210 |
| 2bc6: 51 40 sbci r21, 0x01 ; 1 |
| 2bc8: fe 01 movw r30, r28 |
| 2bca: ee 0f add r30, r30 |
| 2bcc: ff 1f adc r31, r31 |
| 2bce: ec 5a subi r30, 0xAC ; 172 |
| 2bd0: f3 4f sbci r31, 0xF3 ; 243 |
| 2bd2: 80 81 ld r24, Z |
| 2bd4: 91 81 ldd r25, Z+1 ; 0x01 |
| 2bd6: fa 01 movw r30, r20 |
| 2bd8: e8 1b sub r30, r24 |
| 2bda: f9 0b sbc r31, r25 |
| 2bdc: cf 01 movw r24, r30 |
| 2bde: f7 ff sbrs r31, 7 |
| 2be0: 03 c0 rjmp .+6 ; 0x2be8 <__vector_12+0xb0> |
| 2be2: 90 95 com r25 |
| 2be4: 81 95 neg r24 |
| 2be6: 9f 4f sbci r25, 0xFF ; 255 |
| 2be8: 06 97 sbiw r24, 0x06 ; 6 |
| 2bea: 4c f4 brge .+18 ; 0x2bfe <__vector_12+0xc6> |
| 2bec: 80 91 cf 08 lds r24, 0x08CF |
| 2bf0: 88 3c cpi r24, 0xC8 ; 200 |
| 2bf2: 28 f4 brcc .+10 ; 0x2bfe <__vector_12+0xc6> |
| 2bf4: 80 91 cf 08 lds r24, 0x08CF |
| 2bf8: 86 5f subi r24, 0xF6 ; 246 |
| 2bfa: 80 93 cf 08 sts 0x08CF, r24 |
| 2bfe: fe 01 movw r30, r28 |
| 2c00: ee 0f add r30, r30 |
| 2c02: ff 1f adc r31, r31 |
| 2c04: 8f 01 movw r16, r30 |
| 2c06: 0c 5a subi r16, 0xAC ; 172 |
| 2c08: 13 4f sbci r17, 0xF3 ; 243 |
| 2c0a: d8 01 movw r26, r16 |
| 2c0c: 2d 91 ld r18, X+ |
| 2c0e: 3c 91 ld r19, X |
| 2c10: c9 01 movw r24, r18 |
| 2c12: 88 0f add r24, r24 |
| 2c14: 99 1f adc r25, r25 |
| 2c16: 82 0f add r24, r18 |
| 2c18: 93 1f adc r25, r19 |
| 2c1a: 84 0f add r24, r20 |
| 2c1c: 95 1f adc r25, r21 |
| 2c1e: 64 e0 ldi r22, 0x04 ; 4 |
| 2c20: 70 e0 ldi r23, 0x00 ; 0 |
| 2c22: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2c26: d8 01 movw r26, r16 |
| 2c28: 8d 91 ld r24, X+ |
| 2c2a: 9c 91 ld r25, X |
| 2c2c: 11 97 sbiw r26, 0x01 ; 1 |
| 2c2e: 9b 01 movw r18, r22 |
| 2c30: 28 1b sub r18, r24 |
| 2c32: 39 0b sbc r19, r25 |
| 2c34: ee 58 subi r30, 0x8E ; 142 |
| 2c36: f3 4f sbci r31, 0xF3 ; 243 |
| 2c38: 31 83 std Z+1, r19 ; 0x01 |
| 2c3a: 20 83 st Z, r18 |
| 2c3c: 11 96 adiw r26, 0x01 ; 1 |
| 2c3e: 7c 93 st X, r23 |
| 2c40: 6e 93 st -X, r22 |
| 2c42: 21 96 adiw r28, 0x01 ; 1 |
| 2c44: d0 93 6f 08 sts 0x086F, r29 |
| 2c48: c0 93 6e 08 sts 0x086E, r28 |
| 2c4c: ff 91 pop r31 |
| 2c4e: ef 91 pop r30 |
| 2c50: df 91 pop r29 |
| 2c52: cf 91 pop r28 |
| 2c54: bf 91 pop r27 |
| 2c56: af 91 pop r26 |
| 2c58: 9f 91 pop r25 |
| 2c5a: 8f 91 pop r24 |
| 2c5c: 7f 91 pop r23 |
| 2c5e: 6f 91 pop r22 |
| 2c60: 5f 91 pop r21 |
| 2c62: 4f 91 pop r20 |
| 2c64: 3f 91 pop r19 |
| 2c66: 2f 91 pop r18 |
| 2c68: 1f 91 pop r17 |
| 2c6a: 0f 91 pop r16 |
| 2c6c: 0f 90 pop r0 |
| 2c6e: 0f be out 0x3f, r0 ; 63 |
| 2c70: 0f 90 pop r0 |
| 2c72: 1f 90 pop r1 |
| 2c74: 18 95 reti |
| 00002c76 <Mittelwert>: |
| 2c76: af 92 push r10 |
| 2c78: bf 92 push r11 |
| 2c7a: cf 92 push r12 |
| 2c7c: df 92 push r13 |
| 2c7e: ef 92 push r14 |
| 2c80: ff 92 push r15 |
| 2c82: 0f 93 push r16 |
| 2c84: 1f 93 push r17 |
| 2c86: 10 92 7a 00 sts 0x007A, r1 |
| 2c8a: 80 91 5a 08 lds r24, 0x085A |
| 2c8e: 88 23 and r24, r24 |
| 2c90: 69 f0 breq .+26 ; 0x2cac <Mittelwert+0x36> |
| 2c92: 80 91 4e 08 lds r24, 0x084E |
| 2c96: 90 91 4f 08 lds r25, 0x084F |
| 2c9a: 60 91 5a 08 lds r22, 0x085A |
| 2c9e: 77 27 eor r23, r23 |
| 2ca0: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2ca4: 70 93 cd 0c sts 0x0CCD, r23 |
| 2ca8: 60 93 cc 0c sts 0x0CCC, r22 |
| 2cac: 80 91 5b 08 lds r24, 0x085B |
| 2cb0: 88 23 and r24, r24 |
| 2cb2: 69 f0 breq .+26 ; 0x2cce <Mittelwert+0x58> |
| 2cb4: 80 91 50 08 lds r24, 0x0850 |
| 2cb8: 90 91 51 08 lds r25, 0x0851 |
| 2cbc: 60 91 5b 08 lds r22, 0x085B |
| 2cc0: 77 27 eor r23, r23 |
| 2cc2: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2cc6: 70 93 cb 0c sts 0x0CCB, r23 |
| 2cca: 60 93 ca 0c sts 0x0CCA, r22 |
| 2cce: 80 91 5c 08 lds r24, 0x085C |
| 2cd2: 88 23 and r24, r24 |
| 2cd4: 69 f0 breq .+26 ; 0x2cf0 <Mittelwert+0x7a> |
| 2cd6: 80 91 52 08 lds r24, 0x0852 |
| 2cda: 90 91 53 08 lds r25, 0x0853 |
| 2cde: 60 91 5c 08 lds r22, 0x085C |
| 2ce2: 77 27 eor r23, r23 |
| 2ce4: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 2ce8: 70 93 d9 0c sts 0x0CD9, r23 |
| 2cec: 60 93 d8 0c sts 0x0CD8, r22 |
| 2cf0: 80 91 5d 08 lds r24, 0x085D |
| 2cf4: 88 23 and r24, r24 |
| 2cf6: d9 f1 breq .+118 ; 0x2d6e <Mittelwert+0xf8> |
| 2cf8: e0 90 d5 0c lds r14, 0x0CD5 |
| 2cfc: f0 90 d6 0c lds r15, 0x0CD6 |
| 2d00: 60 91 56 08 lds r22, 0x0856 |
| 2d04: 70 91 57 08 lds r23, 0x0857 |
| 2d08: 20 91 5d 08 lds r18, 0x085D |
| 2d0c: 00 27 eor r16, r16 |
| 2d0e: f7 fc sbrc r15, 7 |
| 2d10: 00 95 com r16 |
| 2d12: 10 2f mov r17, r16 |
| 2d14: 57 01 movw r10, r14 |
| 2d16: 68 01 movw r12, r16 |
| 2d18: 43 e0 ldi r20, 0x03 ; 3 |
| 2d1a: aa 0c add r10, r10 |
| 2d1c: bb 1c adc r11, r11 |
| 2d1e: cc 1c adc r12, r12 |
| 2d20: dd 1c adc r13, r13 |
| 2d22: 4a 95 dec r20 |
| 2d24: d1 f7 brne .-12 ; 0x2d1a <Mittelwert+0xa4> |
| 2d26: ae 18 sub r10, r14 |
| 2d28: bf 08 sbc r11, r15 |
| 2d2a: c0 0a sbc r12, r16 |
| 2d2c: d1 0a sbc r13, r17 |
| 2d2e: 88 27 eor r24, r24 |
| 2d30: 77 fd sbrc r23, 7 |
| 2d32: 80 95 com r24 |
| 2d34: 98 2f mov r25, r24 |
| 2d36: 34 e0 ldi r19, 0x04 ; 4 |
| 2d38: 66 0f add r22, r22 |
| 2d3a: 77 1f adc r23, r23 |
| 2d3c: 88 1f adc r24, r24 |
| 2d3e: 99 1f adc r25, r25 |
| 2d40: 3a 95 dec r19 |
| 2d42: d1 f7 brne .-12 ; 0x2d38 <Mittelwert+0xc2> |
| 2d44: 33 27 eor r19, r19 |
| 2d46: 44 27 eor r20, r20 |
| 2d48: 55 27 eor r21, r21 |
| 2d4a: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2d4e: a2 0e add r10, r18 |
| 2d50: b3 1e adc r11, r19 |
| 2d52: c4 1e adc r12, r20 |
| 2d54: d5 1e adc r13, r21 |
| 2d56: c6 01 movw r24, r12 |
| 2d58: b5 01 movw r22, r10 |
| 2d5a: 28 e0 ldi r18, 0x08 ; 8 |
| 2d5c: 30 e0 ldi r19, 0x00 ; 0 |
| 2d5e: 40 e0 ldi r20, 0x00 ; 0 |
| 2d60: 50 e0 ldi r21, 0x00 ; 0 |
| 2d62: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2d66: 30 93 d6 0c sts 0x0CD6, r19 |
| 2d6a: 20 93 d5 0c sts 0x0CD5, r18 |
| 2d6e: 80 91 5e 08 lds r24, 0x085E |
| 2d72: 88 23 and r24, r24 |
| 2d74: d9 f1 breq .+118 ; 0x2dec <Mittelwert+0x176> |
| 2d76: e0 90 de 0c lds r14, 0x0CDE |
| 2d7a: f0 90 df 0c lds r15, 0x0CDF |
| 2d7e: 60 91 54 08 lds r22, 0x0854 |
| 2d82: 70 91 55 08 lds r23, 0x0855 |
| 2d86: 20 91 5e 08 lds r18, 0x085E |
| 2d8a: 00 27 eor r16, r16 |
| 2d8c: f7 fc sbrc r15, 7 |
| 2d8e: 00 95 com r16 |
| 2d90: 10 2f mov r17, r16 |
| 2d92: 57 01 movw r10, r14 |
| 2d94: 68 01 movw r12, r16 |
| 2d96: 83 e0 ldi r24, 0x03 ; 3 |
| 2d98: aa 0c add r10, r10 |
| 2d9a: bb 1c adc r11, r11 |
| 2d9c: cc 1c adc r12, r12 |
| 2d9e: dd 1c adc r13, r13 |
| 2da0: 8a 95 dec r24 |
| 2da2: d1 f7 brne .-12 ; 0x2d98 <Mittelwert+0x122> |
| 2da4: ae 18 sub r10, r14 |
| 2da6: bf 08 sbc r11, r15 |
| 2da8: c0 0a sbc r12, r16 |
| 2daa: d1 0a sbc r13, r17 |
| 2dac: 88 27 eor r24, r24 |
| 2dae: 77 fd sbrc r23, 7 |
| 2db0: 80 95 com r24 |
| 2db2: 98 2f mov r25, r24 |
| 2db4: b4 e0 ldi r27, 0x04 ; 4 |
| 2db6: 66 0f add r22, r22 |
| 2db8: 77 1f adc r23, r23 |
| 2dba: 88 1f adc r24, r24 |
| 2dbc: 99 1f adc r25, r25 |
| 2dbe: ba 95 dec r27 |
| 2dc0: d1 f7 brne .-12 ; 0x2db6 <Mittelwert+0x140> |
| 2dc2: 33 27 eor r19, r19 |
| 2dc4: 44 27 eor r20, r20 |
| 2dc6: 55 27 eor r21, r21 |
| 2dc8: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2dcc: a2 0e add r10, r18 |
| 2dce: b3 1e adc r11, r19 |
| 2dd0: c4 1e adc r12, r20 |
| 2dd2: d5 1e adc r13, r21 |
| 2dd4: c6 01 movw r24, r12 |
| 2dd6: b5 01 movw r22, r10 |
| 2dd8: 28 e0 ldi r18, 0x08 ; 8 |
| 2dda: 30 e0 ldi r19, 0x00 ; 0 |
| 2ddc: 40 e0 ldi r20, 0x00 ; 0 |
| 2dde: 50 e0 ldi r21, 0x00 ; 0 |
| 2de0: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2de4: 30 93 df 0c sts 0x0CDF, r19 |
| 2de8: 20 93 de 0c sts 0x0CDE, r18 |
| 2dec: 80 91 5f 08 lds r24, 0x085F |
| 2df0: 88 23 and r24, r24 |
| 2df2: a1 f1 breq .+104 ; 0x2e5c <Mittelwert+0x1e6> |
| 2df4: e0 90 cf 0c lds r14, 0x0CCF |
| 2df8: f0 90 d0 0c lds r15, 0x0CD0 |
| 2dfc: 60 91 58 08 lds r22, 0x0858 |
| 2e00: 70 91 59 08 lds r23, 0x0859 |
| 2e04: 20 91 5f 08 lds r18, 0x085F |
| 2e08: 00 27 eor r16, r16 |
| 2e0a: f7 fc sbrc r15, 7 |
| 2e0c: 00 95 com r16 |
| 2e0e: 10 2f mov r17, r16 |
| 2e10: 57 01 movw r10, r14 |
| 2e12: 68 01 movw r12, r16 |
| 2e14: a3 e0 ldi r26, 0x03 ; 3 |
| 2e16: aa 0c add r10, r10 |
| 2e18: bb 1c adc r11, r11 |
| 2e1a: cc 1c adc r12, r12 |
| 2e1c: dd 1c adc r13, r13 |
| 2e1e: aa 95 dec r26 |
| 2e20: d1 f7 brne .-12 ; 0x2e16 <Mittelwert+0x1a0> |
| 2e22: ae 18 sub r10, r14 |
| 2e24: bf 08 sbc r11, r15 |
| 2e26: c0 0a sbc r12, r16 |
| 2e28: d1 0a sbc r13, r17 |
| 2e2a: 88 27 eor r24, r24 |
| 2e2c: 77 fd sbrc r23, 7 |
| 2e2e: 80 95 com r24 |
| 2e30: 98 2f mov r25, r24 |
| 2e32: 33 27 eor r19, r19 |
| 2e34: 44 27 eor r20, r20 |
| 2e36: 55 27 eor r21, r21 |
| 2e38: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2e3c: a2 0e add r10, r18 |
| 2e3e: b3 1e adc r11, r19 |
| 2e40: c4 1e adc r12, r20 |
| 2e42: d5 1e adc r13, r21 |
| 2e44: c6 01 movw r24, r12 |
| 2e46: b5 01 movw r22, r10 |
| 2e48: 28 e0 ldi r18, 0x08 ; 8 |
| 2e4a: 30 e0 ldi r19, 0x00 ; 0 |
| 2e4c: 40 e0 ldi r20, 0x00 ; 0 |
| 2e4e: 50 e0 ldi r21, 0x00 ; 0 |
| 2e50: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 2e54: 30 93 d0 0c sts 0x0CD0, r19 |
| 2e58: 20 93 cf 0c sts 0x0CCF, r18 |
| 2e5c: 10 92 4f 08 sts 0x084F, r1 |
| 2e60: 10 92 4e 08 sts 0x084E, r1 |
| 2e64: 10 92 5a 08 sts 0x085A, r1 |
| 2e68: 10 92 51 08 sts 0x0851, r1 |
| 2e6c: 10 92 50 08 sts 0x0850, r1 |
| 2e70: 10 92 5b 08 sts 0x085B, r1 |
| 2e74: 10 92 53 08 sts 0x0853, r1 |
| 2e78: 10 92 52 08 sts 0x0852, r1 |
| 2e7c: 10 92 5c 08 sts 0x085C, r1 |
| 2e80: 10 92 55 08 sts 0x0855, r1 |
| 2e84: 10 92 54 08 sts 0x0854, r1 |
| 2e88: 10 92 5e 08 sts 0x085E, r1 |
| 2e8c: 10 92 57 08 sts 0x0857, r1 |
| 2e90: 10 92 56 08 sts 0x0856, r1 |
| 2e94: 10 92 5d 08 sts 0x085D, r1 |
| 2e98: 10 92 59 08 sts 0x0859, r1 |
| 2e9c: 10 92 58 08 sts 0x0858, r1 |
| 2ea0: 10 92 5f 08 sts 0x085F, r1 |
| 2ea4: 80 91 a7 08 lds r24, 0x08A7 |
| 2ea8: 90 91 a8 08 lds r25, 0x08A8 |
| 2eac: a0 91 a9 08 lds r26, 0x08A9 |
| 2eb0: b0 91 aa 08 lds r27, 0x08AA |
| 2eb4: 80 93 93 08 sts 0x0893, r24 |
| 2eb8: 90 93 94 08 sts 0x0894, r25 |
| 2ebc: a0 93 95 08 sts 0x0895, r26 |
| 2ec0: b0 93 96 08 sts 0x0896, r27 |
| 2ec4: 80 91 97 08 lds r24, 0x0897 |
| 2ec8: 90 91 98 08 lds r25, 0x0898 |
| 2ecc: a0 91 99 08 lds r26, 0x0899 |
| 2ed0: b0 91 9a 08 lds r27, 0x089A |
| 2ed4: 80 93 83 08 sts 0x0883, r24 |
| 2ed8: 90 93 84 08 sts 0x0884, r25 |
| 2edc: a0 93 85 08 sts 0x0885, r26 |
| 2ee0: b0 93 86 08 sts 0x0886, r27 |
| 2ee4: 80 91 9f 08 lds r24, 0x089F |
| 2ee8: 90 91 a0 08 lds r25, 0x08A0 |
| 2eec: a0 91 a1 08 lds r26, 0x08A1 |
| 2ef0: b0 91 a2 08 lds r27, 0x08A2 |
| 2ef4: 80 93 8b 08 sts 0x088B, r24 |
| 2ef8: 90 93 8c 08 sts 0x088C, r25 |
| 2efc: a0 93 8d 08 sts 0x088D, r26 |
| 2f00: b0 93 8e 08 sts 0x088E, r27 |
| 2f04: 80 91 9b 08 lds r24, 0x089B |
| 2f08: 90 91 9c 08 lds r25, 0x089C |
| 2f0c: a0 91 9d 08 lds r26, 0x089D |
| 2f10: b0 91 9e 08 lds r27, 0x089E |
| 2f14: 80 93 87 08 sts 0x0887, r24 |
| 2f18: 90 93 88 08 sts 0x0888, r25 |
| 2f1c: a0 93 89 08 sts 0x0889, r26 |
| 2f20: b0 93 8a 08 sts 0x088A, r27 |
| 2f24: 80 91 a3 08 lds r24, 0x08A3 |
| 2f28: 90 91 a4 08 lds r25, 0x08A4 |
| 2f2c: a0 91 a5 08 lds r26, 0x08A5 |
| 2f30: b0 91 a6 08 lds r27, 0x08A6 |
| 2f34: 80 93 8f 08 sts 0x088F, r24 |
| 2f38: 90 93 90 08 sts 0x0890, r25 |
| 2f3c: a0 93 91 08 sts 0x0891, r26 |
| 2f40: b0 93 92 08 sts 0x0892, r27 |
| 2f44: 8f ee ldi r24, 0xEF ; 239 |
| 2f46: 80 93 7a 00 sts 0x007A, r24 |
| 2f4a: 80 91 cc 0c lds r24, 0x0CCC |
| 2f4e: 90 91 cd 0c lds r25, 0x0CCD |
| 2f52: 89 3c cpi r24, 0xC9 ; 201 |
| 2f54: 91 05 cpc r25, r1 |
| 2f56: 7c f0 brlt .+30 ; 0x2f76 <Mittelwert+0x300> |
| 2f58: 20 91 cc 0c lds r18, 0x0CCC |
| 2f5c: 30 91 cd 0c lds r19, 0x0CCD |
| 2f60: 80 91 cc 0c lds r24, 0x0CCC |
| 2f64: 90 91 cd 0c lds r25, 0x0CCD |
| 2f68: 88 0f add r24, r24 |
| 2f6a: 99 1f adc r25, r25 |
| 2f6c: 88 0f add r24, r24 |
| 2f6e: 99 1f adc r25, r25 |
| 2f70: 20 52 subi r18, 0x20 ; 32 |
| 2f72: 33 40 sbci r19, 0x03 ; 3 |
| 2f74: 15 c0 rjmp .+42 ; 0x2fa0 <Mittelwert+0x32a> |
| 2f76: 80 91 cc 0c lds r24, 0x0CCC |
| 2f7a: 90 91 cd 0c lds r25, 0x0CCD |
| 2f7e: 88 53 subi r24, 0x38 ; 56 |
| 2f80: 9f 4f sbci r25, 0xFF ; 255 |
| 2f82: a4 f4 brge .+40 ; 0x2fac <Mittelwert+0x336> |
| 2f84: 20 91 cc 0c lds r18, 0x0CCC |
| 2f88: 30 91 cd 0c lds r19, 0x0CCD |
| 2f8c: 80 91 cc 0c lds r24, 0x0CCC |
| 2f90: 90 91 cd 0c lds r25, 0x0CCD |
| 2f94: 88 0f add r24, r24 |
| 2f96: 99 1f adc r25, r25 |
| 2f98: 88 0f add r24, r24 |
| 2f9a: 99 1f adc r25, r25 |
| 2f9c: 20 5e subi r18, 0xE0 ; 224 |
| 2f9e: 3c 4f sbci r19, 0xFC ; 252 |
| 2fa0: 82 0f add r24, r18 |
| 2fa2: 93 1f adc r25, r19 |
| 2fa4: 90 93 cd 0c sts 0x0CCD, r25 |
| 2fa8: 80 93 cc 0c sts 0x0CCC, r24 |
| 2fac: 80 91 ca 0c lds r24, 0x0CCA |
| 2fb0: 90 91 cb 0c lds r25, 0x0CCB |
| 2fb4: 89 3c cpi r24, 0xC9 ; 201 |
| 2fb6: 91 05 cpc r25, r1 |
| 2fb8: 7c f0 brlt .+30 ; 0x2fd8 <Mittelwert+0x362> |
| 2fba: 20 91 ca 0c lds r18, 0x0CCA |
| 2fbe: 30 91 cb 0c lds r19, 0x0CCB |
| 2fc2: 80 91 ca 0c lds r24, 0x0CCA |
| 2fc6: 90 91 cb 0c lds r25, 0x0CCB |
| 2fca: 88 0f add r24, r24 |
| 2fcc: 99 1f adc r25, r25 |
| 2fce: 88 0f add r24, r24 |
| 2fd0: 99 1f adc r25, r25 |
| 2fd2: 20 52 subi r18, 0x20 ; 32 |
| 2fd4: 33 40 sbci r19, 0x03 ; 3 |
| 2fd6: 15 c0 rjmp .+42 ; 0x3002 <Mittelwert+0x38c> |
| 2fd8: 80 91 ca 0c lds r24, 0x0CCA |
| 2fdc: 90 91 cb 0c lds r25, 0x0CCB |
| 2fe0: 88 53 subi r24, 0x38 ; 56 |
| 2fe2: 9f 4f sbci r25, 0xFF ; 255 |
| 2fe4: a4 f4 brge .+40 ; 0x300e <Mittelwert+0x398> |
| 2fe6: 20 91 ca 0c lds r18, 0x0CCA |
| 2fea: 30 91 cb 0c lds r19, 0x0CCB |
| 2fee: 80 91 ca 0c lds r24, 0x0CCA |
| 2ff2: 90 91 cb 0c lds r25, 0x0CCB |
| 2ff6: 88 0f add r24, r24 |
| 2ff8: 99 1f adc r25, r25 |
| 2ffa: 88 0f add r24, r24 |
| 2ffc: 99 1f adc r25, r25 |
| 2ffe: 20 5e subi r18, 0xE0 ; 224 |
| 3000: 3c 4f sbci r19, 0xFC ; 252 |
| 3002: 82 0f add r24, r18 |
| 3004: 93 1f adc r25, r19 |
| 3006: 90 93 cb 0c sts 0x0CCB, r25 |
| 300a: 80 93 ca 0c sts 0x0CCA, r24 |
| 300e: 20 91 bf 08 lds r18, 0x08BF |
| 3012: 30 91 c0 08 lds r19, 0x08C0 |
| 3016: 80 91 94 0c lds r24, 0x0C94 |
| 301a: e8 2f mov r30, r24 |
| 301c: ff 27 eor r31, r31 |
| 301e: ee 0f add r30, r30 |
| 3020: ff 1f adc r31, r31 |
| 3022: ec 5a subi r30, 0xAC ; 172 |
| 3024: f3 4f sbci r31, 0xF3 ; 243 |
| 3026: 80 81 ld r24, Z |
| 3028: 91 81 ldd r25, Z+1 ; 0x01 |
| 302a: 82 59 subi r24, 0x92 ; 146 |
| 302c: 9f 4f sbci r25, 0xFF ; 255 |
| 302e: 28 17 cp r18, r24 |
| 3030: 39 07 cpc r19, r25 |
| 3032: 1c f4 brge .+6 ; 0x303a <Mittelwert+0x3c4> |
| 3034: 2f 5f subi r18, 0xFF ; 255 |
| 3036: 3f 4f sbci r19, 0xFF ; 255 |
| 3038: 0c c0 rjmp .+24 ; 0x3052 <Mittelwert+0x3dc> |
| 303a: 80 81 ld r24, Z |
| 303c: 91 81 ldd r25, Z+1 ; 0x01 |
| 303e: 82 59 subi r24, 0x92 ; 146 |
| 3040: 9f 4f sbci r25, 0xFF ; 255 |
| 3042: 82 17 cp r24, r18 |
| 3044: 93 07 cpc r25, r19 |
| 3046: 4c f4 brge .+18 ; 0x305a <Mittelwert+0x3e4> |
| 3048: 21 15 cp r18, r1 |
| 304a: 31 05 cpc r19, r1 |
| 304c: 31 f0 breq .+12 ; 0x305a <Mittelwert+0x3e4> |
| 304e: 21 50 subi r18, 0x01 ; 1 |
| 3050: 30 40 sbci r19, 0x00 ; 0 |
| 3052: 30 93 c0 08 sts 0x08C0, r19 |
| 3056: 20 93 bf 08 sts 0x08BF, r18 |
| 305a: 20 91 c1 08 lds r18, 0x08C1 |
| 305e: 30 91 c2 08 lds r19, 0x08C2 |
| 3062: 80 91 95 0c lds r24, 0x0C95 |
| 3066: e8 2f mov r30, r24 |
| 3068: ff 27 eor r31, r31 |
| 306a: ee 0f add r30, r30 |
| 306c: ff 1f adc r31, r31 |
| 306e: ec 5a subi r30, 0xAC ; 172 |
| 3070: f3 4f sbci r31, 0xF3 ; 243 |
| 3072: 80 81 ld r24, Z |
| 3074: 91 81 ldd r25, Z+1 ; 0x01 |
| 3076: 82 59 subi r24, 0x92 ; 146 |
| 3078: 9f 4f sbci r25, 0xFF ; 255 |
| 307a: 28 17 cp r18, r24 |
| 307c: 39 07 cpc r19, r25 |
| 307e: 1c f4 brge .+6 ; 0x3086 <Mittelwert+0x410> |
| 3080: 2f 5f subi r18, 0xFF ; 255 |
| 3082: 3f 4f sbci r19, 0xFF ; 255 |
| 3084: 0c c0 rjmp .+24 ; 0x309e <Mittelwert+0x428> |
| 3086: 80 81 ld r24, Z |
| 3088: 91 81 ldd r25, Z+1 ; 0x01 |
| 308a: 82 59 subi r24, 0x92 ; 146 |
| 308c: 9f 4f sbci r25, 0xFF ; 255 |
| 308e: 82 17 cp r24, r18 |
| 3090: 93 07 cpc r25, r19 |
| 3092: 4c f4 brge .+18 ; 0x30a6 <Mittelwert+0x430> |
| 3094: 21 15 cp r18, r1 |
| 3096: 31 05 cpc r19, r1 |
| 3098: 31 f0 breq .+12 ; 0x30a6 <Mittelwert+0x430> |
| 309a: 21 50 subi r18, 0x01 ; 1 |
| 309c: 30 40 sbci r19, 0x00 ; 0 |
| 309e: 30 93 c2 08 sts 0x08C2, r19 |
| 30a2: 20 93 c1 08 sts 0x08C1, r18 |
| 30a6: 20 91 c3 08 lds r18, 0x08C3 |
| 30aa: 30 91 c4 08 lds r19, 0x08C4 |
| 30ae: 80 91 96 0c lds r24, 0x0C96 |
| 30b2: e8 2f mov r30, r24 |
| 30b4: ff 27 eor r31, r31 |
| 30b6: ee 0f add r30, r30 |
| 30b8: ff 1f adc r31, r31 |
| 30ba: ec 5a subi r30, 0xAC ; 172 |
| 30bc: f3 4f sbci r31, 0xF3 ; 243 |
| 30be: 80 81 ld r24, Z |
| 30c0: 91 81 ldd r25, Z+1 ; 0x01 |
| 30c2: 82 59 subi r24, 0x92 ; 146 |
| 30c4: 9f 4f sbci r25, 0xFF ; 255 |
| 30c6: 28 17 cp r18, r24 |
| 30c8: 39 07 cpc r19, r25 |
| 30ca: 1c f4 brge .+6 ; 0x30d2 <Mittelwert+0x45c> |
| 30cc: 2f 5f subi r18, 0xFF ; 255 |
| 30ce: 3f 4f sbci r19, 0xFF ; 255 |
| 30d0: 0c c0 rjmp .+24 ; 0x30ea <Mittelwert+0x474> |
| 30d2: 80 81 ld r24, Z |
| 30d4: 91 81 ldd r25, Z+1 ; 0x01 |
| 30d6: 82 59 subi r24, 0x92 ; 146 |
| 30d8: 9f 4f sbci r25, 0xFF ; 255 |
| 30da: 82 17 cp r24, r18 |
| 30dc: 93 07 cpc r25, r19 |
| 30de: 4c f4 brge .+18 ; 0x30f2 <Mittelwert+0x47c> |
| 30e0: 21 15 cp r18, r1 |
| 30e2: 31 05 cpc r19, r1 |
| 30e4: 31 f0 breq .+12 ; 0x30f2 <Mittelwert+0x47c> |
| 30e6: 21 50 subi r18, 0x01 ; 1 |
| 30e8: 30 40 sbci r19, 0x00 ; 0 |
| 30ea: 30 93 c4 08 sts 0x08C4, r19 |
| 30ee: 20 93 c3 08 sts 0x08C3, r18 |
| 30f2: 20 91 c5 08 lds r18, 0x08C5 |
| 30f6: 30 91 c6 08 lds r19, 0x08C6 |
| 30fa: 80 91 97 0c lds r24, 0x0C97 |
| 30fe: e8 2f mov r30, r24 |
| 3100: ff 27 eor r31, r31 |
| 3102: ee 0f add r30, r30 |
| 3104: ff 1f adc r31, r31 |
| 3106: ec 5a subi r30, 0xAC ; 172 |
| 3108: f3 4f sbci r31, 0xF3 ; 243 |
| 310a: 80 81 ld r24, Z |
| 310c: 91 81 ldd r25, Z+1 ; 0x01 |
| 310e: 82 59 subi r24, 0x92 ; 146 |
| 3110: 9f 4f sbci r25, 0xFF ; 255 |
| 3112: 28 17 cp r18, r24 |
| 3114: 39 07 cpc r19, r25 |
| 3116: 1c f4 brge .+6 ; 0x311e <Mittelwert+0x4a8> |
| 3118: 2f 5f subi r18, 0xFF ; 255 |
| 311a: 3f 4f sbci r19, 0xFF ; 255 |
| 311c: 0c c0 rjmp .+24 ; 0x3136 <Mittelwert+0x4c0> |
| 311e: 80 81 ld r24, Z |
| 3120: 91 81 ldd r25, Z+1 ; 0x01 |
| 3122: 82 59 subi r24, 0x92 ; 146 |
| 3124: 9f 4f sbci r25, 0xFF ; 255 |
| 3126: 82 17 cp r24, r18 |
| 3128: 93 07 cpc r25, r19 |
| 312a: 4c f4 brge .+18 ; 0x313e <Mittelwert+0x4c8> |
| 312c: 21 15 cp r18, r1 |
| 312e: 31 05 cpc r19, r1 |
| 3130: 31 f0 breq .+12 ; 0x313e <Mittelwert+0x4c8> |
| 3132: 21 50 subi r18, 0x01 ; 1 |
| 3134: 30 40 sbci r19, 0x00 ; 0 |
| 3136: 30 93 c6 08 sts 0x08C6, r19 |
| 313a: 20 93 c5 08 sts 0x08C5, r18 |
| 313e: 20 91 c7 08 lds r18, 0x08C7 |
| 3142: 30 91 c8 08 lds r19, 0x08C8 |
| 3146: 80 91 66 0c lds r24, 0x0C66 |
| 314a: 90 91 67 0c lds r25, 0x0C67 |
| 314e: 82 59 subi r24, 0x92 ; 146 |
| 3150: 9f 4f sbci r25, 0xFF ; 255 |
| 3152: 28 17 cp r18, r24 |
| 3154: 39 07 cpc r19, r25 |
| 3156: 1c f4 brge .+6 ; 0x315e <Mittelwert+0x4e8> |
| 3158: 2f 5f subi r18, 0xFF ; 255 |
| 315a: 3f 4f sbci r19, 0xFF ; 255 |
| 315c: 0e c0 rjmp .+28 ; 0x317a <Mittelwert+0x504> |
| 315e: 80 91 66 0c lds r24, 0x0C66 |
| 3162: 90 91 67 0c lds r25, 0x0C67 |
| 3166: 82 59 subi r24, 0x92 ; 146 |
| 3168: 9f 4f sbci r25, 0xFF ; 255 |
| 316a: 82 17 cp r24, r18 |
| 316c: 93 07 cpc r25, r19 |
| 316e: 4c f4 brge .+18 ; 0x3182 <Mittelwert+0x50c> |
| 3170: 21 15 cp r18, r1 |
| 3172: 31 05 cpc r19, r1 |
| 3174: 31 f0 breq .+12 ; 0x3182 <Mittelwert+0x50c> |
| 3176: 21 50 subi r18, 0x01 ; 1 |
| 3178: 30 40 sbci r19, 0x00 ; 0 |
| 317a: 30 93 c8 08 sts 0x08C8, r19 |
| 317e: 20 93 c7 08 sts 0x08C7, r18 |
| 3182: 20 91 c9 08 lds r18, 0x08C9 |
| 3186: 30 91 ca 08 lds r19, 0x08CA |
| 318a: 80 91 68 0c lds r24, 0x0C68 |
| 318e: 90 91 69 0c lds r25, 0x0C69 |
| 3192: 82 59 subi r24, 0x92 ; 146 |
| 3194: 9f 4f sbci r25, 0xFF ; 255 |
| 3196: 28 17 cp r18, r24 |
| 3198: 39 07 cpc r19, r25 |
| 319a: 1c f4 brge .+6 ; 0x31a2 <Mittelwert+0x52c> |
| 319c: 2f 5f subi r18, 0xFF ; 255 |
| 319e: 3f 4f sbci r19, 0xFF ; 255 |
| 31a0: 0e c0 rjmp .+28 ; 0x31be <Mittelwert+0x548> |
| 31a2: 80 91 68 0c lds r24, 0x0C68 |
| 31a6: 90 91 69 0c lds r25, 0x0C69 |
| 31aa: 82 59 subi r24, 0x92 ; 146 |
| 31ac: 9f 4f sbci r25, 0xFF ; 255 |
| 31ae: 82 17 cp r24, r18 |
| 31b0: 93 07 cpc r25, r19 |
| 31b2: 4c f4 brge .+18 ; 0x31c6 <Mittelwert+0x550> |
| 31b4: 21 15 cp r18, r1 |
| 31b6: 31 05 cpc r19, r1 |
| 31b8: 31 f0 breq .+12 ; 0x31c6 <Mittelwert+0x550> |
| 31ba: 21 50 subi r18, 0x01 ; 1 |
| 31bc: 30 40 sbci r19, 0x00 ; 0 |
| 31be: 30 93 ca 08 sts 0x08CA, r19 |
| 31c2: 20 93 c9 08 sts 0x08C9, r18 |
| 31c6: 20 91 cb 08 lds r18, 0x08CB |
| 31ca: 30 91 cc 08 lds r19, 0x08CC |
| 31ce: 80 91 6a 0c lds r24, 0x0C6A |
| 31d2: 90 91 6b 0c lds r25, 0x0C6B |
| 31d6: 82 59 subi r24, 0x92 ; 146 |
| 31d8: 9f 4f sbci r25, 0xFF ; 255 |
| 31da: 28 17 cp r18, r24 |
| 31dc: 39 07 cpc r19, r25 |
| 31de: 1c f4 brge .+6 ; 0x31e6 <Mittelwert+0x570> |
| 31e0: 2f 5f subi r18, 0xFF ; 255 |
| 31e2: 3f 4f sbci r19, 0xFF ; 255 |
| 31e4: 0e c0 rjmp .+28 ; 0x3202 <Mittelwert+0x58c> |
| 31e6: 80 91 6a 0c lds r24, 0x0C6A |
| 31ea: 90 91 6b 0c lds r25, 0x0C6B |
| 31ee: 82 59 subi r24, 0x92 ; 146 |
| 31f0: 9f 4f sbci r25, 0xFF ; 255 |
| 31f2: 82 17 cp r24, r18 |
| 31f4: 93 07 cpc r25, r19 |
| 31f6: 4c f4 brge .+18 ; 0x320a <Mittelwert+0x594> |
| 31f8: 21 15 cp r18, r1 |
| 31fa: 31 05 cpc r19, r1 |
| 31fc: 31 f0 breq .+12 ; 0x320a <Mittelwert+0x594> |
| 31fe: 21 50 subi r18, 0x01 ; 1 |
| 3200: 30 40 sbci r19, 0x00 ; 0 |
| 3202: 30 93 cc 08 sts 0x08CC, r19 |
| 3206: 20 93 cb 08 sts 0x08CB, r18 |
| 320a: 20 91 cd 08 lds r18, 0x08CD |
| 320e: 30 91 ce 08 lds r19, 0x08CE |
| 3212: 80 91 6c 0c lds r24, 0x0C6C |
| 3216: 90 91 6d 0c lds r25, 0x0C6D |
| 321a: 82 59 subi r24, 0x92 ; 146 |
| 321c: 9f 4f sbci r25, 0xFF ; 255 |
| 321e: 28 17 cp r18, r24 |
| 3220: 39 07 cpc r19, r25 |
| 3222: 1c f4 brge .+6 ; 0x322a <Mittelwert+0x5b4> |
| 3224: 2f 5f subi r18, 0xFF ; 255 |
| 3226: 3f 4f sbci r19, 0xFF ; 255 |
| 3228: 0e c0 rjmp .+28 ; 0x3246 <Mittelwert+0x5d0> |
| 322a: 80 91 6c 0c lds r24, 0x0C6C |
| 322e: 90 91 6d 0c lds r25, 0x0C6D |
| 3232: 82 59 subi r24, 0x92 ; 146 |
| 3234: 9f 4f sbci r25, 0xFF ; 255 |
| 3236: 82 17 cp r24, r18 |
| 3238: 93 07 cpc r25, r19 |
| 323a: 4c f4 brge .+18 ; 0x324e <Mittelwert+0x5d8> |
| 323c: 21 15 cp r18, r1 |
| 323e: 31 05 cpc r19, r1 |
| 3240: 31 f0 breq .+12 ; 0x324e <Mittelwert+0x5d8> |
| 3242: 21 50 subi r18, 0x01 ; 1 |
| 3244: 30 40 sbci r19, 0x00 ; 0 |
| 3246: 30 93 ce 08 sts 0x08CE, r19 |
| 324a: 20 93 cd 08 sts 0x08CD, r18 |
| 324e: 80 91 bf 08 lds r24, 0x08BF |
| 3252: 90 91 c0 08 lds r25, 0x08C0 |
| 3256: 97 ff sbrs r25, 7 |
| 3258: 05 c0 rjmp .+10 ; 0x3264 <Mittelwert+0x5ee> |
| 325a: 10 92 c0 08 sts 0x08C0, r1 |
| 325e: 10 92 bf 08 sts 0x08BF, r1 |
| 3262: 0a c0 rjmp .+20 ; 0x3278 <Mittelwert+0x602> |
| 3264: 8f 3f cpi r24, 0xFF ; 255 |
| 3266: 91 05 cpc r25, r1 |
| 3268: 39 f0 breq .+14 ; 0x3278 <Mittelwert+0x602> |
| 326a: 34 f0 brlt .+12 ; 0x3278 <Mittelwert+0x602> |
| 326c: 8f ef ldi r24, 0xFF ; 255 |
| 326e: 90 e0 ldi r25, 0x00 ; 0 |
| 3270: 90 93 c0 08 sts 0x08C0, r25 |
| 3274: 80 93 bf 08 sts 0x08BF, r24 |
| 3278: 80 91 c1 08 lds r24, 0x08C1 |
| 327c: 90 91 c2 08 lds r25, 0x08C2 |
| 3280: 97 ff sbrs r25, 7 |
| 3282: 05 c0 rjmp .+10 ; 0x328e <Mittelwert+0x618> |
| 3284: 10 92 c2 08 sts 0x08C2, r1 |
| 3288: 10 92 c1 08 sts 0x08C1, r1 |
| 328c: 0a c0 rjmp .+20 ; 0x32a2 <Mittelwert+0x62c> |
| 328e: 8f 3f cpi r24, 0xFF ; 255 |
| 3290: 91 05 cpc r25, r1 |
| 3292: 39 f0 breq .+14 ; 0x32a2 <Mittelwert+0x62c> |
| 3294: 34 f0 brlt .+12 ; 0x32a2 <Mittelwert+0x62c> |
| 3296: 8f ef ldi r24, 0xFF ; 255 |
| 3298: 90 e0 ldi r25, 0x00 ; 0 |
| 329a: 90 93 c2 08 sts 0x08C2, r25 |
| 329e: 80 93 c1 08 sts 0x08C1, r24 |
| 32a2: 80 91 c3 08 lds r24, 0x08C3 |
| 32a6: 90 91 c4 08 lds r25, 0x08C4 |
| 32aa: 97 ff sbrs r25, 7 |
| 32ac: 05 c0 rjmp .+10 ; 0x32b8 <Mittelwert+0x642> |
| 32ae: 10 92 c4 08 sts 0x08C4, r1 |
| 32b2: 10 92 c3 08 sts 0x08C3, r1 |
| 32b6: 0a c0 rjmp .+20 ; 0x32cc <Mittelwert+0x656> |
| 32b8: 8f 3f cpi r24, 0xFF ; 255 |
| 32ba: 91 05 cpc r25, r1 |
| 32bc: 39 f0 breq .+14 ; 0x32cc <Mittelwert+0x656> |
| 32be: 34 f0 brlt .+12 ; 0x32cc <Mittelwert+0x656> |
| 32c0: 8f ef ldi r24, 0xFF ; 255 |
| 32c2: 90 e0 ldi r25, 0x00 ; 0 |
| 32c4: 90 93 c4 08 sts 0x08C4, r25 |
| 32c8: 80 93 c3 08 sts 0x08C3, r24 |
| 32cc: 80 91 c5 08 lds r24, 0x08C5 |
| 32d0: 90 91 c6 08 lds r25, 0x08C6 |
| 32d4: 97 ff sbrs r25, 7 |
| 32d6: 05 c0 rjmp .+10 ; 0x32e2 <Mittelwert+0x66c> |
| 32d8: 10 92 c6 08 sts 0x08C6, r1 |
| 32dc: 10 92 c5 08 sts 0x08C5, r1 |
| 32e0: 0a c0 rjmp .+20 ; 0x32f6 <Mittelwert+0x680> |
| 32e2: 8f 3f cpi r24, 0xFF ; 255 |
| 32e4: 91 05 cpc r25, r1 |
| 32e6: 39 f0 breq .+14 ; 0x32f6 <Mittelwert+0x680> |
| 32e8: 34 f0 brlt .+12 ; 0x32f6 <Mittelwert+0x680> |
| 32ea: 8f ef ldi r24, 0xFF ; 255 |
| 32ec: 90 e0 ldi r25, 0x00 ; 0 |
| 32ee: 90 93 c6 08 sts 0x08C6, r25 |
| 32f2: 80 93 c5 08 sts 0x08C5, r24 |
| 32f6: 80 91 c7 08 lds r24, 0x08C7 |
| 32fa: 90 91 c8 08 lds r25, 0x08C8 |
| 32fe: 97 ff sbrs r25, 7 |
| 3300: 05 c0 rjmp .+10 ; 0x330c <Mittelwert+0x696> |
| 3302: 10 92 c8 08 sts 0x08C8, r1 |
| 3306: 10 92 c7 08 sts 0x08C7, r1 |
| 330a: 0a c0 rjmp .+20 ; 0x3320 <Mittelwert+0x6aa> |
| 330c: 8f 3f cpi r24, 0xFF ; 255 |
| 330e: 91 05 cpc r25, r1 |
| 3310: 39 f0 breq .+14 ; 0x3320 <Mittelwert+0x6aa> |
| 3312: 34 f0 brlt .+12 ; 0x3320 <Mittelwert+0x6aa> |
| 3314: 8f ef ldi r24, 0xFF ; 255 |
| 3316: 90 e0 ldi r25, 0x00 ; 0 |
| 3318: 90 93 c8 08 sts 0x08C8, r25 |
| 331c: 80 93 c7 08 sts 0x08C7, r24 |
| 3320: 80 91 c9 08 lds r24, 0x08C9 |
| 3324: 90 91 ca 08 lds r25, 0x08CA |
| 3328: 97 ff sbrs r25, 7 |
| 332a: 05 c0 rjmp .+10 ; 0x3336 <Mittelwert+0x6c0> |
| 332c: 10 92 ca 08 sts 0x08CA, r1 |
| 3330: 10 92 c9 08 sts 0x08C9, r1 |
| 3334: 0a c0 rjmp .+20 ; 0x334a <Mittelwert+0x6d4> |
| 3336: 8f 3f cpi r24, 0xFF ; 255 |
| 3338: 91 05 cpc r25, r1 |
| 333a: 39 f0 breq .+14 ; 0x334a <Mittelwert+0x6d4> |
| 333c: 34 f0 brlt .+12 ; 0x334a <Mittelwert+0x6d4> |
| 333e: 8f ef ldi r24, 0xFF ; 255 |
| 3340: 90 e0 ldi r25, 0x00 ; 0 |
| 3342: 90 93 ca 08 sts 0x08CA, r25 |
| 3346: 80 93 c9 08 sts 0x08C9, r24 |
| 334a: 80 91 cb 08 lds r24, 0x08CB |
| 334e: 90 91 cc 08 lds r25, 0x08CC |
| 3352: 97 ff sbrs r25, 7 |
| 3354: 05 c0 rjmp .+10 ; 0x3360 <Mittelwert+0x6ea> |
| 3356: 10 92 cc 08 sts 0x08CC, r1 |
| 335a: 10 92 cb 08 sts 0x08CB, r1 |
| 335e: 0a c0 rjmp .+20 ; 0x3374 <Mittelwert+0x6fe> |
| 3360: 8f 3f cpi r24, 0xFF ; 255 |
| 3362: 91 05 cpc r25, r1 |
| 3364: 39 f0 breq .+14 ; 0x3374 <Mittelwert+0x6fe> |
| 3366: 34 f0 brlt .+12 ; 0x3374 <Mittelwert+0x6fe> |
| 3368: 8f ef ldi r24, 0xFF ; 255 |
| 336a: 90 e0 ldi r25, 0x00 ; 0 |
| 336c: 90 93 cc 08 sts 0x08CC, r25 |
| 3370: 80 93 cb 08 sts 0x08CB, r24 |
| 3374: 80 91 cd 08 lds r24, 0x08CD |
| 3378: 90 91 ce 08 lds r25, 0x08CE |
| 337c: 97 ff sbrs r25, 7 |
| 337e: 05 c0 rjmp .+10 ; 0x338a <Mittelwert+0x714> |
| 3380: 10 92 ce 08 sts 0x08CE, r1 |
| 3384: 10 92 cd 08 sts 0x08CD, r1 |
| 3388: 0a c0 rjmp .+20 ; 0x339e <Mittelwert+0x728> |
| 338a: 8f 3f cpi r24, 0xFF ; 255 |
| 338c: 91 05 cpc r25, r1 |
| 338e: 39 f0 breq .+14 ; 0x339e <Mittelwert+0x728> |
| 3390: 34 f0 brlt .+12 ; 0x339e <Mittelwert+0x728> |
| 3392: 8f ef ldi r24, 0xFF ; 255 |
| 3394: 90 e0 ldi r25, 0x00 ; 0 |
| 3396: 90 93 ce 08 sts 0x08CE, r25 |
| 339a: 80 93 cd 08 sts 0x08CD, r24 |
| 339e: 1f 91 pop r17 |
| 33a0: 0f 91 pop r16 |
| 33a2: ff 90 pop r15 |
| 33a4: ef 90 pop r14 |
| 33a6: df 90 pop r13 |
| 33a8: cf 90 pop r12 |
| 33aa: bf 90 pop r11 |
| 33ac: af 90 pop r10 |
| 33ae: 08 95 ret |
| 000033b0 <CalibrierMittelwert>: |
| 33b0: 10 92 7a 00 sts 0x007A, r1 |
| 33b4: 80 91 5a 08 lds r24, 0x085A |
| 33b8: 88 23 and r24, r24 |
| 33ba: 69 f0 breq .+26 ; 0x33d6 <CalibrierMittelwert+0x26> |
| 33bc: 80 91 4e 08 lds r24, 0x084E |
| 33c0: 90 91 4f 08 lds r25, 0x084F |
| 33c4: 60 91 5a 08 lds r22, 0x085A |
| 33c8: 77 27 eor r23, r23 |
| 33ca: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 33ce: 70 93 cd 0c sts 0x0CCD, r23 |
| 33d2: 60 93 cc 0c sts 0x0CCC, r22 |
| 33d6: 80 91 5b 08 lds r24, 0x085B |
| 33da: 88 23 and r24, r24 |
| 33dc: 69 f0 breq .+26 ; 0x33f8 <CalibrierMittelwert+0x48> |
| 33de: 80 91 50 08 lds r24, 0x0850 |
| 33e2: 90 91 51 08 lds r25, 0x0851 |
| 33e6: 60 91 5b 08 lds r22, 0x085B |
| 33ea: 77 27 eor r23, r23 |
| 33ec: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 33f0: 70 93 cb 0c sts 0x0CCB, r23 |
| 33f4: 60 93 ca 0c sts 0x0CCA, r22 |
| 33f8: 80 91 5c 08 lds r24, 0x085C |
| 33fc: 88 23 and r24, r24 |
| 33fe: 69 f0 breq .+26 ; 0x341a <CalibrierMittelwert+0x6a> |
| 3400: 80 91 52 08 lds r24, 0x0852 |
| 3404: 90 91 53 08 lds r25, 0x0853 |
| 3408: 60 91 5c 08 lds r22, 0x085C |
| 340c: 77 27 eor r23, r23 |
| 340e: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 3412: 70 93 d9 0c sts 0x0CD9, r23 |
| 3416: 60 93 d8 0c sts 0x0CD8, r22 |
| 341a: 80 91 5d 08 lds r24, 0x085D |
| 341e: 88 23 and r24, r24 |
| 3420: d1 f0 breq .+52 ; 0x3456 <CalibrierMittelwert+0xa6> |
| 3422: 60 91 56 08 lds r22, 0x0856 |
| 3426: 70 91 57 08 lds r23, 0x0857 |
| 342a: 20 91 5d 08 lds r18, 0x085D |
| 342e: 88 27 eor r24, r24 |
| 3430: 77 fd sbrc r23, 7 |
| 3432: 80 95 com r24 |
| 3434: 98 2f mov r25, r24 |
| 3436: 34 e0 ldi r19, 0x04 ; 4 |
| 3438: 66 0f add r22, r22 |
| 343a: 77 1f adc r23, r23 |
| 343c: 88 1f adc r24, r24 |
| 343e: 99 1f adc r25, r25 |
| 3440: 3a 95 dec r19 |
| 3442: d1 f7 brne .-12 ; 0x3438 <CalibrierMittelwert+0x88> |
| 3444: 33 27 eor r19, r19 |
| 3446: 44 27 eor r20, r20 |
| 3448: 55 27 eor r21, r21 |
| 344a: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 344e: 30 93 d6 0c sts 0x0CD6, r19 |
| 3452: 20 93 d5 0c sts 0x0CD5, r18 |
| 3456: 80 91 5e 08 lds r24, 0x085E |
| 345a: 88 23 and r24, r24 |
| 345c: d1 f0 breq .+52 ; 0x3492 <CalibrierMittelwert+0xe2> |
| 345e: 60 91 54 08 lds r22, 0x0854 |
| 3462: 70 91 55 08 lds r23, 0x0855 |
| 3466: 20 91 5e 08 lds r18, 0x085E |
| 346a: 88 27 eor r24, r24 |
| 346c: 77 fd sbrc r23, 7 |
| 346e: 80 95 com r24 |
| 3470: 98 2f mov r25, r24 |
| 3472: b4 e0 ldi r27, 0x04 ; 4 |
| 3474: 66 0f add r22, r22 |
| 3476: 77 1f adc r23, r23 |
| 3478: 88 1f adc r24, r24 |
| 347a: 99 1f adc r25, r25 |
| 347c: ba 95 dec r27 |
| 347e: d1 f7 brne .-12 ; 0x3474 <CalibrierMittelwert+0xc4> |
| 3480: 33 27 eor r19, r19 |
| 3482: 44 27 eor r20, r20 |
| 3484: 55 27 eor r21, r21 |
| 3486: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 348a: 30 93 df 0c sts 0x0CDF, r19 |
| 348e: 20 93 de 0c sts 0x0CDE, r18 |
| 3492: 80 91 5f 08 lds r24, 0x085F |
| 3496: 88 23 and r24, r24 |
| 3498: 99 f0 breq .+38 ; 0x34c0 <CalibrierMittelwert+0x110> |
| 349a: 60 91 58 08 lds r22, 0x0858 |
| 349e: 70 91 59 08 lds r23, 0x0859 |
| 34a2: 20 91 5f 08 lds r18, 0x085F |
| 34a6: 88 27 eor r24, r24 |
| 34a8: 77 fd sbrc r23, 7 |
| 34aa: 80 95 com r24 |
| 34ac: 98 2f mov r25, r24 |
| 34ae: 33 27 eor r19, r19 |
| 34b0: 44 27 eor r20, r20 |
| 34b2: 55 27 eor r21, r21 |
| 34b4: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 34b8: 30 93 d0 0c sts 0x0CD0, r19 |
| 34bc: 20 93 cf 0c sts 0x0CCF, r18 |
| 34c0: 10 92 4f 08 sts 0x084F, r1 |
| 34c4: 10 92 4e 08 sts 0x084E, r1 |
| 34c8: 10 92 5a 08 sts 0x085A, r1 |
| 34cc: 10 92 51 08 sts 0x0851, r1 |
| 34d0: 10 92 50 08 sts 0x0850, r1 |
| 34d4: 10 92 5b 08 sts 0x085B, r1 |
| 34d8: 10 92 53 08 sts 0x0853, r1 |
| 34dc: 10 92 52 08 sts 0x0852, r1 |
| 34e0: 10 92 5c 08 sts 0x085C, r1 |
| 34e4: 10 92 55 08 sts 0x0855, r1 |
| 34e8: 10 92 54 08 sts 0x0854, r1 |
| 34ec: 10 92 5e 08 sts 0x085E, r1 |
| 34f0: 10 92 57 08 sts 0x0857, r1 |
| 34f4: 10 92 56 08 sts 0x0856, r1 |
| 34f8: 10 92 5d 08 sts 0x085D, r1 |
| 34fc: 10 92 59 08 sts 0x0859, r1 |
| 3500: 10 92 58 08 sts 0x0858, r1 |
| 3504: 10 92 5f 08 sts 0x085F, r1 |
| 3508: 8f ee ldi r24, 0xEF ; 239 |
| 350a: 80 93 7a 00 sts 0x007A, r24 |
| 350e: 20 91 bf 08 lds r18, 0x08BF |
| 3512: 30 91 c0 08 lds r19, 0x08C0 |
| 3516: 80 91 94 0c lds r24, 0x0C94 |
| 351a: e8 2f mov r30, r24 |
| 351c: ff 27 eor r31, r31 |
| 351e: ee 0f add r30, r30 |
| 3520: ff 1f adc r31, r31 |
| 3522: ec 5a subi r30, 0xAC ; 172 |
| 3524: f3 4f sbci r31, 0xF3 ; 243 |
| 3526: 80 81 ld r24, Z |
| 3528: 91 81 ldd r25, Z+1 ; 0x01 |
| 352a: 82 59 subi r24, 0x92 ; 146 |
| 352c: 9f 4f sbci r25, 0xFF ; 255 |
| 352e: 28 17 cp r18, r24 |
| 3530: 39 07 cpc r19, r25 |
| 3532: 1c f4 brge .+6 ; 0x353a <CalibrierMittelwert+0x18a> |
| 3534: 2f 5f subi r18, 0xFF ; 255 |
| 3536: 3f 4f sbci r19, 0xFF ; 255 |
| 3538: 0c c0 rjmp .+24 ; 0x3552 <CalibrierMittelwert+0x1a2> |
| 353a: 80 81 ld r24, Z |
| 353c: 91 81 ldd r25, Z+1 ; 0x01 |
| 353e: 82 59 subi r24, 0x92 ; 146 |
| 3540: 9f 4f sbci r25, 0xFF ; 255 |
| 3542: 82 17 cp r24, r18 |
| 3544: 93 07 cpc r25, r19 |
| 3546: 4c f4 brge .+18 ; 0x355a <CalibrierMittelwert+0x1aa> |
| 3548: 21 15 cp r18, r1 |
| 354a: 31 05 cpc r19, r1 |
| 354c: 31 f0 breq .+12 ; 0x355a <CalibrierMittelwert+0x1aa> |
| 354e: 21 50 subi r18, 0x01 ; 1 |
| 3550: 30 40 sbci r19, 0x00 ; 0 |
| 3552: 30 93 c0 08 sts 0x08C0, r19 |
| 3556: 20 93 bf 08 sts 0x08BF, r18 |
| 355a: 20 91 c1 08 lds r18, 0x08C1 |
| 355e: 30 91 c2 08 lds r19, 0x08C2 |
| 3562: 80 91 95 0c lds r24, 0x0C95 |
| 3566: e8 2f mov r30, r24 |
| 3568: ff 27 eor r31, r31 |
| 356a: ee 0f add r30, r30 |
| 356c: ff 1f adc r31, r31 |
| 356e: ec 5a subi r30, 0xAC ; 172 |
| 3570: f3 4f sbci r31, 0xF3 ; 243 |
| 3572: 80 81 ld r24, Z |
| 3574: 91 81 ldd r25, Z+1 ; 0x01 |
| 3576: 82 59 subi r24, 0x92 ; 146 |
| 3578: 9f 4f sbci r25, 0xFF ; 255 |
| 357a: 28 17 cp r18, r24 |
| 357c: 39 07 cpc r19, r25 |
| 357e: 1c f4 brge .+6 ; 0x3586 <CalibrierMittelwert+0x1d6> |
| 3580: 2f 5f subi r18, 0xFF ; 255 |
| 3582: 3f 4f sbci r19, 0xFF ; 255 |
| 3584: 0c c0 rjmp .+24 ; 0x359e <CalibrierMittelwert+0x1ee> |
| 3586: 80 81 ld r24, Z |
| 3588: 91 81 ldd r25, Z+1 ; 0x01 |
| 358a: 82 59 subi r24, 0x92 ; 146 |
| 358c: 9f 4f sbci r25, 0xFF ; 255 |
| 358e: 82 17 cp r24, r18 |
| 3590: 93 07 cpc r25, r19 |
| 3592: 4c f4 brge .+18 ; 0x35a6 <CalibrierMittelwert+0x1f6> |
| 3594: 21 15 cp r18, r1 |
| 3596: 31 05 cpc r19, r1 |
| 3598: 31 f0 breq .+12 ; 0x35a6 <CalibrierMittelwert+0x1f6> |
| 359a: 21 50 subi r18, 0x01 ; 1 |
| 359c: 30 40 sbci r19, 0x00 ; 0 |
| 359e: 30 93 c2 08 sts 0x08C2, r19 |
| 35a2: 20 93 c1 08 sts 0x08C1, r18 |
| 35a6: 20 91 c3 08 lds r18, 0x08C3 |
| 35aa: 30 91 c4 08 lds r19, 0x08C4 |
| 35ae: 80 91 96 0c lds r24, 0x0C96 |
| 35b2: e8 2f mov r30, r24 |
| 35b4: ff 27 eor r31, r31 |
| 35b6: ee 0f add r30, r30 |
| 35b8: ff 1f adc r31, r31 |
| 35ba: ec 5a subi r30, 0xAC ; 172 |
| 35bc: f3 4f sbci r31, 0xF3 ; 243 |
| 35be: 80 81 ld r24, Z |
| 35c0: 91 81 ldd r25, Z+1 ; 0x01 |
| 35c2: 82 59 subi r24, 0x92 ; 146 |
| 35c4: 9f 4f sbci r25, 0xFF ; 255 |
| 35c6: 28 17 cp r18, r24 |
| 35c8: 39 07 cpc r19, r25 |
| 35ca: 1c f4 brge .+6 ; 0x35d2 <CalibrierMittelwert+0x222> |
| 35cc: 2f 5f subi r18, 0xFF ; 255 |
| 35ce: 3f 4f sbci r19, 0xFF ; 255 |
| 35d0: 0c c0 rjmp .+24 ; 0x35ea <CalibrierMittelwert+0x23a> |
| 35d2: 80 81 ld r24, Z |
| 35d4: 91 81 ldd r25, Z+1 ; 0x01 |
| 35d6: 82 59 subi r24, 0x92 ; 146 |
| 35d8: 9f 4f sbci r25, 0xFF ; 255 |
| 35da: 82 17 cp r24, r18 |
| 35dc: 93 07 cpc r25, r19 |
| 35de: 4c f4 brge .+18 ; 0x35f2 <CalibrierMittelwert+0x242> |
| 35e0: 21 15 cp r18, r1 |
| 35e2: 31 05 cpc r19, r1 |
| 35e4: 31 f0 breq .+12 ; 0x35f2 <CalibrierMittelwert+0x242> |
| 35e6: 21 50 subi r18, 0x01 ; 1 |
| 35e8: 30 40 sbci r19, 0x00 ; 0 |
| 35ea: 30 93 c4 08 sts 0x08C4, r19 |
| 35ee: 20 93 c3 08 sts 0x08C3, r18 |
| 35f2: 20 91 c5 08 lds r18, 0x08C5 |
| 35f6: 30 91 c6 08 lds r19, 0x08C6 |
| 35fa: 80 91 97 0c lds r24, 0x0C97 |
| 35fe: e8 2f mov r30, r24 |
| 3600: ff 27 eor r31, r31 |
| 3602: ee 0f add r30, r30 |
| 3604: ff 1f adc r31, r31 |
| 3606: ec 5a subi r30, 0xAC ; 172 |
| 3608: f3 4f sbci r31, 0xF3 ; 243 |
| 360a: 80 81 ld r24, Z |
| 360c: 91 81 ldd r25, Z+1 ; 0x01 |
| 360e: 82 59 subi r24, 0x92 ; 146 |
| 3610: 9f 4f sbci r25, 0xFF ; 255 |
| 3612: 28 17 cp r18, r24 |
| 3614: 39 07 cpc r19, r25 |
| 3616: 1c f4 brge .+6 ; 0x361e <CalibrierMittelwert+0x26e> |
| 3618: 2f 5f subi r18, 0xFF ; 255 |
| 361a: 3f 4f sbci r19, 0xFF ; 255 |
| 361c: 0c c0 rjmp .+24 ; 0x3636 <CalibrierMittelwert+0x286> |
| 361e: 80 81 ld r24, Z |
| 3620: 91 81 ldd r25, Z+1 ; 0x01 |
| 3622: 82 59 subi r24, 0x92 ; 146 |
| 3624: 9f 4f sbci r25, 0xFF ; 255 |
| 3626: 82 17 cp r24, r18 |
| 3628: 93 07 cpc r25, r19 |
| 362a: 4c f4 brge .+18 ; 0x363e <CalibrierMittelwert+0x28e> |
| 362c: 21 15 cp r18, r1 |
| 362e: 31 05 cpc r19, r1 |
| 3630: 31 f0 breq .+12 ; 0x363e <CalibrierMittelwert+0x28e> |
| 3632: 21 50 subi r18, 0x01 ; 1 |
| 3634: 30 40 sbci r19, 0x00 ; 0 |
| 3636: 30 93 c6 08 sts 0x08C6, r19 |
| 363a: 20 93 c5 08 sts 0x08C5, r18 |
| 363e: 20 91 c7 08 lds r18, 0x08C7 |
| 3642: 30 91 c8 08 lds r19, 0x08C8 |
| 3646: 80 91 66 0c lds r24, 0x0C66 |
| 364a: 90 91 67 0c lds r25, 0x0C67 |
| 364e: 82 59 subi r24, 0x92 ; 146 |
| 3650: 9f 4f sbci r25, 0xFF ; 255 |
| 3652: 28 17 cp r18, r24 |
| 3654: 39 07 cpc r19, r25 |
| 3656: 1c f4 brge .+6 ; 0x365e <CalibrierMittelwert+0x2ae> |
| 3658: 2f 5f subi r18, 0xFF ; 255 |
| 365a: 3f 4f sbci r19, 0xFF ; 255 |
| 365c: 0e c0 rjmp .+28 ; 0x367a <CalibrierMittelwert+0x2ca> |
| 365e: 80 91 66 0c lds r24, 0x0C66 |
| 3662: 90 91 67 0c lds r25, 0x0C67 |
| 3666: 82 59 subi r24, 0x92 ; 146 |
| 3668: 9f 4f sbci r25, 0xFF ; 255 |
| 366a: 82 17 cp r24, r18 |
| 366c: 93 07 cpc r25, r19 |
| 366e: 4c f4 brge .+18 ; 0x3682 <CalibrierMittelwert+0x2d2> |
| 3670: 21 15 cp r18, r1 |
| 3672: 31 05 cpc r19, r1 |
| 3674: 31 f0 breq .+12 ; 0x3682 <CalibrierMittelwert+0x2d2> |
| 3676: 21 50 subi r18, 0x01 ; 1 |
| 3678: 30 40 sbci r19, 0x00 ; 0 |
| 367a: 30 93 c8 08 sts 0x08C8, r19 |
| 367e: 20 93 c7 08 sts 0x08C7, r18 |
| 3682: 20 91 c9 08 lds r18, 0x08C9 |
| 3686: 30 91 ca 08 lds r19, 0x08CA |
| 368a: 80 91 68 0c lds r24, 0x0C68 |
| 368e: 90 91 69 0c lds r25, 0x0C69 |
| 3692: 82 59 subi r24, 0x92 ; 146 |
| 3694: 9f 4f sbci r25, 0xFF ; 255 |
| 3696: 28 17 cp r18, r24 |
| 3698: 39 07 cpc r19, r25 |
| 369a: 1c f4 brge .+6 ; 0x36a2 <CalibrierMittelwert+0x2f2> |
| 369c: 2f 5f subi r18, 0xFF ; 255 |
| 369e: 3f 4f sbci r19, 0xFF ; 255 |
| 36a0: 0e c0 rjmp .+28 ; 0x36be <CalibrierMittelwert+0x30e> |
| 36a2: 80 91 68 0c lds r24, 0x0C68 |
| 36a6: 90 91 69 0c lds r25, 0x0C69 |
| 36aa: 82 59 subi r24, 0x92 ; 146 |
| 36ac: 9f 4f sbci r25, 0xFF ; 255 |
| 36ae: 82 17 cp r24, r18 |
| 36b0: 93 07 cpc r25, r19 |
| 36b2: 4c f4 brge .+18 ; 0x36c6 <CalibrierMittelwert+0x316> |
| 36b4: 21 15 cp r18, r1 |
| 36b6: 31 05 cpc r19, r1 |
| 36b8: 31 f0 breq .+12 ; 0x36c6 <CalibrierMittelwert+0x316> |
| 36ba: 21 50 subi r18, 0x01 ; 1 |
| 36bc: 30 40 sbci r19, 0x00 ; 0 |
| 36be: 30 93 ca 08 sts 0x08CA, r19 |
| 36c2: 20 93 c9 08 sts 0x08C9, r18 |
| 36c6: 20 91 cb 08 lds r18, 0x08CB |
| 36ca: 30 91 cc 08 lds r19, 0x08CC |
| 36ce: 80 91 6a 0c lds r24, 0x0C6A |
| 36d2: 90 91 6b 0c lds r25, 0x0C6B |
| 36d6: 82 59 subi r24, 0x92 ; 146 |
| 36d8: 9f 4f sbci r25, 0xFF ; 255 |
| 36da: 28 17 cp r18, r24 |
| 36dc: 39 07 cpc r19, r25 |
| 36de: 1c f4 brge .+6 ; 0x36e6 <CalibrierMittelwert+0x336> |
| 36e0: 2f 5f subi r18, 0xFF ; 255 |
| 36e2: 3f 4f sbci r19, 0xFF ; 255 |
| 36e4: 0e c0 rjmp .+28 ; 0x3702 <CalibrierMittelwert+0x352> |
| 36e6: 80 91 6a 0c lds r24, 0x0C6A |
| 36ea: 90 91 6b 0c lds r25, 0x0C6B |
| 36ee: 82 59 subi r24, 0x92 ; 146 |
| 36f0: 9f 4f sbci r25, 0xFF ; 255 |
| 36f2: 82 17 cp r24, r18 |
| 36f4: 93 07 cpc r25, r19 |
| 36f6: 4c f4 brge .+18 ; 0x370a <CalibrierMittelwert+0x35a> |
| 36f8: 21 15 cp r18, r1 |
| 36fa: 31 05 cpc r19, r1 |
| 36fc: 31 f0 breq .+12 ; 0x370a <CalibrierMittelwert+0x35a> |
| 36fe: 21 50 subi r18, 0x01 ; 1 |
| 3700: 30 40 sbci r19, 0x00 ; 0 |
| 3702: 30 93 cc 08 sts 0x08CC, r19 |
| 3706: 20 93 cb 08 sts 0x08CB, r18 |
| 370a: 20 91 cd 08 lds r18, 0x08CD |
| 370e: 30 91 ce 08 lds r19, 0x08CE |
| 3712: 80 91 6c 0c lds r24, 0x0C6C |
| 3716: 90 91 6d 0c lds r25, 0x0C6D |
| 371a: 82 59 subi r24, 0x92 ; 146 |
| 371c: 9f 4f sbci r25, 0xFF ; 255 |
| 371e: 28 17 cp r18, r24 |
| 3720: 39 07 cpc r19, r25 |
| 3722: 1c f4 brge .+6 ; 0x372a <CalibrierMittelwert+0x37a> |
| 3724: 2f 5f subi r18, 0xFF ; 255 |
| 3726: 3f 4f sbci r19, 0xFF ; 255 |
| 3728: 0e c0 rjmp .+28 ; 0x3746 <CalibrierMittelwert+0x396> |
| 372a: 80 91 6c 0c lds r24, 0x0C6C |
| 372e: 90 91 6d 0c lds r25, 0x0C6D |
| 3732: 82 59 subi r24, 0x92 ; 146 |
| 3734: 9f 4f sbci r25, 0xFF ; 255 |
| 3736: 82 17 cp r24, r18 |
| 3738: 93 07 cpc r25, r19 |
| 373a: 4c f4 brge .+18 ; 0x374e <CalibrierMittelwert+0x39e> |
| 373c: 21 15 cp r18, r1 |
| 373e: 31 05 cpc r19, r1 |
| 3740: 31 f0 breq .+12 ; 0x374e <CalibrierMittelwert+0x39e> |
| 3742: 21 50 subi r18, 0x01 ; 1 |
| 3744: 30 40 sbci r19, 0x00 ; 0 |
| 3746: 30 93 ce 08 sts 0x08CE, r19 |
| 374a: 20 93 cd 08 sts 0x08CD, r18 |
| 374e: 80 91 bf 08 lds r24, 0x08BF |
| 3752: 90 91 c0 08 lds r25, 0x08C0 |
| 3756: 97 ff sbrs r25, 7 |
| 3758: 05 c0 rjmp .+10 ; 0x3764 <CalibrierMittelwert+0x3b4> |
| 375a: 10 92 c0 08 sts 0x08C0, r1 |
| 375e: 10 92 bf 08 sts 0x08BF, r1 |
| 3762: 0a c0 rjmp .+20 ; 0x3778 <CalibrierMittelwert+0x3c8> |
| 3764: 8f 3f cpi r24, 0xFF ; 255 |
| 3766: 91 05 cpc r25, r1 |
| 3768: 39 f0 breq .+14 ; 0x3778 <CalibrierMittelwert+0x3c8> |
| 376a: 34 f0 brlt .+12 ; 0x3778 <CalibrierMittelwert+0x3c8> |
| 376c: 8f ef ldi r24, 0xFF ; 255 |
| 376e: 90 e0 ldi r25, 0x00 ; 0 |
| 3770: 90 93 c0 08 sts 0x08C0, r25 |
| 3774: 80 93 bf 08 sts 0x08BF, r24 |
| 3778: 80 91 c1 08 lds r24, 0x08C1 |
| 377c: 90 91 c2 08 lds r25, 0x08C2 |
| 3780: 97 ff sbrs r25, 7 |
| 3782: 05 c0 rjmp .+10 ; 0x378e <CalibrierMittelwert+0x3de> |
| 3784: 10 92 c2 08 sts 0x08C2, r1 |
| 3788: 10 92 c1 08 sts 0x08C1, r1 |
| 378c: 0a c0 rjmp .+20 ; 0x37a2 <CalibrierMittelwert+0x3f2> |
| 378e: 8f 3f cpi r24, 0xFF ; 255 |
| 3790: 91 05 cpc r25, r1 |
| 3792: 39 f0 breq .+14 ; 0x37a2 <CalibrierMittelwert+0x3f2> |
| 3794: 34 f0 brlt .+12 ; 0x37a2 <CalibrierMittelwert+0x3f2> |
| 3796: 8f ef ldi r24, 0xFF ; 255 |
| 3798: 90 e0 ldi r25, 0x00 ; 0 |
| 379a: 90 93 c2 08 sts 0x08C2, r25 |
| 379e: 80 93 c1 08 sts 0x08C1, r24 |
| 37a2: 80 91 c3 08 lds r24, 0x08C3 |
| 37a6: 90 91 c4 08 lds r25, 0x08C4 |
| 37aa: 97 ff sbrs r25, 7 |
| 37ac: 05 c0 rjmp .+10 ; 0x37b8 <CalibrierMittelwert+0x408> |
| 37ae: 10 92 c4 08 sts 0x08C4, r1 |
| 37b2: 10 92 c3 08 sts 0x08C3, r1 |
| 37b6: 0a c0 rjmp .+20 ; 0x37cc <CalibrierMittelwert+0x41c> |
| 37b8: 8f 3f cpi r24, 0xFF ; 255 |
| 37ba: 91 05 cpc r25, r1 |
| 37bc: 39 f0 breq .+14 ; 0x37cc <CalibrierMittelwert+0x41c> |
| 37be: 34 f0 brlt .+12 ; 0x37cc <CalibrierMittelwert+0x41c> |
| 37c0: 8f ef ldi r24, 0xFF ; 255 |
| 37c2: 90 e0 ldi r25, 0x00 ; 0 |
| 37c4: 90 93 c4 08 sts 0x08C4, r25 |
| 37c8: 80 93 c3 08 sts 0x08C3, r24 |
| 37cc: 80 91 c5 08 lds r24, 0x08C5 |
| 37d0: 90 91 c6 08 lds r25, 0x08C6 |
| 37d4: 97 ff sbrs r25, 7 |
| 37d6: 05 c0 rjmp .+10 ; 0x37e2 <CalibrierMittelwert+0x432> |
| 37d8: 10 92 c6 08 sts 0x08C6, r1 |
| 37dc: 10 92 c5 08 sts 0x08C5, r1 |
| 37e0: 0a c0 rjmp .+20 ; 0x37f6 <CalibrierMittelwert+0x446> |
| 37e2: 8f 3f cpi r24, 0xFF ; 255 |
| 37e4: 91 05 cpc r25, r1 |
| 37e6: 39 f0 breq .+14 ; 0x37f6 <CalibrierMittelwert+0x446> |
| 37e8: 34 f0 brlt .+12 ; 0x37f6 <CalibrierMittelwert+0x446> |
| 37ea: 8f ef ldi r24, 0xFF ; 255 |
| 37ec: 90 e0 ldi r25, 0x00 ; 0 |
| 37ee: 90 93 c6 08 sts 0x08C6, r25 |
| 37f2: 80 93 c5 08 sts 0x08C5, r24 |
| 37f6: 80 91 c7 08 lds r24, 0x08C7 |
| 37fa: 90 91 c8 08 lds r25, 0x08C8 |
| 37fe: 97 ff sbrs r25, 7 |
| 3800: 05 c0 rjmp .+10 ; 0x380c <CalibrierMittelwert+0x45c> |
| 3802: 10 92 c8 08 sts 0x08C8, r1 |
| 3806: 10 92 c7 08 sts 0x08C7, r1 |
| 380a: 0a c0 rjmp .+20 ; 0x3820 <CalibrierMittelwert+0x470> |
| 380c: 8f 3f cpi r24, 0xFF ; 255 |
| 380e: 91 05 cpc r25, r1 |
| 3810: 39 f0 breq .+14 ; 0x3820 <CalibrierMittelwert+0x470> |
| 3812: 34 f0 brlt .+12 ; 0x3820 <CalibrierMittelwert+0x470> |
| 3814: 8f ef ldi r24, 0xFF ; 255 |
| 3816: 90 e0 ldi r25, 0x00 ; 0 |
| 3818: 90 93 c8 08 sts 0x08C8, r25 |
| 381c: 80 93 c7 08 sts 0x08C7, r24 |
| 3820: 80 91 c9 08 lds r24, 0x08C9 |
| 3824: 90 91 ca 08 lds r25, 0x08CA |
| 3828: 97 ff sbrs r25, 7 |
| 382a: 05 c0 rjmp .+10 ; 0x3836 <CalibrierMittelwert+0x486> |
| 382c: 10 92 ca 08 sts 0x08CA, r1 |
| 3830: 10 92 c9 08 sts 0x08C9, r1 |
| 3834: 0a c0 rjmp .+20 ; 0x384a <CalibrierMittelwert+0x49a> |
| 3836: 8f 3f cpi r24, 0xFF ; 255 |
| 3838: 91 05 cpc r25, r1 |
| 383a: 39 f0 breq .+14 ; 0x384a <CalibrierMittelwert+0x49a> |
| 383c: 34 f0 brlt .+12 ; 0x384a <CalibrierMittelwert+0x49a> |
| 383e: 8f ef ldi r24, 0xFF ; 255 |
| 3840: 90 e0 ldi r25, 0x00 ; 0 |
| 3842: 90 93 ca 08 sts 0x08CA, r25 |
| 3846: 80 93 c9 08 sts 0x08C9, r24 |
| 384a: 80 91 cb 08 lds r24, 0x08CB |
| 384e: 90 91 cc 08 lds r25, 0x08CC |
| 3852: 97 ff sbrs r25, 7 |
| 3854: 05 c0 rjmp .+10 ; 0x3860 <CalibrierMittelwert+0x4b0> |
| 3856: 10 92 cc 08 sts 0x08CC, r1 |
| 385a: 10 92 cb 08 sts 0x08CB, r1 |
| 385e: 0a c0 rjmp .+20 ; 0x3874 <CalibrierMittelwert+0x4c4> |
| 3860: 8f 3f cpi r24, 0xFF ; 255 |
| 3862: 91 05 cpc r25, r1 |
| 3864: 39 f0 breq .+14 ; 0x3874 <CalibrierMittelwert+0x4c4> |
| 3866: 34 f0 brlt .+12 ; 0x3874 <CalibrierMittelwert+0x4c4> |
| 3868: 8f ef ldi r24, 0xFF ; 255 |
| 386a: 90 e0 ldi r25, 0x00 ; 0 |
| 386c: 90 93 cc 08 sts 0x08CC, r25 |
| 3870: 80 93 cb 08 sts 0x08CB, r24 |
| 3874: 80 91 cd 08 lds r24, 0x08CD |
| 3878: 90 91 ce 08 lds r25, 0x08CE |
| 387c: 97 ff sbrs r25, 7 |
| 387e: 05 c0 rjmp .+10 ; 0x388a <CalibrierMittelwert+0x4da> |
| 3880: 10 92 ce 08 sts 0x08CE, r1 |
| 3884: 10 92 cd 08 sts 0x08CD, r1 |
| 3888: 08 95 ret |
| 388a: 8f 3f cpi r24, 0xFF ; 255 |
| 388c: 91 05 cpc r25, r1 |
| 388e: 39 f0 breq .+14 ; 0x389e <CalibrierMittelwert+0x4ee> |
| 3890: 34 f0 brlt .+12 ; 0x389e <CalibrierMittelwert+0x4ee> |
| 3892: 8f ef ldi r24, 0xFF ; 255 |
| 3894: 90 e0 ldi r25, 0x00 ; 0 |
| 3896: 90 93 ce 08 sts 0x08CE, r25 |
| 389a: 80 93 cd 08 sts 0x08CD, r24 |
| 389e: 08 95 ret |
| 000038a0 <ParameterZuordnung>: |
| 38a0: 1f 93 push r17 |
| 38a2: 80 91 9b 0c lds r24, 0x0C9B |
| 38a6: 8b 3f cpi r24, 0xFB ; 251 |
| 38a8: 98 f0 brcs .+38 ; 0x38d0 <ParameterZuordnung+0x30> |
| 38aa: 8b 3f cpi r24, 0xFB ; 251 |
| 38ac: 19 f4 brne .+6 ; 0x38b4 <ParameterZuordnung+0x14> |
| 38ae: 80 91 bf 08 lds r24, 0x08BF |
| 38b2: 0e c0 rjmp .+28 ; 0x38d0 <ParameterZuordnung+0x30> |
| 38b4: 8c 3f cpi r24, 0xFC ; 252 |
| 38b6: 19 f4 brne .+6 ; 0x38be <ParameterZuordnung+0x1e> |
| 38b8: 80 91 c1 08 lds r24, 0x08C1 |
| 38bc: 09 c0 rjmp .+18 ; 0x38d0 <ParameterZuordnung+0x30> |
| 38be: 8d 3f cpi r24, 0xFD ; 253 |
| 38c0: 19 f4 brne .+6 ; 0x38c8 <ParameterZuordnung+0x28> |
| 38c2: 80 91 c3 08 lds r24, 0x08C3 |
| 38c6: 04 c0 rjmp .+8 ; 0x38d0 <ParameterZuordnung+0x30> |
| 38c8: 8e 3f cpi r24, 0xFE ; 254 |
| 38ca: 21 f4 brne .+8 ; 0x38d4 <ParameterZuordnung+0x34> |
| 38cc: 80 91 c5 08 lds r24, 0x08C5 |
| 38d0: 80 93 81 01 sts 0x0181, r24 |
| 38d4: 80 91 81 01 lds r24, 0x0181 |
| 38d8: 88 23 and r24, r24 |
| 38da: 19 f4 brne .+6 ; 0x38e2 <ParameterZuordnung+0x42> |
| 38dc: 10 92 81 01 sts 0x0181, r1 |
| 38e0: 04 c0 rjmp .+8 ; 0x38ea <ParameterZuordnung+0x4a> |
| 38e2: 8f 3f cpi r24, 0xFF ; 255 |
| 38e4: 11 f4 brne .+4 ; 0x38ea <ParameterZuordnung+0x4a> |
| 38e6: 80 93 81 01 sts 0x0181, r24 |
| 38ea: 80 91 9a 0c lds r24, 0x0C9A |
| 38ee: 8b 3f cpi r24, 0xFB ; 251 |
| 38f0: 98 f0 brcs .+38 ; 0x3918 <ParameterZuordnung+0x78> |
| 38f2: 8b 3f cpi r24, 0xFB ; 251 |
| 38f4: 19 f4 brne .+6 ; 0x38fc <ParameterZuordnung+0x5c> |
| 38f6: 80 91 bf 08 lds r24, 0x08BF |
| 38fa: 0e c0 rjmp .+28 ; 0x3918 <ParameterZuordnung+0x78> |
| 38fc: 8c 3f cpi r24, 0xFC ; 252 |
| 38fe: 19 f4 brne .+6 ; 0x3906 <ParameterZuordnung+0x66> |
| 3900: 80 91 c1 08 lds r24, 0x08C1 |
| 3904: 09 c0 rjmp .+18 ; 0x3918 <ParameterZuordnung+0x78> |
| 3906: 8d 3f cpi r24, 0xFD ; 253 |
| 3908: 19 f4 brne .+6 ; 0x3910 <ParameterZuordnung+0x70> |
| 390a: 80 91 c3 08 lds r24, 0x08C3 |
| 390e: 04 c0 rjmp .+8 ; 0x3918 <ParameterZuordnung+0x78> |
| 3910: 8e 3f cpi r24, 0xFE ; 254 |
| 3912: 21 f4 brne .+8 ; 0x391c <ParameterZuordnung+0x7c> |
| 3914: 80 91 c5 08 lds r24, 0x08C5 |
| 3918: 80 93 80 01 sts 0x0180, r24 |
| 391c: 80 91 80 01 lds r24, 0x0180 |
| 3920: 88 23 and r24, r24 |
| 3922: 19 f4 brne .+6 ; 0x392a <ParameterZuordnung+0x8a> |
| 3924: 10 92 80 01 sts 0x0180, r1 |
| 3928: 05 c0 rjmp .+10 ; 0x3934 <ParameterZuordnung+0x94> |
| 392a: 84 36 cpi r24, 0x64 ; 100 |
| 392c: 18 f0 brcs .+6 ; 0x3934 <ParameterZuordnung+0x94> |
| 392e: 84 e6 ldi r24, 0x64 ; 100 |
| 3930: 80 93 80 01 sts 0x0180, r24 |
| 3934: 80 91 9c 0c lds r24, 0x0C9C |
| 3938: 8b 3f cpi r24, 0xFB ; 251 |
| 393a: 98 f0 brcs .+38 ; 0x3962 <ParameterZuordnung+0xc2> |
| 393c: 8b 3f cpi r24, 0xFB ; 251 |
| 393e: 19 f4 brne .+6 ; 0x3946 <ParameterZuordnung+0xa6> |
| 3940: 80 91 bf 08 lds r24, 0x08BF |
| 3944: 0e c0 rjmp .+28 ; 0x3962 <ParameterZuordnung+0xc2> |
| 3946: 8c 3f cpi r24, 0xFC ; 252 |
| 3948: 19 f4 brne .+6 ; 0x3950 <ParameterZuordnung+0xb0> |
| 394a: 80 91 c1 08 lds r24, 0x08C1 |
| 394e: 09 c0 rjmp .+18 ; 0x3962 <ParameterZuordnung+0xc2> |
| 3950: 8d 3f cpi r24, 0xFD ; 253 |
| 3952: 19 f4 brne .+6 ; 0x395a <ParameterZuordnung+0xba> |
| 3954: 80 91 c3 08 lds r24, 0x08C3 |
| 3958: 04 c0 rjmp .+8 ; 0x3962 <ParameterZuordnung+0xc2> |
| 395a: 8e 3f cpi r24, 0xFE ; 254 |
| 395c: 21 f4 brne .+8 ; 0x3966 <ParameterZuordnung+0xc6> |
| 395e: 80 91 c5 08 lds r24, 0x08C5 |
| 3962: 80 93 82 01 sts 0x0182, r24 |
| 3966: 80 91 82 01 lds r24, 0x0182 |
| 396a: 88 23 and r24, r24 |
| 396c: 19 f4 brne .+6 ; 0x3974 <ParameterZuordnung+0xd4> |
| 396e: 10 92 82 01 sts 0x0182, r1 |
| 3972: 05 c0 rjmp .+10 ; 0x397e <ParameterZuordnung+0xde> |
| 3974: 84 36 cpi r24, 0x64 ; 100 |
| 3976: 18 f0 brcs .+6 ; 0x397e <ParameterZuordnung+0xde> |
| 3978: 84 e6 ldi r24, 0x64 ; 100 |
| 397a: 80 93 82 01 sts 0x0182, r24 |
| 397e: 80 91 9e 0c lds r24, 0x0C9E |
| 3982: 8b 3f cpi r24, 0xFB ; 251 |
| 3984: 98 f0 brcs .+38 ; 0x39ac <ParameterZuordnung+0x10c> |
| 3986: 8b 3f cpi r24, 0xFB ; 251 |
| 3988: 19 f4 brne .+6 ; 0x3990 <ParameterZuordnung+0xf0> |
| 398a: 80 91 bf 08 lds r24, 0x08BF |
| 398e: 0e c0 rjmp .+28 ; 0x39ac <ParameterZuordnung+0x10c> |
| 3990: 8c 3f cpi r24, 0xFC ; 252 |
| 3992: 19 f4 brne .+6 ; 0x399a <ParameterZuordnung+0xfa> |
| 3994: 80 91 c1 08 lds r24, 0x08C1 |
| 3998: 09 c0 rjmp .+18 ; 0x39ac <ParameterZuordnung+0x10c> |
| 399a: 8d 3f cpi r24, 0xFD ; 253 |
| 399c: 19 f4 brne .+6 ; 0x39a4 <ParameterZuordnung+0x104> |
| 399e: 80 91 c3 08 lds r24, 0x08C3 |
| 39a2: 04 c0 rjmp .+8 ; 0x39ac <ParameterZuordnung+0x10c> |
| 39a4: 8e 3f cpi r24, 0xFE ; 254 |
| 39a6: 21 f4 brne .+8 ; 0x39b0 <ParameterZuordnung+0x110> |
| 39a8: 80 91 c5 08 lds r24, 0x08C5 |
| 39ac: 80 93 83 01 sts 0x0183, r24 |
| 39b0: 80 91 83 01 lds r24, 0x0183 |
| 39b4: 88 23 and r24, r24 |
| 39b6: 19 f4 brne .+6 ; 0x39be <ParameterZuordnung+0x11e> |
| 39b8: 10 92 83 01 sts 0x0183, r1 |
| 39bc: 04 c0 rjmp .+8 ; 0x39c6 <ParameterZuordnung+0x126> |
| 39be: 8f 3f cpi r24, 0xFF ; 255 |
| 39c0: 11 f4 brne .+4 ; 0x39c6 <ParameterZuordnung+0x126> |
| 39c2: 80 93 83 01 sts 0x0183, r24 |
| 39c6: 80 91 a5 0c lds r24, 0x0CA5 |
| 39ca: 8b 3f cpi r24, 0xFB ; 251 |
| 39cc: 98 f0 brcs .+38 ; 0x39f4 <ParameterZuordnung+0x154> |
| 39ce: 8b 3f cpi r24, 0xFB ; 251 |
| 39d0: 19 f4 brne .+6 ; 0x39d8 <ParameterZuordnung+0x138> |
| 39d2: 80 91 bf 08 lds r24, 0x08BF |
| 39d6: 0e c0 rjmp .+28 ; 0x39f4 <ParameterZuordnung+0x154> |
| 39d8: 8c 3f cpi r24, 0xFC ; 252 |
| 39da: 19 f4 brne .+6 ; 0x39e2 <ParameterZuordnung+0x142> |
| 39dc: 80 91 c1 08 lds r24, 0x08C1 |
| 39e0: 09 c0 rjmp .+18 ; 0x39f4 <ParameterZuordnung+0x154> |
| 39e2: 8d 3f cpi r24, 0xFD ; 253 |
| 39e4: 19 f4 brne .+6 ; 0x39ec <ParameterZuordnung+0x14c> |
| 39e6: 80 91 c3 08 lds r24, 0x08C3 |
| 39ea: 04 c0 rjmp .+8 ; 0x39f4 <ParameterZuordnung+0x154> |
| 39ec: 8e 3f cpi r24, 0xFE ; 254 |
| 39ee: 21 f4 brne .+8 ; 0x39f8 <ParameterZuordnung+0x158> |
| 39f0: 80 91 c5 08 lds r24, 0x08C5 |
| 39f4: 80 93 84 01 sts 0x0184, r24 |
| 39f8: 80 91 84 01 lds r24, 0x0184 |
| 39fc: 88 23 and r24, r24 |
| 39fe: 19 f4 brne .+6 ; 0x3a06 <ParameterZuordnung+0x166> |
| 3a00: 10 92 84 01 sts 0x0184, r1 |
| 3a04: 04 c0 rjmp .+8 ; 0x3a0e <ParameterZuordnung+0x16e> |
| 3a06: 8f 3f cpi r24, 0xFF ; 255 |
| 3a08: 11 f4 brne .+4 ; 0x3a0e <ParameterZuordnung+0x16e> |
| 3a0a: 80 93 84 01 sts 0x0184, r24 |
| 3a0e: 80 91 a6 0c lds r24, 0x0CA6 |
| 3a12: 8b 3f cpi r24, 0xFB ; 251 |
| 3a14: 98 f0 brcs .+38 ; 0x3a3c <ParameterZuordnung+0x19c> |
| 3a16: 8b 3f cpi r24, 0xFB ; 251 |
| 3a18: 19 f4 brne .+6 ; 0x3a20 <ParameterZuordnung+0x180> |
| 3a1a: 80 91 bf 08 lds r24, 0x08BF |
| 3a1e: 0e c0 rjmp .+28 ; 0x3a3c <ParameterZuordnung+0x19c> |
| 3a20: 8c 3f cpi r24, 0xFC ; 252 |
| 3a22: 19 f4 brne .+6 ; 0x3a2a <ParameterZuordnung+0x18a> |
| 3a24: 80 91 c1 08 lds r24, 0x08C1 |
| 3a28: 09 c0 rjmp .+18 ; 0x3a3c <ParameterZuordnung+0x19c> |
| 3a2a: 8d 3f cpi r24, 0xFD ; 253 |
| 3a2c: 19 f4 brne .+6 ; 0x3a34 <ParameterZuordnung+0x194> |
| 3a2e: 80 91 c3 08 lds r24, 0x08C3 |
| 3a32: 04 c0 rjmp .+8 ; 0x3a3c <ParameterZuordnung+0x19c> |
| 3a34: 8e 3f cpi r24, 0xFE ; 254 |
| 3a36: 21 f4 brne .+8 ; 0x3a40 <ParameterZuordnung+0x1a0> |
| 3a38: 80 91 c5 08 lds r24, 0x08C5 |
| 3a3c: 80 93 85 01 sts 0x0185, r24 |
| 3a40: 80 91 85 01 lds r24, 0x0185 |
| 3a44: 8b 30 cpi r24, 0x0B ; 11 |
| 3a46: 10 f4 brcc .+4 ; 0x3a4c <ParameterZuordnung+0x1ac> |
| 3a48: 8a e0 ldi r24, 0x0A ; 10 |
| 3a4a: 02 c0 rjmp .+4 ; 0x3a50 <ParameterZuordnung+0x1b0> |
| 3a4c: 8f 3f cpi r24, 0xFF ; 255 |
| 3a4e: 11 f4 brne .+4 ; 0x3a54 <ParameterZuordnung+0x1b4> |
| 3a50: 80 93 85 01 sts 0x0185, r24 |
| 3a54: 80 91 a7 0c lds r24, 0x0CA7 |
| 3a58: 8b 3f cpi r24, 0xFB ; 251 |
| 3a5a: 98 f0 brcs .+38 ; 0x3a82 <ParameterZuordnung+0x1e2> |
| 3a5c: 8b 3f cpi r24, 0xFB ; 251 |
| 3a5e: 19 f4 brne .+6 ; 0x3a66 <ParameterZuordnung+0x1c6> |
| 3a60: 80 91 bf 08 lds r24, 0x08BF |
| 3a64: 0e c0 rjmp .+28 ; 0x3a82 <ParameterZuordnung+0x1e2> |
| 3a66: 8c 3f cpi r24, 0xFC ; 252 |
| 3a68: 19 f4 brne .+6 ; 0x3a70 <ParameterZuordnung+0x1d0> |
| 3a6a: 80 91 c1 08 lds r24, 0x08C1 |
| 3a6e: 09 c0 rjmp .+18 ; 0x3a82 <ParameterZuordnung+0x1e2> |
| 3a70: 8d 3f cpi r24, 0xFD ; 253 |
| 3a72: 19 f4 brne .+6 ; 0x3a7a <ParameterZuordnung+0x1da> |
| 3a74: 80 91 c3 08 lds r24, 0x08C3 |
| 3a78: 04 c0 rjmp .+8 ; 0x3a82 <ParameterZuordnung+0x1e2> |
| 3a7a: 8e 3f cpi r24, 0xFE ; 254 |
| 3a7c: 21 f4 brne .+8 ; 0x3a86 <ParameterZuordnung+0x1e6> |
| 3a7e: 80 91 c5 08 lds r24, 0x08C5 |
| 3a82: 80 93 86 01 sts 0x0186, r24 |
| 3a86: 80 91 86 01 lds r24, 0x0186 |
| 3a8a: 88 23 and r24, r24 |
| 3a8c: 19 f4 brne .+6 ; 0x3a94 <ParameterZuordnung+0x1f4> |
| 3a8e: 10 92 86 01 sts 0x0186, r1 |
| 3a92: 04 c0 rjmp .+8 ; 0x3a9c <ParameterZuordnung+0x1fc> |
| 3a94: 8f 3f cpi r24, 0xFF ; 255 |
| 3a96: 11 f4 brne .+4 ; 0x3a9c <ParameterZuordnung+0x1fc> |
| 3a98: 80 93 86 01 sts 0x0186, r24 |
| 3a9c: 80 91 ac 0c lds r24, 0x0CAC |
| 3aa0: 8b 3f cpi r24, 0xFB ; 251 |
| 3aa2: 98 f0 brcs .+38 ; 0x3aca <ParameterZuordnung+0x22a> |
| 3aa4: 8b 3f cpi r24, 0xFB ; 251 |
| 3aa6: 19 f4 brne .+6 ; 0x3aae <ParameterZuordnung+0x20e> |
| 3aa8: 80 91 bf 08 lds r24, 0x08BF |
| 3aac: 0e c0 rjmp .+28 ; 0x3aca <ParameterZuordnung+0x22a> |
| 3aae: 8c 3f cpi r24, 0xFC ; 252 |
| 3ab0: 19 f4 brne .+6 ; 0x3ab8 <ParameterZuordnung+0x218> |
| 3ab2: 80 91 c1 08 lds r24, 0x08C1 |
| 3ab6: 09 c0 rjmp .+18 ; 0x3aca <ParameterZuordnung+0x22a> |
| 3ab8: 8d 3f cpi r24, 0xFD ; 253 |
| 3aba: 19 f4 brne .+6 ; 0x3ac2 <ParameterZuordnung+0x222> |
| 3abc: 80 91 c3 08 lds r24, 0x08C3 |
| 3ac0: 04 c0 rjmp .+8 ; 0x3aca <ParameterZuordnung+0x22a> |
| 3ac2: 8e 3f cpi r24, 0xFE ; 254 |
| 3ac4: 21 f4 brne .+8 ; 0x3ace <ParameterZuordnung+0x22e> |
| 3ac6: 80 91 c5 08 lds r24, 0x08C5 |
| 3aca: 80 93 88 01 sts 0x0188, r24 |
| 3ace: 80 91 88 01 lds r24, 0x0188 |
| 3ad2: 88 23 and r24, r24 |
| 3ad4: 19 f4 brne .+6 ; 0x3adc <ParameterZuordnung+0x23c> |
| 3ad6: 10 92 88 01 sts 0x0188, r1 |
| 3ada: 04 c0 rjmp .+8 ; 0x3ae4 <ParameterZuordnung+0x244> |
| 3adc: 8f 3f cpi r24, 0xFF ; 255 |
| 3ade: 11 f4 brne .+4 ; 0x3ae4 <ParameterZuordnung+0x244> |
| 3ae0: 80 93 88 01 sts 0x0188, r24 |
| 3ae4: 80 91 ad 0c lds r24, 0x0CAD |
| 3ae8: 8b 3f cpi r24, 0xFB ; 251 |
| 3aea: 98 f0 brcs .+38 ; 0x3b12 <ParameterZuordnung+0x272> |
| 3aec: 8b 3f cpi r24, 0xFB ; 251 |
| 3aee: 19 f4 brne .+6 ; 0x3af6 <ParameterZuordnung+0x256> |
| 3af0: 80 91 bf 08 lds r24, 0x08BF |
| 3af4: 0e c0 rjmp .+28 ; 0x3b12 <ParameterZuordnung+0x272> |
| 3af6: 8c 3f cpi r24, 0xFC ; 252 |
| 3af8: 19 f4 brne .+6 ; 0x3b00 <ParameterZuordnung+0x260> |
| 3afa: 80 91 c1 08 lds r24, 0x08C1 |
| 3afe: 09 c0 rjmp .+18 ; 0x3b12 <ParameterZuordnung+0x272> |
| 3b00: 8d 3f cpi r24, 0xFD ; 253 |
| 3b02: 19 f4 brne .+6 ; 0x3b0a <ParameterZuordnung+0x26a> |
| 3b04: 80 91 c3 08 lds r24, 0x08C3 |
| 3b08: 04 c0 rjmp .+8 ; 0x3b12 <ParameterZuordnung+0x272> |
| 3b0a: 8e 3f cpi r24, 0xFE ; 254 |
| 3b0c: 21 f4 brne .+8 ; 0x3b16 <ParameterZuordnung+0x276> |
| 3b0e: 80 91 c5 08 lds r24, 0x08C5 |
| 3b12: 80 93 db 08 sts 0x08DB, r24 |
| 3b16: 80 91 db 08 lds r24, 0x08DB |
| 3b1a: 88 23 and r24, r24 |
| 3b1c: 19 f4 brne .+6 ; 0x3b24 <ParameterZuordnung+0x284> |
| 3b1e: 10 92 db 08 sts 0x08DB, r1 |
| 3b22: 04 c0 rjmp .+8 ; 0x3b2c <ParameterZuordnung+0x28c> |
| 3b24: 8f 3f cpi r24, 0xFF ; 255 |
| 3b26: 11 f4 brne .+4 ; 0x3b2c <ParameterZuordnung+0x28c> |
| 3b28: 80 93 db 08 sts 0x08DB, r24 |
| 3b2c: 80 91 ae 0c lds r24, 0x0CAE |
| 3b30: 8b 3f cpi r24, 0xFB ; 251 |
| 3b32: 98 f0 brcs .+38 ; 0x3b5a <ParameterZuordnung+0x2ba> |
| 3b34: 8b 3f cpi r24, 0xFB ; 251 |
| 3b36: 19 f4 brne .+6 ; 0x3b3e <ParameterZuordnung+0x29e> |
| 3b38: 80 91 bf 08 lds r24, 0x08BF |
| 3b3c: 0e c0 rjmp .+28 ; 0x3b5a <ParameterZuordnung+0x2ba> |
| 3b3e: 8c 3f cpi r24, 0xFC ; 252 |
| 3b40: 19 f4 brne .+6 ; 0x3b48 <ParameterZuordnung+0x2a8> |
| 3b42: 80 91 c1 08 lds r24, 0x08C1 |
| 3b46: 09 c0 rjmp .+18 ; 0x3b5a <ParameterZuordnung+0x2ba> |
| 3b48: 8d 3f cpi r24, 0xFD ; 253 |
| 3b4a: 19 f4 brne .+6 ; 0x3b52 <ParameterZuordnung+0x2b2> |
| 3b4c: 80 91 c3 08 lds r24, 0x08C3 |
| 3b50: 04 c0 rjmp .+8 ; 0x3b5a <ParameterZuordnung+0x2ba> |
| 3b52: 8e 3f cpi r24, 0xFE ; 254 |
| 3b54: 21 f4 brne .+8 ; 0x3b5e <ParameterZuordnung+0x2be> |
| 3b56: 80 91 c5 08 lds r24, 0x08C5 |
| 3b5a: 80 93 dc 08 sts 0x08DC, r24 |
| 3b5e: 80 91 dc 08 lds r24, 0x08DC |
| 3b62: 88 23 and r24, r24 |
| 3b64: 19 f4 brne .+6 ; 0x3b6c <ParameterZuordnung+0x2cc> |
| 3b66: 10 92 dc 08 sts 0x08DC, r1 |
| 3b6a: 04 c0 rjmp .+8 ; 0x3b74 <ParameterZuordnung+0x2d4> |
| 3b6c: 8f 3f cpi r24, 0xFF ; 255 |
| 3b6e: 11 f4 brne .+4 ; 0x3b74 <ParameterZuordnung+0x2d4> |
| 3b70: 80 93 dc 08 sts 0x08DC, r24 |
| 3b74: 80 91 af 0c lds r24, 0x0CAF |
| 3b78: 8b 3f cpi r24, 0xFB ; 251 |
| 3b7a: 98 f0 brcs .+38 ; 0x3ba2 <ParameterZuordnung+0x302> |
| 3b7c: 8b 3f cpi r24, 0xFB ; 251 |
| 3b7e: 19 f4 brne .+6 ; 0x3b86 <ParameterZuordnung+0x2e6> |
| 3b80: 80 91 bf 08 lds r24, 0x08BF |
| 3b84: 0e c0 rjmp .+28 ; 0x3ba2 <ParameterZuordnung+0x302> |
| 3b86: 8c 3f cpi r24, 0xFC ; 252 |
| 3b88: 19 f4 brne .+6 ; 0x3b90 <ParameterZuordnung+0x2f0> |
| 3b8a: 80 91 c1 08 lds r24, 0x08C1 |
| 3b8e: 09 c0 rjmp .+18 ; 0x3ba2 <ParameterZuordnung+0x302> |
| 3b90: 8d 3f cpi r24, 0xFD ; 253 |
| 3b92: 19 f4 brne .+6 ; 0x3b9a <ParameterZuordnung+0x2fa> |
| 3b94: 80 91 c3 08 lds r24, 0x08C3 |
| 3b98: 04 c0 rjmp .+8 ; 0x3ba2 <ParameterZuordnung+0x302> |
| 3b9a: 8e 3f cpi r24, 0xFE ; 254 |
| 3b9c: 21 f4 brne .+8 ; 0x3ba6 <ParameterZuordnung+0x306> |
| 3b9e: 80 91 c5 08 lds r24, 0x08C5 |
| 3ba2: 80 93 dd 08 sts 0x08DD, r24 |
| 3ba6: 80 91 dd 08 lds r24, 0x08DD |
| 3baa: 88 23 and r24, r24 |
| 3bac: 19 f4 brne .+6 ; 0x3bb4 <ParameterZuordnung+0x314> |
| 3bae: 10 92 dd 08 sts 0x08DD, r1 |
| 3bb2: 04 c0 rjmp .+8 ; 0x3bbc <ParameterZuordnung+0x31c> |
| 3bb4: 8f 3f cpi r24, 0xFF ; 255 |
| 3bb6: 11 f4 brne .+4 ; 0x3bbc <ParameterZuordnung+0x31c> |
| 3bb8: 80 93 dd 08 sts 0x08DD, r24 |
| 3bbc: 80 91 b0 0c lds r24, 0x0CB0 |
| 3bc0: 8b 3f cpi r24, 0xFB ; 251 |
| 3bc2: 98 f0 brcs .+38 ; 0x3bea <ParameterZuordnung+0x34a> |
| 3bc4: 8b 3f cpi r24, 0xFB ; 251 |
| 3bc6: 19 f4 brne .+6 ; 0x3bce <ParameterZuordnung+0x32e> |
| 3bc8: 80 91 bf 08 lds r24, 0x08BF |
| 3bcc: 0e c0 rjmp .+28 ; 0x3bea <ParameterZuordnung+0x34a> |
| 3bce: 8c 3f cpi r24, 0xFC ; 252 |
| 3bd0: 19 f4 brne .+6 ; 0x3bd8 <ParameterZuordnung+0x338> |
| 3bd2: 80 91 c1 08 lds r24, 0x08C1 |
| 3bd6: 09 c0 rjmp .+18 ; 0x3bea <ParameterZuordnung+0x34a> |
| 3bd8: 8d 3f cpi r24, 0xFD ; 253 |
| 3bda: 19 f4 brne .+6 ; 0x3be2 <ParameterZuordnung+0x342> |
| 3bdc: 80 91 c3 08 lds r24, 0x08C3 |
| 3be0: 04 c0 rjmp .+8 ; 0x3bea <ParameterZuordnung+0x34a> |
| 3be2: 8e 3f cpi r24, 0xFE ; 254 |
| 3be4: 21 f4 brne .+8 ; 0x3bee <ParameterZuordnung+0x34e> |
| 3be6: 80 91 c5 08 lds r24, 0x08C5 |
| 3bea: 80 93 de 08 sts 0x08DE, r24 |
| 3bee: 80 91 de 08 lds r24, 0x08DE |
| 3bf2: 88 23 and r24, r24 |
| 3bf4: 19 f4 brne .+6 ; 0x3bfc <ParameterZuordnung+0x35c> |
| 3bf6: 10 92 de 08 sts 0x08DE, r1 |
| 3bfa: 04 c0 rjmp .+8 ; 0x3c04 <ParameterZuordnung+0x364> |
| 3bfc: 8f 3f cpi r24, 0xFF ; 255 |
| 3bfe: 11 f4 brne .+4 ; 0x3c04 <ParameterZuordnung+0x364> |
| 3c00: 80 93 de 08 sts 0x08DE, r24 |
| 3c04: 90 91 b1 0c lds r25, 0x0CB1 |
| 3c08: 9b 3f cpi r25, 0xFB ; 251 |
| 3c0a: b0 f0 brcs .+44 ; 0x3c38 <ParameterZuordnung+0x398> |
| 3c0c: 9b 3f cpi r25, 0xFB ; 251 |
| 3c0e: 19 f4 brne .+6 ; 0x3c16 <ParameterZuordnung+0x376> |
| 3c10: 80 91 bf 08 lds r24, 0x08BF |
| 3c14: 04 c0 rjmp .+8 ; 0x3c1e <ParameterZuordnung+0x37e> |
| 3c16: 9c 3f cpi r25, 0xFC ; 252 |
| 3c18: 29 f4 brne .+10 ; 0x3c24 <ParameterZuordnung+0x384> |
| 3c1a: 80 91 c1 08 lds r24, 0x08C1 |
| 3c1e: 80 93 89 01 sts 0x0189, r24 |
| 3c22: 0c c0 rjmp .+24 ; 0x3c3c <ParameterZuordnung+0x39c> |
| 3c24: 9d 3f cpi r25, 0xFD ; 253 |
| 3c26: 19 f4 brne .+6 ; 0x3c2e <ParameterZuordnung+0x38e> |
| 3c28: 80 91 c3 08 lds r24, 0x08C3 |
| 3c2c: f8 cf rjmp .-16 ; 0x3c1e <ParameterZuordnung+0x37e> |
| 3c2e: 9e 3f cpi r25, 0xFE ; 254 |
| 3c30: 29 f4 brne .+10 ; 0x3c3c <ParameterZuordnung+0x39c> |
| 3c32: 80 91 c5 08 lds r24, 0x08C5 |
| 3c36: f3 cf rjmp .-26 ; 0x3c1e <ParameterZuordnung+0x37e> |
| 3c38: 90 93 89 01 sts 0x0189, r25 |
| 3c3c: 80 91 89 01 lds r24, 0x0189 |
| 3c40: 88 23 and r24, r24 |
| 3c42: 19 f4 brne .+6 ; 0x3c4a <ParameterZuordnung+0x3aa> |
| 3c44: 10 92 89 01 sts 0x0189, r1 |
| 3c48: 04 c0 rjmp .+8 ; 0x3c52 <ParameterZuordnung+0x3b2> |
| 3c4a: 8f 3f cpi r24, 0xFF ; 255 |
| 3c4c: 11 f4 brne .+4 ; 0x3c52 <ParameterZuordnung+0x3b2> |
| 3c4e: 80 93 89 01 sts 0x0189, r24 |
| 3c52: 9b 3f cpi r25, 0xFB ; 251 |
| 3c54: b0 f0 brcs .+44 ; 0x3c82 <ParameterZuordnung+0x3e2> |
| 3c56: 9b 3f cpi r25, 0xFB ; 251 |
| 3c58: 19 f4 brne .+6 ; 0x3c60 <ParameterZuordnung+0x3c0> |
| 3c5a: 80 91 bf 08 lds r24, 0x08BF |
| 3c5e: 04 c0 rjmp .+8 ; 0x3c68 <ParameterZuordnung+0x3c8> |
| 3c60: 9c 3f cpi r25, 0xFC ; 252 |
| 3c62: 29 f4 brne .+10 ; 0x3c6e <ParameterZuordnung+0x3ce> |
| 3c64: 80 91 c1 08 lds r24, 0x08C1 |
| 3c68: 80 93 89 01 sts 0x0189, r24 |
| 3c6c: 0c c0 rjmp .+24 ; 0x3c86 <ParameterZuordnung+0x3e6> |
| 3c6e: 9d 3f cpi r25, 0xFD ; 253 |
| 3c70: 19 f4 brne .+6 ; 0x3c78 <ParameterZuordnung+0x3d8> |
| 3c72: 80 91 c3 08 lds r24, 0x08C3 |
| 3c76: f8 cf rjmp .-16 ; 0x3c68 <ParameterZuordnung+0x3c8> |
| 3c78: 9e 3f cpi r25, 0xFE ; 254 |
| 3c7a: 29 f4 brne .+10 ; 0x3c86 <ParameterZuordnung+0x3e6> |
| 3c7c: 80 91 c5 08 lds r24, 0x08C5 |
| 3c80: f3 cf rjmp .-26 ; 0x3c68 <ParameterZuordnung+0x3c8> |
| 3c82: 90 93 89 01 sts 0x0189, r25 |
| 3c86: 80 91 89 01 lds r24, 0x0189 |
| 3c8a: 88 23 and r24, r24 |
| 3c8c: 19 f4 brne .+6 ; 0x3c94 <ParameterZuordnung+0x3f4> |
| 3c8e: 10 92 89 01 sts 0x0189, r1 |
| 3c92: 04 c0 rjmp .+8 ; 0x3c9c <ParameterZuordnung+0x3fc> |
| 3c94: 8f 3f cpi r24, 0xFF ; 255 |
| 3c96: 11 f4 brne .+4 ; 0x3c9c <ParameterZuordnung+0x3fc> |
| 3c98: 80 93 89 01 sts 0x0189, r24 |
| 3c9c: 9b 3f cpi r25, 0xFB ; 251 |
| 3c9e: b0 f0 brcs .+44 ; 0x3ccc <ParameterZuordnung+0x42c> |
| 3ca0: 9b 3f cpi r25, 0xFB ; 251 |
| 3ca2: 19 f4 brne .+6 ; 0x3caa <ParameterZuordnung+0x40a> |
| 3ca4: 80 91 bf 08 lds r24, 0x08BF |
| 3ca8: 04 c0 rjmp .+8 ; 0x3cb2 <ParameterZuordnung+0x412> |
| 3caa: 9c 3f cpi r25, 0xFC ; 252 |
| 3cac: 29 f4 brne .+10 ; 0x3cb8 <ParameterZuordnung+0x418> |
| 3cae: 80 91 c1 08 lds r24, 0x08C1 |
| 3cb2: 80 93 89 01 sts 0x0189, r24 |
| 3cb6: 0c c0 rjmp .+24 ; 0x3cd0 <ParameterZuordnung+0x430> |
| 3cb8: 9d 3f cpi r25, 0xFD ; 253 |
| 3cba: 19 f4 brne .+6 ; 0x3cc2 <ParameterZuordnung+0x422> |
| 3cbc: 80 91 c3 08 lds r24, 0x08C3 |
| 3cc0: f8 cf rjmp .-16 ; 0x3cb2 <ParameterZuordnung+0x412> |
| 3cc2: 9e 3f cpi r25, 0xFE ; 254 |
| 3cc4: 29 f4 brne .+10 ; 0x3cd0 <ParameterZuordnung+0x430> |
| 3cc6: 80 91 c5 08 lds r24, 0x08C5 |
| 3cca: f3 cf rjmp .-26 ; 0x3cb2 <ParameterZuordnung+0x412> |
| 3ccc: 90 93 89 01 sts 0x0189, r25 |
| 3cd0: 80 91 89 01 lds r24, 0x0189 |
| 3cd4: 88 23 and r24, r24 |
| 3cd6: 19 f4 brne .+6 ; 0x3cde <ParameterZuordnung+0x43e> |
| 3cd8: 10 92 89 01 sts 0x0189, r1 |
| 3cdc: 04 c0 rjmp .+8 ; 0x3ce6 <ParameterZuordnung+0x446> |
| 3cde: 8f 3f cpi r24, 0xFF ; 255 |
| 3ce0: 11 f4 brne .+4 ; 0x3ce6 <ParameterZuordnung+0x446> |
| 3ce2: 80 93 89 01 sts 0x0189, r24 |
| 3ce6: 10 91 88 01 lds r17, 0x0188 |
| 3cea: 61 2f mov r22, r17 |
| 3cec: 77 27 eor r23, r23 |
| 3cee: 67 fd sbrc r22, 7 |
| 3cf0: 70 95 com r23 |
| 3cf2: 87 2f mov r24, r23 |
| 3cf4: 97 2f mov r25, r23 |
| 3cf6: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 3cfa: 17 ff sbrs r17, 7 |
| 3cfc: 06 c0 rjmp .+12 ; 0x3d0a <ParameterZuordnung+0x46a> |
| 3cfe: 20 e0 ldi r18, 0x00 ; 0 |
| 3d00: 30 e0 ldi r19, 0x00 ; 0 |
| 3d02: 40 e8 ldi r20, 0x80 ; 128 |
| 3d04: 53 e4 ldi r21, 0x43 ; 67 |
| 3d06: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 3d0a: 27 e1 ldi r18, 0x17 ; 23 |
| 3d0c: 37 eb ldi r19, 0xB7 ; 183 |
| 3d0e: 41 ed ldi r20, 0xD1 ; 209 |
| 3d10: 58 e3 ldi r21, 0x38 ; 56 |
| 3d12: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 3d16: 60 93 7c 01 sts 0x017C, r22 |
| 3d1a: 70 93 7d 01 sts 0x017D, r23 |
| 3d1e: 80 93 7e 01 sts 0x017E, r24 |
| 3d22: 90 93 7f 01 sts 0x017F, r25 |
| 3d26: 80 91 a3 0c lds r24, 0x0CA3 |
| 3d2a: 80 93 d7 0c sts 0x0CD7, r24 |
| 3d2e: 80 91 a2 0c lds r24, 0x0CA2 |
| 3d32: 80 93 ce 0c sts 0x0CCE, r24 |
| 3d36: 1f 91 pop r17 |
| 3d38: 08 95 ret |
| 00003d3a <DefaultKonstanten2>: |
| 3d3a: 83 e0 ldi r24, 0x03 ; 3 |
| 3d3c: 80 93 90 0c sts 0x0C90, r24 |
| 3d40: 42 e0 ldi r20, 0x02 ; 2 |
| 3d42: 40 93 91 0c sts 0x0C91, r20 |
| 3d46: 81 e0 ldi r24, 0x01 ; 1 |
| 3d48: 80 93 92 0c sts 0x0C92, r24 |
| 3d4c: 34 e0 ldi r19, 0x04 ; 4 |
| 3d4e: 30 93 93 0c sts 0x0C93, r19 |
| 3d52: 25 e0 ldi r18, 0x05 ; 5 |
| 3d54: 20 93 94 0c sts 0x0C94, r18 |
| 3d58: 86 e0 ldi r24, 0x06 ; 6 |
| 3d5a: 80 93 95 0c sts 0x0C95, r24 |
| 3d5e: 87 e0 ldi r24, 0x07 ; 7 |
| 3d60: 80 93 96 0c sts 0x0C96, r24 |
| 3d64: 10 92 98 0c sts 0x0C98, r1 |
| 3d68: 8e e1 ldi r24, 0x1E ; 30 |
| 3d6a: 80 93 99 0c sts 0x0C99, r24 |
| 3d6e: 8b ef ldi r24, 0xFB ; 251 |
| 3d70: 80 93 9b 0c sts 0x0C9B, r24 |
| 3d74: 8a e0 ldi r24, 0x0A ; 10 |
| 3d76: 80 93 9c 0c sts 0x0C9C, r24 |
| 3d7a: 92 e3 ldi r25, 0x32 ; 50 |
| 3d7c: 90 93 9a 0c sts 0x0C9A, r25 |
| 3d80: 90 93 9e 0c sts 0x0C9E, r25 |
| 3d84: 40 93 9d 0c sts 0x0C9D, r20 |
| 3d88: 30 93 9f 0c sts 0x0C9F, r19 |
| 3d8c: 10 92 a0 0c sts 0x0CA0, r1 |
| 3d90: 80 e1 ldi r24, 0x10 ; 16 |
| 3d92: 80 93 a1 0c sts 0x0CA1, r24 |
| 3d96: 20 93 a2 0c sts 0x0CA2, r18 |
| 3d9a: 8a ef ldi r24, 0xFA ; 250 |
| 3d9c: 80 93 a3 0c sts 0x0CA3, r24 |
| 3da0: 8a e1 ldi r24, 0x1A ; 26 |
| 3da2: 80 93 a4 0c sts 0x0CA4, r24 |
| 3da6: 80 e8 ldi r24, 0x80 ; 128 |
| 3da8: 80 93 a5 0c sts 0x0CA5, r24 |
| 3dac: 8f ea ldi r24, 0xAF ; 175 |
| 3dae: 80 93 a6 0c sts 0x0CA6, r24 |
| 3db2: 80 93 a7 0c sts 0x0CA7, r24 |
| 3db6: 8a e5 ldi r24, 0x5A ; 90 |
| 3db8: 80 93 a8 0c sts 0x0CA8, r24 |
| 3dbc: 83 e2 ldi r24, 0x23 ; 35 |
| 3dbe: 80 93 a9 0c sts 0x0CA9, r24 |
| 3dc2: 84 e1 ldi r24, 0x14 ; 20 |
| 3dc4: 80 93 aa 0c sts 0x0CAA, r24 |
| 3dc8: 10 92 ab 0c sts 0x0CAB, r1 |
| 3dcc: 20 93 ac 0c sts 0x0CAC, r18 |
| 3dd0: 10 92 ad 0c sts 0x0CAD, r1 |
| 3dd4: 10 92 ae 0c sts 0x0CAE, r1 |
| 3dd8: 10 92 af 0c sts 0x0CAF, r1 |
| 3ddc: 10 92 b0 0c sts 0x0CB0, r1 |
| 3de0: 84 e6 ldi r24, 0x64 ; 100 |
| 3de2: 80 93 b1 0c sts 0x0CB1, r24 |
| 3de6: 88 e2 ldi r24, 0x28 ; 40 |
| 3de8: 80 93 b2 0c sts 0x0CB2, r24 |
| 3dec: 10 92 b6 0c sts 0x0CB6, r1 |
| 3df0: 90 93 b3 0c sts 0x0CB3, r25 |
| 3df4: 86 e9 ldi r24, 0x96 ; 150 |
| 3df6: 80 93 b4 0c sts 0x0CB4, r24 |
| 3dfa: 20 93 b5 0c sts 0x0CB5, r18 |
| 3dfe: ae eb ldi r26, 0xBE ; 190 |
| 3e00: bc e0 ldi r27, 0x0C ; 12 |
| 3e02: e8 e6 ldi r30, 0x68 ; 104 |
| 3e04: f1 e0 ldi r31, 0x01 ; 1 |
| 3e06: 8c e0 ldi r24, 0x0C ; 12 |
| 3e08: 01 90 ld r0, Z+ |
| 3e0a: 0d 92 st X+, r0 |
| 3e0c: 81 50 subi r24, 0x01 ; 1 |
| 3e0e: e1 f7 brne .-8 ; 0x3e08 <DefaultKonstanten2+0xce> |
| 3e10: 08 95 ret |
| 00003e12 <DefaultKonstanten1>: |
| 3e12: 83 e0 ldi r24, 0x03 ; 3 |
| 3e14: 80 93 90 0c sts 0x0C90, r24 |
| 3e18: 42 e0 ldi r20, 0x02 ; 2 |
| 3e1a: 40 93 91 0c sts 0x0C91, r20 |
| 3e1e: 81 e0 ldi r24, 0x01 ; 1 |
| 3e20: 80 93 92 0c sts 0x0C92, r24 |
| 3e24: 34 e0 ldi r19, 0x04 ; 4 |
| 3e26: 30 93 93 0c sts 0x0C93, r19 |
| 3e2a: 25 e0 ldi r18, 0x05 ; 5 |
| 3e2c: 20 93 94 0c sts 0x0C94, r18 |
| 3e30: 86 e0 ldi r24, 0x06 ; 6 |
| 3e32: 80 93 95 0c sts 0x0C95, r24 |
| 3e36: 87 e0 ldi r24, 0x07 ; 7 |
| 3e38: 80 93 96 0c sts 0x0C96, r24 |
| 3e3c: 88 e0 ldi r24, 0x08 ; 8 |
| 3e3e: 80 93 97 0c sts 0x0C97, r24 |
| 3e42: 10 92 98 0c sts 0x0C98, r1 |
| 3e46: 9e e1 ldi r25, 0x1E ; 30 |
| 3e48: 90 93 99 0c sts 0x0C99, r25 |
| 3e4c: 8b ef ldi r24, 0xFB ; 251 |
| 3e4e: 80 93 9b 0c sts 0x0C9B, r24 |
| 3e52: 8a e0 ldi r24, 0x0A ; 10 |
| 3e54: 80 93 9c 0c sts 0x0C9C, r24 |
| 3e58: 86 e4 ldi r24, 0x46 ; 70 |
| 3e5a: 80 93 9a 0c sts 0x0C9A, r24 |
| 3e5e: 90 93 9e 0c sts 0x0C9E, r25 |
| 3e62: 40 93 9d 0c sts 0x0C9D, r20 |
| 3e66: 30 93 9f 0c sts 0x0C9F, r19 |
| 3e6a: 10 92 a0 0c sts 0x0CA0, r1 |
| 3e6e: 80 e1 ldi r24, 0x10 ; 16 |
| 3e70: 80 93 a1 0c sts 0x0CA1, r24 |
| 3e74: 20 93 a2 0c sts 0x0CA2, r18 |
| 3e78: 8a ef ldi r24, 0xFA ; 250 |
| 3e7a: 80 93 a3 0c sts 0x0CA3, r24 |
| 3e7e: 8a e1 ldi r24, 0x1A ; 26 |
| 3e80: 80 93 a4 0c sts 0x0CA4, r24 |
| 3e84: 80 e8 ldi r24, 0x80 ; 128 |
| 3e86: 80 93 a5 0c sts 0x0CA5, r24 |
| 3e8a: 88 e7 ldi r24, 0x78 ; 120 |
| 3e8c: 80 93 a6 0c sts 0x0CA6, r24 |
| 3e90: 96 e9 ldi r25, 0x96 ; 150 |
| 3e92: 90 93 a7 0c sts 0x0CA7, r25 |
| 3e96: 8a e5 ldi r24, 0x5A ; 90 |
| 3e98: 80 93 a8 0c sts 0x0CA8, r24 |
| 3e9c: 83 e2 ldi r24, 0x23 ; 35 |
| 3e9e: 80 93 a9 0c sts 0x0CA9, r24 |
| 3ea2: 84 e1 ldi r24, 0x14 ; 20 |
| 3ea4: 80 93 aa 0c sts 0x0CAA, r24 |
| 3ea8: 10 92 ab 0c sts 0x0CAB, r1 |
| 3eac: 20 93 ac 0c sts 0x0CAC, r18 |
| 3eb0: 10 92 ad 0c sts 0x0CAD, r1 |
| 3eb4: 10 92 ae 0c sts 0x0CAE, r1 |
| 3eb8: 10 92 af 0c sts 0x0CAF, r1 |
| 3ebc: 10 92 b0 0c sts 0x0CB0, r1 |
| 3ec0: 84 e6 ldi r24, 0x64 ; 100 |
| 3ec2: 80 93 b1 0c sts 0x0CB1, r24 |
| 3ec6: 88 e2 ldi r24, 0x28 ; 40 |
| 3ec8: 80 93 b2 0c sts 0x0CB2, r24 |
| 3ecc: 10 92 b6 0c sts 0x0CB6, r1 |
| 3ed0: 82 e3 ldi r24, 0x32 ; 50 |
| 3ed2: 80 93 b3 0c sts 0x0CB3, r24 |
| 3ed6: 90 93 b4 0c sts 0x0CB4, r25 |
| 3eda: 20 93 b5 0c sts 0x0CB5, r18 |
| 3ede: ae eb ldi r26, 0xBE ; 190 |
| 3ee0: bc e0 ldi r27, 0x0C ; 12 |
| 3ee2: e0 e7 ldi r30, 0x70 ; 112 |
| 3ee4: f1 e0 ldi r31, 0x01 ; 1 |
| 3ee6: 8c e0 ldi r24, 0x0C ; 12 |
| 3ee8: 01 90 ld r0, Z+ |
| 3eea: 0d 92 st X+, r0 |
| 3eec: 81 50 subi r24, 0x01 ; 1 |
| 3eee: e1 f7 brne .-8 ; 0x3ee8 <DefaultKonstanten1+0xd6> |
| 3ef0: 08 95 ret |
| 00003ef2 <SendMotorData>: |
| 3ef2: 80 91 d6 08 lds r24, 0x08D6 |
| 3ef6: 88 23 and r24, r24 |
| 3ef8: 01 f5 brne .+64 ; 0x3f3a <SendMotorData+0x48> |
| 3efa: 10 92 61 09 sts 0x0961, r1 |
| 3efe: 10 92 60 09 sts 0x0960, r1 |
| 3f02: 10 92 66 09 sts 0x0966, r1 |
| 3f06: 10 92 6c 09 sts 0x096C, r1 |
| 3f0a: 80 91 34 08 lds r24, 0x0834 |
| 3f0e: 88 23 and r24, r24 |
| 3f10: 11 f0 breq .+4 ; 0x3f16 <SendMotorData+0x24> |
| 3f12: 80 93 60 09 sts 0x0960, r24 |
| 3f16: 80 91 35 08 lds r24, 0x0835 |
| 3f1a: 88 23 and r24, r24 |
| 3f1c: 11 f0 breq .+4 ; 0x3f22 <SendMotorData+0x30> |
| 3f1e: 80 93 61 09 sts 0x0961, r24 |
| 3f22: 80 91 36 08 lds r24, 0x0836 |
| 3f26: 88 23 and r24, r24 |
| 3f28: 11 f0 breq .+4 ; 0x3f2e <SendMotorData+0x3c> |
| 3f2a: 80 93 6c 09 sts 0x096C, r24 |
| 3f2e: 80 91 37 08 lds r24, 0x0837 |
| 3f32: 88 23 and r24, r24 |
| 3f34: 11 f0 breq .+4 ; 0x3f3a <SendMotorData+0x48> |
| 3f36: 80 93 66 09 sts 0x0966, r24 |
| 3f3a: 10 92 6b 08 sts 0x086B, r1 |
| 3f3e: 10 92 6c 08 sts 0x086C, r1 |
| 3f42: 0e 94 d5 14 call 0x29aa ; 0x29aa <i2c_start> |
| 3f46: 08 95 ret |
| 00003f48 <SetNeutral>: |
| 3f48: cf 93 push r28 |
| 3f4a: df 93 push r29 |
| 3f4c: 10 92 7a 08 sts 0x087A, r1 |
| 3f50: 10 92 79 08 sts 0x0879, r1 |
| 3f54: 10 92 7c 08 sts 0x087C, r1 |
| 3f58: 10 92 7b 08 sts 0x087B, r1 |
| 3f5c: 80 e0 ldi r24, 0x00 ; 0 |
| 3f5e: 90 e0 ldi r25, 0x00 ; 0 |
| 3f60: a0 e0 ldi r26, 0x00 ; 0 |
| 3f62: b0 e0 ldi r27, 0x00 ; 0 |
| 3f64: 80 93 7d 08 sts 0x087D, r24 |
| 3f68: 90 93 7e 08 sts 0x087E, r25 |
| 3f6c: a0 93 7f 08 sts 0x087F, r26 |
| 3f70: b0 93 80 08 sts 0x0880, r27 |
| 3f74: 10 92 74 08 sts 0x0874, r1 |
| 3f78: 10 92 73 08 sts 0x0873, r1 |
| 3f7c: 10 92 76 08 sts 0x0876, r1 |
| 3f80: 10 92 75 08 sts 0x0875, r1 |
| 3f84: 10 92 78 08 sts 0x0878, r1 |
| 3f88: 10 92 77 08 sts 0x0877, r1 |
| 3f8c: 0e 94 d8 19 call 0x33b0 ; 0x33b0 <CalibrierMittelwert> |
| 3f90: 85 e0 ldi r24, 0x05 ; 5 |
| 3f92: 90 e0 ldi r25, 0x00 ; 0 |
| 3f94: 0e 94 96 0c call 0x192c ; 0x192c <SetDelay> |
| 3f98: ec 01 movw r28, r24 |
| 3f9a: ce 01 movw r24, r28 |
| 3f9c: 0e 94 9f 0c call 0x193e ; 0x193e <CheckDelay> |
| 3fa0: 88 23 and r24, r24 |
| 3fa2: d9 f3 breq .-10 ; 0x3f9a <SetNeutral+0x52> |
| 3fa4: 0e 94 d8 19 call 0x33b0 ; 0x33b0 <CalibrierMittelwert> |
| 3fa8: 80 91 98 0c lds r24, 0x0C98 |
| 3fac: 80 ff sbrs r24, 0 |
| 3fae: 10 c0 rjmp .+32 ; 0x3fd0 <SetNeutral+0x88> |
| 3fb0: 80 91 0a 01 lds r24, 0x010A |
| 3fb4: 90 91 0b 01 lds r25, 0x010B |
| 3fb8: 87 5b subi r24, 0xB7 ; 183 |
| 3fba: 93 40 sbci r25, 0x03 ; 3 |
| 3fbc: 38 f4 brcc .+14 ; 0x3fcc <SetNeutral+0x84> |
| 3fbe: 80 91 0a 01 lds r24, 0x010A |
| 3fc2: 90 91 0b 01 lds r25, 0x010B |
| 3fc6: 8e 5e subi r24, 0xEE ; 238 |
| 3fc8: 92 40 sbci r25, 0x02 ; 2 |
| 3fca: 10 f4 brcc .+4 ; 0x3fd0 <SetNeutral+0x88> |
| 3fcc: 0e 94 b5 10 call 0x216a ; 0x216a <SucheLuftruckOffset> |
| 3fd0: 80 91 cc 0c lds r24, 0x0CCC |
| 3fd4: 90 91 cd 0c lds r25, 0x0CCD |
| 3fd8: 97 ff sbrs r25, 7 |
| 3fda: 03 c0 rjmp .+6 ; 0x3fe2 <SetNeutral+0x9a> |
| 3fdc: 90 95 com r25 |
| 3fde: 81 95 neg r24 |
| 3fe0: 9f 4f sbci r25, 0xFF ; 255 |
| 3fe2: 90 93 74 08 sts 0x0874, r25 |
| 3fe6: 80 93 73 08 sts 0x0873, r24 |
| 3fea: 80 91 ca 0c lds r24, 0x0CCA |
| 3fee: 90 91 cb 0c lds r25, 0x0CCB |
| 3ff2: 97 ff sbrs r25, 7 |
| 3ff4: 03 c0 rjmp .+6 ; 0x3ffc <SetNeutral+0xb4> |
| 3ff6: 90 95 com r25 |
| 3ff8: 81 95 neg r24 |
| 3ffa: 9f 4f sbci r25, 0xFF ; 255 |
| 3ffc: 90 93 76 08 sts 0x0876, r25 |
| 4000: 80 93 75 08 sts 0x0875, r24 |
| 4004: 80 91 d8 0c lds r24, 0x0CD8 |
| 4008: 90 91 d9 0c lds r25, 0x0CD9 |
| 400c: 97 ff sbrs r25, 7 |
| 400e: 03 c0 rjmp .+6 ; 0x4016 <SetNeutral+0xce> |
| 4010: 90 95 com r25 |
| 4012: 81 95 neg r24 |
| 4014: 9f 4f sbci r25, 0xFF ; 255 |
| 4016: 90 93 78 08 sts 0x0878, r25 |
| 401a: 80 93 77 08 sts 0x0877, r24 |
| 401e: 80 91 de 0c lds r24, 0x0CDE |
| 4022: 90 91 df 0c lds r25, 0x0CDF |
| 4026: 97 ff sbrs r25, 7 |
| 4028: 03 c0 rjmp .+6 ; 0x4030 <SetNeutral+0xe8> |
| 402a: 90 95 com r25 |
| 402c: 81 95 neg r24 |
| 402e: 9f 4f sbci r25, 0xFF ; 255 |
| 4030: 60 e1 ldi r22, 0x10 ; 16 |
| 4032: 70 e0 ldi r23, 0x00 ; 0 |
| 4034: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 4038: 70 93 7c 08 sts 0x087C, r23 |
| 403c: 60 93 7b 08 sts 0x087B, r22 |
| 4040: 80 91 d5 0c lds r24, 0x0CD5 |
| 4044: 90 91 d6 0c lds r25, 0x0CD6 |
| 4048: 97 ff sbrs r25, 7 |
| 404a: 03 c0 rjmp .+6 ; 0x4052 <SetNeutral+0x10a> |
| 404c: 90 95 com r25 |
| 404e: 81 95 neg r24 |
| 4050: 9f 4f sbci r25, 0xFF ; 255 |
| 4052: 60 e1 ldi r22, 0x10 ; 16 |
| 4054: 70 e0 ldi r23, 0x00 ; 0 |
| 4056: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 405a: 70 93 7a 08 sts 0x087A, r23 |
| 405e: 60 93 79 08 sts 0x0879, r22 |
| 4062: 60 91 3c 0c lds r22, 0x0C3C |
| 4066: 70 91 3d 0c lds r23, 0x0C3D |
| 406a: 88 27 eor r24, r24 |
| 406c: 77 fd sbrc r23, 7 |
| 406e: 80 95 com r24 |
| 4070: 98 2f mov r25, r24 |
| 4072: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4076: 60 93 7d 08 sts 0x087D, r22 |
| 407a: 70 93 7e 08 sts 0x087E, r23 |
| 407e: 80 93 7f 08 sts 0x087F, r24 |
| 4082: 90 93 80 08 sts 0x0880, r25 |
| 4086: 10 92 97 08 sts 0x0897, r1 |
| 408a: 10 92 98 08 sts 0x0898, r1 |
| 408e: 10 92 99 08 sts 0x0899, r1 |
| 4092: 10 92 9a 08 sts 0x089A, r1 |
| 4096: 10 92 9b 08 sts 0x089B, r1 |
| 409a: 10 92 9c 08 sts 0x089C, r1 |
| 409e: 10 92 9d 08 sts 0x089D, r1 |
| 40a2: 10 92 9e 08 sts 0x089E, r1 |
| 40a6: 10 92 9f 08 sts 0x089F, r1 |
| 40aa: 10 92 a0 08 sts 0x08A0, r1 |
| 40ae: 10 92 a1 08 sts 0x08A1, r1 |
| 40b2: 10 92 a2 08 sts 0x08A2, r1 |
| 40b6: 10 92 a3 08 sts 0x08A3, r1 |
| 40ba: 10 92 a4 08 sts 0x08A4, r1 |
| 40be: 10 92 a5 08 sts 0x08A5, r1 |
| 40c2: 10 92 a6 08 sts 0x08A6, r1 |
| 40c6: 10 92 a7 08 sts 0x08A7, r1 |
| 40ca: 10 92 a8 08 sts 0x08A8, r1 |
| 40ce: 10 92 a9 08 sts 0x08A9, r1 |
| 40d2: 10 92 aa 08 sts 0x08AA, r1 |
| 40d6: 10 92 cd 0c sts 0x0CCD, r1 |
| 40da: 10 92 cc 0c sts 0x0CCC, r1 |
| 40de: 10 92 cb 0c sts 0x0CCB, r1 |
| 40e2: 10 92 ca 0c sts 0x0CCA, r1 |
| 40e6: 10 92 d9 0c sts 0x0CD9, r1 |
| 40ea: 10 92 d8 0c sts 0x0CD8, r1 |
| 40ee: 80 91 06 01 lds r24, 0x0106 |
| 40f2: 90 91 07 01 lds r25, 0x0107 |
| 40f6: a0 91 08 01 lds r26, 0x0108 |
| 40fa: b0 91 09 01 lds r27, 0x0109 |
| 40fe: 90 93 3f 0c sts 0x0C3F, r25 |
| 4102: 80 93 3e 0c sts 0x0C3E, r24 |
| 4106: 10 92 61 08 sts 0x0861, r1 |
| 410a: 10 92 60 08 sts 0x0860, r1 |
| 410e: 10 92 af 08 sts 0x08AF, r1 |
| 4112: 10 92 b0 08 sts 0x08B0, r1 |
| 4116: 10 92 b1 08 sts 0x08B1, r1 |
| 411a: 10 92 b2 08 sts 0x08B2, r1 |
| 411e: 80 91 b3 08 lds r24, 0x08B3 |
| 4122: 90 91 b4 08 lds r25, 0x08B4 |
| 4126: 90 93 b6 08 sts 0x08B6, r25 |
| 412a: 80 93 b5 08 sts 0x08B5, r24 |
| 412e: 82 e3 ldi r24, 0x32 ; 50 |
| 4130: 90 e0 ldi r25, 0x00 ; 0 |
| 4132: 90 93 48 08 sts 0x0848, r25 |
| 4136: 80 93 47 08 sts 0x0847, r24 |
| 413a: df 91 pop r29 |
| 413c: cf 91 pop r28 |
| 413e: 08 95 ret |
| 00004140 <Piep>: |
| 4140: 1f 93 push r17 |
| 4142: 18 2f mov r17, r24 |
| 4144: 0e c0 rjmp .+28 ; 0x4162 <Piep+0x22> |
| 4146: 80 91 d6 08 lds r24, 0x08D6 |
| 414a: 88 23 and r24, r24 |
| 414c: 61 f4 brne .+24 ; 0x4166 <Piep+0x26> |
| 414e: 84 e6 ldi r24, 0x64 ; 100 |
| 4150: 90 e0 ldi r25, 0x00 ; 0 |
| 4152: 90 93 48 08 sts 0x0848, r25 |
| 4156: 80 93 47 08 sts 0x0847, r24 |
| 415a: 8a ef ldi r24, 0xFA ; 250 |
| 415c: 90 e0 ldi r25, 0x00 ; 0 |
| 415e: 0e 94 79 0d call 0x1af2 ; 0x1af2 <Delay_ms> |
| 4162: 11 50 subi r17, 0x01 ; 1 |
| 4164: 80 f7 brcc .-32 ; 0x4146 <Piep+0x6> |
| 4166: 1f 91 pop r17 |
| 4168: 08 95 ret |
| 0000416a <MotorRegler>: |
| 416a: 2f 92 push r2 |
| 416c: 3f 92 push r3 |
| 416e: 4f 92 push r4 |
| 4170: 5f 92 push r5 |
| 4172: 6f 92 push r6 |
| 4174: 7f 92 push r7 |
| 4176: 8f 92 push r8 |
| 4178: 9f 92 push r9 |
| 417a: af 92 push r10 |
| 417c: bf 92 push r11 |
| 417e: cf 92 push r12 |
| 4180: df 92 push r13 |
| 4182: ef 92 push r14 |
| 4184: ff 92 push r15 |
| 4186: 0f 93 push r16 |
| 4188: 1f 93 push r17 |
| 418a: cf 93 push r28 |
| 418c: df 93 push r29 |
| 418e: cd b7 in r28, 0x3d ; 61 |
| 4190: de b7 in r29, 0x3e ; 62 |
| 4192: 24 97 sbiw r28, 0x04 ; 4 |
| 4194: 0f b6 in r0, 0x3f ; 63 |
| 4196: f8 94 cli |
| 4198: de bf out 0x3e, r29 ; 62 |
| 419a: 0f be out 0x3f, r0 ; 63 |
| 419c: cd bf out 0x3d, r28 ; 61 |
| 419e: 0e 94 3b 16 call 0x2c76 ; 0x2c76 <Mittelwert> |
| 41a2: 29 9a sbi 0x05, 1 ; 5 |
| 41a4: e0 91 92 0c lds r30, 0x0C92 |
| 41a8: ae 2f mov r26, r30 |
| 41aa: bb 27 eor r27, r27 |
| 41ac: aa 0f add r26, r26 |
| 41ae: bb 1f adc r27, r27 |
| 41b0: ac 5a subi r26, 0xAC ; 172 |
| 41b2: b3 4f sbci r27, 0xF3 ; 243 |
| 41b4: 0d 90 ld r0, X+ |
| 41b6: bc 91 ld r27, X |
| 41b8: a0 2d mov r26, r0 |
| 41ba: 9d 01 movw r18, r26 |
| 41bc: 28 58 subi r18, 0x88 ; 136 |
| 41be: 3f 4f sbci r19, 0xFF ; 255 |
| 41c0: 3a 83 std Y+2, r19 ; 0x02 |
| 41c2: 29 83 std Y+1, r18 ; 0x01 |
| 41c4: 37 ff sbrs r19, 7 |
| 41c6: 02 c0 rjmp .+4 ; 0x41cc <MotorRegler+0x62> |
| 41c8: 1a 82 std Y+2, r1 ; 0x02 |
| 41ca: 19 82 std Y+1, r1 ; 0x01 |
| 41cc: 80 91 cf 08 lds r24, 0x08CF |
| 41d0: 84 36 cpi r24, 0x64 ; 100 |
| 41d2: 08 f0 brcs .+2 ; 0x41d6 <MotorRegler+0x6c> |
| 41d4: 4a c0 rjmp .+148 ; 0x426a <MotorRegler+0x100> |
| 41d6: 80 91 01 01 lds r24, 0x0101 |
| 41da: 88 23 and r24, r24 |
| 41dc: 31 f4 brne .+12 ; 0x41ea <MotorRegler+0x80> |
| 41de: 84 ef ldi r24, 0xF4 ; 244 |
| 41e0: 91 e0 ldi r25, 0x01 ; 1 |
| 41e2: 90 93 48 08 sts 0x0848, r25 |
| 41e6: 80 93 47 08 sts 0x0847, r24 |
| 41ea: 80 91 ea 08 lds r24, 0x08EA |
| 41ee: 90 91 eb 08 lds r25, 0x08EB |
| 41f2: 00 97 sbiw r24, 0x00 ; 0 |
| 41f4: 31 f0 breq .+12 ; 0x4202 <MotorRegler+0x98> |
| 41f6: 01 97 sbiw r24, 0x01 ; 1 |
| 41f8: 90 93 eb 08 sts 0x08EB, r25 |
| 41fc: 80 93 ea 08 sts 0x08EA, r24 |
| 4200: 04 c0 rjmp .+8 ; 0x420a <MotorRegler+0xa0> |
| 4202: 10 92 d6 08 sts 0x08D6, r1 |
| 4206: 10 92 b9 08 sts 0x08B9, r1 |
| 420a: 28 9a sbi 0x05, 0 ; 5 |
| 420c: 80 91 e5 08 lds r24, 0x08E5 |
| 4210: 90 91 e6 08 lds r25, 0x08E6 |
| 4214: 81 5d subi r24, 0xD1 ; 209 |
| 4216: 97 40 sbci r25, 0x07 ; 7 |
| 4218: 28 f1 brcs .+74 ; 0x4264 <MotorRegler+0xfa> |
| 421a: 80 91 a9 0c lds r24, 0x0CA9 |
| 421e: 48 2f mov r20, r24 |
| 4220: 55 27 eor r21, r21 |
| 4222: 5a 83 std Y+2, r21 ; 0x02 |
| 4224: 49 83 std Y+1, r20 ; 0x01 |
| 4226: 81 e0 ldi r24, 0x01 ; 1 |
| 4228: 80 93 b9 08 sts 0x08B9, r24 |
| 422c: e0 91 90 0c lds r30, 0x0C90 |
| 4230: ff 27 eor r31, r31 |
| 4232: ee 0f add r30, r30 |
| 4234: ff 1f adc r31, r31 |
| 4236: ec 5a subi r30, 0xAC ; 172 |
| 4238: f3 4f sbci r31, 0xF3 ; 243 |
| 423a: 11 82 std Z+1, r1 ; 0x01 |
| 423c: 10 82 st Z, r1 |
| 423e: e0 91 91 0c lds r30, 0x0C91 |
| 4242: ff 27 eor r31, r31 |
| 4244: ee 0f add r30, r30 |
| 4246: ff 1f adc r31, r31 |
| 4248: ec 5a subi r30, 0xAC ; 172 |
| 424a: f3 4f sbci r31, 0xF3 ; 243 |
| 424c: 11 82 std Z+1, r1 ; 0x01 |
| 424e: 10 82 st Z, r1 |
| 4250: e0 91 93 0c lds r30, 0x0C93 |
| 4254: ff 27 eor r31, r31 |
| 4256: ee 0f add r30, r30 |
| 4258: ff 1f adc r31, r31 |
| 425a: ec 5a subi r30, 0xAC ; 172 |
| 425c: f3 4f sbci r31, 0xF3 ; 243 |
| 425e: 11 82 std Z+1, r1 ; 0x01 |
| 4260: 10 82 st Z, r1 |
| 4262: d6 c1 rjmp .+940 ; 0x4610 <MotorRegler+0x4a6> |
| 4264: 10 92 d6 08 sts 0x08D6, r1 |
| 4268: d3 c1 rjmp .+934 ; 0x4610 <MotorRegler+0x4a6> |
| 426a: 80 91 cf 08 lds r24, 0x08CF |
| 426e: 8d 38 cpi r24, 0x8D ; 141 |
| 4270: 08 f4 brcc .+2 ; 0x4274 <MotorRegler+0x10a> |
| 4272: ce c1 rjmp .+924 ; 0x4610 <MotorRegler+0x4a6> |
| 4274: 10 92 b9 08 sts 0x08B9, r1 |
| 4278: 80 91 aa 0c lds r24, 0x0CAA |
| 427c: 22 e3 ldi r18, 0x32 ; 50 |
| 427e: 82 9f mul r24, r18 |
| 4280: c0 01 movw r24, r0 |
| 4282: 11 24 eor r1, r1 |
| 4284: 90 93 eb 08 sts 0x08EB, r25 |
| 4288: 80 93 ea 08 sts 0x08EA, r24 |
| 428c: 69 81 ldd r22, Y+1 ; 0x01 |
| 428e: 7a 81 ldd r23, Y+2 ; 0x02 |
| 4290: 69 32 cpi r22, 0x29 ; 41 |
| 4292: 71 05 cpc r23, r1 |
| 4294: ac f0 brlt .+42 ; 0x42c0 <MotorRegler+0x156> |
| 4296: 80 91 e5 08 lds r24, 0x08E5 |
| 429a: 90 91 e6 08 lds r25, 0x08E6 |
| 429e: 7f ef ldi r23, 0xFF ; 255 |
| 42a0: 8f 3f cpi r24, 0xFF ; 255 |
| 42a2: 97 07 cpc r25, r23 |
| 42a4: 29 f0 breq .+10 ; 0x42b0 <MotorRegler+0x146> |
| 42a6: 01 96 adiw r24, 0x01 ; 1 |
| 42a8: 90 93 e6 08 sts 0x08E6, r25 |
| 42ac: 80 93 e5 08 sts 0x08E5, r24 |
| 42b0: 80 91 e5 08 lds r24, 0x08E5 |
| 42b4: 90 91 e6 08 lds r25, 0x08E6 |
| 42b8: 90 93 bd 08 sts 0x08BD, r25 |
| 42bc: 80 93 bc 08 sts 0x08BC, r24 |
| 42c0: 80 91 e5 08 lds r24, 0x08E5 |
| 42c4: 90 91 e6 08 lds r25, 0x08E6 |
| 42c8: 88 3c cpi r24, 0xC8 ; 200 |
| 42ca: 91 05 cpc r25, r1 |
| 42cc: 20 f0 brcs .+8 ; 0x42d6 <MotorRegler+0x16c> |
| 42ce: 89 81 ldd r24, Y+1 ; 0x01 |
| 42d0: 9a 81 ldd r25, Y+2 ; 0x02 |
| 42d2: 88 97 sbiw r24, 0x28 ; 40 |
| 42d4: 04 f5 brge .+64 ; 0x4316 <MotorRegler+0x1ac> |
| 42d6: 10 92 00 09 sts 0x0900, r1 |
| 42da: 10 92 01 09 sts 0x0901, r1 |
| 42de: 10 92 02 09 sts 0x0902, r1 |
| 42e2: 10 92 03 09 sts 0x0903, r1 |
| 42e6: 10 92 fc 08 sts 0x08FC, r1 |
| 42ea: 10 92 fd 08 sts 0x08FD, r1 |
| 42ee: 10 92 fe 08 sts 0x08FE, r1 |
| 42f2: 10 92 ff 08 sts 0x08FF, r1 |
| 42f6: 10 92 a7 08 sts 0x08A7, r1 |
| 42fa: 10 92 a8 08 sts 0x08A8, r1 |
| 42fe: 10 92 a9 08 sts 0x08A9, r1 |
| 4302: 10 92 aa 08 sts 0x08AA, r1 |
| 4306: 10 92 ab 08 sts 0x08AB, r1 |
| 430a: 10 92 ac 08 sts 0x08AC, r1 |
| 430e: 10 92 ad 08 sts 0x08AD, r1 |
| 4312: 10 92 ae 08 sts 0x08AE, r1 |
| 4316: e9 81 ldd r30, Y+1 ; 0x01 |
| 4318: fa 81 ldd r31, Y+2 ; 0x02 |
| 431a: e9 3c cpi r30, 0xC9 ; 201 |
| 431c: f1 05 cpc r31, r1 |
| 431e: 0c f4 brge .+2 ; 0x4322 <MotorRegler+0x1b8> |
| 4320: d6 c0 rjmp .+428 ; 0x44ce <MotorRegler+0x364> |
| 4322: 80 91 d6 08 lds r24, 0x08D6 |
| 4326: 88 23 and r24, r24 |
| 4328: 09 f0 breq .+2 ; 0x432c <MotorRegler+0x1c2> |
| 432a: 72 c1 rjmp .+740 ; 0x4610 <MotorRegler+0x4a6> |
| 432c: e0 91 93 0c lds r30, 0x0C93 |
| 4330: ff 27 eor r31, r31 |
| 4332: ee 0f add r30, r30 |
| 4334: ff 1f adc r31, r31 |
| 4336: ec 5a subi r30, 0xAC ; 172 |
| 4338: f3 4f sbci r31, 0xF3 ; 243 |
| 433a: 80 81 ld r24, Z |
| 433c: 91 81 ldd r25, Z+1 ; 0x01 |
| 433e: 8c 34 cpi r24, 0x4C ; 76 |
| 4340: 91 05 cpc r25, r1 |
| 4342: 0c f4 brge .+2 ; 0x4346 <MotorRegler+0x1dc> |
| 4344: c1 c0 rjmp .+386 ; 0x44c8 <MotorRegler+0x35e> |
| 4346: 80 91 e9 08 lds r24, 0x08E9 |
| 434a: 8f 5f subi r24, 0xFF ; 255 |
| 434c: 80 93 e9 08 sts 0x08E9, r24 |
| 4350: 89 3c cpi r24, 0xC9 ; 201 |
| 4352: 08 f4 brcc .+2 ; 0x4356 <MotorRegler+0x1ec> |
| 4354: 5d c1 rjmp .+698 ; 0x4610 <MotorRegler+0x4a6> |
| 4356: 29 98 cbi 0x05, 1 ; 5 |
| 4358: 0e 94 a4 1f call 0x3f48 ; 0x3f48 <SetNeutral> |
| 435c: 10 92 d6 08 sts 0x08D6, r1 |
| 4360: 10 92 e9 08 sts 0x08E9, r1 |
| 4364: 10 92 e6 08 sts 0x08E6, r1 |
| 4368: 10 92 e5 08 sts 0x08E5, r1 |
| 436c: 80 91 90 0c lds r24, 0x0C90 |
| 4370: 28 2f mov r18, r24 |
| 4372: 33 27 eor r19, r19 |
| 4374: f9 01 movw r30, r18 |
| 4376: ee 0f add r30, r30 |
| 4378: ff 1f adc r31, r31 |
| 437a: ec 5a subi r30, 0xAC ; 172 |
| 437c: f3 4f sbci r31, 0xF3 ; 243 |
| 437e: 80 81 ld r24, Z |
| 4380: 91 81 ldd r25, Z+1 ; 0x01 |
| 4382: 87 34 cpi r24, 0x47 ; 71 |
| 4384: 91 05 cpc r25, r1 |
| 4386: 9c f4 brge .+38 ; 0x43ae <MotorRegler+0x244> |
| 4388: e0 91 91 0c lds r30, 0x0C91 |
| 438c: ff 27 eor r31, r31 |
| 438e: ee 0f add r30, r30 |
| 4390: ff 1f adc r31, r31 |
| 4392: ec 5a subi r30, 0xAC ; 172 |
| 4394: f3 4f sbci r31, 0xF3 ; 243 |
| 4396: 01 90 ld r0, Z+ |
| 4398: f0 81 ld r31, Z |
| 439a: e0 2d mov r30, r0 |
| 439c: f7 ff sbrs r31, 7 |
| 439e: 03 c0 rjmp .+6 ; 0x43a6 <MotorRegler+0x23c> |
| 43a0: f0 95 com r31 |
| 43a2: e1 95 neg r30 |
| 43a4: ff 4f sbci r31, 0xFF ; 255 |
| 43a6: e7 34 cpi r30, 0x47 ; 71 |
| 43a8: f1 05 cpc r31, r1 |
| 43aa: 0c f4 brge .+2 ; 0x43ae <MotorRegler+0x244> |
| 43ac: 6c c0 rjmp .+216 ; 0x4486 <MotorRegler+0x31c> |
| 43ae: 80 91 91 0c lds r24, 0x0C91 |
| 43b2: 68 2f mov r22, r24 |
| 43b4: 77 27 eor r23, r23 |
| 43b6: db 01 movw r26, r22 |
| 43b8: aa 0f add r26, r26 |
| 43ba: bb 1f adc r27, r27 |
| 43bc: ac 5a subi r26, 0xAC ; 172 |
| 43be: b3 4f sbci r27, 0xF3 ; 243 |
| 43c0: 8d 91 ld r24, X+ |
| 43c2: 9c 91 ld r25, X |
| 43c4: 11 97 sbiw r26, 0x01 ; 1 |
| 43c6: 87 34 cpi r24, 0x47 ; 71 |
| 43c8: 91 05 cpc r25, r1 |
| 43ca: 3c f0 brlt .+14 ; 0x43da <MotorRegler+0x270> |
| 43cc: f9 01 movw r30, r18 |
| 43ce: ee 0f add r30, r30 |
| 43d0: ff 1f adc r31, r31 |
| 43d2: ec 5a subi r30, 0xAC ; 172 |
| 43d4: f3 4f sbci r31, 0xF3 ; 243 |
| 43d6: 80 81 ld r24, Z |
| 43d8: 91 81 ldd r25, Z+1 ; 0x01 |
| 43da: 8d 91 ld r24, X+ |
| 43dc: 9c 91 ld r25, X |
| 43de: 87 34 cpi r24, 0x47 ; 71 |
| 43e0: 91 05 cpc r25, r1 |
| 43e2: 64 f0 brlt .+24 ; 0x43fc <MotorRegler+0x292> |
| 43e4: f9 01 movw r30, r18 |
| 43e6: ee 0f add r30, r30 |
| 43e8: ff 1f adc r31, r31 |
| 43ea: ec 5a subi r30, 0xAC ; 172 |
| 43ec: f3 4f sbci r31, 0xF3 ; 243 |
| 43ee: 80 81 ld r24, Z |
| 43f0: 91 81 ldd r25, Z+1 ; 0x01 |
| 43f2: 87 34 cpi r24, 0x47 ; 71 |
| 43f4: 91 05 cpc r25, r1 |
| 43f6: 14 f0 brlt .+4 ; 0x43fc <MotorRegler+0x292> |
| 43f8: 42 e0 ldi r20, 0x02 ; 2 |
| 43fa: 01 c0 rjmp .+2 ; 0x43fe <MotorRegler+0x294> |
| 43fc: 41 e0 ldi r20, 0x01 ; 1 |
| 43fe: fb 01 movw r30, r22 |
| 4400: ee 0f add r30, r30 |
| 4402: ff 1f adc r31, r31 |
| 4404: ec 5a subi r30, 0xAC ; 172 |
| 4406: f3 4f sbci r31, 0xF3 ; 243 |
| 4408: 80 81 ld r24, Z |
| 440a: 91 81 ldd r25, Z+1 ; 0x01 |
| 440c: 86 34 cpi r24, 0x46 ; 70 |
| 440e: 91 05 cpc r25, r1 |
| 4410: 5c f4 brge .+22 ; 0x4428 <MotorRegler+0x2be> |
| 4412: f9 01 movw r30, r18 |
| 4414: ee 0f add r30, r30 |
| 4416: ff 1f adc r31, r31 |
| 4418: ec 5a subi r30, 0xAC ; 172 |
| 441a: f3 4f sbci r31, 0xF3 ; 243 |
| 441c: 80 81 ld r24, Z |
| 441e: 91 81 ldd r25, Z+1 ; 0x01 |
| 4420: 87 34 cpi r24, 0x47 ; 71 |
| 4422: 91 05 cpc r25, r1 |
| 4424: 0c f0 brlt .+2 ; 0x4428 <MotorRegler+0x2be> |
| 4426: 43 e0 ldi r20, 0x03 ; 3 |
| 4428: fb 01 movw r30, r22 |
| 442a: ee 0f add r30, r30 |
| 442c: ff 1f adc r31, r31 |
| 442e: ec 5a subi r30, 0xAC ; 172 |
| 4430: f3 4f sbci r31, 0xF3 ; 243 |
| 4432: 80 81 ld r24, Z |
| 4434: 91 81 ldd r25, Z+1 ; 0x01 |
| 4436: 8a 5b subi r24, 0xBA ; 186 |
| 4438: 9f 4f sbci r25, 0xFF ; 255 |
| 443a: 5c f4 brge .+22 ; 0x4452 <MotorRegler+0x2e8> |
| 443c: f9 01 movw r30, r18 |
| 443e: ee 0f add r30, r30 |
| 4440: ff 1f adc r31, r31 |
| 4442: ec 5a subi r30, 0xAC ; 172 |
| 4444: f3 4f sbci r31, 0xF3 ; 243 |
| 4446: 80 81 ld r24, Z |
| 4448: 91 81 ldd r25, Z+1 ; 0x01 |
| 444a: 87 34 cpi r24, 0x47 ; 71 |
| 444c: 91 05 cpc r25, r1 |
| 444e: 0c f0 brlt .+2 ; 0x4452 <MotorRegler+0x2e8> |
| 4450: 44 e0 ldi r20, 0x04 ; 4 |
| 4452: 66 0f add r22, r22 |
| 4454: 77 1f adc r23, r23 |
| 4456: 6c 5a subi r22, 0xAC ; 172 |
| 4458: 73 4f sbci r23, 0xF3 ; 243 |
| 445a: fb 01 movw r30, r22 |
| 445c: 80 81 ld r24, Z |
| 445e: 91 81 ldd r25, Z+1 ; 0x01 |
| 4460: 8a 5b subi r24, 0xBA ; 186 |
| 4462: 9f 4f sbci r25, 0xFF ; 255 |
| 4464: 5c f4 brge .+22 ; 0x447c <MotorRegler+0x312> |
| 4466: 22 0f add r18, r18 |
| 4468: 33 1f adc r19, r19 |
| 446a: 2c 5a subi r18, 0xAC ; 172 |
| 446c: 33 4f sbci r19, 0xF3 ; 243 |
| 446e: f9 01 movw r30, r18 |
| 4470: 80 81 ld r24, Z |
| 4472: 91 81 ldd r25, Z+1 ; 0x01 |
| 4474: 86 34 cpi r24, 0x46 ; 70 |
| 4476: 91 05 cpc r25, r1 |
| 4478: 0c f4 brge .+2 ; 0x447c <MotorRegler+0x312> |
| 447a: 45 e0 ldi r20, 0x05 ; 5 |
| 447c: a2 e0 ldi r26, 0x02 ; 2 |
| 447e: b0 e0 ldi r27, 0x00 ; 0 |
| 4480: 04 2e mov r0, r20 |
| 4482: 0e 94 3a 3f call 0x7e74 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 4486: 0e 94 04 02 call 0x408 ; 0x408 <GetActiveParamSetNumber> |
| 448a: 4a e3 ldi r20, 0x3A ; 58 |
| 448c: 60 e9 ldi r22, 0x90 ; 144 |
| 448e: 7c e0 ldi r23, 0x0C ; 12 |
| 4490: 0e 94 23 02 call 0x446 ; 0x446 <ReadParameterSet> |
| 4494: 0e 94 04 02 call 0x408 ; 0x408 <GetActiveParamSetNumber> |
| 4498: 0e 94 a0 20 call 0x4140 ; 0x4140 <Piep> |
| 449c: 80 91 98 0c lds r24, 0x0C98 |
| 44a0: 80 ff sbrs r24, 0 |
| 44a2: b6 c0 rjmp .+364 ; 0x4610 <MotorRegler+0x4a6> |
| 44a4: 80 91 0a 01 lds r24, 0x010A |
| 44a8: 90 91 0b 01 lds r25, 0x010B |
| 44ac: 87 5b subi r24, 0xB7 ; 183 |
| 44ae: 93 40 sbci r25, 0x03 ; 3 |
| 44b0: 40 f4 brcc .+16 ; 0x44c2 <MotorRegler+0x358> |
| 44b2: 80 91 0a 01 lds r24, 0x010A |
| 44b6: 90 91 0b 01 lds r25, 0x010B |
| 44ba: 8e 5e subi r24, 0xEE ; 238 |
| 44bc: 92 40 sbci r25, 0x02 ; 2 |
| 44be: 08 f0 brcs .+2 ; 0x44c2 <MotorRegler+0x358> |
| 44c0: a7 c0 rjmp .+334 ; 0x4610 <MotorRegler+0x4a6> |
| 44c2: 0e 94 b5 10 call 0x216a ; 0x216a <SucheLuftruckOffset> |
| 44c6: a4 c0 rjmp .+328 ; 0x4610 <MotorRegler+0x4a6> |
| 44c8: 10 92 e9 08 sts 0x08E9, r1 |
| 44cc: a1 c0 rjmp .+322 ; 0x4610 <MotorRegler+0x4a6> |
| 44ce: 49 81 ldd r20, Y+1 ; 0x01 |
| 44d0: 5a 81 ldd r21, Y+2 ; 0x02 |
| 44d2: 43 32 cpi r20, 0x23 ; 35 |
| 44d4: 51 05 cpc r21, r1 |
| 44d6: 0c f0 brlt .+2 ; 0x44da <MotorRegler+0x370> |
| 44d8: 9b c0 rjmp .+310 ; 0x4610 <MotorRegler+0x4a6> |
| 44da: 80 91 93 0c lds r24, 0x0C93 |
| 44de: 48 2f mov r20, r24 |
| 44e0: 55 27 eor r21, r21 |
| 44e2: fa 01 movw r30, r20 |
| 44e4: ee 0f add r30, r30 |
| 44e6: ff 1f adc r31, r31 |
| 44e8: ec 5a subi r30, 0xAC ; 172 |
| 44ea: f3 4f sbci r31, 0xF3 ; 243 |
| 44ec: 80 81 ld r24, Z |
| 44ee: 91 81 ldd r25, Z+1 ; 0x01 |
| 44f0: 85 5b subi r24, 0xB5 ; 181 |
| 44f2: 9f 4f sbci r25, 0xFF ; 255 |
| 44f4: 0c f0 brlt .+2 ; 0x44f8 <MotorRegler+0x38e> |
| 44f6: 6d c0 rjmp .+218 ; 0x45d2 <MotorRegler+0x468> |
| 44f8: 80 91 e8 08 lds r24, 0x08E8 |
| 44fc: 8f 5f subi r24, 0xFF ; 255 |
| 44fe: 80 93 e8 08 sts 0x08E8, r24 |
| 4502: 89 3c cpi r24, 0xC9 ; 201 |
| 4504: 08 f4 brcc .+2 ; 0x4508 <MotorRegler+0x39e> |
| 4506: 67 c0 rjmp .+206 ; 0x45d6 <MotorRegler+0x46c> |
| 4508: 88 ec ldi r24, 0xC8 ; 200 |
| 450a: 80 93 e8 08 sts 0x08E8, r24 |
| 450e: 81 e0 ldi r24, 0x01 ; 1 |
| 4510: 90 e0 ldi r25, 0x00 ; 0 |
| 4512: 90 93 e6 08 sts 0x08E6, r25 |
| 4516: 80 93 e5 08 sts 0x08E5, r24 |
| 451a: 81 e0 ldi r24, 0x01 ; 1 |
| 451c: 80 93 d6 08 sts 0x08D6, r24 |
| 4520: 10 92 f8 08 sts 0x08F8, r1 |
| 4524: 10 92 f9 08 sts 0x08F9, r1 |
| 4528: 10 92 fa 08 sts 0x08FA, r1 |
| 452c: 10 92 fb 08 sts 0x08FB, r1 |
| 4530: 10 92 a7 08 sts 0x08A7, r1 |
| 4534: 10 92 a8 08 sts 0x08A8, r1 |
| 4538: 10 92 a9 08 sts 0x08A9, r1 |
| 453c: 10 92 aa 08 sts 0x08AA, r1 |
| 4540: 10 92 ab 08 sts 0x08AB, r1 |
| 4544: 10 92 ac 08 sts 0x08AC, r1 |
| 4548: 10 92 ad 08 sts 0x08AD, r1 |
| 454c: 10 92 ae 08 sts 0x08AE, r1 |
| 4550: 10 92 97 08 sts 0x0897, r1 |
| 4554: 10 92 98 08 sts 0x0898, r1 |
| 4558: 10 92 99 08 sts 0x0899, r1 |
| 455c: 10 92 9a 08 sts 0x089A, r1 |
| 4560: 10 92 9f 08 sts 0x089F, r1 |
| 4564: 10 92 a0 08 sts 0x08A0, r1 |
| 4568: 10 92 a1 08 sts 0x08A1, r1 |
| 456c: 10 92 a2 08 sts 0x08A2, r1 |
| 4570: 80 91 83 08 lds r24, 0x0883 |
| 4574: 90 91 84 08 lds r25, 0x0884 |
| 4578: a0 91 85 08 lds r26, 0x0885 |
| 457c: b0 91 86 08 lds r27, 0x0886 |
| 4580: 80 93 9b 08 sts 0x089B, r24 |
| 4584: 90 93 9c 08 sts 0x089C, r25 |
| 4588: a0 93 9d 08 sts 0x089D, r26 |
| 458c: b0 93 9e 08 sts 0x089E, r27 |
| 4590: 80 91 8b 08 lds r24, 0x088B |
| 4594: 90 91 8c 08 lds r25, 0x088C |
| 4598: a0 91 8d 08 lds r26, 0x088D |
| 459c: b0 91 8e 08 lds r27, 0x088E |
| 45a0: 80 93 a3 08 sts 0x08A3, r24 |
| 45a4: 90 93 a4 08 sts 0x08A4, r25 |
| 45a8: a0 93 a5 08 sts 0x08A5, r26 |
| 45ac: b0 93 a6 08 sts 0x08A6, r27 |
| 45b0: 10 92 00 09 sts 0x0900, r1 |
| 45b4: 10 92 01 09 sts 0x0901, r1 |
| 45b8: 10 92 02 09 sts 0x0902, r1 |
| 45bc: 10 92 03 09 sts 0x0903, r1 |
| 45c0: 10 92 fc 08 sts 0x08FC, r1 |
| 45c4: 10 92 fd 08 sts 0x08FD, r1 |
| 45c8: 10 92 fe 08 sts 0x08FE, r1 |
| 45cc: 10 92 ff 08 sts 0x08FF, r1 |
| 45d0: 02 c0 rjmp .+4 ; 0x45d6 <MotorRegler+0x46c> |
| 45d2: 10 92 e8 08 sts 0x08E8, r1 |
| 45d6: 44 0f add r20, r20 |
| 45d8: 55 1f adc r21, r21 |
| 45da: 4c 5a subi r20, 0xAC ; 172 |
| 45dc: 53 4f sbci r21, 0xF3 ; 243 |
| 45de: fa 01 movw r30, r20 |
| 45e0: 80 81 ld r24, Z |
| 45e2: 91 81 ldd r25, Z+1 ; 0x01 |
| 45e4: 8c 34 cpi r24, 0x4C ; 76 |
| 45e6: 91 05 cpc r25, r1 |
| 45e8: 8c f0 brlt .+34 ; 0x460c <MotorRegler+0x4a2> |
| 45ea: 80 91 e7 08 lds r24, 0x08E7 |
| 45ee: 8f 5f subi r24, 0xFF ; 255 |
| 45f0: 80 93 e7 08 sts 0x08E7, r24 |
| 45f4: 89 3c cpi r24, 0xC9 ; 201 |
| 45f6: 60 f0 brcs .+24 ; 0x4610 <MotorRegler+0x4a6> |
| 45f8: 10 92 d6 08 sts 0x08D6, r1 |
| 45fc: 88 ec ldi r24, 0xC8 ; 200 |
| 45fe: 80 93 e7 08 sts 0x08E7, r24 |
| 4602: 10 92 e6 08 sts 0x08E6, r1 |
| 4606: 10 92 e5 08 sts 0x08E5, r1 |
| 460a: 02 c0 rjmp .+4 ; 0x4610 <MotorRegler+0x4a6> |
| 460c: 10 92 e7 08 sts 0x08E7, r1 |
| 4610: 80 91 67 01 lds r24, 0x0167 |
| 4614: 81 50 subi r24, 0x01 ; 1 |
| 4616: 80 93 67 01 sts 0x0167, r24 |
| 461a: 80 91 67 01 lds r24, 0x0167 |
| 461e: 8f 3f cpi r24, 0xFF ; 255 |
| 4620: 29 f0 breq .+10 ; 0x462c <MotorRegler+0x4c2> |
| 4622: 80 91 b9 08 lds r24, 0x08B9 |
| 4626: 88 23 and r24, r24 |
| 4628: 09 f4 brne .+2 ; 0x462c <MotorRegler+0x4c2> |
| 462a: 26 c1 rjmp .+588 ; 0x4878 <MotorRegler+0x70e> |
| 462c: 0e 94 50 1c call 0x38a0 ; 0x38a0 <ParameterZuordnung> |
| 4630: e0 91 90 0c lds r30, 0x0C90 |
| 4634: ff 27 eor r31, r31 |
| 4636: ee 0f add r30, r30 |
| 4638: ff 1f adc r31, r31 |
| 463a: df 01 movw r26, r30 |
| 463c: ac 5a subi r26, 0xAC ; 172 |
| 463e: b3 4f sbci r27, 0xF3 ; 243 |
| 4640: 8d 91 ld r24, X+ |
| 4642: 9c 91 ld r25, X |
| 4644: 60 91 9f 0c lds r22, 0x0C9F |
| 4648: 77 27 eor r23, r23 |
| 464a: ee 58 subi r30, 0x8E ; 142 |
| 464c: f3 4f sbci r31, 0xF3 ; 243 |
| 464e: 20 81 ld r18, Z |
| 4650: 31 81 ldd r19, Z+1 ; 0x01 |
| 4652: 40 91 a0 0c lds r20, 0x0CA0 |
| 4656: 55 27 eor r21, r21 |
| 4658: fc 01 movw r30, r24 |
| 465a: e6 9f mul r30, r22 |
| 465c: c0 01 movw r24, r0 |
| 465e: e7 9f mul r30, r23 |
| 4660: 90 0d add r25, r0 |
| 4662: f6 9f mul r31, r22 |
| 4664: 90 0d add r25, r0 |
| 4666: 11 24 eor r1, r1 |
| 4668: f9 01 movw r30, r18 |
| 466a: e4 9f mul r30, r20 |
| 466c: 90 01 movw r18, r0 |
| 466e: e5 9f mul r30, r21 |
| 4670: 30 0d add r19, r0 |
| 4672: f4 9f mul r31, r20 |
| 4674: 30 0d add r19, r0 |
| 4676: 11 24 eor r1, r1 |
| 4678: 82 0f add r24, r18 |
| 467a: 93 1f adc r25, r19 |
| 467c: 90 93 d1 08 sts 0x08D1, r25 |
| 4680: 80 93 d0 08 sts 0x08D0, r24 |
| 4684: e0 91 91 0c lds r30, 0x0C91 |
| 4688: ff 27 eor r31, r31 |
| 468a: ee 0f add r30, r30 |
| 468c: ff 1f adc r31, r31 |
| 468e: df 01 movw r26, r30 |
| 4690: ac 5a subi r26, 0xAC ; 172 |
| 4692: b3 4f sbci r27, 0xF3 ; 243 |
| 4694: 8d 91 ld r24, X+ |
| 4696: 9c 91 ld r25, X |
| 4698: ee 58 subi r30, 0x8E ; 142 |
| 469a: f3 4f sbci r31, 0xF3 ; 243 |
| 469c: 20 81 ld r18, Z |
| 469e: 31 81 ldd r19, Z+1 ; 0x01 |
| 46a0: fc 01 movw r30, r24 |
| 46a2: e6 9f mul r30, r22 |
| 46a4: c0 01 movw r24, r0 |
| 46a6: e7 9f mul r30, r23 |
| 46a8: 90 0d add r25, r0 |
| 46aa: f6 9f mul r31, r22 |
| 46ac: 90 0d add r25, r0 |
| 46ae: 11 24 eor r1, r1 |
| 46b0: b9 01 movw r22, r18 |
| 46b2: 64 9f mul r22, r20 |
| 46b4: 90 01 movw r18, r0 |
| 46b6: 65 9f mul r22, r21 |
| 46b8: 30 0d add r19, r0 |
| 46ba: 74 9f mul r23, r20 |
| 46bc: 30 0d add r19, r0 |
| 46be: 11 24 eor r1, r1 |
| 46c0: 82 0f add r24, r18 |
| 46c2: 93 1f adc r25, r19 |
| 46c4: 90 93 d3 08 sts 0x08D3, r25 |
| 46c8: 80 93 d2 08 sts 0x08D2, r24 |
| 46cc: e0 91 93 0c lds r30, 0x0C93 |
| 46d0: ff 27 eor r31, r31 |
| 46d2: ee 0f add r30, r30 |
| 46d4: ff 1f adc r31, r31 |
| 46d6: ec 5a subi r30, 0xAC ; 172 |
| 46d8: f3 4f sbci r31, 0xF3 ; 243 |
| 46da: 80 81 ld r24, Z |
| 46dc: 91 81 ldd r25, Z+1 ; 0x01 |
| 46de: 90 95 com r25 |
| 46e0: 81 95 neg r24 |
| 46e2: 9f 4f sbci r25, 0xFF ; 255 |
| 46e4: 90 93 d5 08 sts 0x08D5, r25 |
| 46e8: 80 93 d4 08 sts 0x08D4, r24 |
| 46ec: 10 91 85 01 lds r17, 0x0185 |
| 46f0: 61 2f mov r22, r17 |
| 46f2: 77 27 eor r23, r23 |
| 46f4: 67 fd sbrc r22, 7 |
| 46f6: 70 95 com r23 |
| 46f8: 87 2f mov r24, r23 |
| 46fa: 97 2f mov r25, r23 |
| 46fc: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4700: 17 ff sbrs r17, 7 |
| 4702: 06 c0 rjmp .+12 ; 0x4710 <MotorRegler+0x5a6> |
| 4704: 20 e0 ldi r18, 0x00 ; 0 |
| 4706: 30 e0 ldi r19, 0x00 ; 0 |
| 4708: 40 e8 ldi r20, 0x80 ; 128 |
| 470a: 53 e4 ldi r21, 0x43 ; 67 |
| 470c: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 4710: 20 e0 ldi r18, 0x00 ; 0 |
| 4712: 30 e0 ldi r19, 0x00 ; 0 |
| 4714: 40 e2 ldi r20, 0x20 ; 32 |
| 4716: 51 e4 ldi r21, 0x41 ; 65 |
| 4718: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 471c: 20 e0 ldi r18, 0x00 ; 0 |
| 471e: 30 e0 ldi r19, 0x00 ; 0 |
| 4720: 40 e8 ldi r20, 0x80 ; 128 |
| 4722: 5b e3 ldi r21, 0x3B ; 59 |
| 4724: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 4728: 5b 01 movw r10, r22 |
| 472a: 6c 01 movw r12, r24 |
| 472c: 60 93 da 0c sts 0x0CDA, r22 |
| 4730: 70 93 db 0c sts 0x0CDB, r23 |
| 4734: 80 93 dc 0c sts 0x0CDC, r24 |
| 4738: 90 93 dd 0c sts 0x0CDD, r25 |
| 473c: 10 91 86 01 lds r17, 0x0186 |
| 4740: 61 2f mov r22, r17 |
| 4742: 77 27 eor r23, r23 |
| 4744: 67 fd sbrc r22, 7 |
| 4746: 70 95 com r23 |
| 4748: 87 2f mov r24, r23 |
| 474a: 97 2f mov r25, r23 |
| 474c: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4750: 17 ff sbrs r17, 7 |
| 4752: 06 c0 rjmp .+12 ; 0x4760 <MotorRegler+0x5f6> |
| 4754: 20 e0 ldi r18, 0x00 ; 0 |
| 4756: 30 e0 ldi r19, 0x00 ; 0 |
| 4758: 40 e8 ldi r20, 0x80 ; 128 |
| 475a: 53 e4 ldi r21, 0x43 ; 67 |
| 475c: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 4760: 20 e0 ldi r18, 0x00 ; 0 |
| 4762: 30 ee ldi r19, 0xE0 ; 224 |
| 4764: 4b e2 ldi r20, 0x2B ; 43 |
| 4766: 57 e4 ldi r21, 0x47 ; 71 |
| 4768: 0e 94 53 3d call 0x7aa6 ; 0x7aa6 <__divsf3> |
| 476c: 60 93 d1 0c sts 0x0CD1, r22 |
| 4770: 70 93 d2 0c sts 0x0CD2, r23 |
| 4774: 80 93 d3 0c sts 0x0CD3, r24 |
| 4778: 90 93 d4 0c sts 0x0CD4, r25 |
| 477c: 80 91 98 0c lds r24, 0x0C98 |
| 4780: 82 ff sbrs r24, 2 |
| 4782: 0c c0 rjmp .+24 ; 0x479c <MotorRegler+0x632> |
| 4784: 80 e0 ldi r24, 0x00 ; 0 |
| 4786: 90 e0 ldi r25, 0x00 ; 0 |
| 4788: a0 e0 ldi r26, 0x00 ; 0 |
| 478a: b0 e0 ldi r27, 0x00 ; 0 |
| 478c: 80 93 d1 0c sts 0x0CD1, r24 |
| 4790: 90 93 d2 0c sts 0x0CD2, r25 |
| 4794: a0 93 d3 0c sts 0x0CD3, r26 |
| 4798: b0 93 d4 0c sts 0x0CD4, r27 |
| 479c: 20 e0 ldi r18, 0x00 ; 0 |
| 479e: 30 e0 ldi r19, 0x00 ; 0 |
| 47a0: 40 e0 ldi r20, 0x00 ; 0 |
| 47a2: 50 e0 ldi r21, 0x00 ; 0 |
| 47a4: c6 01 movw r24, r12 |
| 47a6: b5 01 movw r22, r10 |
| 47a8: 0e 94 c0 3d call 0x7b80 ; 0x7b80 <__eqsf2> |
| 47ac: 88 23 and r24, r24 |
| 47ae: 64 f4 brge .+24 ; 0x47c8 <MotorRegler+0x65e> |
| 47b0: 80 e0 ldi r24, 0x00 ; 0 |
| 47b2: 90 e0 ldi r25, 0x00 ; 0 |
| 47b4: a0 e0 ldi r26, 0x00 ; 0 |
| 47b6: b0 e0 ldi r27, 0x00 ; 0 |
| 47b8: 80 93 da 0c sts 0x0CDA, r24 |
| 47bc: 90 93 db 0c sts 0x0CDB, r25 |
| 47c0: a0 93 dc 0c sts 0x0CDC, r26 |
| 47c4: b0 93 dd 0c sts 0x0CDD, r27 |
| 47c8: 20 e0 ldi r18, 0x00 ; 0 |
| 47ca: 30 e0 ldi r19, 0x00 ; 0 |
| 47cc: 40 e0 ldi r20, 0x00 ; 0 |
| 47ce: 50 e0 ldi r21, 0x00 ; 0 |
| 47d0: 60 91 d1 0c lds r22, 0x0CD1 |
| 47d4: 70 91 d2 0c lds r23, 0x0CD2 |
| 47d8: 80 91 d3 0c lds r24, 0x0CD3 |
| 47dc: 90 91 d4 0c lds r25, 0x0CD4 |
| 47e0: 0e 94 c0 3d call 0x7b80 ; 0x7b80 <__eqsf2> |
| 47e4: 88 23 and r24, r24 |
| 47e6: 64 f4 brge .+24 ; 0x4800 <MotorRegler+0x696> |
| 47e8: 80 e0 ldi r24, 0x00 ; 0 |
| 47ea: 90 e0 ldi r25, 0x00 ; 0 |
| 47ec: a0 e0 ldi r26, 0x00 ; 0 |
| 47ee: b0 e0 ldi r27, 0x00 ; 0 |
| 47f0: 80 93 d1 0c sts 0x0CD1, r24 |
| 47f4: 90 93 d2 0c sts 0x0CD2, r25 |
| 47f8: a0 93 d3 0c sts 0x0CD3, r26 |
| 47fc: b0 93 d4 0c sts 0x0CD4, r27 |
| 4800: 42 98 cbi 0x08, 2 ; 8 |
| 4802: 90 91 de 08 lds r25, 0x08DE |
| 4806: 80 91 bb 08 lds r24, 0x08BB |
| 480a: 89 17 cp r24, r25 |
| 480c: 40 f0 brcs .+16 ; 0x481e <MotorRegler+0x6b4> |
| 480e: 99 23 and r25, r25 |
| 4810: 31 f0 breq .+12 ; 0x481e <MotorRegler+0x6b4> |
| 4812: 88 b1 in r24, 0x08 ; 8 |
| 4814: 94 e0 ldi r25, 0x04 ; 4 |
| 4816: 89 27 eor r24, r25 |
| 4818: 88 b9 out 0x08, r24 ; 8 |
| 481a: 10 92 bb 08 sts 0x08BB, r1 |
| 481e: 80 91 bb 08 lds r24, 0x08BB |
| 4822: 8f 5f subi r24, 0xFF ; 255 |
| 4824: 80 93 bb 08 sts 0x08BB, r24 |
| 4828: 80 91 b9 08 lds r24, 0x08B9 |
| 482c: 88 23 and r24, r24 |
| 482e: 21 f1 breq .+72 ; 0x4878 <MotorRegler+0x70e> |
| 4830: 10 92 d5 08 sts 0x08D5, r1 |
| 4834: 10 92 d4 08 sts 0x08D4, r1 |
| 4838: 10 92 d1 08 sts 0x08D1, r1 |
| 483c: 10 92 d0 08 sts 0x08D0, r1 |
| 4840: 10 92 d3 08 sts 0x08D3, r1 |
| 4844: 10 92 d2 08 sts 0x08D2, r1 |
| 4848: 8d ec ldi r24, 0xCD ; 205 |
| 484a: 9c ec ldi r25, 0xCC ; 204 |
| 484c: ac ec ldi r26, 0xCC ; 204 |
| 484e: bd e3 ldi r27, 0x3D ; 61 |
| 4850: 80 93 da 0c sts 0x0CDA, r24 |
| 4854: 90 93 db 0c sts 0x0CDB, r25 |
| 4858: a0 93 dc 0c sts 0x0CDC, r26 |
| 485c: b0 93 dd 0c sts 0x0CDD, r27 |
| 4860: 8a e0 ldi r24, 0x0A ; 10 |
| 4862: 97 ed ldi r25, 0xD7 ; 215 |
| 4864: a3 ea ldi r26, 0xA3 ; 163 |
| 4866: bb e3 ldi r27, 0x3B ; 59 |
| 4868: 80 93 d1 0c sts 0x0CD1, r24 |
| 486c: 90 93 d2 0c sts 0x0CD2, r25 |
| 4870: a0 93 d3 0c sts 0x0CD3, r26 |
| 4874: b0 93 d4 0c sts 0x0CD4, r27 |
| 4878: 80 91 62 08 lds r24, 0x0862 |
| 487c: 90 91 63 08 lds r25, 0x0863 |
| 4880: 8d 54 subi r24, 0x4D ; 77 |
| 4882: 91 40 sbci r25, 0x01 ; 1 |
| 4884: 08 f4 brcc .+2 ; 0x4888 <MotorRegler+0x71e> |
| 4886: bc c0 rjmp .+376 ; 0x4a00 <MotorRegler+0x896> |
| 4888: 20 91 87 08 lds r18, 0x0887 |
| 488c: 30 91 88 08 lds r19, 0x0888 |
| 4890: 40 91 89 08 lds r20, 0x0889 |
| 4894: 50 91 8a 08 lds r21, 0x088A |
| 4898: 80 91 83 08 lds r24, 0x0883 |
| 489c: 90 91 84 08 lds r25, 0x0884 |
| 48a0: a0 91 85 08 lds r26, 0x0885 |
| 48a4: b0 91 86 08 lds r27, 0x0886 |
| 48a8: b9 01 movw r22, r18 |
| 48aa: 68 1b sub r22, r24 |
| 48ac: 79 0b sbc r23, r25 |
| 48ae: 70 93 ef 08 sts 0x08EF, r23 |
| 48b2: 60 93 ee 08 sts 0x08EE, r22 |
| 48b6: 20 91 8f 08 lds r18, 0x088F |
| 48ba: 30 91 90 08 lds r19, 0x0890 |
| 48be: 40 91 91 08 lds r20, 0x0891 |
| 48c2: 50 91 92 08 lds r21, 0x0892 |
| 48c6: 80 91 8b 08 lds r24, 0x088B |
| 48ca: 90 91 8c 08 lds r25, 0x088C |
| 48ce: a0 91 8d 08 lds r26, 0x088D |
| 48d2: b0 91 8e 08 lds r27, 0x088E |
| 48d6: 28 1b sub r18, r24 |
| 48d8: 39 0b sbc r19, r25 |
| 48da: 30 93 ed 08 sts 0x08ED, r19 |
| 48de: 20 93 ec 08 sts 0x08EC, r18 |
| 48e2: 10 92 63 08 sts 0x0863, r1 |
| 48e6: 10 92 62 08 sts 0x0862, r1 |
| 48ea: 67 3a cpi r22, 0xA7 ; 167 |
| 48ec: 71 05 cpc r23, r1 |
| 48ee: 34 f0 brlt .+12 ; 0x48fc <MotorRegler+0x792> |
| 48f0: 80 91 73 08 lds r24, 0x0873 |
| 48f4: 90 91 74 08 lds r25, 0x0874 |
| 48f8: 01 96 adiw r24, 0x01 ; 1 |
| 48fa: 08 c0 rjmp .+16 ; 0x490c <MotorRegler+0x7a2> |
| 48fc: 6a 55 subi r22, 0x5A ; 90 |
| 48fe: 7f 4f sbci r23, 0xFF ; 255 |
| 4900: 4c f4 brge .+18 ; 0x4914 <MotorRegler+0x7aa> |
| 4902: 80 91 73 08 lds r24, 0x0873 |
| 4906: 90 91 74 08 lds r25, 0x0874 |
| 490a: 01 97 sbiw r24, 0x01 ; 1 |
| 490c: 90 93 74 08 sts 0x0874, r25 |
| 4910: 80 93 73 08 sts 0x0873, r24 |
| 4914: 27 3a cpi r18, 0xA7 ; 167 |
| 4916: 31 05 cpc r19, r1 |
| 4918: 34 f0 brlt .+12 ; 0x4926 <MotorRegler+0x7bc> |
| 491a: 80 91 75 08 lds r24, 0x0875 |
| 491e: 90 91 76 08 lds r25, 0x0876 |
| 4922: 01 96 adiw r24, 0x01 ; 1 |
| 4924: 08 c0 rjmp .+16 ; 0x4936 <MotorRegler+0x7cc> |
| 4926: 2a 55 subi r18, 0x5A ; 90 |
| 4928: 3f 4f sbci r19, 0xFF ; 255 |
| 492a: 4c f4 brge .+18 ; 0x493e <MotorRegler+0x7d4> |
| 492c: 80 91 75 08 lds r24, 0x0875 |
| 4930: 90 91 76 08 lds r25, 0x0876 |
| 4934: 01 97 sbiw r24, 0x01 ; 1 |
| 4936: 90 93 76 08 sts 0x0876, r25 |
| 493a: 80 93 75 08 sts 0x0875, r24 |
| 493e: 80 91 ab 08 lds r24, 0x08AB |
| 4942: 90 91 ac 08 lds r25, 0x08AC |
| 4946: a0 91 ad 08 lds r26, 0x08AD |
| 494a: b0 91 ae 08 lds r27, 0x08AE |
| 494e: 87 3a cpi r24, 0xA7 ; 167 |
| 4950: 91 05 cpc r25, r1 |
| 4952: a1 05 cpc r26, r1 |
| 4954: b1 05 cpc r27, r1 |
| 4956: 4c f0 brlt .+18 ; 0x496a <MotorRegler+0x800> |
| 4958: 80 91 77 08 lds r24, 0x0877 |
| 495c: 90 91 78 08 lds r25, 0x0878 |
| 4960: 01 97 sbiw r24, 0x01 ; 1 |
| 4962: 90 93 78 08 sts 0x0878, r25 |
| 4966: 80 93 77 08 sts 0x0877, r24 |
| 496a: 80 91 ab 08 lds r24, 0x08AB |
| 496e: 90 91 ac 08 lds r25, 0x08AC |
| 4972: a0 91 ad 08 lds r26, 0x08AD |
| 4976: b0 91 ae 08 lds r27, 0x08AE |
| 497a: 8a 55 subi r24, 0x5A ; 90 |
| 497c: 9f 4f sbci r25, 0xFF ; 255 |
| 497e: af 4f sbci r26, 0xFF ; 255 |
| 4980: bf 4f sbci r27, 0xFF ; 255 |
| 4982: 4c f4 brge .+18 ; 0x4996 <MotorRegler+0x82c> |
| 4984: 80 91 77 08 lds r24, 0x0877 |
| 4988: 90 91 78 08 lds r25, 0x0878 |
| 498c: 01 96 adiw r24, 0x01 ; 1 |
| 498e: 90 93 78 08 sts 0x0878, r25 |
| 4992: 80 93 77 08 sts 0x0877, r24 |
| 4996: 10 92 7a 00 sts 0x007A, r1 |
| 499a: 80 91 83 08 lds r24, 0x0883 |
| 499e: 90 91 84 08 lds r25, 0x0884 |
| 49a2: a0 91 85 08 lds r26, 0x0885 |
| 49a6: b0 91 86 08 lds r27, 0x0886 |
| 49aa: 80 93 9b 08 sts 0x089B, r24 |
| 49ae: 90 93 9c 08 sts 0x089C, r25 |
| 49b2: a0 93 9d 08 sts 0x089D, r26 |
| 49b6: b0 93 9e 08 sts 0x089E, r27 |
| 49ba: 80 91 8b 08 lds r24, 0x088B |
| 49be: 90 91 8c 08 lds r25, 0x088C |
| 49c2: a0 91 8d 08 lds r26, 0x088D |
| 49c6: b0 91 8e 08 lds r27, 0x088E |
| 49ca: 80 93 a3 08 sts 0x08A3, r24 |
| 49ce: 90 93 a4 08 sts 0x08A4, r25 |
| 49d2: a0 93 a5 08 sts 0x08A5, r26 |
| 49d6: b0 93 a6 08 sts 0x08A6, r27 |
| 49da: 80 91 93 08 lds r24, 0x0893 |
| 49de: 90 91 94 08 lds r25, 0x0894 |
| 49e2: a0 91 95 08 lds r26, 0x0895 |
| 49e6: b0 91 96 08 lds r27, 0x0896 |
| 49ea: 80 93 ab 08 sts 0x08AB, r24 |
| 49ee: 90 93 ac 08 sts 0x08AC, r25 |
| 49f2: a0 93 ad 08 sts 0x08AD, r26 |
| 49f6: b0 93 ae 08 sts 0x08AE, r27 |
| 49fa: 8f ee ldi r24, 0xEF ; 239 |
| 49fc: 80 93 7a 00 sts 0x007A, r24 |
| 4a00: 60 91 83 08 lds r22, 0x0883 |
| 4a04: 70 91 84 08 lds r23, 0x0884 |
| 4a08: 80 91 85 08 lds r24, 0x0885 |
| 4a0c: 90 91 86 08 lds r25, 0x0886 |
| 4a10: a0 90 a4 0c lds r10, 0x0CA4 |
| 4a14: bb 24 eor r11, r11 |
| 4a16: cc 24 eor r12, r12 |
| 4a18: dd 24 eor r13, r13 |
| 4a1a: e0 90 d5 0c lds r14, 0x0CD5 |
| 4a1e: f0 90 d6 0c lds r15, 0x0CD6 |
| 4a22: a6 01 movw r20, r12 |
| 4a24: 95 01 movw r18, r10 |
| 4a26: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4a2a: 00 27 eor r16, r16 |
| 4a2c: f7 fc sbrc r15, 7 |
| 4a2e: 00 95 com r16 |
| 4a30: 10 2f mov r17, r16 |
| 4a32: 2e 19 sub r18, r14 |
| 4a34: 3f 09 sbc r19, r15 |
| 4a36: 40 0b sbc r20, r16 |
| 4a38: 51 0b sbc r21, r17 |
| 4a3a: ca 01 movw r24, r20 |
| 4a3c: b9 01 movw r22, r18 |
| 4a3e: 20 e1 ldi r18, 0x10 ; 16 |
| 4a40: 30 e0 ldi r19, 0x00 ; 0 |
| 4a42: 40 e0 ldi r20, 0x00 ; 0 |
| 4a44: 50 e0 ldi r21, 0x00 ; 0 |
| 4a46: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4a4a: 39 01 movw r6, r18 |
| 4a4c: 4a 01 movw r8, r20 |
| 4a4e: 20 93 f4 08 sts 0x08F4, r18 |
| 4a52: 30 93 f5 08 sts 0x08F5, r19 |
| 4a56: 40 93 f6 08 sts 0x08F6, r20 |
| 4a5a: 50 93 f7 08 sts 0x08F7, r21 |
| 4a5e: 60 91 8b 08 lds r22, 0x088B |
| 4a62: 70 91 8c 08 lds r23, 0x088C |
| 4a66: 80 91 8d 08 lds r24, 0x088D |
| 4a6a: 90 91 8e 08 lds r25, 0x088E |
| 4a6e: e0 90 de 0c lds r14, 0x0CDE |
| 4a72: f0 90 df 0c lds r15, 0x0CDF |
| 4a76: a6 01 movw r20, r12 |
| 4a78: 95 01 movw r18, r10 |
| 4a7a: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4a7e: 00 27 eor r16, r16 |
| 4a80: f7 fc sbrc r15, 7 |
| 4a82: 00 95 com r16 |
| 4a84: 10 2f mov r17, r16 |
| 4a86: 2e 19 sub r18, r14 |
| 4a88: 3f 09 sbc r19, r15 |
| 4a8a: 40 0b sbc r20, r16 |
| 4a8c: 51 0b sbc r21, r17 |
| 4a8e: ca 01 movw r24, r20 |
| 4a90: b9 01 movw r22, r18 |
| 4a92: 20 e1 ldi r18, 0x10 ; 16 |
| 4a94: 30 e0 ldi r19, 0x00 ; 0 |
| 4a96: 40 e0 ldi r20, 0x00 ; 0 |
| 4a98: 50 e0 ldi r21, 0x00 ; 0 |
| 4a9a: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4a9e: 20 93 f0 08 sts 0x08F0, r18 |
| 4aa2: 30 93 f1 08 sts 0x08F1, r19 |
| 4aa6: 40 93 f2 08 sts 0x08F2, r20 |
| 4aaa: 50 93 f3 08 sts 0x08F3, r21 |
| 4aae: f5 ef ldi r31, 0xF5 ; 245 |
| 4ab0: 6f 16 cp r6, r31 |
| 4ab2: f1 e0 ldi r31, 0x01 ; 1 |
| 4ab4: 7f 06 cpc r7, r31 |
| 4ab6: f0 e0 ldi r31, 0x00 ; 0 |
| 4ab8: 8f 06 cpc r8, r31 |
| 4aba: f0 e0 ldi r31, 0x00 ; 0 |
| 4abc: 9f 06 cpc r9, r31 |
| 4abe: 2c f0 brlt .+10 ; 0x4aca <MotorRegler+0x960> |
| 4ac0: 84 ef ldi r24, 0xF4 ; 244 |
| 4ac2: 91 e0 ldi r25, 0x01 ; 1 |
| 4ac4: a0 e0 ldi r26, 0x00 ; 0 |
| 4ac6: b0 e0 ldi r27, 0x00 ; 0 |
| 4ac8: 0d c0 rjmp .+26 ; 0x4ae4 <MotorRegler+0x97a> |
| 4aca: 6c e0 ldi r22, 0x0C ; 12 |
| 4acc: 66 16 cp r6, r22 |
| 4ace: 6e ef ldi r22, 0xFE ; 254 |
| 4ad0: 76 06 cpc r7, r22 |
| 4ad2: 6f ef ldi r22, 0xFF ; 255 |
| 4ad4: 86 06 cpc r8, r22 |
| 4ad6: 6f ef ldi r22, 0xFF ; 255 |
| 4ad8: 96 06 cpc r9, r22 |
| 4ada: 64 f4 brge .+24 ; 0x4af4 <MotorRegler+0x98a> |
| 4adc: 8c e0 ldi r24, 0x0C ; 12 |
| 4ade: 9e ef ldi r25, 0xFE ; 254 |
| 4ae0: af ef ldi r26, 0xFF ; 255 |
| 4ae2: bf ef ldi r27, 0xFF ; 255 |
| 4ae4: 80 93 f4 08 sts 0x08F4, r24 |
| 4ae8: 90 93 f5 08 sts 0x08F5, r25 |
| 4aec: a0 93 f6 08 sts 0x08F6, r26 |
| 4af0: b0 93 f7 08 sts 0x08F7, r27 |
| 4af4: 25 3f cpi r18, 0xF5 ; 245 |
| 4af6: 71 e0 ldi r23, 0x01 ; 1 |
| 4af8: 37 07 cpc r19, r23 |
| 4afa: 70 e0 ldi r23, 0x00 ; 0 |
| 4afc: 47 07 cpc r20, r23 |
| 4afe: 70 e0 ldi r23, 0x00 ; 0 |
| 4b00: 57 07 cpc r21, r23 |
| 4b02: 2c f0 brlt .+10 ; 0x4b0e <MotorRegler+0x9a4> |
| 4b04: 84 ef ldi r24, 0xF4 ; 244 |
| 4b06: 91 e0 ldi r25, 0x01 ; 1 |
| 4b08: a0 e0 ldi r26, 0x00 ; 0 |
| 4b0a: b0 e0 ldi r27, 0x00 ; 0 |
| 4b0c: 09 c0 rjmp .+18 ; 0x4b20 <MotorRegler+0x9b6> |
| 4b0e: 2c 50 subi r18, 0x0C ; 12 |
| 4b10: 3e 4f sbci r19, 0xFE ; 254 |
| 4b12: 4f 4f sbci r20, 0xFF ; 255 |
| 4b14: 5f 4f sbci r21, 0xFF ; 255 |
| 4b16: 64 f4 brge .+24 ; 0x4b30 <MotorRegler+0x9c6> |
| 4b18: 8c e0 ldi r24, 0x0C ; 12 |
| 4b1a: 9e ef ldi r25, 0xFE ; 254 |
| 4b1c: af ef ldi r26, 0xFF ; 255 |
| 4b1e: bf ef ldi r27, 0xFF ; 255 |
| 4b20: 80 93 f0 08 sts 0x08F0, r24 |
| 4b24: 90 93 f1 08 sts 0x08F1, r25 |
| 4b28: a0 93 f2 08 sts 0x08F2, r26 |
| 4b2c: b0 93 f3 08 sts 0x08F3, r27 |
| 4b30: 10 92 7a 00 sts 0x007A, r1 |
| 4b34: 80 91 97 08 lds r24, 0x0897 |
| 4b38: 90 91 98 08 lds r25, 0x0898 |
| 4b3c: a0 91 99 08 lds r26, 0x0899 |
| 4b40: b0 91 9a 08 lds r27, 0x089A |
| 4b44: 20 91 f4 08 lds r18, 0x08F4 |
| 4b48: 30 91 f5 08 lds r19, 0x08F5 |
| 4b4c: 40 91 f6 08 lds r20, 0x08F6 |
| 4b50: 50 91 f7 08 lds r21, 0x08F7 |
| 4b54: 82 1b sub r24, r18 |
| 4b56: 93 0b sbc r25, r19 |
| 4b58: a4 0b sbc r26, r20 |
| 4b5a: b5 0b sbc r27, r21 |
| 4b5c: 80 93 97 08 sts 0x0897, r24 |
| 4b60: 90 93 98 08 sts 0x0898, r25 |
| 4b64: a0 93 99 08 sts 0x0899, r26 |
| 4b68: b0 93 9a 08 sts 0x089A, r27 |
| 4b6c: 80 91 9f 08 lds r24, 0x089F |
| 4b70: 90 91 a0 08 lds r25, 0x08A0 |
| 4b74: a0 91 a1 08 lds r26, 0x08A1 |
| 4b78: b0 91 a2 08 lds r27, 0x08A2 |
| 4b7c: 20 91 f0 08 lds r18, 0x08F0 |
| 4b80: 30 91 f1 08 lds r19, 0x08F1 |
| 4b84: 40 91 f2 08 lds r20, 0x08F2 |
| 4b88: 50 91 f3 08 lds r21, 0x08F3 |
| 4b8c: 82 1b sub r24, r18 |
| 4b8e: 93 0b sbc r25, r19 |
| 4b90: a4 0b sbc r26, r20 |
| 4b92: b5 0b sbc r27, r21 |
| 4b94: 80 93 9f 08 sts 0x089F, r24 |
| 4b98: 90 93 a0 08 sts 0x08A0, r25 |
| 4b9c: a0 93 a1 08 sts 0x08A1, r26 |
| 4ba0: b0 93 a2 08 sts 0x08A2, r27 |
| 4ba4: 80 91 d4 08 lds r24, 0x08D4 |
| 4ba8: 90 91 d5 08 lds r25, 0x08D5 |
| 4bac: 5c 01 movw r10, r24 |
| 4bae: cc 24 eor r12, r12 |
| 4bb0: b7 fc sbrc r11, 7 |
| 4bb2: c0 94 com r12 |
| 4bb4: dc 2c mov r13, r12 |
| 4bb6: a0 92 f8 08 sts 0x08F8, r10 |
| 4bba: b0 92 f9 08 sts 0x08F9, r11 |
| 4bbe: c0 92 fa 08 sts 0x08FA, r12 |
| 4bc2: d0 92 fb 08 sts 0x08FB, r13 |
| 4bc6: 97 ff sbrs r25, 7 |
| 4bc8: 03 c0 rjmp .+6 ; 0x4bd0 <MotorRegler+0xa66> |
| 4bca: 90 95 com r25 |
| 4bcc: 81 95 neg r24 |
| 4bce: 9f 4f sbci r25, 0xFF ; 255 |
| 4bd0: 84 97 sbiw r24, 0x24 ; 36 |
| 4bd2: 3c f0 brlt .+14 ; 0x4be2 <MotorRegler+0xa78> |
| 4bd4: 80 91 98 0c lds r24, 0x0C98 |
| 4bd8: 84 fd sbrc r24, 4 |
| 4bda: 03 c0 rjmp .+6 ; 0x4be2 <MotorRegler+0xa78> |
| 4bdc: 81 e0 ldi r24, 0x01 ; 1 |
| 4bde: 80 93 e1 08 sts 0x08E1, r24 |
| 4be2: 60 90 a7 08 lds r6, 0x08A7 |
| 4be6: 70 90 a8 08 lds r7, 0x08A8 |
| 4bea: 80 90 a9 08 lds r8, 0x08A9 |
| 4bee: 90 90 aa 08 lds r9, 0x08AA |
| 4bf2: c5 01 movw r24, r10 |
| 4bf4: b7 fe sbrs r11, 7 |
| 4bf6: 03 c0 rjmp .+6 ; 0x4bfe <MotorRegler+0xa94> |
| 4bf8: 90 95 com r25 |
| 4bfa: 81 95 neg r24 |
| 4bfc: 9f 4f sbci r25, 0xFF ; 255 |
| 4bfe: 7c 01 movw r14, r24 |
| 4c00: 00 27 eor r16, r16 |
| 4c02: f7 fc sbrc r15, 7 |
| 4c04: 00 95 com r16 |
| 4c06: 10 2f mov r17, r16 |
| 4c08: 20 91 a1 0c lds r18, 0x0CA1 |
| 4c0c: 33 27 eor r19, r19 |
| 4c0e: 44 27 eor r20, r20 |
| 4c10: 55 27 eor r21, r21 |
| 4c12: c6 01 movw r24, r12 |
| 4c14: b5 01 movw r22, r10 |
| 4c16: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 4c1a: 9b 01 movw r18, r22 |
| 4c1c: ac 01 movw r20, r24 |
| 4c1e: c8 01 movw r24, r16 |
| 4c20: b7 01 movw r22, r14 |
| 4c22: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 4c26: 20 e0 ldi r18, 0x00 ; 0 |
| 4c28: 31 e0 ldi r19, 0x01 ; 1 |
| 4c2a: 40 e0 ldi r20, 0x00 ; 0 |
| 4c2c: 50 e0 ldi r21, 0x00 ; 0 |
| 4c2e: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4c32: 44 27 eor r20, r20 |
| 4c34: 37 fd sbrc r19, 7 |
| 4c36: 40 95 com r20 |
| 4c38: 54 2f mov r21, r20 |
| 4c3a: 62 1a sub r6, r18 |
| 4c3c: 73 0a sbc r7, r19 |
| 4c3e: 84 0a sbc r8, r20 |
| 4c40: 95 0a sbc r9, r21 |
| 4c42: 60 92 a7 08 sts 0x08A7, r6 |
| 4c46: 70 92 a8 08 sts 0x08A8, r7 |
| 4c4a: 80 92 a9 08 sts 0x08A9, r8 |
| 4c4e: 90 92 aa 08 sts 0x08AA, r9 |
| 4c52: 80 91 a7 08 lds r24, 0x08A7 |
| 4c56: 90 91 a8 08 lds r25, 0x08A8 |
| 4c5a: a0 91 a9 08 lds r26, 0x08A9 |
| 4c5e: b0 91 aa 08 lds r27, 0x08AA |
| 4c62: 81 53 subi r24, 0x31 ; 49 |
| 4c64: 95 47 sbci r25, 0x75 ; 117 |
| 4c66: a0 40 sbci r26, 0x00 ; 0 |
| 4c68: b0 40 sbci r27, 0x00 ; 0 |
| 4c6a: 64 f0 brlt .+24 ; 0x4c84 <MotorRegler+0xb1a> |
| 4c6c: 80 e3 ldi r24, 0x30 ; 48 |
| 4c6e: 95 e7 ldi r25, 0x75 ; 117 |
| 4c70: a0 e0 ldi r26, 0x00 ; 0 |
| 4c72: b0 e0 ldi r27, 0x00 ; 0 |
| 4c74: 80 93 a7 08 sts 0x08A7, r24 |
| 4c78: 90 93 a8 08 sts 0x08A8, r25 |
| 4c7c: a0 93 a9 08 sts 0x08A9, r26 |
| 4c80: b0 93 aa 08 sts 0x08AA, r27 |
| 4c84: 80 91 a7 08 lds r24, 0x08A7 |
| 4c88: 90 91 a8 08 lds r25, 0x08A8 |
| 4c8c: a0 91 a9 08 lds r26, 0x08A9 |
| 4c90: b0 91 aa 08 lds r27, 0x08AA |
| 4c94: 80 5d subi r24, 0xD0 ; 208 |
| 4c96: 9a 48 sbci r25, 0x8A ; 138 |
| 4c98: af 4f sbci r26, 0xFF ; 255 |
| 4c9a: bf 4f sbci r27, 0xFF ; 255 |
| 4c9c: 64 f4 brge .+24 ; 0x4cb6 <MotorRegler+0xb4c> |
| 4c9e: 80 ed ldi r24, 0xD0 ; 208 |
| 4ca0: 9a e8 ldi r25, 0x8A ; 138 |
| 4ca2: af ef ldi r26, 0xFF ; 255 |
| 4ca4: bf ef ldi r27, 0xFF ; 255 |
| 4ca6: 80 93 a7 08 sts 0x08A7, r24 |
| 4caa: 90 93 a8 08 sts 0x08A8, r25 |
| 4cae: a0 93 a9 08 sts 0x08A9, r26 |
| 4cb2: b0 93 aa 08 sts 0x08AA, r27 |
| 4cb6: 8f ee ldi r24, 0xEF ; 239 |
| 4cb8: 80 93 7a 00 sts 0x007A, r24 |
| 4cbc: 80 91 b3 08 lds r24, 0x08B3 |
| 4cc0: 90 91 b4 08 lds r25, 0x08B4 |
| 4cc4: 89 2b or r24, r25 |
| 4cc6: 09 f4 brne .+2 ; 0x4cca <MotorRegler+0xb60> |
| 4cc8: a1 c0 rjmp .+322 ; 0x4e0c <MotorRegler+0xca2> |
| 4cca: 80 91 98 0c lds r24, 0x0C98 |
| 4cce: 83 ff sbrs r24, 3 |
| 4cd0: 9d c0 rjmp .+314 ; 0x4e0c <MotorRegler+0xca2> |
| 4cd2: 60 91 83 08 lds r22, 0x0883 |
| 4cd6: 70 91 84 08 lds r23, 0x0884 |
| 4cda: 80 91 85 08 lds r24, 0x0885 |
| 4cde: 90 91 86 08 lds r25, 0x0886 |
| 4ce2: 20 e0 ldi r18, 0x00 ; 0 |
| 4ce4: 32 e0 ldi r19, 0x02 ; 2 |
| 4ce6: 40 e0 ldi r20, 0x00 ; 0 |
| 4ce8: 50 e0 ldi r21, 0x00 ; 0 |
| 4cea: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4cee: 89 01 movw r16, r18 |
| 4cf0: 37 ff sbrs r19, 7 |
| 4cf2: 03 c0 rjmp .+6 ; 0x4cfa <MotorRegler+0xb90> |
| 4cf4: 10 95 com r17 |
| 4cf6: 01 95 neg r16 |
| 4cf8: 1f 4f sbci r17, 0xFF ; 255 |
| 4cfa: 60 91 8b 08 lds r22, 0x088B |
| 4cfe: 70 91 8c 08 lds r23, 0x088C |
| 4d02: 80 91 8d 08 lds r24, 0x088D |
| 4d06: 90 91 8e 08 lds r25, 0x088E |
| 4d0a: 20 e0 ldi r18, 0x00 ; 0 |
| 4d0c: 32 e0 ldi r19, 0x02 ; 2 |
| 4d0e: 40 e0 ldi r20, 0x00 ; 0 |
| 4d10: 50 e0 ldi r21, 0x00 ; 0 |
| 4d12: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 4d16: b9 01 movw r22, r18 |
| 4d18: 37 ff sbrs r19, 7 |
| 4d1a: 03 c0 rjmp .+6 ; 0x4d22 <MotorRegler+0xbb8> |
| 4d1c: 70 95 com r23 |
| 4d1e: 61 95 neg r22 |
| 4d20: 7f 4f sbci r23, 0xFF ; 255 |
| 4d22: 60 17 cp r22, r16 |
| 4d24: 71 07 cpc r23, r17 |
| 4d26: 0c f4 brge .+2 ; 0x4d2a <MotorRegler+0xbc0> |
| 4d28: b8 01 movw r22, r16 |
| 4d2a: 69 31 cpi r22, 0x19 ; 25 |
| 4d2c: 71 05 cpc r23, r1 |
| 4d2e: a4 f4 brge .+40 ; 0x4d58 <MotorRegler+0xbee> |
| 4d30: 80 91 e1 08 lds r24, 0x08E1 |
| 4d34: 88 23 and r24, r24 |
| 4d36: 81 f0 breq .+32 ; 0x4d58 <MotorRegler+0xbee> |
| 4d38: 80 91 df 08 lds r24, 0x08DF |
| 4d3c: 90 91 e0 08 lds r25, 0x08E0 |
| 4d40: 89 2b or r24, r25 |
| 4d42: 51 f4 brne .+20 ; 0x4d58 <MotorRegler+0xbee> |
| 4d44: 80 91 b3 08 lds r24, 0x08B3 |
| 4d48: 90 91 b4 08 lds r25, 0x08B4 |
| 4d4c: 90 93 b6 08 sts 0x08B6, r25 |
| 4d50: 80 93 b5 08 sts 0x08B5, r24 |
| 4d54: 10 92 e1 08 sts 0x08E1, r1 |
| 4d58: 20 91 84 01 lds r18, 0x0184 |
| 4d5c: 33 27 eor r19, r19 |
| 4d5e: 62 9f mul r22, r18 |
| 4d60: c0 01 movw r24, r0 |
| 4d62: 63 9f mul r22, r19 |
| 4d64: 90 0d add r25, r0 |
| 4d66: 72 9f mul r23, r18 |
| 4d68: 90 0d add r25, r0 |
| 4d6a: 11 24 eor r1, r1 |
| 4d6c: 60 e4 ldi r22, 0x40 ; 64 |
| 4d6e: 70 e0 ldi r23, 0x00 ; 0 |
| 4d70: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 4d74: a9 01 movw r20, r18 |
| 4d76: 46 1b sub r20, r22 |
| 4d78: 57 0b sbc r21, r23 |
| 4d7a: 14 16 cp r1, r20 |
| 4d7c: 15 06 cpc r1, r21 |
| 4d7e: 0c f0 brlt .+2 ; 0x4d82 <MotorRegler+0xc18> |
| 4d80: 3f c0 rjmp .+126 ; 0x4e00 <MotorRegler+0xc96> |
| 4d82: 10 92 7a 00 sts 0x007A, r1 |
| 4d86: 20 91 df 08 lds r18, 0x08DF |
| 4d8a: 30 91 e0 08 lds r19, 0x08E0 |
| 4d8e: 21 15 cp r18, r1 |
| 4d90: 31 05 cpc r19, r1 |
| 4d92: 61 f5 brne .+88 ; 0x4dec <MotorRegler+0xc82> |
| 4d94: 00 91 a7 08 lds r16, 0x08A7 |
| 4d98: 10 91 a8 08 lds r17, 0x08A8 |
| 4d9c: 20 91 a9 08 lds r18, 0x08A9 |
| 4da0: 30 91 aa 08 lds r19, 0x08AA |
| 4da4: 80 91 b7 08 lds r24, 0x08B7 |
| 4da8: 90 91 b8 08 lds r25, 0x08B8 |
| 4dac: bc 01 movw r22, r24 |
| 4dae: 64 9f mul r22, r20 |
| 4db0: c0 01 movw r24, r0 |
| 4db2: 65 9f mul r22, r21 |
| 4db4: 90 0d add r25, r0 |
| 4db6: 74 9f mul r23, r20 |
| 4db8: 90 0d add r25, r0 |
| 4dba: 11 24 eor r1, r1 |
| 4dbc: 60 e2 ldi r22, 0x20 ; 32 |
| 4dbe: 70 e0 ldi r23, 0x00 ; 0 |
| 4dc0: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 4dc4: 88 27 eor r24, r24 |
| 4dc6: 77 fd sbrc r23, 7 |
| 4dc8: 80 95 com r24 |
| 4dca: 98 2f mov r25, r24 |
| 4dcc: 06 0f add r16, r22 |
| 4dce: 17 1f adc r17, r23 |
| 4dd0: 28 1f adc r18, r24 |
| 4dd2: 39 1f adc r19, r25 |
| 4dd4: 00 93 a7 08 sts 0x08A7, r16 |
| 4dd8: 10 93 a8 08 sts 0x08A8, r17 |
| 4ddc: 20 93 a9 08 sts 0x08A9, r18 |
| 4de0: 30 93 aa 08 sts 0x08AA, r19 |
| 4de4: 8f ee ldi r24, 0xEF ; 239 |
| 4de6: 80 93 7a 00 sts 0x007A, r24 |
| 4dea: 10 c0 rjmp .+32 ; 0x4e0c <MotorRegler+0xca2> |
| 4dec: 8f ee ldi r24, 0xEF ; 239 |
| 4dee: 80 93 7a 00 sts 0x007A, r24 |
| 4df2: 21 50 subi r18, 0x01 ; 1 |
| 4df4: 30 40 sbci r19, 0x00 ; 0 |
| 4df6: 30 93 e0 08 sts 0x08E0, r19 |
| 4dfa: 20 93 df 08 sts 0x08DF, r18 |
| 4dfe: 06 c0 rjmp .+12 ; 0x4e0c <MotorRegler+0xca2> |
| 4e00: 84 ef ldi r24, 0xF4 ; 244 |
| 4e02: 91 e0 ldi r25, 0x01 ; 1 |
| 4e04: 90 93 e0 08 sts 0x08E0, r25 |
| 4e08: 80 93 df 08 sts 0x08DF, r24 |
| 4e0c: 80 91 98 0c lds r24, 0x0C98 |
| 4e10: 85 ff sbrs r24, 5 |
| 4e12: 15 c0 rjmp .+42 ; 0x4e3e <MotorRegler+0xcd4> |
| 4e14: 80 91 db 08 lds r24, 0x08DB |
| 4e18: 99 27 eor r25, r25 |
| 4e1a: 90 93 70 09 sts 0x0970, r25 |
| 4e1e: 80 93 6f 09 sts 0x096F, r24 |
| 4e22: 80 91 dc 08 lds r24, 0x08DC |
| 4e26: 99 27 eor r25, r25 |
| 4e28: 90 93 63 09 sts 0x0963, r25 |
| 4e2c: 80 93 62 09 sts 0x0962, r24 |
| 4e30: 80 91 dd 08 lds r24, 0x08DD |
| 4e34: 80 93 be 08 sts 0x08BE, r24 |
| 4e38: 0e 94 b8 2b call 0x5770 ; 0x5770 <gps_main> |
| 4e3c: 08 c0 rjmp .+16 ; 0x4e4e <MotorRegler+0xce4> |
| 4e3e: 10 92 31 09 sts 0x0931, r1 |
| 4e42: 10 92 30 09 sts 0x0930, r1 |
| 4e46: 10 92 33 09 sts 0x0933, r1 |
| 4e4a: 10 92 32 09 sts 0x0932, r1 |
| 4e4e: 80 91 c2 0b lds r24, 0x0BC2 |
| 4e52: 8f 5f subi r24, 0xFF ; 255 |
| 4e54: 80 93 c2 0b sts 0x0BC2, r24 |
| 4e58: 80 91 e2 08 lds r24, 0x08E2 |
| 4e5c: 81 50 subi r24, 0x01 ; 1 |
| 4e5e: 80 93 e2 08 sts 0x08E2, r24 |
| 4e62: 8f 3f cpi r24, 0xFF ; 255 |
| 4e64: 09 f0 breq .+2 ; 0x4e68 <MotorRegler+0xcfe> |
| 4e66: 81 c0 rjmp .+258 ; 0x4f6a <MotorRegler+0xe00> |
| 4e68: 81 e3 ldi r24, 0x31 ; 49 |
| 4e6a: 80 93 e2 08 sts 0x08E2, r24 |
| 4e6e: 80 91 32 09 lds r24, 0x0932 |
| 4e72: 90 91 33 09 lds r25, 0x0933 |
| 4e76: 90 93 c4 0b sts 0x0BC4, r25 |
| 4e7a: 80 93 c3 0b sts 0x0BC3, r24 |
| 4e7e: 80 91 30 09 lds r24, 0x0930 |
| 4e82: 90 91 31 09 lds r25, 0x0931 |
| 4e86: 90 93 c6 0b sts 0x0BC6, r25 |
| 4e8a: 80 93 c5 0b sts 0x0BC5, r24 |
| 4e8e: 80 91 0c 09 lds r24, 0x090C |
| 4e92: 90 91 0d 09 lds r25, 0x090D |
| 4e96: 90 93 c8 0b sts 0x0BC8, r25 |
| 4e9a: 80 93 c7 0b sts 0x0BC7, r24 |
| 4e9e: 80 91 10 09 lds r24, 0x0910 |
| 4ea2: 90 91 11 09 lds r25, 0x0911 |
| 4ea6: 90 93 ca 0b sts 0x0BCA, r25 |
| 4eaa: 80 93 c9 0b sts 0x0BC9, r24 |
| 4eae: 80 91 24 09 lds r24, 0x0924 |
| 4eb2: 90 91 25 09 lds r25, 0x0925 |
| 4eb6: 90 93 cc 0b sts 0x0BCC, r25 |
| 4eba: 80 93 cb 0b sts 0x0BCB, r24 |
| 4ebe: 80 91 28 09 lds r24, 0x0928 |
| 4ec2: 90 91 29 09 lds r25, 0x0929 |
| 4ec6: 90 93 ce 0b sts 0x0BCE, r25 |
| 4eca: 80 93 cd 0b sts 0x0BCD, r24 |
| 4ece: 80 91 1c 09 lds r24, 0x091C |
| 4ed2: 90 91 1d 09 lds r25, 0x091D |
| 4ed6: 90 93 d0 0b sts 0x0BD0, r25 |
| 4eda: 80 93 cf 0b sts 0x0BCF, r24 |
| 4ede: 80 91 20 09 lds r24, 0x0920 |
| 4ee2: 90 91 21 09 lds r25, 0x0921 |
| 4ee6: 90 93 d2 0b sts 0x0BD2, r25 |
| 4eea: 80 93 d1 0b sts 0x0BD1, r24 |
| 4eee: 80 91 14 09 lds r24, 0x0914 |
| 4ef2: 90 91 15 09 lds r25, 0x0915 |
| 4ef6: 90 93 d4 0b sts 0x0BD4, r25 |
| 4efa: 80 93 d3 0b sts 0x0BD3, r24 |
| 4efe: 80 91 18 09 lds r24, 0x0918 |
| 4f02: 90 91 19 09 lds r25, 0x0919 |
| 4f06: 90 93 d6 0b sts 0x0BD6, r25 |
| 4f0a: 80 93 d5 0b sts 0x0BD5, r24 |
| 4f0e: 80 91 db 08 lds r24, 0x08DB |
| 4f12: 99 27 eor r25, r25 |
| 4f14: 90 93 d8 0b sts 0x0BD8, r25 |
| 4f18: 80 93 d7 0b sts 0x0BD7, r24 |
| 4f1c: 80 91 dc 08 lds r24, 0x08DC |
| 4f20: 99 27 eor r25, r25 |
| 4f22: 90 93 da 0b sts 0x0BDA, r25 |
| 4f26: 80 93 d9 0b sts 0x0BD9, r24 |
| 4f2a: 80 91 04 09 lds r24, 0x0904 |
| 4f2e: 90 91 05 09 lds r25, 0x0905 |
| 4f32: 90 93 dc 0b sts 0x0BDC, r25 |
| 4f36: 80 93 db 0b sts 0x0BDB, r24 |
| 4f3a: 80 91 08 09 lds r24, 0x0908 |
| 4f3e: 90 91 09 09 lds r25, 0x0909 |
| 4f42: 90 93 de 0b sts 0x0BDE, r25 |
| 4f46: 80 93 dd 0b sts 0x0BDD, r24 |
| 4f4a: 80 91 c9 08 lds r24, 0x08C9 |
| 4f4e: 90 91 ca 08 lds r25, 0x08CA |
| 4f52: 90 93 e0 0b sts 0x0BE0, r25 |
| 4f56: 80 93 df 0b sts 0x0BDF, r24 |
| 4f5a: 80 91 b3 08 lds r24, 0x08B3 |
| 4f5e: 90 91 b4 08 lds r25, 0x08B4 |
| 4f62: 90 93 e2 0b sts 0x0BE2, r25 |
| 4f66: 80 93 e1 0b sts 0x0BE1, r24 |
| 4f6a: 60 91 83 08 lds r22, 0x0883 |
| 4f6e: 70 91 84 08 lds r23, 0x0884 |
| 4f72: 80 91 85 08 lds r24, 0x0885 |
| 4f76: 90 91 86 08 lds r25, 0x0886 |
| 4f7a: 20 90 d1 0c lds r2, 0x0CD1 |
| 4f7e: 30 90 d2 0c lds r3, 0x0CD2 |
| 4f82: 40 90 d3 0c lds r4, 0x0CD3 |
| 4f86: 50 90 d4 0c lds r5, 0x0CD4 |
| 4f8a: e0 90 cc 0c lds r14, 0x0CCC |
| 4f8e: f0 90 cd 0c lds r15, 0x0CCD |
| 4f92: 60 90 da 0c lds r6, 0x0CDA |
| 4f96: 70 90 db 0c lds r7, 0x0CDB |
| 4f9a: 80 90 dc 0c lds r8, 0x0CDC |
| 4f9e: 90 90 dd 0c lds r9, 0x0CDD |
| 4fa2: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4fa6: a2 01 movw r20, r4 |
| 4fa8: 91 01 movw r18, r2 |
| 4faa: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 4fae: 5b 01 movw r10, r22 |
| 4fb0: 6c 01 movw r12, r24 |
| 4fb2: 00 27 eor r16, r16 |
| 4fb4: f7 fc sbrc r15, 7 |
| 4fb6: 00 95 com r16 |
| 4fb8: 10 2f mov r17, r16 |
| 4fba: c8 01 movw r24, r16 |
| 4fbc: b7 01 movw r22, r14 |
| 4fbe: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4fc2: a4 01 movw r20, r8 |
| 4fc4: 93 01 movw r18, r6 |
| 4fc6: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 4fca: 9b 01 movw r18, r22 |
| 4fcc: ac 01 movw r20, r24 |
| 4fce: c6 01 movw r24, r12 |
| 4fd0: b5 01 movw r22, r10 |
| 4fd2: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 4fd6: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 4fda: 70 93 cd 0c sts 0x0CCD, r23 |
| 4fde: 60 93 cc 0c sts 0x0CCC, r22 |
| 4fe2: 60 91 8b 08 lds r22, 0x088B |
| 4fe6: 70 91 8c 08 lds r23, 0x088C |
| 4fea: 80 91 8d 08 lds r24, 0x088D |
| 4fee: 90 91 8e 08 lds r25, 0x088E |
| 4ff2: e0 90 ca 0c lds r14, 0x0CCA |
| 4ff6: f0 90 cb 0c lds r15, 0x0CCB |
| 4ffa: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 4ffe: a2 01 movw r20, r4 |
| 5000: 91 01 movw r18, r2 |
| 5002: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5006: 5b 01 movw r10, r22 |
| 5008: 6c 01 movw r12, r24 |
| 500a: 00 27 eor r16, r16 |
| 500c: f7 fc sbrc r15, 7 |
| 500e: 00 95 com r16 |
| 5010: 10 2f mov r17, r16 |
| 5012: c8 01 movw r24, r16 |
| 5014: b7 01 movw r22, r14 |
| 5016: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 501a: a4 01 movw r20, r8 |
| 501c: 93 01 movw r18, r6 |
| 501e: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5022: 9b 01 movw r18, r22 |
| 5024: ac 01 movw r20, r24 |
| 5026: c6 01 movw r24, r12 |
| 5028: b5 01 movw r22, r10 |
| 502a: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 502e: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 5032: 70 93 cb 0c sts 0x0CCB, r23 |
| 5036: 60 93 ca 0c sts 0x0CCA, r22 |
| 503a: 60 91 d8 0c lds r22, 0x0CD8 |
| 503e: 70 91 d9 0c lds r23, 0x0CD9 |
| 5042: a0 90 93 08 lds r10, 0x0893 |
| 5046: b0 90 94 08 lds r11, 0x0894 |
| 504a: c0 90 95 08 lds r12, 0x0895 |
| 504e: d0 90 96 08 lds r13, 0x0896 |
| 5052: 88 27 eor r24, r24 |
| 5054: 77 fd sbrc r23, 7 |
| 5056: 80 95 com r24 |
| 5058: 98 2f mov r25, r24 |
| 505a: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 505e: 7b 01 movw r14, r22 |
| 5060: 8c 01 movw r16, r24 |
| 5062: 20 e0 ldi r18, 0x00 ; 0 |
| 5064: 30 e0 ldi r19, 0x00 ; 0 |
| 5066: 40 e0 ldi r20, 0x00 ; 0 |
| 5068: 5f e3 ldi r21, 0x3F ; 63 |
| 506a: c4 01 movw r24, r8 |
| 506c: b3 01 movw r22, r6 |
| 506e: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5072: 9b 01 movw r18, r22 |
| 5074: ac 01 movw r20, r24 |
| 5076: c8 01 movw r24, r16 |
| 5078: b7 01 movw r22, r14 |
| 507a: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 507e: 7b 01 movw r14, r22 |
| 5080: 8c 01 movw r16, r24 |
| 5082: c6 01 movw r24, r12 |
| 5084: b5 01 movw r22, r10 |
| 5086: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 508a: a2 01 movw r20, r4 |
| 508c: 91 01 movw r18, r2 |
| 508e: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5092: 9b 01 movw r18, r22 |
| 5094: ac 01 movw r20, r24 |
| 5096: c8 01 movw r24, r16 |
| 5098: b7 01 movw r22, r14 |
| 509a: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 509e: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 50a2: 70 93 d9 0c sts 0x0CD9, r23 |
| 50a6: 60 93 d8 0c sts 0x0CD8, r22 |
| 50aa: 80 91 cc 0c lds r24, 0x0CCC |
| 50ae: 90 91 cd 0c lds r25, 0x0CCD |
| 50b2: 81 50 subi r24, 0x01 ; 1 |
| 50b4: 98 40 sbci r25, 0x08 ; 8 |
| 50b6: 34 f0 brlt .+12 ; 0x50c4 <MotorRegler+0xf5a> |
| 50b8: 80 e0 ldi r24, 0x00 ; 0 |
| 50ba: 98 e0 ldi r25, 0x08 ; 8 |
| 50bc: 90 93 cd 0c sts 0x0CCD, r25 |
| 50c0: 80 93 cc 0c sts 0x0CCC, r24 |
| 50c4: 80 91 cc 0c lds r24, 0x0CCC |
| 50c8: 90 91 cd 0c lds r25, 0x0CCD |
| 50cc: 80 50 subi r24, 0x00 ; 0 |
| 50ce: 98 4f sbci r25, 0xF8 ; 248 |
| 50d0: 34 f4 brge .+12 ; 0x50de <MotorRegler+0xf74> |
| 50d2: 80 e0 ldi r24, 0x00 ; 0 |
| 50d4: 98 ef ldi r25, 0xF8 ; 248 |
| 50d6: 90 93 cd 0c sts 0x0CCD, r25 |
| 50da: 80 93 cc 0c sts 0x0CCC, r24 |
| 50de: 80 91 ca 0c lds r24, 0x0CCA |
| 50e2: 90 91 cb 0c lds r25, 0x0CCB |
| 50e6: 81 50 subi r24, 0x01 ; 1 |
| 50e8: 98 40 sbci r25, 0x08 ; 8 |
| 50ea: 34 f0 brlt .+12 ; 0x50f8 <MotorRegler+0xf8e> |
| 50ec: 80 e0 ldi r24, 0x00 ; 0 |
| 50ee: 98 e0 ldi r25, 0x08 ; 8 |
| 50f0: 90 93 cb 0c sts 0x0CCB, r25 |
| 50f4: 80 93 ca 0c sts 0x0CCA, r24 |
| 50f8: 80 91 ca 0c lds r24, 0x0CCA |
| 50fc: 90 91 cb 0c lds r25, 0x0CCB |
| 5100: 80 50 subi r24, 0x00 ; 0 |
| 5102: 98 4f sbci r25, 0xF8 ; 248 |
| 5104: 34 f4 brge .+12 ; 0x5112 <MotorRegler+0xfa8> |
| 5106: 80 e0 ldi r24, 0x00 ; 0 |
| 5108: 98 ef ldi r25, 0xF8 ; 248 |
| 510a: 90 93 cb 0c sts 0x0CCB, r25 |
| 510e: 80 93 ca 0c sts 0x0CCA, r24 |
| 5112: 80 91 d8 0c lds r24, 0x0CD8 |
| 5116: 90 91 d9 0c lds r25, 0x0CD9 |
| 511a: 81 50 subi r24, 0x01 ; 1 |
| 511c: 98 40 sbci r25, 0x08 ; 8 |
| 511e: 34 f0 brlt .+12 ; 0x512c <MotorRegler+0xfc2> |
| 5120: 80 e0 ldi r24, 0x00 ; 0 |
| 5122: 98 e0 ldi r25, 0x08 ; 8 |
| 5124: 90 93 d9 0c sts 0x0CD9, r25 |
| 5128: 80 93 d8 0c sts 0x0CD8, r24 |
| 512c: 80 91 d8 0c lds r24, 0x0CD8 |
| 5130: 90 91 d9 0c lds r25, 0x0CD9 |
| 5134: 80 50 subi r24, 0x00 ; 0 |
| 5136: 98 4f sbci r25, 0xF8 ; 248 |
| 5138: 34 f4 brge .+12 ; 0x5146 <MotorRegler+0xfdc> |
| 513a: 80 e0 ldi r24, 0x00 ; 0 |
| 513c: 98 ef ldi r25, 0xF8 ; 248 |
| 513e: 90 93 d9 0c sts 0x0CD9, r25 |
| 5142: 80 93 d8 0c sts 0x0CD8, r24 |
| 5146: 80 91 98 0c lds r24, 0x0C98 |
| 514a: 99 27 eor r25, r25 |
| 514c: 80 ff sbrs r24, 0 |
| 514e: cd c0 rjmp .+410 ; 0x52ea <MotorRegler+0x1180> |
| 5150: 20 91 81 01 lds r18, 0x0181 |
| 5154: 81 ff sbrs r24, 1 |
| 5156: 0e c0 rjmp .+28 ; 0x5174 <MotorRegler+0x100a> |
| 5158: 22 33 cpi r18, 0x32 ; 50 |
| 515a: b0 f4 brcc .+44 ; 0x5188 <MotorRegler+0x101e> |
| 515c: 80 91 d7 08 lds r24, 0x08D7 |
| 5160: 90 91 d8 08 lds r25, 0x08D8 |
| 5164: 88 97 sbiw r24, 0x28 ; 40 |
| 5166: 90 93 da 08 sts 0x08DA, r25 |
| 516a: 80 93 d9 08 sts 0x08D9, r24 |
| 516e: 10 92 ba 08 sts 0x08BA, r1 |
| 5172: 0d c0 rjmp .+26 ; 0x518e <MotorRegler+0x1024> |
| 5174: 80 91 9d 0c lds r24, 0x0C9D |
| 5178: 28 9f mul r18, r24 |
| 517a: c0 01 movw r24, r0 |
| 517c: 11 24 eor r1, r1 |
| 517e: 88 97 sbiw r24, 0x28 ; 40 |
| 5180: 90 93 da 08 sts 0x08DA, r25 |
| 5184: 80 93 d9 08 sts 0x08D9, r24 |
| 5188: 81 e0 ldi r24, 0x01 ; 1 |
| 518a: 80 93 ba 08 sts 0x08BA, r24 |
| 518e: 80 91 b9 08 lds r24, 0x08B9 |
| 5192: 88 23 and r24, r24 |
| 5194: 21 f0 breq .+8 ; 0x519e <MotorRegler+0x1034> |
| 5196: 10 92 da 08 sts 0x08DA, r1 |
| 519a: 10 92 d9 08 sts 0x08D9, r1 |
| 519e: 20 91 d7 08 lds r18, 0x08D7 |
| 51a2: 30 91 d8 08 lds r19, 0x08D8 |
| 51a6: 40 91 d9 08 lds r20, 0x08D9 |
| 51aa: 50 91 da 08 lds r21, 0x08DA |
| 51ae: 42 17 cp r20, r18 |
| 51b0: 53 07 cpc r21, r19 |
| 51b2: 0c f0 brlt .+2 ; 0x51b6 <MotorRegler+0x104c> |
| 51b4: 9a c0 rjmp .+308 ; 0x52ea <MotorRegler+0x1180> |
| 51b6: 80 91 ba 08 lds r24, 0x08BA |
| 51ba: 88 23 and r24, r24 |
| 51bc: 09 f4 brne .+2 ; 0x51c0 <MotorRegler+0x1056> |
| 51be: 95 c0 rjmp .+298 ; 0x52ea <MotorRegler+0x1180> |
| 51c0: 24 1b sub r18, r20 |
| 51c2: 35 0b sbc r19, r21 |
| 51c4: 80 91 82 01 lds r24, 0x0182 |
| 51c8: 99 27 eor r25, r25 |
| 51ca: bc 01 movw r22, r24 |
| 51cc: 26 9f mul r18, r22 |
| 51ce: c0 01 movw r24, r0 |
| 51d0: 27 9f mul r18, r23 |
| 51d2: 90 0d add r25, r0 |
| 51d4: 36 9f mul r19, r22 |
| 51d6: 90 0d add r25, r0 |
| 51d8: 11 24 eor r1, r1 |
| 51da: 60 e1 ldi r22, 0x10 ; 16 |
| 51dc: 70 e0 ldi r23, 0x00 ; 0 |
| 51de: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 51e2: 09 81 ldd r16, Y+1 ; 0x01 |
| 51e4: 1a 81 ldd r17, Y+2 ; 0x02 |
| 51e6: 06 1b sub r16, r22 |
| 51e8: 17 0b sbc r17, r23 |
| 51ea: 20 91 60 08 lds r18, 0x0860 |
| 51ee: 30 91 61 08 lds r19, 0x0861 |
| 51f2: 80 91 80 01 lds r24, 0x0180 |
| 51f6: 99 27 eor r25, r25 |
| 51f8: fc 01 movw r30, r24 |
| 51fa: 2e 9f mul r18, r30 |
| 51fc: c0 01 movw r24, r0 |
| 51fe: 2f 9f mul r18, r31 |
| 5200: 90 0d add r25, r0 |
| 5202: 3e 9f mul r19, r30 |
| 5204: 90 0d add r25, r0 |
| 5206: 11 24 eor r1, r1 |
| 5208: 68 e0 ldi r22, 0x08 ; 8 |
| 520a: 70 e0 ldi r23, 0x00 ; 0 |
| 520c: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 5210: 06 1b sub r16, r22 |
| 5212: 17 0b sbc r17, r23 |
| 5214: 60 91 af 08 lds r22, 0x08AF |
| 5218: 70 91 b0 08 lds r23, 0x08B0 |
| 521c: 80 91 b1 08 lds r24, 0x08B1 |
| 5220: 90 91 b2 08 lds r25, 0x08B2 |
| 5224: 20 e0 ldi r18, 0x00 ; 0 |
| 5226: 32 e0 ldi r19, 0x02 ; 2 |
| 5228: 40 e0 ldi r20, 0x00 ; 0 |
| 522a: 50 e0 ldi r21, 0x00 ; 0 |
| 522c: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 5230: ca 01 movw r24, r20 |
| 5232: b9 01 movw r22, r18 |
| 5234: 20 91 83 01 lds r18, 0x0183 |
| 5238: 33 27 eor r19, r19 |
| 523a: 44 27 eor r20, r20 |
| 523c: 55 27 eor r21, r21 |
| 523e: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 5242: 20 e2 ldi r18, 0x20 ; 32 |
| 5244: 30 e0 ldi r19, 0x00 ; 0 |
| 5246: 40 e0 ldi r20, 0x00 ; 0 |
| 5248: 50 e0 ldi r21, 0x00 ; 0 |
| 524a: 0e 94 e0 3e call 0x7dc0 ; 0x7dc0 <__divmodsi4> |
| 524e: ff ef ldi r31, 0xFF ; 255 |
| 5250: 2e 3c cpi r18, 0xCE ; 206 |
| 5252: 3f 07 cpc r19, r31 |
| 5254: 14 f4 brge .+4 ; 0x525a <MotorRegler+0x10f0> |
| 5256: 2e ec ldi r18, 0xCE ; 206 |
| 5258: 3f ef ldi r19, 0xFF ; 255 |
| 525a: 80 91 e3 08 lds r24, 0x08E3 |
| 525e: 90 91 e4 08 lds r25, 0x08E4 |
| 5262: ac 01 movw r20, r24 |
| 5264: 74 e0 ldi r23, 0x04 ; 4 |
| 5266: 44 0f add r20, r20 |
| 5268: 55 1f adc r21, r21 |
| 526a: 7a 95 dec r23 |
| 526c: e1 f7 brne .-8 ; 0x5266 <MotorRegler+0x10fc> |
| 526e: 48 1b sub r20, r24 |
| 5270: 59 0b sbc r21, r25 |
| 5272: 23 33 cpi r18, 0x33 ; 51 |
| 5274: 31 05 cpc r19, r1 |
| 5276: 14 f0 brlt .+4 ; 0x527c <MotorRegler+0x1112> |
| 5278: 22 e3 ldi r18, 0x32 ; 50 |
| 527a: 30 e0 ldi r19, 0x00 ; 0 |
| 527c: 02 1b sub r16, r18 |
| 527e: 13 0b sbc r17, r19 |
| 5280: ca 01 movw r24, r20 |
| 5282: 80 0f add r24, r16 |
| 5284: 91 1f adc r25, r17 |
| 5286: 60 e1 ldi r22, 0x10 ; 16 |
| 5288: 70 e0 ldi r23, 0x00 ; 0 |
| 528a: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 528e: 70 93 e4 08 sts 0x08E4, r23 |
| 5292: 60 93 e3 08 sts 0x08E3, r22 |
| 5296: 80 91 99 0c lds r24, 0x0C99 |
| 529a: 99 27 eor r25, r25 |
| 529c: 68 17 cp r22, r24 |
| 529e: 79 07 cpc r23, r25 |
| 52a0: 8c f4 brge .+34 ; 0x52c4 <MotorRegler+0x115a> |
| 52a2: 29 81 ldd r18, Y+1 ; 0x01 |
| 52a4: 3a 81 ldd r19, Y+2 ; 0x02 |
| 52a6: 28 17 cp r18, r24 |
| 52a8: 39 07 cpc r19, r25 |
| 52aa: 2c f0 brlt .+10 ; 0x52b6 <MotorRegler+0x114c> |
| 52ac: 90 93 e4 08 sts 0x08E4, r25 |
| 52b0: 80 93 e3 08 sts 0x08E3, r24 |
| 52b4: 07 c0 rjmp .+14 ; 0x52c4 <MotorRegler+0x115a> |
| 52b6: 49 81 ldd r20, Y+1 ; 0x01 |
| 52b8: 5a 81 ldd r21, Y+2 ; 0x02 |
| 52ba: 50 93 e4 08 sts 0x08E4, r21 |
| 52be: 40 93 e3 08 sts 0x08E3, r20 |
| 52c2: 0d c0 rjmp .+26 ; 0x52de <MotorRegler+0x1174> |
| 52c4: 80 91 e3 08 lds r24, 0x08E3 |
| 52c8: 90 91 e4 08 lds r25, 0x08E4 |
| 52cc: 69 81 ldd r22, Y+1 ; 0x01 |
| 52ce: 7a 81 ldd r23, Y+2 ; 0x02 |
| 52d0: 68 17 cp r22, r24 |
| 52d2: 79 07 cpc r23, r25 |
| 52d4: 24 f4 brge .+8 ; 0x52de <MotorRegler+0x1174> |
| 52d6: 70 93 e4 08 sts 0x08E4, r23 |
| 52da: 60 93 e3 08 sts 0x08E3, r22 |
| 52de: 80 91 e3 08 lds r24, 0x08E3 |
| 52e2: 90 91 e4 08 lds r25, 0x08E4 |
| 52e6: 9a 83 std Y+2, r25 ; 0x02 |
| 52e8: 89 83 std Y+1, r24 ; 0x01 |
| 52ea: c0 90 d8 0c lds r12, 0x0CD8 |
| 52ee: d0 90 d9 0c lds r13, 0x0CD9 |
| 52f2: 80 91 f8 08 lds r24, 0x08F8 |
| 52f6: 90 91 f9 08 lds r25, 0x08F9 |
| 52fa: c8 1a sub r12, r24 |
| 52fc: d9 0a sbc r13, r25 |
| 52fe: 95 e6 ldi r25, 0x65 ; 101 |
| 5300: c9 16 cp r12, r25 |
| 5302: d1 04 cpc r13, r1 |
| 5304: 24 f0 brlt .+8 ; 0x530e <MotorRegler+0x11a4> |
| 5306: 64 e6 ldi r22, 0x64 ; 100 |
| 5308: c6 2e mov r12, r22 |
| 530a: d1 2c mov r13, r1 |
| 530c: 09 c0 rjmp .+18 ; 0x5320 <MotorRegler+0x11b6> |
| 530e: ec e9 ldi r30, 0x9C ; 156 |
| 5310: ce 16 cp r12, r30 |
| 5312: ef ef ldi r30, 0xFF ; 255 |
| 5314: de 06 cpc r13, r30 |
| 5316: 24 f4 brge .+8 ; 0x5320 <MotorRegler+0x11b6> |
| 5318: 5c e9 ldi r21, 0x9C ; 156 |
| 531a: c5 2e mov r12, r21 |
| 531c: 5f ef ldi r21, 0xFF ; 255 |
| 531e: d5 2e mov r13, r21 |
| 5320: 40 90 78 01 lds r4, 0x0178 |
| 5324: 50 90 79 01 lds r5, 0x0179 |
| 5328: 60 90 7a 01 lds r6, 0x017A |
| 532c: 70 90 7b 01 lds r7, 0x017B |
| 5330: 60 91 cc 0c lds r22, 0x0CCC |
| 5334: 70 91 cd 0c lds r23, 0x0CCD |
| 5338: 20 91 d0 08 lds r18, 0x08D0 |
| 533c: 30 91 d1 08 lds r19, 0x08D1 |
| 5340: 40 91 30 09 lds r20, 0x0930 |
| 5344: 50 91 31 09 lds r21, 0x0931 |
| 5348: 24 1b sub r18, r20 |
| 534a: 35 0b sbc r19, r21 |
| 534c: 62 1b sub r22, r18 |
| 534e: 73 0b sbc r23, r19 |
| 5350: 88 27 eor r24, r24 |
| 5352: 77 fd sbrc r23, 7 |
| 5354: 80 95 com r24 |
| 5356: 98 2f mov r25, r24 |
| 5358: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 535c: 9b 01 movw r18, r22 |
| 535e: ac 01 movw r20, r24 |
| 5360: c3 01 movw r24, r6 |
| 5362: b2 01 movw r22, r4 |
| 5364: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5368: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 536c: 70 93 65 09 sts 0x0965, r23 |
| 5370: 60 93 64 09 sts 0x0964, r22 |
| 5374: 80 91 64 09 lds r24, 0x0964 |
| 5378: 90 91 65 09 lds r25, 0x0965 |
| 537c: 8c 01 movw r16, r24 |
| 537e: 22 27 eor r18, r18 |
| 5380: 17 fd sbrc r17, 7 |
| 5382: 20 95 com r18 |
| 5384: 32 2f mov r19, r18 |
| 5386: 80 91 00 09 lds r24, 0x0900 |
| 538a: 90 91 01 09 lds r25, 0x0901 |
| 538e: a0 91 02 09 lds r26, 0x0902 |
| 5392: b0 91 03 09 lds r27, 0x0903 |
| 5396: 08 0f add r16, r24 |
| 5398: 19 1f adc r17, r25 |
| 539a: 2a 1f adc r18, r26 |
| 539c: 3b 1f adc r19, r27 |
| 539e: 00 93 00 09 sts 0x0900, r16 |
| 53a2: 10 93 01 09 sts 0x0901, r17 |
| 53a6: 20 93 02 09 sts 0x0902, r18 |
| 53aa: 30 93 03 09 sts 0x0903, r19 |
| 53ae: 10 16 cp r1, r16 |
| 53b0: 11 06 cpc r1, r17 |
| 53b2: 12 06 cpc r1, r18 |
| 53b4: 13 06 cpc r1, r19 |
| 53b6: ac f4 brge .+42 ; 0x53e2 <MotorRegler+0x1278> |
| 53b8: c8 01 movw r24, r16 |
| 53ba: 17 ff sbrs r17, 7 |
| 53bc: 03 c0 rjmp .+6 ; 0x53c4 <MotorRegler+0x125a> |
| 53be: 90 95 com r25 |
| 53c0: 81 95 neg r24 |
| 53c2: 9f 4f sbci r25, 0xFF ; 255 |
| 53c4: 60 e0 ldi r22, 0x00 ; 0 |
| 53c6: 71 e0 ldi r23, 0x01 ; 1 |
| 53c8: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 53cc: 6f 5f subi r22, 0xFF ; 255 |
| 53ce: 7f 4f sbci r23, 0xFF ; 255 |
| 53d0: 88 27 eor r24, r24 |
| 53d2: 77 fd sbrc r23, 7 |
| 53d4: 80 95 com r24 |
| 53d6: 98 2f mov r25, r24 |
| 53d8: 06 1b sub r16, r22 |
| 53da: 17 0b sbc r17, r23 |
| 53dc: 28 0b sbc r18, r24 |
| 53de: 39 0b sbc r19, r25 |
| 53e0: 14 c0 rjmp .+40 ; 0x540a <MotorRegler+0x12a0> |
| 53e2: c8 01 movw r24, r16 |
| 53e4: 17 ff sbrs r17, 7 |
| 53e6: 03 c0 rjmp .+6 ; 0x53ee <MotorRegler+0x1284> |
| 53e8: 90 95 com r25 |
| 53ea: 81 95 neg r24 |
| 53ec: 9f 4f sbci r25, 0xFF ; 255 |
| 53ee: 60 e0 ldi r22, 0x00 ; 0 |
| 53f0: 71 e0 ldi r23, 0x01 ; 1 |
| 53f2: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 53f6: 6f 5f subi r22, 0xFF ; 255 |
| 53f8: 7f 4f sbci r23, 0xFF ; 255 |
| 53fa: 88 27 eor r24, r24 |
| 53fc: 77 fd sbrc r23, 7 |
| 53fe: 80 95 com r24 |
| 5400: 98 2f mov r25, r24 |
| 5402: 06 0f add r16, r22 |
| 5404: 17 1f adc r17, r23 |
| 5406: 28 1f adc r18, r24 |
| 5408: 39 1f adc r19, r25 |
| 540a: 00 93 00 09 sts 0x0900, r16 |
| 540e: 10 93 01 09 sts 0x0901, r17 |
| 5412: 20 93 02 09 sts 0x0902, r18 |
| 5416: 30 93 03 09 sts 0x0903, r19 |
| 541a: 80 91 00 09 lds r24, 0x0900 |
| 541e: 90 91 01 09 lds r25, 0x0901 |
| 5422: a0 91 02 09 lds r26, 0x0902 |
| 5426: b0 91 03 09 lds r27, 0x0903 |
| 542a: 81 38 cpi r24, 0x81 ; 129 |
| 542c: fe e3 ldi r31, 0x3E ; 62 |
| 542e: 9f 07 cpc r25, r31 |
| 5430: f0 e0 ldi r31, 0x00 ; 0 |
| 5432: af 07 cpc r26, r31 |
| 5434: f0 e0 ldi r31, 0x00 ; 0 |
| 5436: bf 07 cpc r27, r31 |
| 5438: 2c f0 brlt .+10 ; 0x5444 <MotorRegler+0x12da> |
| 543a: 80 e8 ldi r24, 0x80 ; 128 |
| 543c: 9e e3 ldi r25, 0x3E ; 62 |
| 543e: a0 e0 ldi r26, 0x00 ; 0 |
| 5440: b0 e0 ldi r27, 0x00 ; 0 |
| 5442: 09 c0 rjmp .+18 ; 0x5456 <MotorRegler+0x12ec> |
| 5444: 80 58 subi r24, 0x80 ; 128 |
| 5446: 91 4c sbci r25, 0xC1 ; 193 |
| 5448: af 4f sbci r26, 0xFF ; 255 |
| 544a: bf 4f sbci r27, 0xFF ; 255 |
| 544c: 64 f4 brge .+24 ; 0x5466 <MotorRegler+0x12fc> |
| 544e: 80 e8 ldi r24, 0x80 ; 128 |
| 5450: 91 ec ldi r25, 0xC1 ; 193 |
| 5452: af ef ldi r26, 0xFF ; 255 |
| 5454: bf ef ldi r27, 0xFF ; 255 |
| 5456: 80 93 00 09 sts 0x0900, r24 |
| 545a: 90 93 01 09 sts 0x0901, r25 |
| 545e: a0 93 02 09 sts 0x0902, r26 |
| 5462: b0 93 03 09 sts 0x0903, r27 |
| 5466: 60 91 64 09 lds r22, 0x0964 |
| 546a: 70 91 65 09 lds r23, 0x0965 |
| 546e: 80 90 7c 01 lds r8, 0x017C |
| 5472: 90 90 7d 01 lds r9, 0x017D |
| 5476: a0 90 7e 01 lds r10, 0x017E |
| 547a: b0 90 7f 01 lds r11, 0x017F |
| 547e: 88 27 eor r24, r24 |
| 5480: 77 fd sbrc r23, 7 |
| 5482: 80 95 com r24 |
| 5484: 98 2f mov r25, r24 |
| 5486: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 548a: 7b 01 movw r14, r22 |
| 548c: 8c 01 movw r16, r24 |
| 548e: 60 91 00 09 lds r22, 0x0900 |
| 5492: 70 91 01 09 lds r23, 0x0901 |
| 5496: 80 91 02 09 lds r24, 0x0902 |
| 549a: 90 91 03 09 lds r25, 0x0903 |
| 549e: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 54a2: 9b 01 movw r18, r22 |
| 54a4: ac 01 movw r20, r24 |
| 54a6: c5 01 movw r24, r10 |
| 54a8: b4 01 movw r22, r8 |
| 54aa: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 54ae: 9b 01 movw r18, r22 |
| 54b0: ac 01 movw r20, r24 |
| 54b2: c8 01 movw r24, r16 |
| 54b4: b7 01 movw r22, r14 |
| 54b6: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 54ba: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 54be: 96 01 movw r18, r12 |
| 54c0: 26 0f add r18, r22 |
| 54c2: 37 1f adc r19, r23 |
| 54c4: 49 81 ldd r20, Y+1 ; 0x01 |
| 54c6: 5a 81 ldd r21, Y+2 ; 0x02 |
| 54c8: 24 0f add r18, r20 |
| 54ca: 35 1f adc r19, r21 |
| 54cc: 22 24 eor r2, r2 |
| 54ce: 4a 30 cpi r20, 0x0A ; 10 |
| 54d0: 51 05 cpc r21, r1 |
| 54d2: 14 f4 brge .+4 ; 0x54d8 <MotorRegler+0x136e> |
| 54d4: 41 e0 ldi r20, 0x01 ; 1 |
| 54d6: 24 2e mov r2, r20 |
| 54d8: 37 fd sbrc r19, 7 |
| 54da: 02 c0 rjmp .+4 ; 0x54e0 <MotorRegler+0x1376> |
| 54dc: 22 20 and r2, r2 |
| 54de: 19 f0 breq .+6 ; 0x54e6 <MotorRegler+0x137c> |
| 54e0: 40 e0 ldi r20, 0x00 ; 0 |
| 54e2: 50 e0 ldi r21, 0x00 ; 0 |
| 54e4: 08 c0 rjmp .+16 ; 0x54f6 <MotorRegler+0x138c> |
| 54e6: 80 91 d7 0c lds r24, 0x0CD7 |
| 54ea: 48 2f mov r20, r24 |
| 54ec: 55 27 eor r21, r21 |
| 54ee: 24 17 cp r18, r20 |
| 54f0: 35 07 cpc r19, r21 |
| 54f2: 0c f4 brge .+2 ; 0x54f6 <MotorRegler+0x138c> |
| 54f4: a9 01 movw r20, r18 |
| 54f6: 80 91 ce 0c lds r24, 0x0CCE |
| 54fa: e8 2f mov r30, r24 |
| 54fc: ff 27 eor r31, r31 |
| 54fe: fc 83 std Y+4, r31 ; 0x04 |
| 5500: eb 83 std Y+3, r30 ; 0x03 |
| 5502: 9f 01 movw r18, r30 |
| 5504: e4 17 cp r30, r20 |
| 5506: f5 07 cpc r31, r21 |
| 5508: 0c f4 brge .+2 ; 0x550c <MotorRegler+0x13a2> |
| 550a: 9a 01 movw r18, r20 |
| 550c: 20 93 60 09 sts 0x0960, r18 |
| 5510: 29 81 ldd r18, Y+1 ; 0x01 |
| 5512: 3a 81 ldd r19, Y+2 ; 0x02 |
| 5514: 26 1b sub r18, r22 |
| 5516: 37 0b sbc r19, r23 |
| 5518: b9 01 movw r22, r18 |
| 551a: 6c 0d add r22, r12 |
| 551c: 7d 1d adc r23, r13 |
| 551e: 77 fd sbrc r23, 7 |
| 5520: 02 c0 rjmp .+4 ; 0x5526 <MotorRegler+0x13bc> |
| 5522: 22 20 and r2, r2 |
| 5524: 19 f0 breq .+6 ; 0x552c <MotorRegler+0x13c2> |
| 5526: 80 e0 ldi r24, 0x00 ; 0 |
| 5528: 90 e0 ldi r25, 0x00 ; 0 |
| 552a: 07 c0 rjmp .+14 ; 0x553a <MotorRegler+0x13d0> |
| 552c: 80 91 d7 0c lds r24, 0x0CD7 |
| 5530: 99 27 eor r25, r25 |
| 5532: 68 17 cp r22, r24 |
| 5534: 79 07 cpc r23, r25 |
| 5536: 0c f4 brge .+2 ; 0x553a <MotorRegler+0x13d0> |
| 5538: cb 01 movw r24, r22 |
| 553a: 2b 81 ldd r18, Y+3 ; 0x03 |
| 553c: 3c 81 ldd r19, Y+4 ; 0x04 |
| 553e: 28 17 cp r18, r24 |
| 5540: 39 07 cpc r19, r25 |
| 5542: 0c f4 brge .+2 ; 0x5546 <MotorRegler+0x13dc> |
| 5544: 9c 01 movw r18, r24 |
| 5546: 20 93 61 09 sts 0x0961, r18 |
| 554a: 60 91 ca 0c lds r22, 0x0CCA |
| 554e: 70 91 cb 0c lds r23, 0x0CCB |
| 5552: 20 91 d2 08 lds r18, 0x08D2 |
| 5556: 30 91 d3 08 lds r19, 0x08D3 |
| 555a: 40 91 32 09 lds r20, 0x0932 |
| 555e: 50 91 33 09 lds r21, 0x0933 |
| 5562: 24 1b sub r18, r20 |
| 5564: 35 0b sbc r19, r21 |
| 5566: 62 1b sub r22, r18 |
| 5568: 73 0b sbc r23, r19 |
| 556a: 88 27 eor r24, r24 |
| 556c: 77 fd sbrc r23, 7 |
| 556e: 80 95 com r24 |
| 5570: 98 2f mov r25, r24 |
| 5572: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 5576: 9b 01 movw r18, r22 |
| 5578: ac 01 movw r20, r24 |
| 557a: c3 01 movw r24, r6 |
| 557c: b2 01 movw r22, r4 |
| 557e: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 5582: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 5586: 70 93 5f 09 sts 0x095F, r23 |
| 558a: 60 93 5e 09 sts 0x095E, r22 |
| 558e: 80 91 5e 09 lds r24, 0x095E |
| 5592: 90 91 5f 09 lds r25, 0x095F |
| 5596: 8c 01 movw r16, r24 |
| 5598: 22 27 eor r18, r18 |
| 559a: 17 fd sbrc r17, 7 |
| 559c: 20 95 com r18 |
| 559e: 32 2f mov r19, r18 |
| 55a0: 80 91 fc 08 lds r24, 0x08FC |
| 55a4: 90 91 fd 08 lds r25, 0x08FD |
| 55a8: a0 91 fe 08 lds r26, 0x08FE |
| 55ac: b0 91 ff 08 lds r27, 0x08FF |
| 55b0: 08 0f add r16, r24 |
| 55b2: 19 1f adc r17, r25 |
| 55b4: 2a 1f adc r18, r26 |
| 55b6: 3b 1f adc r19, r27 |
| 55b8: 00 93 fc 08 sts 0x08FC, r16 |
| 55bc: 10 93 fd 08 sts 0x08FD, r17 |
| 55c0: 20 93 fe 08 sts 0x08FE, r18 |
| 55c4: 30 93 ff 08 sts 0x08FF, r19 |
| 55c8: 10 16 cp r1, r16 |
| 55ca: 11 06 cpc r1, r17 |
| 55cc: 12 06 cpc r1, r18 |
| 55ce: 13 06 cpc r1, r19 |
| 55d0: ac f4 brge .+42 ; 0x55fc <MotorRegler+0x1492> |
| 55d2: c8 01 movw r24, r16 |
| 55d4: 17 ff sbrs r17, 7 |
| 55d6: 03 c0 rjmp .+6 ; 0x55de <MotorRegler+0x1474> |
| 55d8: 90 95 com r25 |
| 55da: 81 95 neg r24 |
| 55dc: 9f 4f sbci r25, 0xFF ; 255 |
| 55de: 60 e0 ldi r22, 0x00 ; 0 |
| 55e0: 71 e0 ldi r23, 0x01 ; 1 |
| 55e2: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 55e6: 6f 5f subi r22, 0xFF ; 255 |
| 55e8: 7f 4f sbci r23, 0xFF ; 255 |
| 55ea: 88 27 eor r24, r24 |
| 55ec: 77 fd sbrc r23, 7 |
| 55ee: 80 95 com r24 |
| 55f0: 98 2f mov r25, r24 |
| 55f2: 06 1b sub r16, r22 |
| 55f4: 17 0b sbc r17, r23 |
| 55f6: 28 0b sbc r18, r24 |
| 55f8: 39 0b sbc r19, r25 |
| 55fa: 14 c0 rjmp .+40 ; 0x5624 <MotorRegler+0x14ba> |
| 55fc: c8 01 movw r24, r16 |
| 55fe: 17 ff sbrs r17, 7 |
| 5600: 03 c0 rjmp .+6 ; 0x5608 <MotorRegler+0x149e> |
| 5602: 90 95 com r25 |
| 5604: 81 95 neg r24 |
| 5606: 9f 4f sbci r25, 0xFF ; 255 |
| 5608: 60 e0 ldi r22, 0x00 ; 0 |
| 560a: 71 e0 ldi r23, 0x01 ; 1 |
| 560c: 0e 94 ab 3e call 0x7d56 ; 0x7d56 <__divmodhi4> |
| 5610: 6f 5f subi r22, 0xFF ; 255 |
| 5612: 7f 4f sbci r23, 0xFF ; 255 |
| 5614: 88 27 eor r24, r24 |
| 5616: 77 fd sbrc r23, 7 |
| 5618: 80 95 com r24 |
| 561a: 98 2f mov r25, r24 |
| 561c: 06 0f add r16, r22 |
| 561e: 17 1f adc r17, r23 |
| 5620: 28 1f adc r18, r24 |
| 5622: 39 1f adc r19, r25 |
| 5624: 00 93 fc 08 sts 0x08FC, r16 |
| 5628: 10 93 fd 08 sts 0x08FD, r17 |
| 562c: 20 93 fe 08 sts 0x08FE, r18 |
| 5630: 30 93 ff 08 sts 0x08FF, r19 |
| 5634: 80 91 fc 08 lds r24, 0x08FC |
| 5638: 90 91 fd 08 lds r25, 0x08FD |
| 563c: a0 91 fe 08 lds r26, 0x08FE |
| 5640: b0 91 ff 08 lds r27, 0x08FF |
| 5644: 81 38 cpi r24, 0x81 ; 129 |
| 5646: 3e e3 ldi r19, 0x3E ; 62 |
| 5648: 93 07 cpc r25, r19 |
| 564a: 30 e0 ldi r19, 0x00 ; 0 |
| 564c: a3 07 cpc r26, r19 |
| 564e: 30 e0 ldi r19, 0x00 ; 0 |
| 5650: b3 07 cpc r27, r19 |
| 5652: 2c f0 brlt .+10 ; 0x565e <MotorRegler+0x14f4> |
| 5654: 80 e8 ldi r24, 0x80 ; 128 |
| 5656: 9e e3 ldi r25, 0x3E ; 62 |
| 5658: a0 e0 ldi r26, 0x00 ; 0 |
| 565a: b0 e0 ldi r27, 0x00 ; 0 |
| 565c: 09 c0 rjmp .+18 ; 0x5670 <MotorRegler+0x1506> |
| 565e: 80 58 subi r24, 0x80 ; 128 |
| 5660: 91 4c sbci r25, 0xC1 ; 193 |
| 5662: af 4f sbci r26, 0xFF ; 255 |
| 5664: bf 4f sbci r27, 0xFF ; 255 |
| 5666: 64 f4 brge .+24 ; 0x5680 <MotorRegler+0x1516> |
| 5668: 80 e8 ldi r24, 0x80 ; 128 |
| 566a: 91 ec ldi r25, 0xC1 ; 193 |
| 566c: af ef ldi r26, 0xFF ; 255 |
| 566e: bf ef ldi r27, 0xFF ; 255 |
| 5670: 80 93 fc 08 sts 0x08FC, r24 |
| 5674: 90 93 fd 08 sts 0x08FD, r25 |
| 5678: a0 93 fe 08 sts 0x08FE, r26 |
| 567c: b0 93 ff 08 sts 0x08FF, r27 |
| 5680: 60 91 5e 09 lds r22, 0x095E |
| 5684: 70 91 5f 09 lds r23, 0x095F |
| 5688: 88 27 eor r24, r24 |
| 568a: 77 fd sbrc r23, 7 |
| 568c: 80 95 com r24 |
| 568e: 98 2f mov r25, r24 |
| 5690: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 5694: 7b 01 movw r14, r22 |
| 5696: 8c 01 movw r16, r24 |
| 5698: 60 91 fc 08 lds r22, 0x08FC |
| 569c: 70 91 fd 08 lds r23, 0x08FD |
| 56a0: 80 91 fe 08 lds r24, 0x08FE |
| 56a4: 90 91 ff 08 lds r25, 0x08FF |
| 56a8: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 56ac: 9b 01 movw r18, r22 |
| 56ae: ac 01 movw r20, r24 |
| 56b0: c5 01 movw r24, r10 |
| 56b2: b4 01 movw r22, r8 |
| 56b4: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 56b8: 9b 01 movw r18, r22 |
| 56ba: ac 01 movw r20, r24 |
| 56bc: c8 01 movw r24, r16 |
| 56be: b7 01 movw r22, r14 |
| 56c0: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 56c4: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 56c8: 29 81 ldd r18, Y+1 ; 0x01 |
| 56ca: 3a 81 ldd r19, Y+2 ; 0x02 |
| 56cc: 26 0f add r18, r22 |
| 56ce: 37 1f adc r19, r23 |
| 56d0: 2c 19 sub r18, r12 |
| 56d2: 3d 09 sbc r19, r13 |
| 56d4: 37 fd sbrc r19, 7 |
| 56d6: 02 c0 rjmp .+4 ; 0x56dc <MotorRegler+0x1572> |
| 56d8: 22 20 and r2, r2 |
| 56da: 19 f0 breq .+6 ; 0x56e2 <MotorRegler+0x1578> |
| 56dc: 40 e0 ldi r20, 0x00 ; 0 |
| 56de: 50 e0 ldi r21, 0x00 ; 0 |
| 56e0: 08 c0 rjmp .+16 ; 0x56f2 <MotorRegler+0x1588> |
| 56e2: 80 91 d7 0c lds r24, 0x0CD7 |
| 56e6: 48 2f mov r20, r24 |
| 56e8: 55 27 eor r21, r21 |
| 56ea: 24 17 cp r18, r20 |
| 56ec: 35 07 cpc r19, r21 |
| 56ee: 0c f4 brge .+2 ; 0x56f2 <MotorRegler+0x1588> |
| 56f0: a9 01 movw r20, r18 |
| 56f2: 2b 81 ldd r18, Y+3 ; 0x03 |
| 56f4: 3c 81 ldd r19, Y+4 ; 0x04 |
| 56f6: 24 17 cp r18, r20 |
| 56f8: 35 07 cpc r19, r21 |
| 56fa: 0c f4 brge .+2 ; 0x56fe <MotorRegler+0x1594> |
| 56fc: 9a 01 movw r18, r20 |
| 56fe: 20 93 6c 09 sts 0x096C, r18 |
| 5702: 89 81 ldd r24, Y+1 ; 0x01 |
| 5704: 9a 81 ldd r25, Y+2 ; 0x02 |
| 5706: 86 1b sub r24, r22 |
| 5708: 97 0b sbc r25, r23 |
| 570a: bc 01 movw r22, r24 |
| 570c: 6c 19 sub r22, r12 |
| 570e: 7d 09 sbc r23, r13 |
| 5710: 77 fd sbrc r23, 7 |
| 5712: 02 c0 rjmp .+4 ; 0x5718 <MotorRegler+0x15ae> |
| 5714: 22 20 and r2, r2 |
| 5716: 19 f0 breq .+6 ; 0x571e <MotorRegler+0x15b4> |
| 5718: 20 e0 ldi r18, 0x00 ; 0 |
| 571a: 30 e0 ldi r19, 0x00 ; 0 |
| 571c: 08 c0 rjmp .+16 ; 0x572e <MotorRegler+0x15c4> |
| 571e: 80 91 d7 0c lds r24, 0x0CD7 |
| 5722: 28 2f mov r18, r24 |
| 5724: 33 27 eor r19, r19 |
| 5726: 62 17 cp r22, r18 |
| 5728: 73 07 cpc r23, r19 |
| 572a: 0c f4 brge .+2 ; 0x572e <MotorRegler+0x15c4> |
| 572c: 9b 01 movw r18, r22 |
| 572e: 8b 81 ldd r24, Y+3 ; 0x03 |
| 5730: 9c 81 ldd r25, Y+4 ; 0x04 |
| 5732: 82 17 cp r24, r18 |
| 5734: 93 07 cpc r25, r19 |
| 5736: 0c f4 brge .+2 ; 0x573a <MotorRegler+0x15d0> |
| 5738: c9 01 movw r24, r18 |
| 573a: 80 93 66 09 sts 0x0966, r24 |
| 573e: 24 96 adiw r28, 0x04 ; 4 |
| 5740: 0f b6 in r0, 0x3f ; 63 |
| 5742: f8 94 cli |
| 5744: de bf out 0x3e, r29 ; 62 |
| 5746: 0f be out 0x3f, r0 ; 63 |
| 5748: cd bf out 0x3d, r28 ; 61 |
| 574a: df 91 pop r29 |
| 574c: cf 91 pop r28 |
| 574e: 1f 91 pop r17 |
| 5750: 0f 91 pop r16 |
| 5752: ff 90 pop r15 |
| 5754: ef 90 pop r14 |
| 5756: df 90 pop r13 |
| 5758: cf 90 pop r12 |
| 575a: bf 90 pop r11 |
| 575c: af 90 pop r10 |
| 575e: 9f 90 pop r9 |
| 5760: 8f 90 pop r8 |
| 5762: 7f 90 pop r7 |
| 5764: 6f 90 pop r6 |
| 5766: 5f 90 pop r5 |
| 5768: 4f 90 pop r4 |
| 576a: 3f 90 pop r3 |
| 576c: 2f 90 pop r2 |
| 576e: 08 95 ret |
| 00005770 <gps_main>: |
| 5770: 2f 92 push r2 |
| 5772: 3f 92 push r3 |
| 5774: 4f 92 push r4 |
| 5776: 5f 92 push r5 |
| 5778: 6f 92 push r6 |
| 577a: 7f 92 push r7 |
| 577c: 8f 92 push r8 |
| 577e: 9f 92 push r9 |
| 5780: af 92 push r10 |
| 5782: bf 92 push r11 |
| 5784: cf 92 push r12 |
| 5786: df 92 push r13 |
| 5788: ef 92 push r14 |
| 578a: ff 92 push r15 |
| 578c: 0f 93 push r16 |
| 578e: 1f 93 push r17 |
| 5790: cf 93 push r28 |
| 5792: df 93 push r29 |
| 5794: cd b7 in r28, 0x3d ; 61 |
| 5796: de b7 in r29, 0x3e ; 62 |
| 5798: 6f 97 sbiw r28, 0x1f ; 31 |
| 579a: 0f b6 in r0, 0x3f ; 63 |
| 579c: f8 94 cli |
| 579e: de bf out 0x3e, r29 ; 62 |
| 57a0: 0f be out 0x3f, r0 ; 63 |
| 57a2: cd bf out 0x3d, r28 ; 61 |
| 57a4: 20 91 10 0c lds r18, 0x0C10 |
| 57a8: 2d 87 std Y+13, r18 ; 0x0d |
| 57aa: 23 30 cpi r18, 0x03 ; 3 |
| 57ac: 09 f0 breq .+2 ; 0x57b0 <gps_main+0x40> |
| 57ae: 58 c2 rjmp .+1200 ; 0x5c60 <gps_main+0x4f0> |
| 57b0: e0 91 3f 09 lds r30, 0x093F |
| 57b4: ff 27 eor r31, r31 |
| 57b6: ee 0f add r30, r30 |
| 57b8: ff 1f adc r31, r31 |
| 57ba: ee 0f add r30, r30 |
| 57bc: ff 1f adc r31, r31 |
| 57be: e0 52 subi r30, 0x20 ; 32 |
| 57c0: f3 4f sbci r31, 0xF3 ; 243 |
| 57c2: 80 91 fb 0b lds r24, 0x0BFB |
| 57c6: 90 91 fc 0b lds r25, 0x0BFC |
| 57ca: a0 91 fd 0b lds r26, 0x0BFD |
| 57ce: b0 91 fe 0b lds r27, 0x0BFE |
| 57d2: 80 83 st Z, r24 |
| 57d4: 91 83 std Z+1, r25 ; 0x01 |
| 57d6: a2 83 std Z+2, r26 ; 0x02 |
| 57d8: b3 83 std Z+3, r27 ; 0x03 |
| 57da: e0 91 3f 09 lds r30, 0x093F |
| 57de: ff 27 eor r31, r31 |
| 57e0: ee 0f add r30, r30 |
| 57e2: ff 1f adc r31, r31 |
| 57e4: ee 0f add r30, r30 |
| 57e6: ff 1f adc r31, r31 |
| 57e8: e0 50 subi r30, 0x00 ; 0 |
| 57ea: f3 4f sbci r31, 0xF3 ; 243 |
| 57ec: 80 91 ff 0b lds r24, 0x0BFF |
| 57f0: 90 91 00 0c lds r25, 0x0C00 |
| 57f4: a0 91 01 0c lds r26, 0x0C01 |
| 57f8: b0 91 02 0c lds r27, 0x0C02 |
| 57fc: 80 83 st Z, r24 |
| 57fe: 91 83 std Z+1, r25 ; 0x01 |
| 5800: a2 83 std Z+2, r26 ; 0x02 |
| 5802: b3 83 std Z+3, r27 ; 0x03 |
| 5804: 80 91 3f 09 lds r24, 0x093F |
| 5808: 8f 5f subi r24, 0xFF ; 255 |
| 580a: 80 93 3f 09 sts 0x093F, r24 |
| 580e: 80 91 3f 09 lds r24, 0x093F |
| 5812: 88 30 cpi r24, 0x08 ; 8 |
| 5814: 11 f4 brne .+4 ; 0x581a <gps_main+0xaa> |
| 5816: 10 92 3f 09 sts 0x093F, r1 |
| 581a: 80 91 58 09 lds r24, 0x0958 |
| 581e: 90 91 59 09 lds r25, 0x0959 |
| 5822: 08 97 sbiw r24, 0x08 ; 8 |
| 5824: 4c f4 brge .+18 ; 0x5838 <gps_main+0xc8> |
| 5826: 80 91 58 09 lds r24, 0x0958 |
| 582a: 90 91 59 09 lds r25, 0x0959 |
| 582e: 01 96 adiw r24, 0x01 ; 1 |
| 5830: 90 93 59 09 sts 0x0959, r25 |
| 5834: 80 93 58 09 sts 0x0958, r24 |
| 5838: 10 92 48 09 sts 0x0948, r1 |
| 583c: 10 92 49 09 sts 0x0949, r1 |
| 5840: 10 92 4a 09 sts 0x094A, r1 |
| 5844: 10 92 4b 09 sts 0x094B, r1 |
| 5848: 10 92 4c 09 sts 0x094C, r1 |
| 584c: 10 92 4d 09 sts 0x094D, r1 |
| 5850: 10 92 4e 09 sts 0x094E, r1 |
| 5854: 10 92 4f 09 sts 0x094F, r1 |
| 5858: 10 92 50 09 sts 0x0950, r1 |
| 585c: 10 92 51 09 sts 0x0951, r1 |
| 5860: 10 92 52 09 sts 0x0952, r1 |
| 5864: 10 92 53 09 sts 0x0953, r1 |
| 5868: 10 92 54 09 sts 0x0954, r1 |
| 586c: 10 92 55 09 sts 0x0955, r1 |
| 5870: 10 92 56 09 sts 0x0956, r1 |
| 5874: 10 92 57 09 sts 0x0957, r1 |
| 5878: 1c 82 std Y+4, r1 ; 0x04 |
| 587a: 1b 82 std Y+3, r1 ; 0x03 |
| 587c: 80 ee ldi r24, 0xE0 ; 224 |
| 587e: 9c e0 ldi r25, 0x0C ; 12 |
| 5880: 9a 83 std Y+2, r25 ; 0x02 |
| 5882: 89 83 std Y+1, r24 ; 0x01 |
| 5884: a0 e0 ldi r26, 0x00 ; 0 |
| 5886: bd e0 ldi r27, 0x0D ; 13 |
| 5888: bf 8f std Y+31, r27 ; 0x1f |
| 588a: ae 8f std Y+30, r26 ; 0x1e |
| 588c: 30 c1 rjmp .+608 ; 0x5aee <gps_main+0x37e> |
| 588e: 20 90 48 09 lds r2, 0x0948 |
| 5892: 30 90 49 09 lds r3, 0x0949 |
| 5896: 40 90 4a 09 lds r4, 0x094A |
| 589a: 50 90 4b 09 lds r5, 0x094B |
| 589e: 60 90 4c 09 lds r6, 0x094C |
| 58a2: 70 90 4d 09 lds r7, 0x094D |
| 58a6: 80 90 4e 09 lds r8, 0x094E |
| 58aa: 90 90 4f 09 lds r9, 0x094F |
| 58ae: e9 81 ldd r30, Y+1 ; 0x01 |
| 58b0: fa 81 ldd r31, Y+2 ; 0x02 |
| 58b2: 20 81 ld r18, Z |
| 58b4: 31 81 ldd r19, Z+1 ; 0x01 |
| 58b6: 42 81 ldd r20, Z+2 ; 0x02 |
| 58b8: 53 81 ldd r21, Z+3 ; 0x03 |
| 58ba: da 01 movw r26, r20 |
| 58bc: c9 01 movw r24, r18 |
| 58be: bb 0f add r27, r27 |
| 58c0: 88 0b sbc r24, r24 |
| 58c2: 98 2f mov r25, r24 |
| 58c4: dc 01 movw r26, r24 |
| 58c6: 2e 87 std Y+14, r18 ; 0x0e |
| 58c8: 3f 87 std Y+15, r19 ; 0x0f |
| 58ca: 48 8b std Y+16, r20 ; 0x10 |
| 58cc: 59 8b std Y+17, r21 ; 0x11 |
| 58ce: 8a 8b std Y+18, r24 ; 0x12 |
| 58d0: 8b 8b std Y+19, r24 ; 0x13 |
| 58d2: 8c 8b std Y+20, r24 ; 0x14 |
| 58d4: 8d 8b std Y+21, r24 ; 0x15 |
| 58d6: ae 84 ldd r10, Y+14 ; 0x0e |
| 58d8: a2 0c add r10, r2 |
| 58da: 81 e0 ldi r24, 0x01 ; 1 |
| 58dc: a2 14 cp r10, r2 |
| 58de: 08 f0 brcs .+2 ; 0x58e2 <gps_main+0x172> |
| 58e0: 80 e0 ldi r24, 0x00 ; 0 |
| 58e2: bf 84 ldd r11, Y+15 ; 0x0f |
| 58e4: b3 0c add r11, r3 |
| 58e6: 21 e0 ldi r18, 0x01 ; 1 |
| 58e8: b3 14 cp r11, r3 |
| 58ea: 08 f0 brcs .+2 ; 0x58ee <gps_main+0x17e> |
| 58ec: 20 e0 ldi r18, 0x00 ; 0 |
| 58ee: 8b 0d add r24, r11 |
| 58f0: 91 e0 ldi r25, 0x01 ; 1 |
| 58f2: 8b 15 cp r24, r11 |
| 58f4: 08 f0 brcs .+2 ; 0x58f8 <gps_main+0x188> |
| 58f6: 90 e0 ldi r25, 0x00 ; 0 |
| 58f8: 29 2b or r18, r25 |
| 58fa: b8 2e mov r11, r24 |
| 58fc: c8 88 ldd r12, Y+16 ; 0x10 |
| 58fe: c4 0c add r12, r4 |
| 5900: 31 e0 ldi r19, 0x01 ; 1 |
| 5902: c4 14 cp r12, r4 |
| 5904: 08 f0 brcs .+2 ; 0x5908 <gps_main+0x198> |
| 5906: 30 e0 ldi r19, 0x00 ; 0 |
| 5908: 82 2f mov r24, r18 |
| 590a: 8c 0d add r24, r12 |
| 590c: 91 e0 ldi r25, 0x01 ; 1 |
| 590e: 8c 15 cp r24, r12 |
| 5910: 08 f0 brcs .+2 ; 0x5914 <gps_main+0x1a4> |
| 5912: 90 e0 ldi r25, 0x00 ; 0 |
| 5914: 39 2b or r19, r25 |
| 5916: c8 2e mov r12, r24 |
| 5918: d9 88 ldd r13, Y+17 ; 0x11 |
| 591a: d5 0c add r13, r5 |
| 591c: 21 e0 ldi r18, 0x01 ; 1 |
| 591e: d5 14 cp r13, r5 |
| 5920: 08 f0 brcs .+2 ; 0x5924 <gps_main+0x1b4> |
| 5922: 20 e0 ldi r18, 0x00 ; 0 |
| 5924: 83 2f mov r24, r19 |
| 5926: 8d 0d add r24, r13 |
| 5928: 91 e0 ldi r25, 0x01 ; 1 |
| 592a: 8d 15 cp r24, r13 |
| 592c: 08 f0 brcs .+2 ; 0x5930 <gps_main+0x1c0> |
| 592e: 90 e0 ldi r25, 0x00 ; 0 |
| 5930: 29 2b or r18, r25 |
| 5932: d8 2e mov r13, r24 |
| 5934: ea 88 ldd r14, Y+18 ; 0x12 |
| 5936: e6 0c add r14, r6 |
| 5938: 31 e0 ldi r19, 0x01 ; 1 |
| 593a: e6 14 cp r14, r6 |
| 593c: 08 f0 brcs .+2 ; 0x5940 <gps_main+0x1d0> |
| 593e: 30 e0 ldi r19, 0x00 ; 0 |
| 5940: 82 2f mov r24, r18 |
| 5942: 8e 0d add r24, r14 |
| 5944: 91 e0 ldi r25, 0x01 ; 1 |
| 5946: 8e 15 cp r24, r14 |
| 5948: 08 f0 brcs .+2 ; 0x594c <gps_main+0x1dc> |
| 594a: 90 e0 ldi r25, 0x00 ; 0 |
| 594c: 39 2b or r19, r25 |
| 594e: e8 2e mov r14, r24 |
| 5950: fb 88 ldd r15, Y+19 ; 0x13 |
| 5952: f7 0c add r15, r7 |
| 5954: 21 e0 ldi r18, 0x01 ; 1 |
| 5956: f7 14 cp r15, r7 |
| 5958: 08 f0 brcs .+2 ; 0x595c <gps_main+0x1ec> |
| 595a: 20 e0 ldi r18, 0x00 ; 0 |
| 595c: 83 2f mov r24, r19 |
| 595e: 8f 0d add r24, r15 |
| 5960: 91 e0 ldi r25, 0x01 ; 1 |
| 5962: 8f 15 cp r24, r15 |
| 5964: 08 f0 brcs .+2 ; 0x5968 <gps_main+0x1f8> |
| 5966: 90 e0 ldi r25, 0x00 ; 0 |
| 5968: 29 2b or r18, r25 |
| 596a: f8 2e mov r15, r24 |
| 596c: 0c 89 ldd r16, Y+20 ; 0x14 |
| 596e: 08 0d add r16, r8 |
| 5970: 91 e0 ldi r25, 0x01 ; 1 |
| 5972: 08 15 cp r16, r8 |
| 5974: 08 f0 brcs .+2 ; 0x5978 <gps_main+0x208> |
| 5976: 90 e0 ldi r25, 0x00 ; 0 |
| 5978: 82 2f mov r24, r18 |
| 597a: 80 0f add r24, r16 |
| 597c: e1 e0 ldi r30, 0x01 ; 1 |
| 597e: 80 17 cp r24, r16 |
| 5980: 08 f0 brcs .+2 ; 0x5984 <gps_main+0x214> |
| 5982: e0 e0 ldi r30, 0x00 ; 0 |
| 5984: ae 2f mov r26, r30 |
| 5986: a9 2b or r26, r25 |
| 5988: 1d 89 ldd r17, Y+21 ; 0x15 |
| 598a: 19 0d add r17, r9 |
| 598c: a1 0f add r26, r17 |
| 598e: a0 92 48 09 sts 0x0948, r10 |
| 5992: b0 92 49 09 sts 0x0949, r11 |
| 5996: c0 92 4a 09 sts 0x094A, r12 |
| 599a: d0 92 4b 09 sts 0x094B, r13 |
| 599e: e0 92 4c 09 sts 0x094C, r14 |
| 59a2: f0 92 4d 09 sts 0x094D, r15 |
| 59a6: 80 93 4e 09 sts 0x094E, r24 |
| 59aa: a0 93 4f 09 sts 0x094F, r26 |
| 59ae: 20 90 50 09 lds r2, 0x0950 |
| 59b2: 30 90 51 09 lds r3, 0x0951 |
| 59b6: 40 90 52 09 lds r4, 0x0952 |
| 59ba: 50 90 53 09 lds r5, 0x0953 |
| 59be: 60 90 54 09 lds r6, 0x0954 |
| 59c2: 70 90 55 09 lds r7, 0x0955 |
| 59c6: 80 90 56 09 lds r8, 0x0956 |
| 59ca: 90 90 57 09 lds r9, 0x0957 |
| 59ce: ae 8d ldd r26, Y+30 ; 0x1e |
| 59d0: bf 8d ldd r27, Y+31 ; 0x1f |
| 59d2: 2d 91 ld r18, X+ |
| 59d4: 3d 91 ld r19, X+ |
| 59d6: 4d 91 ld r20, X+ |
| 59d8: 5c 91 ld r21, X |
| 59da: da 01 movw r26, r20 |
| 59dc: c9 01 movw r24, r18 |
| 59de: bb 0f add r27, r27 |
| 59e0: 88 0b sbc r24, r24 |
| 59e2: 98 2f mov r25, r24 |
| 59e4: dc 01 movw r26, r24 |
| 59e6: 2e 8b std Y+22, r18 ; 0x16 |
| 59e8: 3f 8b std Y+23, r19 ; 0x17 |
| 59ea: 48 8f std Y+24, r20 ; 0x18 |
| 59ec: 59 8f std Y+25, r21 ; 0x19 |
| 59ee: 8a 8f std Y+26, r24 ; 0x1a |
| 59f0: 8b 8f std Y+27, r24 ; 0x1b |
| 59f2: 8c 8f std Y+28, r24 ; 0x1c |
| 59f4: 8d 8f std Y+29, r24 ; 0x1d |
| 59f6: ae 88 ldd r10, Y+22 ; 0x16 |
| 59f8: a2 0c add r10, r2 |
| 59fa: 81 e0 ldi r24, 0x01 ; 1 |
| 59fc: a2 14 cp r10, r2 |
| 59fe: 08 f0 brcs .+2 ; 0x5a02 <gps_main+0x292> |
| 5a00: 80 e0 ldi r24, 0x00 ; 0 |
| 5a02: bf 88 ldd r11, Y+23 ; 0x17 |
| 5a04: b3 0c add r11, r3 |
| 5a06: 21 e0 ldi r18, 0x01 ; 1 |
| 5a08: b3 14 cp r11, r3 |
| 5a0a: 08 f0 brcs .+2 ; 0x5a0e <gps_main+0x29e> |
| 5a0c: 20 e0 ldi r18, 0x00 ; 0 |
| 5a0e: 8b 0d add r24, r11 |
| 5a10: 91 e0 ldi r25, 0x01 ; 1 |
| 5a12: 8b 15 cp r24, r11 |
| 5a14: 08 f0 brcs .+2 ; 0x5a18 <gps_main+0x2a8> |
| 5a16: 90 e0 ldi r25, 0x00 ; 0 |
| 5a18: 29 2b or r18, r25 |
| 5a1a: b8 2e mov r11, r24 |
| 5a1c: c8 8c ldd r12, Y+24 ; 0x18 |
| 5a1e: c4 0c add r12, r4 |
| 5a20: 31 e0 ldi r19, 0x01 ; 1 |
| 5a22: c4 14 cp r12, r4 |
| 5a24: 08 f0 brcs .+2 ; 0x5a28 <gps_main+0x2b8> |
| 5a26: 30 e0 ldi r19, 0x00 ; 0 |
| 5a28: 82 2f mov r24, r18 |
| 5a2a: 8c 0d add r24, r12 |
| 5a2c: 91 e0 ldi r25, 0x01 ; 1 |
| 5a2e: 8c 15 cp r24, r12 |
| 5a30: 08 f0 brcs .+2 ; 0x5a34 <gps_main+0x2c4> |
| 5a32: 90 e0 ldi r25, 0x00 ; 0 |
| 5a34: 39 2b or r19, r25 |
| 5a36: c8 2e mov r12, r24 |
| 5a38: d9 8c ldd r13, Y+25 ; 0x19 |
| 5a3a: d5 0c add r13, r5 |
| 5a3c: 21 e0 ldi r18, 0x01 ; 1 |
| 5a3e: d5 14 cp r13, r5 |
| 5a40: 08 f0 brcs .+2 ; 0x5a44 <gps_main+0x2d4> |
| 5a42: 20 e0 ldi r18, 0x00 ; 0 |
| 5a44: 83 2f mov r24, r19 |
| 5a46: 8d 0d add r24, r13 |
| 5a48: 91 e0 ldi r25, 0x01 ; 1 |
| 5a4a: 8d 15 cp r24, r13 |
| 5a4c: 08 f0 brcs .+2 ; 0x5a50 <gps_main+0x2e0> |
| 5a4e: 90 e0 ldi r25, 0x00 ; 0 |
| 5a50: 29 2b or r18, r25 |
| 5a52: d8 2e mov r13, r24 |
| 5a54: ea 8c ldd r14, Y+26 ; 0x1a |
| 5a56: e6 0c add r14, r6 |
| 5a58: 31 e0 ldi r19, 0x01 ; 1 |
| 5a5a: e6 14 cp r14, r6 |
| 5a5c: 08 f0 brcs .+2 ; 0x5a60 <gps_main+0x2f0> |
| 5a5e: 30 e0 ldi r19, 0x00 ; 0 |
| 5a60: 82 2f mov r24, r18 |
| 5a62: 8e 0d add r24, r14 |
| 5a64: 91 e0 ldi r25, 0x01 ; 1 |
| 5a66: 8e 15 cp r24, r14 |
| 5a68: 08 f0 brcs .+2 ; 0x5a6c <gps_main+0x2fc> |
| 5a6a: 90 e0 ldi r25, 0x00 ; 0 |
| 5a6c: 39 2b or r19, r25 |
| 5a6e: e8 2e mov r14, r24 |
| 5a70: fb 8c ldd r15, Y+27 ; 0x1b |
| 5a72: f7 0c add r15, r7 |
| 5a74: 21 e0 ldi r18, 0x01 ; 1 |
| 5a76: f7 14 cp r15, r7 |
| 5a78: 08 f0 brcs .+2 ; 0x5a7c <gps_main+0x30c> |
| 5a7a: 20 e0 ldi r18, 0x00 ; 0 |
| 5a7c: 83 2f mov r24, r19 |
| 5a7e: 8f 0d add r24, r15 |
| 5a80: 91 e0 ldi r25, 0x01 ; 1 |
| 5a82: 8f 15 cp r24, r15 |
| 5a84: 08 f0 brcs .+2 ; 0x5a88 <gps_main+0x318> |
| 5a86: 90 e0 ldi r25, 0x00 ; 0 |
| 5a88: 29 2b or r18, r25 |
| 5a8a: f8 2e mov r15, r24 |
| 5a8c: 0c 8d ldd r16, Y+28 ; 0x1c |
| 5a8e: 08 0d add r16, r8 |
| 5a90: 91 e0 ldi r25, 0x01 ; 1 |
| 5a92: 08 15 cp r16, r8 |
| 5a94: 08 f0 brcs .+2 ; 0x5a98 <gps_main+0x328> |
| 5a96: 90 e0 ldi r25, 0x00 ; 0 |
| 5a98: 82 2f mov r24, r18 |
| 5a9a: 80 0f add r24, r16 |
| 5a9c: e1 e0 ldi r30, 0x01 ; 1 |
| 5a9e: 80 17 cp r24, r16 |
| 5aa0: 08 f0 brcs .+2 ; 0x5aa4 <gps_main+0x334> |
| 5aa2: e0 e0 ldi r30, 0x00 ; 0 |
| 5aa4: ae 2f mov r26, r30 |
| 5aa6: a9 2b or r26, r25 |
| 5aa8: 1d 8d ldd r17, Y+29 ; 0x1d |
| 5aaa: 19 0d add r17, r9 |
| 5aac: a1 0f add r26, r17 |
| 5aae: a0 92 50 09 sts 0x0950, r10 |
| 5ab2: b0 92 51 09 sts 0x0951, r11 |
| 5ab6: c0 92 52 09 sts 0x0952, r12 |
| 5aba: d0 92 53 09 sts 0x0953, r13 |
| 5abe: e0 92 54 09 sts 0x0954, r14 |
| 5ac2: f0 92 55 09 sts 0x0955, r15 |
| 5ac6: 80 93 56 09 sts 0x0956, r24 |
| 5aca: a0 93 57 09 sts 0x0957, r26 |
| 5ace: eb 81 ldd r30, Y+3 ; 0x03 |
| 5ad0: fc 81 ldd r31, Y+4 ; 0x04 |
| 5ad2: 31 96 adiw r30, 0x01 ; 1 |
| 5ad4: fc 83 std Y+4, r31 ; 0x04 |
| 5ad6: eb 83 std Y+3, r30 ; 0x03 |
| 5ad8: 29 81 ldd r18, Y+1 ; 0x01 |
| 5ada: 3a 81 ldd r19, Y+2 ; 0x02 |
| 5adc: 2c 5f subi r18, 0xFC ; 252 |
| 5ade: 3f 4f sbci r19, 0xFF ; 255 |
| 5ae0: 3a 83 std Y+2, r19 ; 0x02 |
| 5ae2: 29 83 std Y+1, r18 ; 0x01 |
| 5ae4: 8e 8d ldd r24, Y+30 ; 0x1e |
| 5ae6: 9f 8d ldd r25, Y+31 ; 0x1f |
| 5ae8: 04 96 adiw r24, 0x04 ; 4 |
| 5aea: 9f 8f std Y+31, r25 ; 0x1f |
| 5aec: 8e 8f std Y+30, r24 ; 0x1e |
| 5aee: 80 91 58 09 lds r24, 0x0958 |
| 5af2: 90 91 59 09 lds r25, 0x0959 |
| 5af6: ab 81 ldd r26, Y+3 ; 0x03 |
| 5af8: bc 81 ldd r27, Y+4 ; 0x04 |
| 5afa: a8 17 cp r26, r24 |
| 5afc: b9 07 cpc r27, r25 |
| 5afe: 0c f4 brge .+2 ; 0x5b02 <gps_main+0x392> |
| 5b00: c6 ce rjmp .-628 ; 0x588e <gps_main+0x11e> |
| 5b02: 20 90 48 09 lds r2, 0x0948 |
| 5b06: 30 90 49 09 lds r3, 0x0949 |
| 5b0a: 40 90 4a 09 lds r4, 0x094A |
| 5b0e: 50 90 4b 09 lds r5, 0x094B |
| 5b12: 60 90 4c 09 lds r6, 0x094C |
| 5b16: 70 90 4d 09 lds r7, 0x094D |
| 5b1a: 80 90 4e 09 lds r8, 0x094E |
| 5b1e: 90 90 4f 09 lds r9, 0x094F |
| 5b22: a0 91 58 09 lds r26, 0x0958 |
| 5b26: b0 91 59 09 lds r27, 0x0959 |
| 5b2a: fd 01 movw r30, r26 |
| 5b2c: ff 0f add r31, r31 |
| 5b2e: ee 0b sbc r30, r30 |
| 5b30: fe 2f mov r31, r30 |
| 5b32: 9d 01 movw r18, r26 |
| 5b34: aa 2e mov r10, r26 |
| 5b36: b3 2e mov r11, r19 |
| 5b38: ce 2e mov r12, r30 |
| 5b3a: de 2e mov r13, r30 |
| 5b3c: ee 2e mov r14, r30 |
| 5b3e: fe 2e mov r15, r30 |
| 5b40: 0e 2f mov r16, r30 |
| 5b42: 1e 2f mov r17, r30 |
| 5b44: 22 2d mov r18, r2 |
| 5b46: 33 2d mov r19, r3 |
| 5b48: 44 2d mov r20, r4 |
| 5b4a: 55 2d mov r21, r5 |
| 5b4c: 66 2d mov r22, r6 |
| 5b4e: 77 2d mov r23, r7 |
| 5b50: 88 2d mov r24, r8 |
| 5b52: 99 2d mov r25, r9 |
| 5b54: 0e 94 8b 32 call 0x6516 ; 0x6516 <__divdi3> |
| 5b58: 20 93 48 09 sts 0x0948, r18 |
| 5b5c: 30 93 49 09 sts 0x0949, r19 |
| 5b60: 40 93 4a 09 sts 0x094A, r20 |
| 5b64: 50 93 4b 09 sts 0x094B, r21 |
| 5b68: 60 93 4c 09 sts 0x094C, r22 |
| 5b6c: 70 93 4d 09 sts 0x094D, r23 |
| 5b70: 80 93 4e 09 sts 0x094E, r24 |
| 5b74: 90 93 4f 09 sts 0x094F, r25 |
| 5b78: 20 90 50 09 lds r2, 0x0950 |
| 5b7c: 30 90 51 09 lds r3, 0x0951 |
| 5b80: 40 90 52 09 lds r4, 0x0952 |
| 5b84: 50 90 53 09 lds r5, 0x0953 |
| 5b88: 60 90 54 09 lds r6, 0x0954 |
| 5b8c: 70 90 55 09 lds r7, 0x0955 |
| 5b90: 80 90 56 09 lds r8, 0x0956 |
| 5b94: 90 90 57 09 lds r9, 0x0957 |
| 5b98: a0 91 58 09 lds r26, 0x0958 |
| 5b9c: b0 91 59 09 lds r27, 0x0959 |
| 5ba0: fd 01 movw r30, r26 |
| 5ba2: ff 0f add r31, r31 |
| 5ba4: ee 0b sbc r30, r30 |
| 5ba6: fe 2f mov r31, r30 |
| 5ba8: 9d 01 movw r18, r26 |
| 5baa: aa 2e mov r10, r26 |
| 5bac: b3 2e mov r11, r19 |
| 5bae: ce 2e mov r12, r30 |
| 5bb0: de 2e mov r13, r30 |
| 5bb2: ee 2e mov r14, r30 |
| 5bb4: fe 2e mov r15, r30 |
| 5bb6: 0e 2f mov r16, r30 |
| 5bb8: 1e 2f mov r17, r30 |
| 5bba: 22 2d mov r18, r2 |
| 5bbc: 33 2d mov r19, r3 |
| 5bbe: 44 2d mov r20, r4 |
| 5bc0: 55 2d mov r21, r5 |
| 5bc2: 66 2d mov r22, r6 |
| 5bc4: 77 2d mov r23, r7 |
| 5bc6: 88 2d mov r24, r8 |
| 5bc8: 99 2d mov r25, r9 |
| 5bca: 0e 94 8b 32 call 0x6516 ; 0x6516 <__divdi3> |
| 5bce: 20 93 50 09 sts 0x0950, r18 |
| 5bd2: 30 93 51 09 sts 0x0951, r19 |
| 5bd6: 40 93 52 09 sts 0x0952, r20 |
| 5bda: 50 93 53 09 sts 0x0953, r21 |
| 5bde: 60 93 54 09 sts 0x0954, r22 |
| 5be2: 70 93 55 09 sts 0x0955, r23 |
| 5be6: 80 93 56 09 sts 0x0956, r24 |
| 5bea: 90 93 57 09 sts 0x0957, r25 |
| 5bee: 20 91 48 09 lds r18, 0x0948 |
| 5bf2: 30 91 49 09 lds r19, 0x0949 |
| 5bf6: 40 91 4a 09 lds r20, 0x094A |
| 5bfa: 50 91 4b 09 lds r21, 0x094B |
| 5bfe: 60 91 4c 09 lds r22, 0x094C |
| 5c02: 70 91 4d 09 lds r23, 0x094D |
| 5c06: 80 91 4e 09 lds r24, 0x094E |
| 5c0a: 90 91 4f 09 lds r25, 0x094F |
| 5c0e: 20 93 40 09 sts 0x0940, r18 |
| 5c12: 30 93 41 09 sts 0x0941, r19 |
| 5c16: 40 93 42 09 sts 0x0942, r20 |
| 5c1a: 50 93 43 09 sts 0x0943, r21 |
| 5c1e: 20 91 50 09 lds r18, 0x0950 |
| 5c22: 30 91 51 09 lds r19, 0x0951 |
| 5c26: 40 91 52 09 lds r20, 0x0952 |
| 5c2a: 50 91 53 09 lds r21, 0x0953 |
| 5c2e: 60 91 54 09 lds r22, 0x0954 |
| 5c32: 70 91 55 09 lds r23, 0x0955 |
| 5c36: 80 91 56 09 lds r24, 0x0956 |
| 5c3a: 90 91 57 09 lds r25, 0x0957 |
| 5c3e: 20 93 44 09 sts 0x0944, r18 |
| 5c42: 30 93 45 09 sts 0x0945, r19 |
| 5c46: 40 93 46 09 sts 0x0946, r20 |
| 5c4a: 50 93 47 09 sts 0x0947, r21 |
| 5c4e: 81 e0 ldi r24, 0x01 ; 1 |
| 5c50: 80 93 3e 09 sts 0x093E, r24 |
| 5c54: 20 91 d6 08 lds r18, 0x08D6 |
| 5c58: 21 30 cpi r18, 0x01 ; 1 |
| 5c5a: 09 f0 breq .+2 ; 0x5c5e <gps_main+0x4ee> |
| 5c5c: 73 c0 rjmp .+230 ; 0x5d44 <gps_main+0x5d4> |
| 5c5e: 1c c0 rjmp .+56 ; 0x5c98 <gps_main+0x528> |
| 5c60: bd 85 ldd r27, Y+13 ; 0x0d |
| 5c62: b3 30 cpi r27, 0x03 ; 3 |
| 5c64: 08 f0 brcs .+2 ; 0x5c68 <gps_main+0x4f8> |
| 5c66: 6e c0 rjmp .+220 ; 0x5d44 <gps_main+0x5d4> |
| 5c68: 80 91 c3 08 lds r24, 0x08C3 |
| 5c6c: 90 91 c4 08 lds r25, 0x08C4 |
| 5c70: 87 34 cpi r24, 0x47 ; 71 |
| 5c72: 91 05 cpc r25, r1 |
| 5c74: 0c f4 brge .+2 ; 0x5c78 <gps_main+0x508> |
| 5c76: 66 c0 rjmp .+204 ; 0x5d44 <gps_main+0x5d4> |
| 5c78: 10 92 31 09 sts 0x0931, r1 |
| 5c7c: 10 92 30 09 sts 0x0930, r1 |
| 5c80: 10 92 33 09 sts 0x0933, r1 |
| 5c84: 10 92 32 09 sts 0x0932, r1 |
| 5c88: 43 98 cbi 0x08, 3 ; 8 |
| 5c8a: 82 e3 ldi r24, 0x32 ; 50 |
| 5c8c: 90 e0 ldi r25, 0x00 ; 0 |
| 5c8e: 90 93 48 08 sts 0x0848, r25 |
| 5c92: 80 93 47 08 sts 0x0847, r24 |
| 5c96: 56 c0 rjmp .+172 ; 0x5d44 <gps_main+0x5d4> |
| 5c98: 80 91 34 09 lds r24, 0x0934 |
| 5c9c: 88 23 and r24, r24 |
| 5c9e: 09 f0 breq .+2 ; 0x5ca2 <gps_main+0x532> |
| 5ca0: 6b c0 rjmp .+214 ; 0x5d78 <gps_main+0x608> |
| 5ca2: 80 91 bc 08 lds r24, 0x08BC |
| 5ca6: 90 91 bd 08 lds r25, 0x08BD |
| 5caa: 80 5d subi r24, 0xD0 ; 208 |
| 5cac: 97 40 sbci r25, 0x07 ; 7 |
| 5cae: 08 f0 brcs .+2 ; 0x5cb2 <gps_main+0x542> |
| 5cb0: 63 c0 rjmp .+198 ; 0x5d78 <gps_main+0x608> |
| 5cb2: 80 91 40 09 lds r24, 0x0940 |
| 5cb6: 90 91 41 09 lds r25, 0x0941 |
| 5cba: a0 91 42 09 lds r26, 0x0942 |
| 5cbe: b0 91 43 09 lds r27, 0x0943 |
| 5cc2: 80 93 35 09 sts 0x0935, r24 |
| 5cc6: 90 93 36 09 sts 0x0936, r25 |
| 5cca: a0 93 37 09 sts 0x0937, r26 |
| 5cce: b0 93 38 09 sts 0x0938, r27 |
| 5cd2: 80 91 44 09 lds r24, 0x0944 |
| 5cd6: 90 91 45 09 lds r25, 0x0945 |
| 5cda: a0 91 46 09 lds r26, 0x0946 |
| 5cde: b0 91 47 09 lds r27, 0x0947 |
| 5ce2: 80 93 39 09 sts 0x0939, r24 |
| 5ce6: 90 93 3a 09 sts 0x093A, r25 |
| 5cea: a0 93 3b 09 sts 0x093B, r26 |
| 5cee: b0 93 3c 09 sts 0x093C, r27 |
| 5cf2: 80 91 40 09 lds r24, 0x0940 |
| 5cf6: 90 91 41 09 lds r25, 0x0941 |
| 5cfa: a0 91 42 09 lds r26, 0x0942 |
| 5cfe: b0 91 43 09 lds r27, 0x0943 |
| 5d02: 80 93 04 09 sts 0x0904, r24 |
| 5d06: 90 93 05 09 sts 0x0905, r25 |
| 5d0a: a0 93 06 09 sts 0x0906, r26 |
| 5d0e: b0 93 07 09 sts 0x0907, r27 |
| 5d12: 80 91 44 09 lds r24, 0x0944 |
| 5d16: 90 91 45 09 lds r25, 0x0945 |
| 5d1a: a0 91 46 09 lds r26, 0x0946 |
| 5d1e: b0 91 47 09 lds r27, 0x0947 |
| 5d22: 80 93 08 09 sts 0x0908, r24 |
| 5d26: 90 93 09 09 sts 0x0909, r25 |
| 5d2a: a0 93 0a 09 sts 0x090A, r26 |
| 5d2e: b0 93 0b 09 sts 0x090B, r27 |
| 5d32: 82 e3 ldi r24, 0x32 ; 50 |
| 5d34: 90 e0 ldi r25, 0x00 ; 0 |
| 5d36: 90 93 48 08 sts 0x0848, r25 |
| 5d3a: 80 93 47 08 sts 0x0847, r24 |
| 5d3e: 20 93 34 09 sts 0x0934, r18 |
| 5d42: 1a c0 rjmp .+52 ; 0x5d78 <gps_main+0x608> |
| 5d44: 80 91 d6 08 lds r24, 0x08D6 |
| 5d48: 88 23 and r24, r24 |
| 5d4a: b1 f4 brne .+44 ; 0x5d78 <gps_main+0x608> |
| 5d4c: 10 92 35 09 sts 0x0935, r1 |
| 5d50: 10 92 36 09 sts 0x0936, r1 |
| 5d54: 10 92 37 09 sts 0x0937, r1 |
| 5d58: 10 92 38 09 sts 0x0938, r1 |
| 5d5c: 10 92 39 09 sts 0x0939, r1 |
| 5d60: 10 92 3a 09 sts 0x093A, r1 |
| 5d64: 10 92 3b 09 sts 0x093B, r1 |
| 5d68: 10 92 3c 09 sts 0x093C, r1 |
| 5d6c: 10 92 34 09 sts 0x0934, r1 |
| 5d70: 10 92 bd 08 sts 0x08BD, r1 |
| 5d74: 10 92 bc 08 sts 0x08BC, r1 |
| 5d78: 20 91 c3 08 lds r18, 0x08C3 |
| 5d7c: 30 91 c4 08 lds r19, 0x08C4 |
| 5d80: 3f 8f std Y+31, r19 ; 0x1f |
| 5d82: 2e 8f std Y+30, r18 ; 0x1e |
| 5d84: 26 34 cpi r18, 0x46 ; 70 |
| 5d86: 31 05 cpc r19, r1 |
| 5d88: 4c f5 brge .+82 ; 0x5ddc <gps_main+0x66c> |
| 5d8a: 80 91 40 09 lds r24, 0x0940 |
| 5d8e: 90 91 41 09 lds r25, 0x0941 |
| 5d92: a0 91 42 09 lds r26, 0x0942 |
| 5d96: b0 91 43 09 lds r27, 0x0943 |
| 5d9a: 80 93 04 09 sts 0x0904, r24 |
| 5d9e: 90 93 05 09 sts 0x0905, r25 |
| 5da2: a0 93 06 09 sts 0x0906, r26 |
| 5da6: b0 93 07 09 sts 0x0907, r27 |
| 5daa: 80 91 44 09 lds r24, 0x0944 |
| 5dae: 90 91 45 09 lds r25, 0x0945 |
| 5db2: a0 91 46 09 lds r26, 0x0946 |
| 5db6: b0 91 47 09 lds r27, 0x0947 |
| 5dba: 80 93 08 09 sts 0x0908, r24 |
| 5dbe: 90 93 09 09 sts 0x0909, r25 |
| 5dc2: a0 93 0a 09 sts 0x090A, r26 |
| 5dc6: b0 93 0b 09 sts 0x090B, r27 |
| 5dca: 10 92 31 09 sts 0x0931, r1 |
| 5dce: 10 92 30 09 sts 0x0930, r1 |
| 5dd2: 10 92 33 09 sts 0x0933, r1 |
| 5dd6: 10 92 32 09 sts 0x0932, r1 |
| 5dda: 43 98 cbi 0x08, 3 ; 8 |
| 5ddc: 3d 85 ldd r19, Y+13 ; 0x0d |
| 5dde: 33 30 cpi r19, 0x03 ; 3 |
| 5de0: 09 f0 breq .+2 ; 0x5de4 <gps_main+0x674> |
| 5de2: 80 c3 rjmp .+1792 ; 0x64e4 <gps_main+0xd74> |
| 5de4: 8e 8d ldd r24, Y+30 ; 0x1e |
| 5de6: 9f 8d ldd r25, Y+31 ; 0x1f |
| 5de8: 87 34 cpi r24, 0x47 ; 71 |
| 5dea: 91 05 cpc r25, r1 |
| 5dec: 0c f4 brge .+2 ; 0x5df0 <gps_main+0x680> |
| 5dee: 7a c3 rjmp .+1780 ; 0x64e4 <gps_main+0xd74> |
| 5df0: 86 39 cpi r24, 0x96 ; 150 |
| 5df2: 91 05 cpc r25, r1 |
| 5df4: 0c f0 brlt .+2 ; 0x5df8 <gps_main+0x688> |
| 5df6: 48 c0 rjmp .+144 ; 0x5e88 <gps_main+0x718> |
| 5df8: 80 91 d0 08 lds r24, 0x08D0 |
| 5dfc: 90 91 d1 08 lds r25, 0x08D1 |
| 5e00: 0c 96 adiw r24, 0x0c ; 12 |
| 5e02: 49 97 sbiw r24, 0x19 ; 25 |
| 5e04: 50 f4 brcc .+20 ; 0x5e1a <gps_main+0x6aa> |
| 5e06: 80 91 d2 08 lds r24, 0x08D2 |
| 5e0a: 90 91 d3 08 lds r25, 0x08D3 |
| 5e0e: 8d 30 cpi r24, 0x0D ; 13 |
| 5e10: 91 05 cpc r25, r1 |
| 5e12: 1c f4 brge .+6 ; 0x5e1a <gps_main+0x6aa> |
| 5e14: 84 5f subi r24, 0xF4 ; 244 |
| 5e16: 9f 4f sbci r25, 0xFF ; 255 |
| 5e18: bc f5 brge .+110 ; 0x5e88 <gps_main+0x718> |
| 5e1a: 10 92 31 09 sts 0x0931, r1 |
| 5e1e: 10 92 30 09 sts 0x0930, r1 |
| 5e22: 10 92 33 09 sts 0x0933, r1 |
| 5e26: 10 92 32 09 sts 0x0932, r1 |
| 5e2a: 80 91 40 09 lds r24, 0x0940 |
| 5e2e: 90 91 41 09 lds r25, 0x0941 |
| 5e32: a0 91 42 09 lds r26, 0x0942 |
| 5e36: b0 91 43 09 lds r27, 0x0943 |
| 5e3a: 80 93 04 09 sts 0x0904, r24 |
| 5e3e: 90 93 05 09 sts 0x0905, r25 |
| 5e42: a0 93 06 09 sts 0x0906, r26 |
| 5e46: b0 93 07 09 sts 0x0907, r27 |
| 5e4a: 80 91 44 09 lds r24, 0x0944 |
| 5e4e: 90 91 45 09 lds r25, 0x0945 |
| 5e52: a0 91 46 09 lds r26, 0x0946 |
| 5e56: b0 91 47 09 lds r27, 0x0947 |
| 5e5a: 80 93 08 09 sts 0x0908, r24 |
| 5e5e: 90 93 09 09 sts 0x0909, r25 |
| 5e62: a0 93 0a 09 sts 0x090A, r26 |
| 5e66: b0 93 0b 09 sts 0x090B, r27 |
| 5e6a: 80 91 3d 09 lds r24, 0x093D |
| 5e6e: 88 3c cpi r24, 0xC8 ; 200 |
| 5e70: 30 f0 brcs .+12 ; 0x5e7e <gps_main+0x70e> |
| 5e72: 88 b1 in r24, 0x08 ; 8 |
| 5e74: 98 e0 ldi r25, 0x08 ; 8 |
| 5e76: 89 27 eor r24, r25 |
| 5e78: 88 b9 out 0x08, r24 ; 8 |
| 5e7a: 10 92 3d 09 sts 0x093D, r1 |
| 5e7e: 80 91 3d 09 lds r24, 0x093D |
| 5e82: 8f 5f subi r24, 0xFF ; 255 |
| 5e84: 80 93 3d 09 sts 0x093D, r24 |
| 5e88: 80 91 3e 09 lds r24, 0x093E |
| 5e8c: 81 30 cpi r24, 0x01 ; 1 |
| 5e8e: 09 f0 breq .+2 ; 0x5e92 <gps_main+0x722> |
| 5e90: 29 c3 rjmp .+1618 ; 0x64e4 <gps_main+0xd74> |
| 5e92: e0 90 04 09 lds r14, 0x0904 |
| 5e96: f0 90 05 09 lds r15, 0x0905 |
| 5e9a: 00 91 06 09 lds r16, 0x0906 |
| 5e9e: 10 91 07 09 lds r17, 0x0907 |
| 5ea2: e1 14 cp r14, r1 |
| 5ea4: f1 04 cpc r15, r1 |
| 5ea6: 01 05 cpc r16, r1 |
| 5ea8: 11 05 cpc r17, r1 |
| 5eaa: 09 f4 brne .+2 ; 0x5eae <gps_main+0x73e> |
| 5eac: 1b c3 rjmp .+1590 ; 0x64e4 <gps_main+0xd74> |
| 5eae: a0 90 08 09 lds r10, 0x0908 |
| 5eb2: b0 90 09 09 lds r11, 0x0909 |
| 5eb6: c0 90 0a 09 lds r12, 0x090A |
| 5eba: d0 90 0b 09 lds r13, 0x090B |
| 5ebe: a1 14 cp r10, r1 |
| 5ec0: b1 04 cpc r11, r1 |
| 5ec2: c1 04 cpc r12, r1 |
| 5ec4: d1 04 cpc r13, r1 |
| 5ec6: 09 f4 brne .+2 ; 0x5eca <gps_main+0x75a> |
| 5ec8: 0d c3 rjmp .+1562 ; 0x64e4 <gps_main+0xd74> |
| 5eca: 80 91 d0 08 lds r24, 0x08D0 |
| 5ece: 90 91 d1 08 lds r25, 0x08D1 |
| 5ed2: 8d 30 cpi r24, 0x0D ; 13 |
| 5ed4: 91 05 cpc r25, r1 |
| 5ed6: 0c f0 brlt .+2 ; 0x5eda <gps_main+0x76a> |
| 5ed8: 05 c3 rjmp .+1546 ; 0x64e4 <gps_main+0xd74> |
| 5eda: 84 5f subi r24, 0xF4 ; 244 |
| 5edc: 9f 4f sbci r25, 0xFF ; 255 |
| 5ede: 0c f4 brge .+2 ; 0x5ee2 <gps_main+0x772> |
| 5ee0: 01 c3 rjmp .+1538 ; 0x64e4 <gps_main+0xd74> |
| 5ee2: 80 91 d2 08 lds r24, 0x08D2 |
| 5ee6: 90 91 d3 08 lds r25, 0x08D3 |
| 5eea: 8d 30 cpi r24, 0x0D ; 13 |
| 5eec: 91 05 cpc r25, r1 |
| 5eee: 0c f0 brlt .+2 ; 0x5ef2 <gps_main+0x782> |
| 5ef0: f9 c2 rjmp .+1522 ; 0x64e4 <gps_main+0xd74> |
| 5ef2: 84 5f subi r24, 0xF4 ; 244 |
| 5ef4: 9f 4f sbci r25, 0xFF ; 255 |
| 5ef6: 0c f4 brge .+2 ; 0x5efa <gps_main+0x78a> |
| 5ef8: f5 c2 rjmp .+1514 ; 0x64e4 <gps_main+0xd74> |
| 5efa: 2e 8d ldd r18, Y+30 ; 0x1e |
| 5efc: 3f 8d ldd r19, Y+31 ; 0x1f |
| 5efe: 26 39 cpi r18, 0x96 ; 150 |
| 5f00: 31 05 cpc r19, r1 |
| 5f02: 0c f0 brlt .+2 ; 0x5f06 <gps_main+0x796> |
| 5f04: e0 c2 rjmp .+1472 ; 0x64c6 <gps_main+0xd56> |
| 5f06: 80 91 40 09 lds r24, 0x0940 |
| 5f0a: 90 91 41 09 lds r25, 0x0941 |
| 5f0e: a0 91 42 09 lds r26, 0x0942 |
| 5f12: b0 91 43 09 lds r27, 0x0943 |
| 5f16: e8 1a sub r14, r24 |
| 5f18: f9 0a sbc r15, r25 |
| 5f1a: 0a 0b sbc r16, r26 |
| 5f1c: 1b 0b sbc r17, r27 |
| 5f1e: e0 92 0c 09 sts 0x090C, r14 |
| 5f22: f0 92 0d 09 sts 0x090D, r15 |
| 5f26: 00 93 0e 09 sts 0x090E, r16 |
| 5f2a: 10 93 0f 09 sts 0x090F, r17 |
| 5f2e: 80 91 44 09 lds r24, 0x0944 |
| 5f32: 90 91 45 09 lds r25, 0x0945 |
| 5f36: a0 91 46 09 lds r26, 0x0946 |
| 5f3a: b0 91 47 09 lds r27, 0x0947 |
| 5f3e: a8 1a sub r10, r24 |
| 5f40: b9 0a sbc r11, r25 |
| 5f42: ca 0a sbc r12, r26 |
| 5f44: db 0a sbc r13, r27 |
| 5f46: a0 92 10 09 sts 0x0910, r10 |
| 5f4a: b0 92 11 09 sts 0x0911, r11 |
| 5f4e: c0 92 12 09 sts 0x0912, r12 |
| 5f52: d0 92 13 09 sts 0x0913, r13 |
| 5f56: 56 c0 rjmp .+172 ; 0x6004 <gps_main+0x894> |
| 5f58: e0 90 39 09 lds r14, 0x0939 |
| 5f5c: f0 90 3a 09 lds r15, 0x093A |
| 5f60: 00 91 3b 09 lds r16, 0x093B |
| 5f64: 10 91 3c 09 lds r17, 0x093C |
| 5f68: e1 14 cp r14, r1 |
| 5f6a: f1 04 cpc r15, r1 |
| 5f6c: 01 05 cpc r16, r1 |
| 5f6e: 11 05 cpc r17, r1 |
| 5f70: 09 f4 brne .+2 ; 0x5f74 <gps_main+0x804> |
| 5f72: 85 c0 rjmp .+266 ; 0x607e <gps_main+0x90e> |
| 5f74: 80 91 40 09 lds r24, 0x0940 |
| 5f78: 90 91 41 09 lds r25, 0x0941 |
| 5f7c: a0 91 42 09 lds r26, 0x0942 |
| 5f80: b0 91 43 09 lds r27, 0x0943 |
| 5f84: 28 1b sub r18, r24 |
| 5f86: 39 0b sbc r19, r25 |
| 5f88: 4a 0b sbc r20, r26 |
| 5f8a: 5b 0b sbc r21, r27 |
| 5f8c: 20 93 0c 09 sts 0x090C, r18 |
| 5f90: 30 93 0d 09 sts 0x090D, r19 |
| 5f94: 40 93 0e 09 sts 0x090E, r20 |
| 5f98: 50 93 0f 09 sts 0x090F, r21 |
| 5f9c: 80 91 44 09 lds r24, 0x0944 |
| 5fa0: 90 91 45 09 lds r25, 0x0945 |
| 5fa4: a0 91 46 09 lds r26, 0x0946 |
| 5fa8: b0 91 47 09 lds r27, 0x0947 |
| 5fac: e8 1a sub r14, r24 |
| 5fae: f9 0a sbc r15, r25 |
| 5fb0: 0a 0b sbc r16, r26 |
| 5fb2: 1b 0b sbc r17, r27 |
| 5fb4: e0 92 10 09 sts 0x0910, r14 |
| 5fb8: f0 92 11 09 sts 0x0911, r15 |
| 5fbc: 00 93 12 09 sts 0x0912, r16 |
| 5fc0: 10 93 13 09 sts 0x0913, r17 |
| 5fc4: 80 91 40 09 lds r24, 0x0940 |
| 5fc8: 90 91 41 09 lds r25, 0x0941 |
| 5fcc: a0 91 42 09 lds r26, 0x0942 |
| 5fd0: b0 91 43 09 lds r27, 0x0943 |
| 5fd4: 80 93 04 09 sts 0x0904, r24 |
| 5fd8: 90 93 05 09 sts 0x0905, r25 |
| 5fdc: a0 93 06 09 sts 0x0906, r26 |
| 5fe0: b0 93 07 09 sts 0x0907, r27 |
| 5fe4: 80 91 44 09 lds r24, 0x0944 |
| 5fe8: 90 91 45 09 lds r25, 0x0945 |
| 5fec: a0 91 46 09 lds r26, 0x0946 |
| 5ff0: b0 91 47 09 lds r27, 0x0947 |
| 5ff4: 80 93 08 09 sts 0x0908, r24 |
| 5ff8: 90 93 09 09 sts 0x0909, r25 |
| 5ffc: a0 93 0a 09 sts 0x090A, r26 |
| 6000: b0 93 0b 09 sts 0x090B, r27 |
| 6004: 43 9a sbi 0x08, 3 ; 8 |
| 6006: 3b c0 rjmp .+118 ; 0x607e <gps_main+0x90e> |
| 6008: 80 91 39 09 lds r24, 0x0939 |
| 600c: 90 91 3a 09 lds r25, 0x093A |
| 6010: a0 91 3b 09 lds r26, 0x093B |
| 6014: b0 91 3c 09 lds r27, 0x093C |
| 6018: 00 97 sbiw r24, 0x00 ; 0 |
| 601a: a1 05 cpc r26, r1 |
| 601c: b1 05 cpc r27, r1 |
| 601e: 79 f5 brne .+94 ; 0x607e <gps_main+0x90e> |
| 6020: 80 91 40 09 lds r24, 0x0940 |
| 6024: 90 91 41 09 lds r25, 0x0941 |
| 6028: a0 91 42 09 lds r26, 0x0942 |
| 602c: b0 91 43 09 lds r27, 0x0943 |
| 6030: e8 1a sub r14, r24 |
| 6032: f9 0a sbc r15, r25 |
| 6034: 0a 0b sbc r16, r26 |
| 6036: 1b 0b sbc r17, r27 |
| 6038: e0 92 0c 09 sts 0x090C, r14 |
| 603c: f0 92 0d 09 sts 0x090D, r15 |
| 6040: 00 93 0e 09 sts 0x090E, r16 |
| 6044: 10 93 0f 09 sts 0x090F, r17 |
| 6048: 80 91 44 09 lds r24, 0x0944 |
| 604c: 90 91 45 09 lds r25, 0x0945 |
| 6050: a0 91 46 09 lds r26, 0x0946 |
| 6054: b0 91 47 09 lds r27, 0x0947 |
| 6058: a8 1a sub r10, r24 |
| 605a: b9 0a sbc r11, r25 |
| 605c: ca 0a sbc r12, r26 |
| 605e: db 0a sbc r13, r27 |
| 6060: a0 92 10 09 sts 0x0910, r10 |
| 6064: b0 92 11 09 sts 0x0911, r11 |
| 6068: c0 92 12 09 sts 0x0912, r12 |
| 606c: d0 92 13 09 sts 0x0913, r13 |
| 6070: 43 9a sbi 0x08, 3 ; 8 |
| 6072: 82 e3 ldi r24, 0x32 ; 50 |
| 6074: 90 e0 ldi r25, 0x00 ; 0 |
| 6076: 90 93 48 08 sts 0x0848, r25 |
| 607a: 80 93 47 08 sts 0x0847, r24 |
| 607e: e0 90 07 0c lds r14, 0x0C07 |
| 6082: f0 90 08 0c lds r15, 0x0C08 |
| 6086: 00 91 09 0c lds r16, 0x0C09 |
| 608a: 10 91 0a 0c lds r17, 0x0C0A |
| 608e: e0 92 14 09 sts 0x0914, r14 |
| 6092: f0 92 15 09 sts 0x0915, r15 |
| 6096: 00 93 16 09 sts 0x0916, r16 |
| 609a: 10 93 17 09 sts 0x0917, r17 |
| 609e: a0 90 0b 0c lds r10, 0x0C0B |
| 60a2: b0 90 0c 0c lds r11, 0x0C0C |
| 60a6: c0 90 0d 0c lds r12, 0x0C0D |
| 60aa: d0 90 0e 0c lds r13, 0x0C0E |
| 60ae: a0 92 18 09 sts 0x0918, r10 |
| 60b2: b0 92 19 09 sts 0x0919, r11 |
| 60b6: c0 92 1a 09 sts 0x091A, r12 |
| 60ba: d0 92 1b 09 sts 0x091B, r13 |
| 60be: 60 91 6f 09 lds r22, 0x096F |
| 60c2: 70 91 70 09 lds r23, 0x0970 |
| 60c6: 60 90 0c 09 lds r6, 0x090C |
| 60ca: 70 90 0d 09 lds r7, 0x090D |
| 60ce: 80 90 0e 09 lds r8, 0x090E |
| 60d2: 90 90 0f 09 lds r9, 0x090F |
| 60d6: 88 27 eor r24, r24 |
| 60d8: 77 fd sbrc r23, 7 |
| 60da: 80 95 com r24 |
| 60dc: 98 2f mov r25, r24 |
| 60de: a4 01 movw r20, r8 |
| 60e0: 93 01 movw r18, r6 |
| 60e2: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 60e6: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 60ea: 2f e6 ldi r18, 0x6F ; 111 |
| 60ec: 32 e1 ldi r19, 0x12 ; 18 |
| 60ee: 43 e0 ldi r20, 0x03 ; 3 |
| 60f0: 5a e3 ldi r21, 0x3A ; 58 |
| 60f2: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 60f6: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 60fa: 69 87 std Y+9, r22 ; 0x09 |
| 60fc: 7a 87 std Y+10, r23 ; 0x0a |
| 60fe: 8b 87 std Y+11, r24 ; 0x0b |
| 6100: 9c 87 std Y+12, r25 ; 0x0c |
| 6102: 60 93 1c 09 sts 0x091C, r22 |
| 6106: 70 93 1d 09 sts 0x091D, r23 |
| 610a: 80 93 1e 09 sts 0x091E, r24 |
| 610e: 90 93 1f 09 sts 0x091F, r25 |
| 6112: 60 91 62 09 lds r22, 0x0962 |
| 6116: 70 91 63 09 lds r23, 0x0963 |
| 611a: 88 27 eor r24, r24 |
| 611c: 77 fd sbrc r23, 7 |
| 611e: 80 95 com r24 |
| 6120: 98 2f mov r25, r24 |
| 6122: a8 01 movw r20, r16 |
| 6124: 97 01 movw r18, r14 |
| 6126: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 612a: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 612e: 21 e2 ldi r18, 0x21 ; 33 |
| 6130: 3c e3 ldi r19, 0x3C ; 60 |
| 6132: 4a e5 ldi r20, 0x5A ; 90 |
| 6134: 5b e3 ldi r21, 0x3B ; 59 |
| 6136: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 613a: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 613e: 1b 01 movw r2, r22 |
| 6140: 2c 01 movw r4, r24 |
| 6142: 60 93 20 09 sts 0x0920, r22 |
| 6146: 70 93 21 09 sts 0x0921, r23 |
| 614a: 80 93 22 09 sts 0x0922, r24 |
| 614e: 90 93 23 09 sts 0x0923, r25 |
| 6152: 60 91 6f 09 lds r22, 0x096F |
| 6156: 70 91 70 09 lds r23, 0x0970 |
| 615a: e0 90 10 09 lds r14, 0x0910 |
| 615e: f0 90 11 09 lds r15, 0x0911 |
| 6162: 00 91 12 09 lds r16, 0x0912 |
| 6166: 10 91 13 09 lds r17, 0x0913 |
| 616a: 88 27 eor r24, r24 |
| 616c: 77 fd sbrc r23, 7 |
| 616e: 80 95 com r24 |
| 6170: 98 2f mov r25, r24 |
| 6172: a8 01 movw r20, r16 |
| 6174: 97 01 movw r18, r14 |
| 6176: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 617a: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 617e: 2f e6 ldi r18, 0x6F ; 111 |
| 6180: 32 e1 ldi r19, 0x12 ; 18 |
| 6182: 43 e0 ldi r20, 0x03 ; 3 |
| 6184: 5a e3 ldi r21, 0x3A ; 58 |
| 6186: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 618a: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 618e: 6d 83 std Y+5, r22 ; 0x05 |
| 6190: 7e 83 std Y+6, r23 ; 0x06 |
| 6192: 8f 83 std Y+7, r24 ; 0x07 |
| 6194: 98 87 std Y+8, r25 ; 0x08 |
| 6196: 60 93 24 09 sts 0x0924, r22 |
| 619a: 70 93 25 09 sts 0x0925, r23 |
| 619e: 80 93 26 09 sts 0x0926, r24 |
| 61a2: 90 93 27 09 sts 0x0927, r25 |
| 61a6: 60 91 62 09 lds r22, 0x0962 |
| 61aa: 70 91 63 09 lds r23, 0x0963 |
| 61ae: 88 27 eor r24, r24 |
| 61b0: 77 fd sbrc r23, 7 |
| 61b2: 80 95 com r24 |
| 61b4: 98 2f mov r25, r24 |
| 61b6: a6 01 movw r20, r12 |
| 61b8: 95 01 movw r18, r10 |
| 61ba: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 61be: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 61c2: 21 e2 ldi r18, 0x21 ; 33 |
| 61c4: 3c e3 ldi r19, 0x3C ; 60 |
| 61c6: 4a e5 ldi r20, 0x5A ; 90 |
| 61c8: 5b e3 ldi r21, 0x3B ; 59 |
| 61ca: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 61ce: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 61d2: 5b 01 movw r10, r22 |
| 61d4: 6c 01 movw r12, r24 |
| 61d6: 60 93 28 09 sts 0x0928, r22 |
| 61da: 70 93 29 09 sts 0x0929, r23 |
| 61de: 80 93 2a 09 sts 0x092A, r24 |
| 61e2: 90 93 2b 09 sts 0x092B, r25 |
| 61e6: 8e 8d ldd r24, Y+30 ; 0x1e |
| 61e8: 9f 8d ldd r25, Y+31 ; 0x1f |
| 61ea: 86 39 cpi r24, 0x96 ; 150 |
| 61ec: 91 05 cpc r25, r1 |
| 61ee: 0c f4 brge .+2 ; 0x61f2 <gps_main+0xa82> |
| 61f0: 80 c0 rjmp .+256 ; 0x62f2 <gps_main+0xb82> |
| 61f2: 80 91 35 09 lds r24, 0x0935 |
| 61f6: 90 91 36 09 lds r25, 0x0936 |
| 61fa: a0 91 37 09 lds r26, 0x0937 |
| 61fe: b0 91 38 09 lds r27, 0x0938 |
| 6202: 00 97 sbiw r24, 0x00 ; 0 |
| 6204: a1 05 cpc r26, r1 |
| 6206: b1 05 cpc r27, r1 |
| 6208: 09 f4 brne .+2 ; 0x620c <gps_main+0xa9c> |
| 620a: 73 c0 rjmp .+230 ; 0x62f2 <gps_main+0xb82> |
| 620c: 80 91 39 09 lds r24, 0x0939 |
| 6210: 90 91 3a 09 lds r25, 0x093A |
| 6214: a0 91 3b 09 lds r26, 0x093B |
| 6218: b0 91 3c 09 lds r27, 0x093C |
| 621c: 00 97 sbiw r24, 0x00 ; 0 |
| 621e: a1 05 cpc r26, r1 |
| 6220: b1 05 cpc r27, r1 |
| 6222: 09 f4 brne .+2 ; 0x6226 <gps_main+0xab6> |
| 6224: 66 c0 rjmp .+204 ; 0x62f2 <gps_main+0xb82> |
| 6226: c3 01 movw r24, r6 |
| 6228: 77 fe sbrs r7, 7 |
| 622a: 03 c0 rjmp .+6 ; 0x6232 <gps_main+0xac2> |
| 622c: 90 95 com r25 |
| 622e: 81 95 neg r24 |
| 6230: 9f 4f sbci r25, 0xFF ; 255 |
| 6232: 8b 3f cpi r24, 0xFB ; 251 |
| 6234: 91 05 cpc r25, r1 |
| 6236: 54 f4 brge .+20 ; 0x624c <gps_main+0xadc> |
| 6238: c7 01 movw r24, r14 |
| 623a: f7 fe sbrs r15, 7 |
| 623c: 03 c0 rjmp .+6 ; 0x6244 <gps_main+0xad4> |
| 623e: 90 95 com r25 |
| 6240: 81 95 neg r24 |
| 6242: 9f 4f sbci r25, 0xFF ; 255 |
| 6244: 8b 3f cpi r24, 0xFB ; 251 |
| 6246: 91 05 cpc r25, r1 |
| 6248: 0c f4 brge .+2 ; 0x624c <gps_main+0xadc> |
| 624a: 53 c0 rjmp .+166 ; 0x62f2 <gps_main+0xb82> |
| 624c: 80 91 be 08 lds r24, 0x08BE |
| 6250: 28 2f mov r18, r24 |
| 6252: 33 27 eor r19, r19 |
| 6254: 44 27 eor r20, r20 |
| 6256: 55 27 eor r21, r21 |
| 6258: 22 15 cp r18, r2 |
| 625a: 33 05 cpc r19, r3 |
| 625c: 44 05 cpc r20, r4 |
| 625e: 55 05 cpc r21, r5 |
| 6260: 44 f4 brge .+16 ; 0x6272 <gps_main+0xb02> |
| 6262: 20 93 20 09 sts 0x0920, r18 |
| 6266: 30 93 21 09 sts 0x0921, r19 |
| 626a: 40 93 22 09 sts 0x0922, r20 |
| 626e: 50 93 23 09 sts 0x0923, r21 |
| 6272: 2a 15 cp r18, r10 |
| 6274: 3b 05 cpc r19, r11 |
| 6276: 4c 05 cpc r20, r12 |
| 6278: 5d 05 cpc r21, r13 |
| 627a: 44 f4 brge .+16 ; 0x628c <gps_main+0xb1c> |
| 627c: 20 93 28 09 sts 0x0928, r18 |
| 6280: 30 93 29 09 sts 0x0929, r19 |
| 6284: 40 93 2a 09 sts 0x092A, r20 |
| 6288: 50 93 2b 09 sts 0x092B, r21 |
| 628c: 99 27 eor r25, r25 |
| 628e: 90 95 com r25 |
| 6290: 81 95 neg r24 |
| 6292: 9f 4f sbci r25, 0xFF ; 255 |
| 6294: 9c 01 movw r18, r24 |
| 6296: 44 27 eor r20, r20 |
| 6298: 37 fd sbrc r19, 7 |
| 629a: 40 95 com r20 |
| 629c: 54 2f mov r21, r20 |
| 629e: 80 91 20 09 lds r24, 0x0920 |
| 62a2: 90 91 21 09 lds r25, 0x0921 |
| 62a6: a0 91 22 09 lds r26, 0x0922 |
| 62aa: b0 91 23 09 lds r27, 0x0923 |
| 62ae: 82 17 cp r24, r18 |
| 62b0: 93 07 cpc r25, r19 |
| 62b2: a4 07 cpc r26, r20 |
| 62b4: b5 07 cpc r27, r21 |
| 62b6: 44 f4 brge .+16 ; 0x62c8 <gps_main+0xb58> |
| 62b8: 20 93 20 09 sts 0x0920, r18 |
| 62bc: 30 93 21 09 sts 0x0921, r19 |
| 62c0: 40 93 22 09 sts 0x0922, r20 |
| 62c4: 50 93 23 09 sts 0x0923, r21 |
| 62c8: 80 91 28 09 lds r24, 0x0928 |
| 62cc: 90 91 29 09 lds r25, 0x0929 |
| 62d0: a0 91 2a 09 lds r26, 0x092A |
| 62d4: b0 91 2b 09 lds r27, 0x092B |
| 62d8: 82 17 cp r24, r18 |
| 62da: 93 07 cpc r25, r19 |
| 62dc: a4 07 cpc r26, r20 |
| 62de: b5 07 cpc r27, r21 |
| 62e0: 44 f4 brge .+16 ; 0x62f2 <gps_main+0xb82> |
| 62e2: 20 93 28 09 sts 0x0928, r18 |
| 62e6: 30 93 29 09 sts 0x0929, r19 |
| 62ea: 40 93 2a 09 sts 0x092A, r20 |
| 62ee: 50 93 2b 09 sts 0x092B, r21 |
| 62f2: e0 90 20 09 lds r14, 0x0920 |
| 62f6: f0 90 21 09 lds r15, 0x0921 |
| 62fa: a9 85 ldd r26, Y+9 ; 0x09 |
| 62fc: ba 85 ldd r27, Y+10 ; 0x0a |
| 62fe: ea 1a sub r14, r26 |
| 6300: fb 0a sbc r15, r27 |
| 6302: f0 92 2d 09 sts 0x092D, r15 |
| 6306: e0 92 2c 09 sts 0x092C, r14 |
| 630a: 80 91 28 09 lds r24, 0x0928 |
| 630e: 90 91 29 09 lds r25, 0x0929 |
| 6312: 6d 81 ldd r22, Y+5 ; 0x05 |
| 6314: 7e 81 ldd r23, Y+6 ; 0x06 |
| 6316: 68 1b sub r22, r24 |
| 6318: 79 0b sbc r23, r25 |
| 631a: 70 93 2f 09 sts 0x092F, r23 |
| 631e: 60 93 2e 09 sts 0x092E, r22 |
| 6322: c0 90 b3 08 lds r12, 0x08B3 |
| 6326: d0 90 b4 08 lds r13, 0x08B4 |
| 632a: 88 27 eor r24, r24 |
| 632c: 77 fd sbrc r23, 7 |
| 632e: 80 95 com r24 |
| 6330: 98 2f mov r25, r24 |
| 6332: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 6336: 3b 01 movw r6, r22 |
| 6338: 4c 01 movw r8, r24 |
| 633a: a0 90 b3 08 lds r10, 0x08B3 |
| 633e: b0 90 b4 08 lds r11, 0x08B4 |
| 6342: 00 27 eor r16, r16 |
| 6344: f7 fc sbrc r15, 7 |
| 6346: 00 95 com r16 |
| 6348: 10 2f mov r17, r16 |
| 634a: c8 01 movw r24, r16 |
| 634c: b7 01 movw r22, r14 |
| 634e: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 6352: 1b 01 movw r2, r22 |
| 6354: 2c 01 movw r4, r24 |
| 6356: cc 0c add r12, r12 |
| 6358: dd 1c adc r13, r13 |
| 635a: ea e8 ldi r30, 0x8A ; 138 |
| 635c: f1 e0 ldi r31, 0x01 ; 1 |
| 635e: ce 0e add r12, r30 |
| 6360: df 1e adc r13, r31 |
| 6362: d6 01 movw r26, r12 |
| 6364: 6d 91 ld r22, X+ |
| 6366: 7c 91 ld r23, X |
| 6368: 70 95 com r23 |
| 636a: 61 95 neg r22 |
| 636c: 7f 4f sbci r23, 0xFF ; 255 |
| 636e: 88 27 eor r24, r24 |
| 6370: 77 fd sbrc r23, 7 |
| 6372: 80 95 com r24 |
| 6374: 98 2f mov r25, r24 |
| 6376: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 637a: 2f e6 ldi r18, 0x6F ; 111 |
| 637c: 32 e1 ldi r19, 0x12 ; 18 |
| 637e: 43 e8 ldi r20, 0x83 ; 131 |
| 6380: 5a e3 ldi r21, 0x3A ; 58 |
| 6382: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 6386: a4 01 movw r20, r8 |
| 6388: 93 01 movw r18, r6 |
| 638a: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 638e: 7b 01 movw r14, r22 |
| 6390: 8c 01 movw r16, r24 |
| 6392: aa 0c add r10, r10 |
| 6394: bb 1c adc r11, r11 |
| 6396: ea e5 ldi r30, 0x5A ; 90 |
| 6398: f4 e0 ldi r31, 0x04 ; 4 |
| 639a: ae 0e add r10, r30 |
| 639c: bf 1e adc r11, r31 |
| 639e: d5 01 movw r26, r10 |
| 63a0: 6d 91 ld r22, X+ |
| 63a2: 7c 91 ld r23, X |
| 63a4: 88 27 eor r24, r24 |
| 63a6: 77 fd sbrc r23, 7 |
| 63a8: 80 95 com r24 |
| 63aa: 98 2f mov r25, r24 |
| 63ac: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 63b0: 2f e6 ldi r18, 0x6F ; 111 |
| 63b2: 32 e1 ldi r19, 0x12 ; 18 |
| 63b4: 43 e8 ldi r20, 0x83 ; 131 |
| 63b6: 5a e3 ldi r21, 0x3A ; 58 |
| 63b8: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 63bc: a2 01 movw r20, r4 |
| 63be: 91 01 movw r18, r2 |
| 63c0: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 63c4: 9b 01 movw r18, r22 |
| 63c6: ac 01 movw r20, r24 |
| 63c8: c8 01 movw r24, r16 |
| 63ca: b7 01 movw r22, r14 |
| 63cc: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 63d0: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 63d4: 5b 01 movw r10, r22 |
| 63d6: 70 93 31 09 sts 0x0931, r23 |
| 63da: 60 93 30 09 sts 0x0930, r22 |
| 63de: e0 91 b3 08 lds r30, 0x08B3 |
| 63e2: f0 91 b4 08 lds r31, 0x08B4 |
| 63e6: 00 91 b3 08 lds r16, 0x08B3 |
| 63ea: 10 91 b4 08 lds r17, 0x08B4 |
| 63ee: ee 0f add r30, r30 |
| 63f0: ff 1f adc r31, r31 |
| 63f2: e6 5a subi r30, 0xA6 ; 166 |
| 63f4: fb 4f sbci r31, 0xFB ; 251 |
| 63f6: 60 81 ld r22, Z |
| 63f8: 71 81 ldd r23, Z+1 ; 0x01 |
| 63fa: 88 27 eor r24, r24 |
| 63fc: 77 fd sbrc r23, 7 |
| 63fe: 80 95 com r24 |
| 6400: 98 2f mov r25, r24 |
| 6402: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 6406: 2f e6 ldi r18, 0x6F ; 111 |
| 6408: 32 e1 ldi r19, 0x12 ; 18 |
| 640a: 43 e8 ldi r20, 0x83 ; 131 |
| 640c: 5a e3 ldi r21, 0x3A ; 58 |
| 640e: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 6412: a4 01 movw r20, r8 |
| 6414: 93 01 movw r18, r6 |
| 6416: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 641a: 6b 01 movw r12, r22 |
| 641c: 7c 01 movw r14, r24 |
| 641e: 00 0f add r16, r16 |
| 6420: 11 1f adc r17, r17 |
| 6422: 06 57 subi r16, 0x76 ; 118 |
| 6424: 1e 4f sbci r17, 0xFE ; 254 |
| 6426: f8 01 movw r30, r16 |
| 6428: 60 81 ld r22, Z |
| 642a: 71 81 ldd r23, Z+1 ; 0x01 |
| 642c: 88 27 eor r24, r24 |
| 642e: 77 fd sbrc r23, 7 |
| 6430: 80 95 com r24 |
| 6432: 98 2f mov r25, r24 |
| 6434: 0e 94 b6 3d call 0x7b6c ; 0x7b6c <__floatsisf> |
| 6438: 2f e6 ldi r18, 0x6F ; 111 |
| 643a: 32 e1 ldi r19, 0x12 ; 18 |
| 643c: 43 e8 ldi r20, 0x83 ; 131 |
| 643e: 5a e3 ldi r21, 0x3A ; 58 |
| 6440: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 6444: a2 01 movw r20, r4 |
| 6446: 91 01 movw r18, r2 |
| 6448: 0e 94 30 3e call 0x7c60 ; 0x7c60 <__mulsf3> |
| 644c: 9b 01 movw r18, r22 |
| 644e: ac 01 movw r20, r24 |
| 6450: c7 01 movw r24, r14 |
| 6452: b6 01 movw r22, r12 |
| 6454: 0e 94 11 3d call 0x7a22 ; 0x7a22 <__addsf3> |
| 6458: 0e 94 99 3d call 0x7b32 ; 0x7b32 <__fixsfsi> |
| 645c: 9b 01 movw r18, r22 |
| 645e: 70 93 33 09 sts 0x0933, r23 |
| 6462: 60 93 32 09 sts 0x0932, r22 |
| 6466: f4 e2 ldi r31, 0x24 ; 36 |
| 6468: af 16 cp r10, r31 |
| 646a: b1 04 cpc r11, r1 |
| 646c: 34 f0 brlt .+12 ; 0x647a <gps_main+0xd0a> |
| 646e: 83 e2 ldi r24, 0x23 ; 35 |
| 6470: 90 e0 ldi r25, 0x00 ; 0 |
| 6472: 90 93 31 09 sts 0x0931, r25 |
| 6476: 80 93 30 09 sts 0x0930, r24 |
| 647a: 24 32 cpi r18, 0x24 ; 36 |
| 647c: 31 05 cpc r19, r1 |
| 647e: 34 f0 brlt .+12 ; 0x648c <gps_main+0xd1c> |
| 6480: 83 e2 ldi r24, 0x23 ; 35 |
| 6482: 90 e0 ldi r25, 0x00 ; 0 |
| 6484: 90 93 33 09 sts 0x0933, r25 |
| 6488: 80 93 32 09 sts 0x0932, r24 |
| 648c: 80 91 30 09 lds r24, 0x0930 |
| 6490: 90 91 31 09 lds r25, 0x0931 |
| 6494: 8d 5d subi r24, 0xDD ; 221 |
| 6496: 9f 4f sbci r25, 0xFF ; 255 |
| 6498: 34 f4 brge .+12 ; 0x64a6 <gps_main+0xd36> |
| 649a: 8d ed ldi r24, 0xDD ; 221 |
| 649c: 9f ef ldi r25, 0xFF ; 255 |
| 649e: 90 93 31 09 sts 0x0931, r25 |
| 64a2: 80 93 30 09 sts 0x0930, r24 |
| 64a6: 80 91 32 09 lds r24, 0x0932 |
| 64aa: 90 91 33 09 lds r25, 0x0933 |
| 64ae: 8d 5d subi r24, 0xDD ; 221 |
| 64b0: 9f 4f sbci r25, 0xFF ; 255 |
| 64b2: 34 f4 brge .+12 ; 0x64c0 <gps_main+0xd50> |
| 64b4: 8d ed ldi r24, 0xDD ; 221 |
| 64b6: 9f ef ldi r25, 0xFF ; 255 |
| 64b8: 90 93 33 09 sts 0x0933, r25 |
| 64bc: 80 93 32 09 sts 0x0932, r24 |
| 64c0: 10 92 3e 09 sts 0x093E, r1 |
| 64c4: 0f c0 rjmp .+30 ; 0x64e4 <gps_main+0xd74> |
| 64c6: 20 91 35 09 lds r18, 0x0935 |
| 64ca: 30 91 36 09 lds r19, 0x0936 |
| 64ce: 40 91 37 09 lds r20, 0x0937 |
| 64d2: 50 91 38 09 lds r21, 0x0938 |
| 64d6: 21 15 cp r18, r1 |
| 64d8: 31 05 cpc r19, r1 |
| 64da: 41 05 cpc r20, r1 |
| 64dc: 51 05 cpc r21, r1 |
| 64de: 09 f0 breq .+2 ; 0x64e2 <gps_main+0xd72> |
| 64e0: 3b cd rjmp .-1418 ; 0x5f58 <gps_main+0x7e8> |
| 64e2: 92 cd rjmp .-1244 ; 0x6008 <gps_main+0x898> |
| 64e4: 6f 96 adiw r28, 0x1f ; 31 |
| 64e6: 0f b6 in r0, 0x3f ; 63 |
| 64e8: f8 94 cli |
| 64ea: de bf out 0x3e, r29 ; 62 |
| 64ec: 0f be out 0x3f, r0 ; 63 |
| 64ee: cd bf out 0x3d, r28 ; 61 |
| 64f0: df 91 pop r29 |
| 64f2: cf 91 pop r28 |
| 64f4: 1f 91 pop r17 |
| 64f6: 0f 91 pop r16 |
| 64f8: ff 90 pop r15 |
| 64fa: ef 90 pop r14 |
| 64fc: df 90 pop r13 |
| 64fe: cf 90 pop r12 |
| 6500: bf 90 pop r11 |
| 6502: af 90 pop r10 |
| 6504: 9f 90 pop r9 |
| 6506: 8f 90 pop r8 |
| 6508: 7f 90 pop r7 |
| 650a: 6f 90 pop r6 |
| 650c: 5f 90 pop r5 |
| 650e: 4f 90 pop r4 |
| 6510: 3f 90 pop r3 |
| 6512: 2f 90 pop r2 |
| 6514: 08 95 ret |
| 00006516 <__divdi3>: |
| 6516: a9 e9 ldi r26, 0x99 ; 153 |
| 6518: b0 e0 ldi r27, 0x00 ; 0 |
| 651a: e1 e9 ldi r30, 0x91 ; 145 |
| 651c: f2 e3 ldi r31, 0x32 ; 50 |
| 651e: 0c 94 fb 3e jmp 0x7df6 ; 0x7df6 <__prologue_saves__> |
| 6522: 22 2e mov r2, r18 |
| 6524: 33 2e mov r3, r19 |
| 6526: 44 2e mov r4, r20 |
| 6528: 55 2e mov r5, r21 |
| 652a: 66 2e mov r6, r22 |
| 652c: 77 2e mov r7, r23 |
| 652e: 88 2e mov r8, r24 |
| 6530: 99 2e mov r9, r25 |
| 6532: 2a 2d mov r18, r10 |
| 6534: a8 e0 ldi r26, 0x08 ; 8 |
| 6536: fe 01 movw r30, r28 |
| 6538: b1 96 adiw r30, 0x21 ; 33 |
| 653a: aa 2e mov r10, r26 |
| 653c: 11 92 st Z+, r1 |
| 653e: aa 94 dec r10 |
| 6540: e9 f7 brne .-6 ; 0x653c <__divdi3+0x26> |
| 6542: 29 a2 std Y+33, r2 ; 0x21 |
| 6544: 3a a2 std Y+34, r3 ; 0x22 |
| 6546: 4b a2 std Y+35, r4 ; 0x23 |
| 6548: 5c a2 std Y+36, r5 ; 0x24 |
| 654a: 6d a2 std Y+37, r6 ; 0x25 |
| 654c: 7e a2 std Y+38, r7 ; 0x26 |
| 654e: 8f a2 std Y+39, r8 ; 0x27 |
| 6550: 98 a6 std Y+40, r9 ; 0x28 |
| 6552: fe 01 movw r30, r28 |
| 6554: 31 96 adiw r30, 0x01 ; 1 |
| 6556: 11 92 st Z+, r1 |
| 6558: aa 95 dec r26 |
| 655a: e9 f7 brne .-6 ; 0x6556 <__divdi3+0x40> |
| 655c: 29 83 std Y+1, r18 ; 0x01 |
| 655e: ba 82 std Y+2, r11 ; 0x02 |
| 6560: cb 82 std Y+3, r12 ; 0x03 |
| 6562: dc 82 std Y+4, r13 ; 0x04 |
| 6564: ed 82 std Y+5, r14 ; 0x05 |
| 6566: fe 82 std Y+6, r15 ; 0x06 |
| 6568: 0f 83 std Y+7, r16 ; 0x07 |
| 656a: 18 87 std Y+8, r17 ; 0x08 |
| 656c: 8d a1 ldd r24, Y+37 ; 0x25 |
| 656e: 9e a1 ldd r25, Y+38 ; 0x26 |
| 6570: af a1 ldd r26, Y+39 ; 0x27 |
| 6572: b8 a5 ldd r27, Y+40 ; 0x28 |
| 6574: b7 fd sbrc r27, 7 |
| 6576: ed c4 rjmp .+2522 ; 0x6f52 <__divdi3+0xa3c> |
| 6578: cf 57 subi r28, 0x7F ; 127 |
| 657a: df 4f sbci r29, 0xFF ; 255 |
| 657c: 18 82 st Y, r1 |
| 657e: c1 58 subi r28, 0x81 ; 129 |
| 6580: d0 40 sbci r29, 0x00 ; 0 |
| 6582: 8d 81 ldd r24, Y+5 ; 0x05 |
| 6584: 9e 81 ldd r25, Y+6 ; 0x06 |
| 6586: af 81 ldd r26, Y+7 ; 0x07 |
| 6588: b8 85 ldd r27, Y+8 ; 0x08 |
| 658a: b7 fd sbrc r27, 7 |
| 658c: 14 c4 rjmp .+2088 ; 0x6db6 <__divdi3+0x8a0> |
| 658e: a9 80 ldd r10, Y+1 ; 0x01 |
| 6590: ba 80 ldd r11, Y+2 ; 0x02 |
| 6592: cb 80 ldd r12, Y+3 ; 0x03 |
| 6594: dc 80 ldd r13, Y+4 ; 0x04 |
| 6596: ed 80 ldd r14, Y+5 ; 0x05 |
| 6598: fe 80 ldd r15, Y+6 ; 0x06 |
| 659a: 0f 81 ldd r16, Y+7 ; 0x07 |
| 659c: 18 85 ldd r17, Y+8 ; 0x08 |
| 659e: 29 a1 ldd r18, Y+33 ; 0x21 |
| 65a0: 3a a1 ldd r19, Y+34 ; 0x22 |
| 65a2: 4b a1 ldd r20, Y+35 ; 0x23 |
| 65a4: 5c a1 ldd r21, Y+36 ; 0x24 |
| 65a6: 6d a1 ldd r22, Y+37 ; 0x25 |
| 65a8: 7e a1 ldd r23, Y+38 ; 0x26 |
| 65aa: 8f a1 ldd r24, Y+39 ; 0x27 |
| 65ac: 98 a5 ldd r25, Y+40 ; 0x28 |
| 65ae: a8 e0 ldi r26, 0x08 ; 8 |
| 65b0: fe 01 movw r30, r28 |
| 65b2: 39 96 adiw r30, 0x09 ; 9 |
| 65b4: ba 2f mov r27, r26 |
| 65b6: 11 92 st Z+, r1 |
| 65b8: ba 95 dec r27 |
| 65ba: e9 f7 brne .-6 ; 0x65b6 <__divdi3+0xa0> |
| 65bc: 29 87 std Y+9, r18 ; 0x09 |
| 65be: 3a 87 std Y+10, r19 ; 0x0a |
| 65c0: 4b 87 std Y+11, r20 ; 0x0b |
| 65c2: 5c 87 std Y+12, r21 ; 0x0c |
| 65c4: 6d 87 std Y+13, r22 ; 0x0d |
| 65c6: 7e 87 std Y+14, r23 ; 0x0e |
| 65c8: 8f 87 std Y+15, r24 ; 0x0f |
| 65ca: 98 8b std Y+16, r25 ; 0x10 |
| 65cc: fe 01 movw r30, r28 |
| 65ce: 71 96 adiw r30, 0x11 ; 17 |
| 65d0: 11 92 st Z+, r1 |
| 65d2: aa 95 dec r26 |
| 65d4: e9 f7 brne .-6 ; 0x65d0 <__divdi3+0xba> |
| 65d6: a9 8a std Y+17, r10 ; 0x11 |
| 65d8: ba 8a std Y+18, r11 ; 0x12 |
| 65da: cb 8a std Y+19, r12 ; 0x13 |
| 65dc: dc 8a std Y+20, r13 ; 0x14 |
| 65de: ed 8a std Y+21, r14 ; 0x15 |
| 65e0: fe 8a std Y+22, r15 ; 0x16 |
| 65e2: 0f 8b std Y+23, r16 ; 0x17 |
| 65e4: 18 8f std Y+24, r17 ; 0x18 |
| 65e6: 29 88 ldd r2, Y+17 ; 0x11 |
| 65e8: 3a 88 ldd r3, Y+18 ; 0x12 |
| 65ea: 4b 88 ldd r4, Y+19 ; 0x13 |
| 65ec: 5c 88 ldd r5, Y+20 ; 0x14 |
| 65ee: ed 88 ldd r14, Y+21 ; 0x15 |
| 65f0: fe 88 ldd r15, Y+22 ; 0x16 |
| 65f2: 0f 89 ldd r16, Y+23 ; 0x17 |
| 65f4: 18 8d ldd r17, Y+24 ; 0x18 |
| 65f6: 69 84 ldd r6, Y+9 ; 0x09 |
| 65f8: 7a 84 ldd r7, Y+10 ; 0x0a |
| 65fa: 8b 84 ldd r8, Y+11 ; 0x0b |
| 65fc: 9c 84 ldd r9, Y+12 ; 0x0c |
| 65fe: 29 96 adiw r28, 0x09 ; 9 |
| 6600: 6c ae std Y+60, r6 ; 0x3c |
| 6602: 7d ae std Y+61, r7 ; 0x3d |
| 6604: 8e ae std Y+62, r8 ; 0x3e |
| 6606: 9f ae std Y+63, r9 ; 0x3f |
| 6608: 29 97 sbiw r28, 0x09 ; 9 |
| 660a: 8d 84 ldd r8, Y+13 ; 0x0d |
| 660c: 9e 84 ldd r9, Y+14 ; 0x0e |
| 660e: af 84 ldd r10, Y+15 ; 0x0f |
| 6610: b8 88 ldd r11, Y+16 ; 0x10 |
| 6612: 2d 96 adiw r28, 0x0d ; 13 |
| 6614: 8c ae std Y+60, r8 ; 0x3c |
| 6616: 9d ae std Y+61, r9 ; 0x3d |
| 6618: ae ae std Y+62, r10 ; 0x3e |
| 661a: bf ae std Y+63, r11 ; 0x3f |
| 661c: 2d 97 sbiw r28, 0x0d ; 13 |
| 661e: e1 14 cp r14, r1 |
| 6620: f1 04 cpc r15, r1 |
| 6622: 01 05 cpc r16, r1 |
| 6624: 11 05 cpc r17, r1 |
| 6626: 09 f0 breq .+2 ; 0x662a <__divdi3+0x114> |
| 6628: 2b c1 rjmp .+598 ; 0x6880 <__divdi3+0x36a> |
| 662a: 82 14 cp r8, r2 |
| 662c: 93 04 cpc r9, r3 |
| 662e: a4 04 cpc r10, r4 |
| 6630: b5 04 cpc r11, r5 |
| 6632: 08 f4 brcc .+2 ; 0x6636 <__divdi3+0x120> |
| 6634: 22 c2 rjmp .+1092 ; 0x6a7a <__divdi3+0x564> |
| 6636: 21 14 cp r2, r1 |
| 6638: 31 04 cpc r3, r1 |
| 663a: 41 04 cpc r4, r1 |
| 663c: 51 04 cpc r5, r1 |
| 663e: 09 f4 brne .+2 ; 0x6642 <__divdi3+0x12c> |
| 6640: 67 c5 rjmp .+2766 ; 0x7110 <__divdi3+0xbfa> |
| 6642: 00 e0 ldi r16, 0x00 ; 0 |
| 6644: 20 16 cp r2, r16 |
| 6646: 00 e0 ldi r16, 0x00 ; 0 |
| 6648: 30 06 cpc r3, r16 |
| 664a: 01 e0 ldi r16, 0x01 ; 1 |
| 664c: 40 06 cpc r4, r16 |
| 664e: 00 e0 ldi r16, 0x00 ; 0 |
| 6650: 50 06 cpc r5, r16 |
| 6652: 08 f0 brcs .+2 ; 0x6656 <__divdi3+0x140> |
| 6654: 4c c5 rjmp .+2712 ; 0x70ee <__divdi3+0xbd8> |
| 6656: 1f ef ldi r17, 0xFF ; 255 |
| 6658: 21 16 cp r2, r17 |
| 665a: 31 04 cpc r3, r1 |
| 665c: 41 04 cpc r4, r1 |
| 665e: 51 04 cpc r5, r1 |
| 6660: 19 f0 breq .+6 ; 0x6668 <__divdi3+0x152> |
| 6662: 10 f0 brcs .+4 ; 0x6668 <__divdi3+0x152> |
| 6664: 0c 94 72 3c jmp 0x78e4 ; 0x78e4 <__divdi3+0x13ce> |
| 6668: 20 e0 ldi r18, 0x00 ; 0 |
| 666a: 30 e0 ldi r19, 0x00 ; 0 |
| 666c: 40 e0 ldi r20, 0x00 ; 0 |
| 666e: 50 e0 ldi r21, 0x00 ; 0 |
| 6670: 80 e0 ldi r24, 0x00 ; 0 |
| 6672: 90 e0 ldi r25, 0x00 ; 0 |
| 6674: 42 01 movw r8, r4 |
| 6676: 31 01 movw r6, r2 |
| 6678: 04 c0 rjmp .+8 ; 0x6682 <__divdi3+0x16c> |
| 667a: 96 94 lsr r9 |
| 667c: 87 94 ror r8 |
| 667e: 77 94 ror r7 |
| 6680: 67 94 ror r6 |
| 6682: 8a 95 dec r24 |
| 6684: d2 f7 brpl .-12 ; 0x667a <__divdi3+0x164> |
| 6686: d4 01 movw r26, r8 |
| 6688: c3 01 movw r24, r6 |
| 668a: 86 5d subi r24, 0xD6 ; 214 |
| 668c: 98 4f sbci r25, 0xF8 ; 248 |
| 668e: dc 01 movw r26, r24 |
| 6690: 8c 91 ld r24, X |
| 6692: 28 0f add r18, r24 |
| 6694: 31 1d adc r19, r1 |
| 6696: 41 1d adc r20, r1 |
| 6698: 51 1d adc r21, r1 |
| 669a: da 01 movw r26, r20 |
| 669c: c9 01 movw r24, r18 |
| 669e: 20 e2 ldi r18, 0x20 ; 32 |
| 66a0: 30 e0 ldi r19, 0x00 ; 0 |
| 66a2: 40 e0 ldi r20, 0x00 ; 0 |
| 66a4: 50 e0 ldi r21, 0x00 ; 0 |
| 66a6: 39 01 movw r6, r18 |
| 66a8: 4a 01 movw r8, r20 |
| 66aa: 68 1a sub r6, r24 |
| 66ac: 79 0a sbc r7, r25 |
| 66ae: 8a 0a sbc r8, r26 |
| 66b0: 9b 0a sbc r9, r27 |
| 66b2: 09 f0 breq .+2 ; 0x66b6 <__divdi3+0x1a0> |
| 66b4: 90 c7 rjmp .+3872 ; 0x75d6 <__divdi3+0x10c0> |
| 66b6: 2d 96 adiw r28, 0x0d ; 13 |
| 66b8: ac ac ldd r10, Y+60 ; 0x3c |
| 66ba: bd ac ldd r11, Y+61 ; 0x3d |
| 66bc: ce ac ldd r12, Y+62 ; 0x3e |
| 66be: df ac ldd r13, Y+63 ; 0x3f |
| 66c0: 2d 97 sbiw r28, 0x0d ; 13 |
| 66c2: a2 18 sub r10, r2 |
| 66c4: b3 08 sbc r11, r3 |
| 66c6: c4 08 sbc r12, r4 |
| 66c8: d5 08 sbc r13, r5 |
| 66ca: 72 01 movw r14, r4 |
| 66cc: 00 27 eor r16, r16 |
| 66ce: 11 27 eor r17, r17 |
| 66d0: a1 96 adiw r28, 0x21 ; 33 |
| 66d2: ec ae std Y+60, r14 ; 0x3c |
| 66d4: fd ae std Y+61, r15 ; 0x3d |
| 66d6: 0e af std Y+62, r16 ; 0x3e |
| 66d8: 1f af std Y+63, r17 ; 0x3f |
| 66da: a1 97 sbiw r28, 0x21 ; 33 |
| 66dc: 92 01 movw r18, r4 |
| 66de: 81 01 movw r16, r2 |
| 66e0: 20 70 andi r18, 0x00 ; 0 |
| 66e2: 30 70 andi r19, 0x00 ; 0 |
| 66e4: a5 96 adiw r28, 0x25 ; 37 |
| 66e6: 0c af std Y+60, r16 ; 0x3c |
| 66e8: 1d af std Y+61, r17 ; 0x3d |
| 66ea: 2e af std Y+62, r18 ; 0x3e |
| 66ec: 3f af std Y+63, r19 ; 0x3f |
| 66ee: a5 97 sbiw r28, 0x25 ; 37 |
| 66f0: 21 e0 ldi r18, 0x01 ; 1 |
| 66f2: 30 e0 ldi r19, 0x00 ; 0 |
| 66f4: 40 e0 ldi r20, 0x00 ; 0 |
| 66f6: 50 e0 ldi r21, 0x00 ; 0 |
| 66f8: 65 96 adiw r28, 0x15 ; 21 |
| 66fa: 2c af std Y+60, r18 ; 0x3c |
| 66fc: 3d af std Y+61, r19 ; 0x3d |
| 66fe: 4e af std Y+62, r20 ; 0x3e |
| 6700: 5f af std Y+63, r21 ; 0x3f |
| 6702: 65 97 sbiw r28, 0x15 ; 21 |
| 6704: c6 01 movw r24, r12 |
| 6706: b5 01 movw r22, r10 |
| 6708: a1 96 adiw r28, 0x21 ; 33 |
| 670a: 2c ad ldd r18, Y+60 ; 0x3c |
| 670c: 3d ad ldd r19, Y+61 ; 0x3d |
| 670e: 4e ad ldd r20, Y+62 ; 0x3e |
| 6710: 5f ad ldd r21, Y+63 ; 0x3f |
| 6712: a1 97 sbiw r28, 0x21 ; 33 |
| 6714: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6718: e1 96 adiw r28, 0x31 ; 49 |
| 671a: 2c af std Y+60, r18 ; 0x3c |
| 671c: 3d af std Y+61, r19 ; 0x3d |
| 671e: 4e af std Y+62, r20 ; 0x3e |
| 6720: 5f af std Y+63, r21 ; 0x3f |
| 6722: e1 97 sbiw r28, 0x31 ; 49 |
| 6724: a5 96 adiw r28, 0x25 ; 37 |
| 6726: 6c ad ldd r22, Y+60 ; 0x3c |
| 6728: 7d ad ldd r23, Y+61 ; 0x3d |
| 672a: 8e ad ldd r24, Y+62 ; 0x3e |
| 672c: 9f ad ldd r25, Y+63 ; 0x3f |
| 672e: a5 97 sbiw r28, 0x25 ; 37 |
| 6730: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 6734: 3b 01 movw r6, r22 |
| 6736: 4c 01 movw r8, r24 |
| 6738: c6 01 movw r24, r12 |
| 673a: b5 01 movw r22, r10 |
| 673c: a1 96 adiw r28, 0x21 ; 33 |
| 673e: 2c ad ldd r18, Y+60 ; 0x3c |
| 6740: 3d ad ldd r19, Y+61 ; 0x3d |
| 6742: 4e ad ldd r20, Y+62 ; 0x3e |
| 6744: 5f ad ldd r21, Y+63 ; 0x3f |
| 6746: a1 97 sbiw r28, 0x21 ; 33 |
| 6748: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 674c: cb 01 movw r24, r22 |
| 674e: 77 27 eor r23, r23 |
| 6750: 66 27 eor r22, r22 |
| 6752: 29 96 adiw r28, 0x09 ; 9 |
| 6754: ac ac ldd r10, Y+60 ; 0x3c |
| 6756: bd ac ldd r11, Y+61 ; 0x3d |
| 6758: ce ac ldd r12, Y+62 ; 0x3e |
| 675a: df ac ldd r13, Y+63 ; 0x3f |
| 675c: 29 97 sbiw r28, 0x09 ; 9 |
| 675e: 96 01 movw r18, r12 |
| 6760: 44 27 eor r20, r20 |
| 6762: 55 27 eor r21, r21 |
| 6764: 7b 01 movw r14, r22 |
| 6766: 8c 01 movw r16, r24 |
| 6768: e2 2a or r14, r18 |
| 676a: f3 2a or r15, r19 |
| 676c: 04 2b or r16, r20 |
| 676e: 15 2b or r17, r21 |
| 6770: e6 14 cp r14, r6 |
| 6772: f7 04 cpc r15, r7 |
| 6774: 08 05 cpc r16, r8 |
| 6776: 19 05 cpc r17, r9 |
| 6778: 00 f5 brcc .+64 ; 0x67ba <__divdi3+0x2a4> |
| 677a: e1 96 adiw r28, 0x31 ; 49 |
| 677c: 2c ad ldd r18, Y+60 ; 0x3c |
| 677e: 3d ad ldd r19, Y+61 ; 0x3d |
| 6780: 4e ad ldd r20, Y+62 ; 0x3e |
| 6782: 5f ad ldd r21, Y+63 ; 0x3f |
| 6784: e1 97 sbiw r28, 0x31 ; 49 |
| 6786: 21 50 subi r18, 0x01 ; 1 |
| 6788: 30 40 sbci r19, 0x00 ; 0 |
| 678a: 40 40 sbci r20, 0x00 ; 0 |
| 678c: 50 40 sbci r21, 0x00 ; 0 |
| 678e: e1 96 adiw r28, 0x31 ; 49 |
| 6790: 2c af std Y+60, r18 ; 0x3c |
| 6792: 3d af std Y+61, r19 ; 0x3d |
| 6794: 4e af std Y+62, r20 ; 0x3e |
| 6796: 5f af std Y+63, r21 ; 0x3f |
| 6798: e1 97 sbiw r28, 0x31 ; 49 |
| 679a: e2 0c add r14, r2 |
| 679c: f3 1c adc r15, r3 |
| 679e: 04 1d adc r16, r4 |
| 67a0: 15 1d adc r17, r5 |
| 67a2: e2 14 cp r14, r2 |
| 67a4: f3 04 cpc r15, r3 |
| 67a6: 04 05 cpc r16, r4 |
| 67a8: 15 05 cpc r17, r5 |
| 67aa: 38 f0 brcs .+14 ; 0x67ba <__divdi3+0x2a4> |
| 67ac: e6 14 cp r14, r6 |
| 67ae: f7 04 cpc r15, r7 |
| 67b0: 08 05 cpc r16, r8 |
| 67b2: 19 05 cpc r17, r9 |
| 67b4: 10 f4 brcc .+4 ; 0x67ba <__divdi3+0x2a4> |
| 67b6: 0c 94 e6 3c jmp 0x79cc ; 0x79cc <__divdi3+0x14b6> |
| 67ba: e6 18 sub r14, r6 |
| 67bc: f7 08 sbc r15, r7 |
| 67be: 08 09 sbc r16, r8 |
| 67c0: 19 09 sbc r17, r9 |
| 67c2: c8 01 movw r24, r16 |
| 67c4: b7 01 movw r22, r14 |
| 67c6: a1 96 adiw r28, 0x21 ; 33 |
| 67c8: 2c ad ldd r18, Y+60 ; 0x3c |
| 67ca: 3d ad ldd r19, Y+61 ; 0x3d |
| 67cc: 4e ad ldd r20, Y+62 ; 0x3e |
| 67ce: 5f ad ldd r21, Y+63 ; 0x3f |
| 67d0: a1 97 sbiw r28, 0x21 ; 33 |
| 67d2: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 67d6: 59 01 movw r10, r18 |
| 67d8: 6a 01 movw r12, r20 |
| 67da: a5 96 adiw r28, 0x25 ; 37 |
| 67dc: 6c ad ldd r22, Y+60 ; 0x3c |
| 67de: 7d ad ldd r23, Y+61 ; 0x3d |
| 67e0: 8e ad ldd r24, Y+62 ; 0x3e |
| 67e2: 9f ad ldd r25, Y+63 ; 0x3f |
| 67e4: a5 97 sbiw r28, 0x25 ; 37 |
| 67e6: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 67ea: 3b 01 movw r6, r22 |
| 67ec: 4c 01 movw r8, r24 |
| 67ee: c8 01 movw r24, r16 |
| 67f0: b7 01 movw r22, r14 |
| 67f2: a1 96 adiw r28, 0x21 ; 33 |
| 67f4: 2c ad ldd r18, Y+60 ; 0x3c |
| 67f6: 3d ad ldd r19, Y+61 ; 0x3d |
| 67f8: 4e ad ldd r20, Y+62 ; 0x3e |
| 67fa: 5f ad ldd r21, Y+63 ; 0x3f |
| 67fc: a1 97 sbiw r28, 0x21 ; 33 |
| 67fe: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6802: cb 01 movw r24, r22 |
| 6804: 77 27 eor r23, r23 |
| 6806: 66 27 eor r22, r22 |
| 6808: 29 96 adiw r28, 0x09 ; 9 |
| 680a: 2c ad ldd r18, Y+60 ; 0x3c |
| 680c: 3d ad ldd r19, Y+61 ; 0x3d |
| 680e: 4e ad ldd r20, Y+62 ; 0x3e |
| 6810: 5f ad ldd r21, Y+63 ; 0x3f |
| 6812: 29 97 sbiw r28, 0x09 ; 9 |
| 6814: 40 70 andi r20, 0x00 ; 0 |
| 6816: 50 70 andi r21, 0x00 ; 0 |
| 6818: 26 2b or r18, r22 |
| 681a: 37 2b or r19, r23 |
| 681c: 48 2b or r20, r24 |
| 681e: 59 2b or r21, r25 |
| 6820: 26 15 cp r18, r6 |
| 6822: 37 05 cpc r19, r7 |
| 6824: 48 05 cpc r20, r8 |
| 6826: 59 05 cpc r21, r9 |
| 6828: a8 f4 brcc .+42 ; 0x6854 <__divdi3+0x33e> |
| 682a: 08 94 sec |
| 682c: a1 08 sbc r10, r1 |
| 682e: b1 08 sbc r11, r1 |
| 6830: c1 08 sbc r12, r1 |
| 6832: d1 08 sbc r13, r1 |
| 6834: 22 0d add r18, r2 |
| 6836: 33 1d adc r19, r3 |
| 6838: 44 1d adc r20, r4 |
| 683a: 55 1d adc r21, r5 |
| 683c: 22 15 cp r18, r2 |
| 683e: 33 05 cpc r19, r3 |
| 6840: 44 05 cpc r20, r4 |
| 6842: 55 05 cpc r21, r5 |
| 6844: 38 f0 brcs .+14 ; 0x6854 <__divdi3+0x33e> |
| 6846: 26 15 cp r18, r6 |
| 6848: 37 05 cpc r19, r7 |
| 684a: 48 05 cpc r20, r8 |
| 684c: 59 05 cpc r21, r9 |
| 684e: 10 f4 brcc .+4 ; 0x6854 <__divdi3+0x33e> |
| 6850: 0c 94 ca 3c jmp 0x7994 ; 0x7994 <__divdi3+0x147e> |
| 6854: e1 96 adiw r28, 0x31 ; 49 |
| 6856: 6c ac ldd r6, Y+60 ; 0x3c |
| 6858: 7d ac ldd r7, Y+61 ; 0x3d |
| 685a: 8e ac ldd r8, Y+62 ; 0x3e |
| 685c: 9f ac ldd r9, Y+63 ; 0x3f |
| 685e: e1 97 sbiw r28, 0x31 ; 49 |
| 6860: d3 01 movw r26, r6 |
| 6862: 99 27 eor r25, r25 |
| 6864: 88 27 eor r24, r24 |
| 6866: 15 01 movw r2, r10 |
| 6868: 26 01 movw r4, r12 |
| 686a: 28 2a or r2, r24 |
| 686c: 39 2a or r3, r25 |
| 686e: 4a 2a or r4, r26 |
| 6870: 5b 2a or r5, r27 |
| 6872: 65 96 adiw r28, 0x15 ; 21 |
| 6874: 2c ad ldd r18, Y+60 ; 0x3c |
| 6876: 3d ad ldd r19, Y+61 ; 0x3d |
| 6878: 4e ad ldd r20, Y+62 ; 0x3e |
| 687a: 5f ad ldd r21, Y+63 ; 0x3f |
| 687c: 65 97 sbiw r28, 0x15 ; 21 |
| 687e: 13 c0 rjmp .+38 ; 0x68a6 <__divdi3+0x390> |
| 6880: 2d 96 adiw r28, 0x0d ; 13 |
| 6882: 8c ac ldd r8, Y+60 ; 0x3c |
| 6884: 9d ac ldd r9, Y+61 ; 0x3d |
| 6886: ae ac ldd r10, Y+62 ; 0x3e |
| 6888: bf ac ldd r11, Y+63 ; 0x3f |
| 688a: 2d 97 sbiw r28, 0x0d ; 13 |
| 688c: 8e 14 cp r8, r14 |
| 688e: 9f 04 cpc r9, r15 |
| 6890: a0 06 cpc r10, r16 |
| 6892: b1 06 cpc r11, r17 |
| 6894: 08 f0 brcs .+2 ; 0x6898 <__divdi3+0x382> |
| 6896: 32 c2 rjmp .+1124 ; 0x6cfc <__divdi3+0x7e6> |
| 6898: 22 24 eor r2, r2 |
| 689a: 33 24 eor r3, r3 |
| 689c: 21 01 movw r4, r2 |
| 689e: 20 e0 ldi r18, 0x00 ; 0 |
| 68a0: 30 e0 ldi r19, 0x00 ; 0 |
| 68a2: 40 e0 ldi r20, 0x00 ; 0 |
| 68a4: 50 e0 ldi r21, 0x00 ; 0 |
| 68a6: 88 e0 ldi r24, 0x08 ; 8 |
| 68a8: fe 01 movw r30, r28 |
| 68aa: 79 96 adiw r30, 0x19 ; 25 |
| 68ac: 11 92 st Z+, r1 |
| 68ae: 8a 95 dec r24 |
| 68b0: e9 f7 brne .-6 ; 0x68ac <__divdi3+0x396> |
| 68b2: 29 8e std Y+25, r2 ; 0x19 |
| 68b4: 3a 8e std Y+26, r3 ; 0x1a |
| 68b6: 4b 8e std Y+27, r4 ; 0x1b |
| 68b8: 5c 8e std Y+28, r5 ; 0x1c |
| 68ba: 2d 8f std Y+29, r18 ; 0x1d |
| 68bc: 3e 8f std Y+30, r19 ; 0x1e |
| 68be: 4f 8f std Y+31, r20 ; 0x1f |
| 68c0: 58 a3 std Y+32, r21 ; 0x20 |
| 68c2: 29 8c ldd r2, Y+25 ; 0x19 |
| 68c4: 3a 8c ldd r3, Y+26 ; 0x1a |
| 68c6: 4b 8c ldd r4, Y+27 ; 0x1b |
| 68c8: 5c 8c ldd r5, Y+28 ; 0x1c |
| 68ca: 6d 8c ldd r6, Y+29 ; 0x1d |
| 68cc: 7e 8c ldd r7, Y+30 ; 0x1e |
| 68ce: 8f 8c ldd r8, Y+31 ; 0x1f |
| 68d0: 98 a0 ldd r9, Y+32 ; 0x20 |
| 68d2: cf 57 subi r28, 0x7F ; 127 |
| 68d4: df 4f sbci r29, 0xFF ; 255 |
| 68d6: b8 80 ld r11, Y |
| 68d8: c1 58 subi r28, 0x81 ; 129 |
| 68da: d0 40 sbci r29, 0x00 ; 0 |
| 68dc: bb 20 and r11, r11 |
| 68de: 11 f4 brne .+4 ; 0x68e4 <__divdi3+0x3ce> |
| 68e0: 0c 94 f6 3c jmp 0x79ec ; 0x79ec <__divdi3+0x14d6> |
| 68e4: ce 56 subi r28, 0x6E ; 110 |
| 68e6: df 4f sbci r29, 0xFF ; 255 |
| 68e8: 18 82 st Y, r1 |
| 68ea: c2 59 subi r28, 0x92 ; 146 |
| 68ec: d0 40 sbci r29, 0x00 ; 0 |
| 68ee: cd 56 subi r28, 0x6D ; 109 |
| 68f0: df 4f sbci r29, 0xFF ; 255 |
| 68f2: 18 82 st Y, r1 |
| 68f4: c3 59 subi r28, 0x93 ; 147 |
| 68f6: d0 40 sbci r29, 0x00 ; 0 |
| 68f8: cc 56 subi r28, 0x6C ; 108 |
| 68fa: df 4f sbci r29, 0xFF ; 255 |
| 68fc: 18 82 st Y, r1 |
| 68fe: c4 59 subi r28, 0x94 ; 148 |
| 6900: d0 40 sbci r29, 0x00 ; 0 |
| 6902: cb 56 subi r28, 0x6B ; 107 |
| 6904: df 4f sbci r29, 0xFF ; 255 |
| 6906: 18 82 st Y, r1 |
| 6908: c5 59 subi r28, 0x95 ; 149 |
| 690a: d0 40 sbci r29, 0x00 ; 0 |
| 690c: ca 56 subi r28, 0x6A ; 106 |
| 690e: df 4f sbci r29, 0xFF ; 255 |
| 6910: 18 82 st Y, r1 |
| 6912: c6 59 subi r28, 0x96 ; 150 |
| 6914: d0 40 sbci r29, 0x00 ; 0 |
| 6916: c9 56 subi r28, 0x69 ; 105 |
| 6918: df 4f sbci r29, 0xFF ; 255 |
| 691a: 18 82 st Y, r1 |
| 691c: c7 59 subi r28, 0x97 ; 151 |
| 691e: d0 40 sbci r29, 0x00 ; 0 |
| 6920: c8 56 subi r28, 0x68 ; 104 |
| 6922: df 4f sbci r29, 0xFF ; 255 |
| 6924: 18 82 st Y, r1 |
| 6926: c8 59 subi r28, 0x98 ; 152 |
| 6928: d0 40 sbci r29, 0x00 ; 0 |
| 692a: c7 56 subi r28, 0x67 ; 103 |
| 692c: df 4f sbci r29, 0xFF ; 255 |
| 692e: 18 82 st Y, r1 |
| 6930: c9 59 subi r28, 0x99 ; 153 |
| 6932: d0 40 sbci r29, 0x00 ; 0 |
| 6934: 00 e0 ldi r16, 0x00 ; 0 |
| 6936: 02 19 sub r16, r2 |
| 6938: 81 e0 ldi r24, 0x01 ; 1 |
| 693a: cc 24 eor r12, r12 |
| 693c: c0 16 cp r12, r16 |
| 693e: 08 f0 brcs .+2 ; 0x6942 <__divdi3+0x42c> |
| 6940: 80 e0 ldi r24, 0x00 ; 0 |
| 6942: cd 56 subi r28, 0x6D ; 109 |
| 6944: df 4f sbci r29, 0xFF ; 255 |
| 6946: 18 81 ld r17, Y |
| 6948: c3 59 subi r28, 0x93 ; 147 |
| 694a: d0 40 sbci r29, 0x00 ; 0 |
| 694c: 13 19 sub r17, r3 |
| 694e: 91 e0 ldi r25, 0x01 ; 1 |
| 6950: cd 56 subi r28, 0x6D ; 109 |
| 6952: df 4f sbci r29, 0xFF ; 255 |
| 6954: d8 80 ld r13, Y |
| 6956: c3 59 subi r28, 0x93 ; 147 |
| 6958: d0 40 sbci r29, 0x00 ; 0 |
| 695a: d1 16 cp r13, r17 |
| 695c: 08 f0 brcs .+2 ; 0x6960 <__divdi3+0x44a> |
| 695e: 90 e0 ldi r25, 0x00 ; 0 |
| 6960: e1 2e mov r14, r17 |
| 6962: e8 1a sub r14, r24 |
| 6964: 8e 2d mov r24, r14 |
| 6966: e1 e0 ldi r30, 0x01 ; 1 |
| 6968: 1e 15 cp r17, r14 |
| 696a: 08 f0 brcs .+2 ; 0x696e <__divdi3+0x458> |
| 696c: e0 e0 ldi r30, 0x00 ; 0 |
| 696e: 9e 2b or r25, r30 |
| 6970: 18 2f mov r17, r24 |
| 6972: cc 56 subi r28, 0x6C ; 108 |
| 6974: df 4f sbci r29, 0xFF ; 255 |
| 6976: 28 81 ld r18, Y |
| 6978: c4 59 subi r28, 0x94 ; 148 |
| 697a: d0 40 sbci r29, 0x00 ; 0 |
| 697c: 24 19 sub r18, r4 |
| 697e: e1 e0 ldi r30, 0x01 ; 1 |
| 6980: cc 56 subi r28, 0x6C ; 108 |
| 6982: df 4f sbci r29, 0xFF ; 255 |
| 6984: f8 80 ld r15, Y |
| 6986: c4 59 subi r28, 0x94 ; 148 |
| 6988: d0 40 sbci r29, 0x00 ; 0 |
| 698a: f2 16 cp r15, r18 |
| 698c: 08 f0 brcs .+2 ; 0x6990 <__divdi3+0x47a> |
| 698e: e0 e0 ldi r30, 0x00 ; 0 |
| 6990: 82 2f mov r24, r18 |
| 6992: 89 1b sub r24, r25 |
| 6994: 91 e0 ldi r25, 0x01 ; 1 |
| 6996: 28 17 cp r18, r24 |
| 6998: 08 f0 brcs .+2 ; 0x699c <__divdi3+0x486> |
| 699a: 90 e0 ldi r25, 0x00 ; 0 |
| 699c: e9 2b or r30, r25 |
| 699e: 28 2f mov r18, r24 |
| 69a0: cb 56 subi r28, 0x6B ; 107 |
| 69a2: df 4f sbci r29, 0xFF ; 255 |
| 69a4: 38 81 ld r19, Y |
| 69a6: c5 59 subi r28, 0x95 ; 149 |
| 69a8: d0 40 sbci r29, 0x00 ; 0 |
| 69aa: 35 19 sub r19, r5 |
| 69ac: 91 e0 ldi r25, 0x01 ; 1 |
| 69ae: cb 56 subi r28, 0x6B ; 107 |
| 69b0: df 4f sbci r29, 0xFF ; 255 |
| 69b2: 88 81 ld r24, Y |
| 69b4: c5 59 subi r28, 0x95 ; 149 |
| 69b6: d0 40 sbci r29, 0x00 ; 0 |
| 69b8: 83 17 cp r24, r19 |
| 69ba: 08 f0 brcs .+2 ; 0x69be <__divdi3+0x4a8> |
| 69bc: 90 e0 ldi r25, 0x00 ; 0 |
| 69be: 83 2f mov r24, r19 |
| 69c0: 8e 1b sub r24, r30 |
| 69c2: e1 e0 ldi r30, 0x01 ; 1 |
| 69c4: 38 17 cp r19, r24 |
| 69c6: 08 f0 brcs .+2 ; 0x69ca <__divdi3+0x4b4> |
| 69c8: e0 e0 ldi r30, 0x00 ; 0 |
| 69ca: 9e 2b or r25, r30 |
| 69cc: 38 2f mov r19, r24 |
| 69ce: ca 56 subi r28, 0x6A ; 106 |
| 69d0: df 4f sbci r29, 0xFF ; 255 |
| 69d2: 48 81 ld r20, Y |
| 69d4: c6 59 subi r28, 0x96 ; 150 |
| 69d6: d0 40 sbci r29, 0x00 ; 0 |
| 69d8: 46 19 sub r20, r6 |
| 69da: e1 e0 ldi r30, 0x01 ; 1 |
| 69dc: ca 56 subi r28, 0x6A ; 106 |
| 69de: df 4f sbci r29, 0xFF ; 255 |
| 69e0: a8 81 ld r26, Y |
| 69e2: c6 59 subi r28, 0x96 ; 150 |
| 69e4: d0 40 sbci r29, 0x00 ; 0 |
| 69e6: a4 17 cp r26, r20 |
| 69e8: 08 f0 brcs .+2 ; 0x69ec <__divdi3+0x4d6> |
| 69ea: e0 e0 ldi r30, 0x00 ; 0 |
| 69ec: 84 2f mov r24, r20 |
| 69ee: 89 1b sub r24, r25 |
| 69f0: 91 e0 ldi r25, 0x01 ; 1 |
| 69f2: 48 17 cp r20, r24 |
| 69f4: 08 f0 brcs .+2 ; 0x69f8 <__divdi3+0x4e2> |
| 69f6: 90 e0 ldi r25, 0x00 ; 0 |
| 69f8: e9 2b or r30, r25 |
| 69fa: 48 2f mov r20, r24 |
| 69fc: c9 56 subi r28, 0x69 ; 105 |
| 69fe: df 4f sbci r29, 0xFF ; 255 |
| 6a00: 58 81 ld r21, Y |
| 6a02: c7 59 subi r28, 0x97 ; 151 |
| 6a04: d0 40 sbci r29, 0x00 ; 0 |
| 6a06: 57 19 sub r21, r7 |
| 6a08: f1 e0 ldi r31, 0x01 ; 1 |
| 6a0a: c9 56 subi r28, 0x69 ; 105 |
| 6a0c: df 4f sbci r29, 0xFF ; 255 |
| 6a0e: b8 81 ld r27, Y |
| 6a10: c7 59 subi r28, 0x97 ; 151 |
| 6a12: d0 40 sbci r29, 0x00 ; 0 |
| 6a14: b5 17 cp r27, r21 |
| 6a16: 08 f0 brcs .+2 ; 0x6a1a <__divdi3+0x504> |
| 6a18: f0 e0 ldi r31, 0x00 ; 0 |
| 6a1a: 85 2f mov r24, r21 |
| 6a1c: 8e 1b sub r24, r30 |
| 6a1e: 91 e0 ldi r25, 0x01 ; 1 |
| 6a20: 58 17 cp r21, r24 |
| 6a22: 08 f0 brcs .+2 ; 0x6a26 <__divdi3+0x510> |
| 6a24: 90 e0 ldi r25, 0x00 ; 0 |
| 6a26: f9 2b or r31, r25 |
| 6a28: 58 2f mov r21, r24 |
| 6a2a: c8 56 subi r28, 0x68 ; 104 |
| 6a2c: df 4f sbci r29, 0xFF ; 255 |
| 6a2e: 68 81 ld r22, Y |
| 6a30: c8 59 subi r28, 0x98 ; 152 |
| 6a32: d0 40 sbci r29, 0x00 ; 0 |
| 6a34: 68 19 sub r22, r8 |
| 6a36: 91 e0 ldi r25, 0x01 ; 1 |
| 6a38: c8 56 subi r28, 0x68 ; 104 |
| 6a3a: df 4f sbci r29, 0xFF ; 255 |
| 6a3c: e8 81 ld r30, Y |
| 6a3e: c8 59 subi r28, 0x98 ; 152 |
| 6a40: d0 40 sbci r29, 0x00 ; 0 |
| 6a42: e6 17 cp r30, r22 |
| 6a44: 08 f0 brcs .+2 ; 0x6a48 <__divdi3+0x532> |
| 6a46: 90 e0 ldi r25, 0x00 ; 0 |
| 6a48: 86 2f mov r24, r22 |
| 6a4a: 8f 1b sub r24, r31 |
| 6a4c: e1 e0 ldi r30, 0x01 ; 1 |
| 6a4e: 68 17 cp r22, r24 |
| 6a50: 08 f0 brcs .+2 ; 0x6a54 <__divdi3+0x53e> |
| 6a52: e0 e0 ldi r30, 0x00 ; 0 |
| 6a54: 9e 2b or r25, r30 |
| 6a56: 68 2f mov r22, r24 |
| 6a58: c7 56 subi r28, 0x67 ; 103 |
| 6a5a: df 4f sbci r29, 0xFF ; 255 |
| 6a5c: 78 81 ld r23, Y |
| 6a5e: c9 59 subi r28, 0x99 ; 153 |
| 6a60: d0 40 sbci r29, 0x00 ; 0 |
| 6a62: 79 19 sub r23, r9 |
| 6a64: 87 2f mov r24, r23 |
| 6a66: 89 1b sub r24, r25 |
| 6a68: 20 2e mov r2, r16 |
| 6a6a: 31 2e mov r3, r17 |
| 6a6c: 42 2e mov r4, r18 |
| 6a6e: 53 2e mov r5, r19 |
| 6a70: 64 2e mov r6, r20 |
| 6a72: 75 2e mov r7, r21 |
| 6a74: 86 2e mov r8, r22 |
| 6a76: 98 2e mov r9, r24 |
| 6a78: b9 c7 rjmp .+3954 ; 0x79ec <__divdi3+0x14d6> |
| 6a7a: 00 e0 ldi r16, 0x00 ; 0 |
| 6a7c: 20 16 cp r2, r16 |
| 6a7e: 00 e0 ldi r16, 0x00 ; 0 |
| 6a80: 30 06 cpc r3, r16 |
| 6a82: 01 e0 ldi r16, 0x01 ; 1 |
| 6a84: 40 06 cpc r4, r16 |
| 6a86: 00 e0 ldi r16, 0x00 ; 0 |
| 6a88: 50 06 cpc r5, r16 |
| 6a8a: 08 f0 brcs .+2 ; 0x6a8e <__divdi3+0x578> |
| 6a8c: 4e c3 rjmp .+1692 ; 0x712a <__divdi3+0xc14> |
| 6a8e: 1f ef ldi r17, 0xFF ; 255 |
| 6a90: 21 16 cp r2, r17 |
| 6a92: 31 04 cpc r3, r1 |
| 6a94: 41 04 cpc r4, r1 |
| 6a96: 51 04 cpc r5, r1 |
| 6a98: 11 f0 breq .+4 ; 0x6a9e <__divdi3+0x588> |
| 6a9a: 08 f0 brcs .+2 ; 0x6a9e <__divdi3+0x588> |
| 6a9c: 1c c7 rjmp .+3640 ; 0x78d6 <__divdi3+0x13c0> |
| 6a9e: 20 e0 ldi r18, 0x00 ; 0 |
| 6aa0: 30 e0 ldi r19, 0x00 ; 0 |
| 6aa2: 40 e0 ldi r20, 0x00 ; 0 |
| 6aa4: 50 e0 ldi r21, 0x00 ; 0 |
| 6aa6: 80 e0 ldi r24, 0x00 ; 0 |
| 6aa8: 90 e0 ldi r25, 0x00 ; 0 |
| 6aaa: 42 01 movw r8, r4 |
| 6aac: 31 01 movw r6, r2 |
| 6aae: 04 c0 rjmp .+8 ; 0x6ab8 <__divdi3+0x5a2> |
| 6ab0: 96 94 lsr r9 |
| 6ab2: 87 94 ror r8 |
| 6ab4: 77 94 ror r7 |
| 6ab6: 67 94 ror r6 |
| 6ab8: 8a 95 dec r24 |
| 6aba: d2 f7 brpl .-12 ; 0x6ab0 <__divdi3+0x59a> |
| 6abc: d4 01 movw r26, r8 |
| 6abe: c3 01 movw r24, r6 |
| 6ac0: 86 5d subi r24, 0xD6 ; 214 |
| 6ac2: 98 4f sbci r25, 0xF8 ; 248 |
| 6ac4: dc 01 movw r26, r24 |
| 6ac6: 8c 91 ld r24, X |
| 6ac8: 28 0f add r18, r24 |
| 6aca: 31 1d adc r19, r1 |
| 6acc: 41 1d adc r20, r1 |
| 6ace: 51 1d adc r21, r1 |
| 6ad0: 80 e2 ldi r24, 0x20 ; 32 |
| 6ad2: 90 e0 ldi r25, 0x00 ; 0 |
| 6ad4: a0 e0 ldi r26, 0x00 ; 0 |
| 6ad6: b0 e0 ldi r27, 0x00 ; 0 |
| 6ad8: 3c 01 movw r6, r24 |
| 6ada: 4d 01 movw r8, r26 |
| 6adc: 62 1a sub r6, r18 |
| 6ade: 73 0a sbc r7, r19 |
| 6ae0: 84 0a sbc r8, r20 |
| 6ae2: 95 0a sbc r9, r21 |
| 6ae4: 09 f4 brne .+2 ; 0x6ae8 <__divdi3+0x5d2> |
| 6ae6: 45 c0 rjmp .+138 ; 0x6b72 <__divdi3+0x65c> |
| 6ae8: c3 01 movw r24, r6 |
| 6aea: 06 2c mov r0, r6 |
| 6aec: 04 c0 rjmp .+8 ; 0x6af6 <__divdi3+0x5e0> |
| 6aee: 22 0c add r2, r2 |
| 6af0: 33 1c adc r3, r3 |
| 6af2: 44 1c adc r4, r4 |
| 6af4: 55 1c adc r5, r5 |
| 6af6: 0a 94 dec r0 |
| 6af8: d2 f7 brpl .-12 ; 0x6aee <__divdi3+0x5d8> |
| 6afa: 2d 96 adiw r28, 0x0d ; 13 |
| 6afc: ec ac ldd r14, Y+60 ; 0x3c |
| 6afe: fd ac ldd r15, Y+61 ; 0x3d |
| 6b00: 0e ad ldd r16, Y+62 ; 0x3e |
| 6b02: 1f ad ldd r17, Y+63 ; 0x3f |
| 6b04: 2d 97 sbiw r28, 0x0d ; 13 |
| 6b06: 06 2c mov r0, r6 |
| 6b08: 04 c0 rjmp .+8 ; 0x6b12 <__divdi3+0x5fc> |
| 6b0a: ee 0c add r14, r14 |
| 6b0c: ff 1c adc r15, r15 |
| 6b0e: 00 1f adc r16, r16 |
| 6b10: 11 1f adc r17, r17 |
| 6b12: 0a 94 dec r0 |
| 6b14: d2 f7 brpl .-12 ; 0x6b0a <__divdi3+0x5f4> |
| 6b16: 20 e2 ldi r18, 0x20 ; 32 |
| 6b18: 30 e0 ldi r19, 0x00 ; 0 |
| 6b1a: 26 19 sub r18, r6 |
| 6b1c: 37 09 sbc r19, r7 |
| 6b1e: 29 96 adiw r28, 0x09 ; 9 |
| 6b20: 6c ac ldd r6, Y+60 ; 0x3c |
| 6b22: 7d ac ldd r7, Y+61 ; 0x3d |
| 6b24: 8e ac ldd r8, Y+62 ; 0x3e |
| 6b26: 9f ac ldd r9, Y+63 ; 0x3f |
| 6b28: 29 97 sbiw r28, 0x09 ; 9 |
| 6b2a: 04 c0 rjmp .+8 ; 0x6b34 <__divdi3+0x61e> |
| 6b2c: 96 94 lsr r9 |
| 6b2e: 87 94 ror r8 |
| 6b30: 77 94 ror r7 |
| 6b32: 67 94 ror r6 |
| 6b34: 2a 95 dec r18 |
| 6b36: d2 f7 brpl .-12 ; 0x6b2c <__divdi3+0x616> |
| 6b38: e6 28 or r14, r6 |
| 6b3a: f7 28 or r15, r7 |
| 6b3c: 08 29 or r16, r8 |
| 6b3e: 19 29 or r17, r9 |
| 6b40: 2d 96 adiw r28, 0x0d ; 13 |
| 6b42: ec ae std Y+60, r14 ; 0x3c |
| 6b44: fd ae std Y+61, r15 ; 0x3d |
| 6b46: 0e af std Y+62, r16 ; 0x3e |
| 6b48: 1f af std Y+63, r17 ; 0x3f |
| 6b4a: 2d 97 sbiw r28, 0x0d ; 13 |
| 6b4c: 29 96 adiw r28, 0x09 ; 9 |
| 6b4e: 8c ac ldd r8, Y+60 ; 0x3c |
| 6b50: 9d ac ldd r9, Y+61 ; 0x3d |
| 6b52: ae ac ldd r10, Y+62 ; 0x3e |
| 6b54: bf ac ldd r11, Y+63 ; 0x3f |
| 6b56: 29 97 sbiw r28, 0x09 ; 9 |
| 6b58: 04 c0 rjmp .+8 ; 0x6b62 <__divdi3+0x64c> |
| 6b5a: 88 0c add r8, r8 |
| 6b5c: 99 1c adc r9, r9 |
| 6b5e: aa 1c adc r10, r10 |
| 6b60: bb 1c adc r11, r11 |
| 6b62: 8a 95 dec r24 |
| 6b64: d2 f7 brpl .-12 ; 0x6b5a <__divdi3+0x644> |
| 6b66: 29 96 adiw r28, 0x09 ; 9 |
| 6b68: 8c ae std Y+60, r8 ; 0x3c |
| 6b6a: 9d ae std Y+61, r9 ; 0x3d |
| 6b6c: ae ae std Y+62, r10 ; 0x3e |
| 6b6e: bf ae std Y+63, r11 ; 0x3f |
| 6b70: 29 97 sbiw r28, 0x09 ; 9 |
| 6b72: 32 01 movw r6, r4 |
| 6b74: 88 24 eor r8, r8 |
| 6b76: 99 24 eor r9, r9 |
| 6b78: 92 01 movw r18, r4 |
| 6b7a: 81 01 movw r16, r2 |
| 6b7c: 20 70 andi r18, 0x00 ; 0 |
| 6b7e: 30 70 andi r19, 0x00 ; 0 |
| 6b80: 69 96 adiw r28, 0x19 ; 25 |
| 6b82: 0c af std Y+60, r16 ; 0x3c |
| 6b84: 1d af std Y+61, r17 ; 0x3d |
| 6b86: 2e af std Y+62, r18 ; 0x3e |
| 6b88: 3f af std Y+63, r19 ; 0x3f |
| 6b8a: 69 97 sbiw r28, 0x19 ; 25 |
| 6b8c: 2d 96 adiw r28, 0x0d ; 13 |
| 6b8e: 6c ad ldd r22, Y+60 ; 0x3c |
| 6b90: 7d ad ldd r23, Y+61 ; 0x3d |
| 6b92: 8e ad ldd r24, Y+62 ; 0x3e |
| 6b94: 9f ad ldd r25, Y+63 ; 0x3f |
| 6b96: 2d 97 sbiw r28, 0x0d ; 13 |
| 6b98: a4 01 movw r20, r8 |
| 6b9a: 93 01 movw r18, r6 |
| 6b9c: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6ba0: 6d 96 adiw r28, 0x1d ; 29 |
| 6ba2: 2c af std Y+60, r18 ; 0x3c |
| 6ba4: 3d af std Y+61, r19 ; 0x3d |
| 6ba6: 4e af std Y+62, r20 ; 0x3e |
| 6ba8: 5f af std Y+63, r21 ; 0x3f |
| 6baa: 6d 97 sbiw r28, 0x1d ; 29 |
| 6bac: 69 96 adiw r28, 0x19 ; 25 |
| 6bae: 6c ad ldd r22, Y+60 ; 0x3c |
| 6bb0: 7d ad ldd r23, Y+61 ; 0x3d |
| 6bb2: 8e ad ldd r24, Y+62 ; 0x3e |
| 6bb4: 9f ad ldd r25, Y+63 ; 0x3f |
| 6bb6: 69 97 sbiw r28, 0x19 ; 25 |
| 6bb8: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 6bbc: 5b 01 movw r10, r22 |
| 6bbe: 6c 01 movw r12, r24 |
| 6bc0: 2d 96 adiw r28, 0x0d ; 13 |
| 6bc2: 6c ad ldd r22, Y+60 ; 0x3c |
| 6bc4: 7d ad ldd r23, Y+61 ; 0x3d |
| 6bc6: 8e ad ldd r24, Y+62 ; 0x3e |
| 6bc8: 9f ad ldd r25, Y+63 ; 0x3f |
| 6bca: 2d 97 sbiw r28, 0x0d ; 13 |
| 6bcc: a4 01 movw r20, r8 |
| 6bce: 93 01 movw r18, r6 |
| 6bd0: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6bd4: cb 01 movw r24, r22 |
| 6bd6: 77 27 eor r23, r23 |
| 6bd8: 66 27 eor r22, r22 |
| 6bda: 29 96 adiw r28, 0x09 ; 9 |
| 6bdc: ec ac ldd r14, Y+60 ; 0x3c |
| 6bde: fd ac ldd r15, Y+61 ; 0x3d |
| 6be0: 0e ad ldd r16, Y+62 ; 0x3e |
| 6be2: 1f ad ldd r17, Y+63 ; 0x3f |
| 6be4: 29 97 sbiw r28, 0x09 ; 9 |
| 6be6: 98 01 movw r18, r16 |
| 6be8: 44 27 eor r20, r20 |
| 6bea: 55 27 eor r21, r21 |
| 6bec: 7b 01 movw r14, r22 |
| 6bee: 8c 01 movw r16, r24 |
| 6bf0: e2 2a or r14, r18 |
| 6bf2: f3 2a or r15, r19 |
| 6bf4: 04 2b or r16, r20 |
| 6bf6: 15 2b or r17, r21 |
| 6bf8: ea 14 cp r14, r10 |
| 6bfa: fb 04 cpc r15, r11 |
| 6bfc: 0c 05 cpc r16, r12 |
| 6bfe: 1d 05 cpc r17, r13 |
| 6c00: f8 f4 brcc .+62 ; 0x6c40 <__divdi3+0x72a> |
| 6c02: 6d 96 adiw r28, 0x1d ; 29 |
| 6c04: 2c ad ldd r18, Y+60 ; 0x3c |
| 6c06: 3d ad ldd r19, Y+61 ; 0x3d |
| 6c08: 4e ad ldd r20, Y+62 ; 0x3e |
| 6c0a: 5f ad ldd r21, Y+63 ; 0x3f |
| 6c0c: 6d 97 sbiw r28, 0x1d ; 29 |
| 6c0e: 21 50 subi r18, 0x01 ; 1 |
| 6c10: 30 40 sbci r19, 0x00 ; 0 |
| 6c12: 40 40 sbci r20, 0x00 ; 0 |
| 6c14: 50 40 sbci r21, 0x00 ; 0 |
| 6c16: 6d 96 adiw r28, 0x1d ; 29 |
| 6c18: 2c af std Y+60, r18 ; 0x3c |
| 6c1a: 3d af std Y+61, r19 ; 0x3d |
| 6c1c: 4e af std Y+62, r20 ; 0x3e |
| 6c1e: 5f af std Y+63, r21 ; 0x3f |
| 6c20: 6d 97 sbiw r28, 0x1d ; 29 |
| 6c22: e2 0c add r14, r2 |
| 6c24: f3 1c adc r15, r3 |
| 6c26: 04 1d adc r16, r4 |
| 6c28: 15 1d adc r17, r5 |
| 6c2a: e2 14 cp r14, r2 |
| 6c2c: f3 04 cpc r15, r3 |
| 6c2e: 04 05 cpc r16, r4 |
| 6c30: 15 05 cpc r17, r5 |
| 6c32: 30 f0 brcs .+12 ; 0x6c40 <__divdi3+0x72a> |
| 6c34: ea 14 cp r14, r10 |
| 6c36: fb 04 cpc r15, r11 |
| 6c38: 0c 05 cpc r16, r12 |
| 6c3a: 1d 05 cpc r17, r13 |
| 6c3c: 08 f4 brcc .+2 ; 0x6c40 <__divdi3+0x72a> |
| 6c3e: b7 c6 rjmp .+3438 ; 0x79ae <__divdi3+0x1498> |
| 6c40: ea 18 sub r14, r10 |
| 6c42: fb 08 sbc r15, r11 |
| 6c44: 0c 09 sbc r16, r12 |
| 6c46: 1d 09 sbc r17, r13 |
| 6c48: c8 01 movw r24, r16 |
| 6c4a: b7 01 movw r22, r14 |
| 6c4c: a4 01 movw r20, r8 |
| 6c4e: 93 01 movw r18, r6 |
| 6c50: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6c54: 59 01 movw r10, r18 |
| 6c56: 6a 01 movw r12, r20 |
| 6c58: 69 96 adiw r28, 0x19 ; 25 |
| 6c5a: 6c ad ldd r22, Y+60 ; 0x3c |
| 6c5c: 7d ad ldd r23, Y+61 ; 0x3d |
| 6c5e: 8e ad ldd r24, Y+62 ; 0x3e |
| 6c60: 9f ad ldd r25, Y+63 ; 0x3f |
| 6c62: 69 97 sbiw r28, 0x19 ; 25 |
| 6c64: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 6c68: 69 af std Y+57, r22 ; 0x39 |
| 6c6a: 7a af std Y+58, r23 ; 0x3a |
| 6c6c: 8b af std Y+59, r24 ; 0x3b |
| 6c6e: 9c af std Y+60, r25 ; 0x3c |
| 6c70: c8 01 movw r24, r16 |
| 6c72: b7 01 movw r22, r14 |
| 6c74: a4 01 movw r20, r8 |
| 6c76: 93 01 movw r18, r6 |
| 6c78: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 6c7c: cb 01 movw r24, r22 |
| 6c7e: 77 27 eor r23, r23 |
| 6c80: 66 27 eor r22, r22 |
| 6c82: 29 96 adiw r28, 0x09 ; 9 |
| 6c84: 2c ad ldd r18, Y+60 ; 0x3c |
| 6c86: 3d ad ldd r19, Y+61 ; 0x3d |
| 6c88: 4e ad ldd r20, Y+62 ; 0x3e |
| 6c8a: 5f ad ldd r21, Y+63 ; 0x3f |
| 6c8c: 29 97 sbiw r28, 0x09 ; 9 |
| 6c8e: 40 70 andi r20, 0x00 ; 0 |
| 6c90: 50 70 andi r21, 0x00 ; 0 |
| 6c92: 26 2b or r18, r22 |
| 6c94: 37 2b or r19, r23 |
| 6c96: 48 2b or r20, r24 |
| 6c98: 59 2b or r21, r25 |
| 6c9a: 89 ad ldd r24, Y+57 ; 0x39 |
| 6c9c: 9a ad ldd r25, Y+58 ; 0x3a |
| 6c9e: ab ad ldd r26, Y+59 ; 0x3b |
| 6ca0: bc ad ldd r27, Y+60 ; 0x3c |
| 6ca2: 28 17 cp r18, r24 |
| 6ca4: 39 07 cpc r19, r25 |
| 6ca6: 4a 07 cpc r20, r26 |
| 6ca8: 5b 07 cpc r21, r27 |
| 6caa: a0 f4 brcc .+40 ; 0x6cd4 <__divdi3+0x7be> |
| 6cac: 08 94 sec |
| 6cae: a1 08 sbc r10, r1 |
| 6cb0: b1 08 sbc r11, r1 |
| 6cb2: c1 08 sbc r12, r1 |
| 6cb4: d1 08 sbc r13, r1 |
| 6cb6: 22 0d add r18, r2 |
| 6cb8: 33 1d adc r19, r3 |
| 6cba: 44 1d adc r20, r4 |
| 6cbc: 55 1d adc r21, r5 |
| 6cbe: 22 15 cp r18, r2 |
| 6cc0: 33 05 cpc r19, r3 |
| 6cc2: 44 05 cpc r20, r4 |
| 6cc4: 55 05 cpc r21, r5 |
| 6cc6: 30 f0 brcs .+12 ; 0x6cd4 <__divdi3+0x7be> |
| 6cc8: 28 17 cp r18, r24 |
| 6cca: 39 07 cpc r19, r25 |
| 6ccc: 4a 07 cpc r20, r26 |
| 6cce: 5b 07 cpc r21, r27 |
| 6cd0: 08 f4 brcc .+2 ; 0x6cd4 <__divdi3+0x7be> |
| 6cd2: 67 c6 rjmp .+3278 ; 0x79a2 <__divdi3+0x148c> |
| 6cd4: 6d 96 adiw r28, 0x1d ; 29 |
| 6cd6: 6c ac ldd r6, Y+60 ; 0x3c |
| 6cd8: 7d ac ldd r7, Y+61 ; 0x3d |
| 6cda: 8e ac ldd r8, Y+62 ; 0x3e |
| 6cdc: 9f ac ldd r9, Y+63 ; 0x3f |
| 6cde: 6d 97 sbiw r28, 0x1d ; 29 |
| 6ce0: d3 01 movw r26, r6 |
| 6ce2: 99 27 eor r25, r25 |
| 6ce4: 88 27 eor r24, r24 |
| 6ce6: 15 01 movw r2, r10 |
| 6ce8: 26 01 movw r4, r12 |
| 6cea: 28 2a or r2, r24 |
| 6cec: 39 2a or r3, r25 |
| 6cee: 4a 2a or r4, r26 |
| 6cf0: 5b 2a or r5, r27 |
| 6cf2: 20 e0 ldi r18, 0x00 ; 0 |
| 6cf4: 30 e0 ldi r19, 0x00 ; 0 |
| 6cf6: 40 e0 ldi r20, 0x00 ; 0 |
| 6cf8: 50 e0 ldi r21, 0x00 ; 0 |
| 6cfa: d5 cd rjmp .-1110 ; 0x68a6 <__divdi3+0x390> |
| 6cfc: 20 e0 ldi r18, 0x00 ; 0 |
| 6cfe: e2 16 cp r14, r18 |
| 6d00: 20 e0 ldi r18, 0x00 ; 0 |
| 6d02: f2 06 cpc r15, r18 |
| 6d04: 21 e0 ldi r18, 0x01 ; 1 |
| 6d06: 02 07 cpc r16, r18 |
| 6d08: 20 e0 ldi r18, 0x00 ; 0 |
| 6d0a: 12 07 cpc r17, r18 |
| 6d0c: 08 f4 brcc .+2 ; 0x6d10 <__divdi3+0x7fa> |
| 6d0e: 1e c2 rjmp .+1084 ; 0x714c <__divdi3+0xc36> |
| 6d10: 40 e0 ldi r20, 0x00 ; 0 |
| 6d12: e4 16 cp r14, r20 |
| 6d14: 40 e0 ldi r20, 0x00 ; 0 |
| 6d16: f4 06 cpc r15, r20 |
| 6d18: 40 e0 ldi r20, 0x00 ; 0 |
| 6d1a: 04 07 cpc r16, r20 |
| 6d1c: 41 e0 ldi r20, 0x01 ; 1 |
| 6d1e: 14 07 cpc r17, r20 |
| 6d20: 08 f0 brcs .+2 ; 0x6d24 <__divdi3+0x80e> |
| 6d22: e8 c5 rjmp .+3024 ; 0x78f4 <__divdi3+0x13de> |
| 6d24: 20 e1 ldi r18, 0x10 ; 16 |
| 6d26: 30 e0 ldi r19, 0x00 ; 0 |
| 6d28: 40 e0 ldi r20, 0x00 ; 0 |
| 6d2a: 50 e0 ldi r21, 0x00 ; 0 |
| 6d2c: 80 e1 ldi r24, 0x10 ; 16 |
| 6d2e: 90 e0 ldi r25, 0x00 ; 0 |
| 6d30: 37 01 movw r6, r14 |
| 6d32: 48 01 movw r8, r16 |
| 6d34: 04 c0 rjmp .+8 ; 0x6d3e <__divdi3+0x828> |
| 6d36: 96 94 lsr r9 |
| 6d38: 87 94 ror r8 |
| 6d3a: 77 94 ror r7 |
| 6d3c: 67 94 ror r6 |
| 6d3e: 8a 95 dec r24 |
| 6d40: d2 f7 brpl .-12 ; 0x6d36 <__divdi3+0x820> |
| 6d42: d4 01 movw r26, r8 |
| 6d44: c3 01 movw r24, r6 |
| 6d46: 86 5d subi r24, 0xD6 ; 214 |
| 6d48: 98 4f sbci r25, 0xF8 ; 248 |
| 6d4a: dc 01 movw r26, r24 |
| 6d4c: 8c 91 ld r24, X |
| 6d4e: 28 0f add r18, r24 |
| 6d50: 31 1d adc r19, r1 |
| 6d52: 41 1d adc r20, r1 |
| 6d54: 51 1d adc r21, r1 |
| 6d56: da 01 movw r26, r20 |
| 6d58: c9 01 movw r24, r18 |
| 6d5a: 20 e2 ldi r18, 0x20 ; 32 |
| 6d5c: a2 2e mov r10, r18 |
| 6d5e: b1 2c mov r11, r1 |
| 6d60: c1 2c mov r12, r1 |
| 6d62: d1 2c mov r13, r1 |
| 6d64: a6 01 movw r20, r12 |
| 6d66: 95 01 movw r18, r10 |
| 6d68: 28 1b sub r18, r24 |
| 6d6a: 39 0b sbc r19, r25 |
| 6d6c: 4a 0b sbc r20, r26 |
| 6d6e: 5b 0b sbc r21, r27 |
| 6d70: 09 f0 breq .+2 ; 0x6d74 <__divdi3+0x85e> |
| 6d72: 79 c2 rjmp .+1266 ; 0x7266 <__divdi3+0xd50> |
| 6d74: 2d 96 adiw r28, 0x0d ; 13 |
| 6d76: 6c ac ldd r6, Y+60 ; 0x3c |
| 6d78: 7d ac ldd r7, Y+61 ; 0x3d |
| 6d7a: 8e ac ldd r8, Y+62 ; 0x3e |
| 6d7c: 9f ac ldd r9, Y+63 ; 0x3f |
| 6d7e: 2d 97 sbiw r28, 0x0d ; 13 |
| 6d80: e6 14 cp r14, r6 |
| 6d82: f7 04 cpc r15, r7 |
| 6d84: 08 05 cpc r16, r8 |
| 6d86: 19 05 cpc r17, r9 |
| 6d88: 60 f0 brcs .+24 ; 0x6da2 <__divdi3+0x88c> |
| 6d8a: 29 96 adiw r28, 0x09 ; 9 |
| 6d8c: 8c ac ldd r8, Y+60 ; 0x3c |
| 6d8e: 9d ac ldd r9, Y+61 ; 0x3d |
| 6d90: ae ac ldd r10, Y+62 ; 0x3e |
| 6d92: bf ac ldd r11, Y+63 ; 0x3f |
| 6d94: 29 97 sbiw r28, 0x09 ; 9 |
| 6d96: 82 14 cp r8, r2 |
| 6d98: 93 04 cpc r9, r3 |
| 6d9a: a4 04 cpc r10, r4 |
| 6d9c: b5 04 cpc r11, r5 |
| 6d9e: 08 f4 brcc .+2 ; 0x6da2 <__divdi3+0x88c> |
| 6da0: 7b cd rjmp .-1290 ; 0x6898 <__divdi3+0x382> |
| 6da2: 81 e0 ldi r24, 0x01 ; 1 |
| 6da4: 28 2e mov r2, r24 |
| 6da6: 31 2c mov r3, r1 |
| 6da8: 41 2c mov r4, r1 |
| 6daa: 51 2c mov r5, r1 |
| 6dac: 20 e0 ldi r18, 0x00 ; 0 |
| 6dae: 30 e0 ldi r19, 0x00 ; 0 |
| 6db0: 40 e0 ldi r20, 0x00 ; 0 |
| 6db2: 50 e0 ldi r21, 0x00 ; 0 |
| 6db4: 78 cd rjmp .-1296 ; 0x68a6 <__divdi3+0x390> |
| 6db6: cf 57 subi r28, 0x7F ; 127 |
| 6db8: df 4f sbci r29, 0xFF ; 255 |
| 6dba: e8 81 ld r30, Y |
| 6dbc: c1 58 subi r28, 0x81 ; 129 |
| 6dbe: d0 40 sbci r29, 0x00 ; 0 |
| 6dc0: e0 95 com r30 |
| 6dc2: cf 57 subi r28, 0x7F ; 127 |
| 6dc4: df 4f sbci r29, 0xFF ; 255 |
| 6dc6: e8 83 st Y, r30 |
| 6dc8: c1 58 subi r28, 0x81 ; 129 |
| 6dca: d0 40 sbci r29, 0x00 ; 0 |
| 6dcc: 88 24 eor r8, r8 |
| 6dce: 99 24 eor r9, r9 |
| 6dd0: aa 24 eor r10, r10 |
| 6dd2: bb 24 eor r11, r11 |
| 6dd4: cc 24 eor r12, r12 |
| 6dd6: dd 24 eor r13, r13 |
| 6dd8: ee 24 eor r14, r14 |
| 6dda: ff 24 eor r15, r15 |
| 6ddc: f9 81 ldd r31, Y+1 ; 0x01 |
| 6dde: c6 57 subi r28, 0x76 ; 118 |
| 6de0: df 4f sbci r29, 0xFF ; 255 |
| 6de2: f8 83 st Y, r31 |
| 6de4: ca 58 subi r28, 0x8A ; 138 |
| 6de6: d0 40 sbci r29, 0x00 ; 0 |
| 6de8: 6a 80 ldd r6, Y+2 ; 0x02 |
| 6dea: c5 57 subi r28, 0x75 ; 117 |
| 6dec: df 4f sbci r29, 0xFF ; 255 |
| 6dee: 68 82 st Y, r6 |
| 6df0: cb 58 subi r28, 0x8B ; 139 |
| 6df2: d0 40 sbci r29, 0x00 ; 0 |
| 6df4: 7b 80 ldd r7, Y+3 ; 0x03 |
| 6df6: c4 57 subi r28, 0x74 ; 116 |
| 6df8: df 4f sbci r29, 0xFF ; 255 |
| 6dfa: 78 82 st Y, r7 |
| 6dfc: cc 58 subi r28, 0x8C ; 140 |
| 6dfe: d0 40 sbci r29, 0x00 ; 0 |
| 6e00: 0c 81 ldd r16, Y+4 ; 0x04 |
| 6e02: c3 57 subi r28, 0x73 ; 115 |
| 6e04: df 4f sbci r29, 0xFF ; 255 |
| 6e06: 08 83 st Y, r16 |
| 6e08: cd 58 subi r28, 0x8D ; 141 |
| 6e0a: d0 40 sbci r29, 0x00 ; 0 |
| 6e0c: 1d 81 ldd r17, Y+5 ; 0x05 |
| 6e0e: c2 57 subi r28, 0x72 ; 114 |
| 6e10: df 4f sbci r29, 0xFF ; 255 |
| 6e12: 18 83 st Y, r17 |
| 6e14: ce 58 subi r28, 0x8E ; 142 |
| 6e16: d0 40 sbci r29, 0x00 ; 0 |
| 6e18: 2e 81 ldd r18, Y+6 ; 0x06 |
| 6e1a: c1 57 subi r28, 0x71 ; 113 |
| 6e1c: df 4f sbci r29, 0xFF ; 255 |
| 6e1e: 28 83 st Y, r18 |
| 6e20: cf 58 subi r28, 0x8F ; 143 |
| 6e22: d0 40 sbci r29, 0x00 ; 0 |
| 6e24: 3f 81 ldd r19, Y+7 ; 0x07 |
| 6e26: c0 57 subi r28, 0x70 ; 112 |
| 6e28: df 4f sbci r29, 0xFF ; 255 |
| 6e2a: 38 83 st Y, r19 |
| 6e2c: c0 59 subi r28, 0x90 ; 144 |
| 6e2e: d0 40 sbci r29, 0x00 ; 0 |
| 6e30: 48 85 ldd r20, Y+8 ; 0x08 |
| 6e32: cf 56 subi r28, 0x6F ; 111 |
| 6e34: df 4f sbci r29, 0xFF ; 255 |
| 6e36: 48 83 st Y, r20 |
| 6e38: c1 59 subi r28, 0x91 ; 145 |
| 6e3a: d0 40 sbci r29, 0x00 ; 0 |
| 6e3c: 08 2d mov r16, r8 |
| 6e3e: 0f 1b sub r16, r31 |
| 6e40: 81 e0 ldi r24, 0x01 ; 1 |
| 6e42: 80 16 cp r8, r16 |
| 6e44: 08 f0 brcs .+2 ; 0x6e48 <__divdi3+0x932> |
| 6e46: e5 c1 rjmp .+970 ; 0x7212 <__divdi3+0xcfc> |
| 6e48: 19 2d mov r17, r9 |
| 6e4a: c5 57 subi r28, 0x75 ; 117 |
| 6e4c: df 4f sbci r29, 0xFF ; 255 |
| 6e4e: 98 81 ld r25, Y |
| 6e50: cb 58 subi r28, 0x8B ; 139 |
| 6e52: d0 40 sbci r29, 0x00 ; 0 |
| 6e54: 19 1b sub r17, r25 |
| 6e56: 91 e0 ldi r25, 0x01 ; 1 |
| 6e58: 91 16 cp r9, r17 |
| 6e5a: 08 f0 brcs .+2 ; 0x6e5e <__divdi3+0x948> |
| 6e5c: d1 c1 rjmp .+930 ; 0x7200 <__divdi3+0xcea> |
| 6e5e: a1 2f mov r26, r17 |
| 6e60: a8 1b sub r26, r24 |
| 6e62: 8a 2f mov r24, r26 |
| 6e64: e1 e0 ldi r30, 0x01 ; 1 |
| 6e66: 1a 17 cp r17, r26 |
| 6e68: 08 f0 brcs .+2 ; 0x6e6c <__divdi3+0x956> |
| 6e6a: c8 c1 rjmp .+912 ; 0x71fc <__divdi3+0xce6> |
| 6e6c: 9e 2b or r25, r30 |
| 6e6e: 18 2f mov r17, r24 |
| 6e70: 2a 2d mov r18, r10 |
| 6e72: c4 57 subi r28, 0x74 ; 116 |
| 6e74: df 4f sbci r29, 0xFF ; 255 |
| 6e76: b8 81 ld r27, Y |
| 6e78: cc 58 subi r28, 0x8C ; 140 |
| 6e7a: d0 40 sbci r29, 0x00 ; 0 |
| 6e7c: 2b 1b sub r18, r27 |
| 6e7e: e1 e0 ldi r30, 0x01 ; 1 |
| 6e80: a2 16 cp r10, r18 |
| 6e82: 08 f0 brcs .+2 ; 0x6e86 <__divdi3+0x970> |
| 6e84: b3 c1 rjmp .+870 ; 0x71ec <__divdi3+0xcd6> |
| 6e86: 82 2f mov r24, r18 |
| 6e88: 89 1b sub r24, r25 |
| 6e8a: 91 e0 ldi r25, 0x01 ; 1 |
| 6e8c: 28 17 cp r18, r24 |
| 6e8e: 08 f0 brcs .+2 ; 0x6e92 <__divdi3+0x97c> |
| 6e90: ab c1 rjmp .+854 ; 0x71e8 <__divdi3+0xcd2> |
| 6e92: e9 2b or r30, r25 |
| 6e94: 28 2f mov r18, r24 |
| 6e96: 3b 2d mov r19, r11 |
| 6e98: c3 57 subi r28, 0x73 ; 115 |
| 6e9a: df 4f sbci r29, 0xFF ; 255 |
| 6e9c: f8 81 ld r31, Y |
| 6e9e: cd 58 subi r28, 0x8D ; 141 |
| 6ea0: d0 40 sbci r29, 0x00 ; 0 |
| 6ea2: 3f 1b sub r19, r31 |
| 6ea4: 91 e0 ldi r25, 0x01 ; 1 |
| 6ea6: b3 16 cp r11, r19 |
| 6ea8: 08 f0 brcs .+2 ; 0x6eac <__divdi3+0x996> |
| 6eaa: 96 c1 rjmp .+812 ; 0x71d8 <__divdi3+0xcc2> |
| 6eac: 83 2f mov r24, r19 |
| 6eae: 8e 1b sub r24, r30 |
| 6eb0: e1 e0 ldi r30, 0x01 ; 1 |
| 6eb2: 38 17 cp r19, r24 |
| 6eb4: 08 f0 brcs .+2 ; 0x6eb8 <__divdi3+0x9a2> |
| 6eb6: 8e c1 rjmp .+796 ; 0x71d4 <__divdi3+0xcbe> |
| 6eb8: 9e 2b or r25, r30 |
| 6eba: 38 2f mov r19, r24 |
| 6ebc: 4c 2d mov r20, r12 |
| 6ebe: c2 57 subi r28, 0x72 ; 114 |
| 6ec0: df 4f sbci r29, 0xFF ; 255 |
| 6ec2: 68 80 ld r6, Y |
| 6ec4: ce 58 subi r28, 0x8E ; 142 |
| 6ec6: d0 40 sbci r29, 0x00 ; 0 |
| 6ec8: 46 19 sub r20, r6 |
| 6eca: e1 e0 ldi r30, 0x01 ; 1 |
| 6ecc: c4 16 cp r12, r20 |
| 6ece: 08 f0 brcs .+2 ; 0x6ed2 <__divdi3+0x9bc> |
| 6ed0: 79 c1 rjmp .+754 ; 0x71c4 <__divdi3+0xcae> |
| 6ed2: 84 2f mov r24, r20 |
| 6ed4: 89 1b sub r24, r25 |
| 6ed6: 91 e0 ldi r25, 0x01 ; 1 |
| 6ed8: 48 17 cp r20, r24 |
| 6eda: 08 f0 brcs .+2 ; 0x6ede <__divdi3+0x9c8> |
| 6edc: 71 c1 rjmp .+738 ; 0x71c0 <__divdi3+0xcaa> |
| 6ede: e9 2b or r30, r25 |
| 6ee0: 48 2f mov r20, r24 |
| 6ee2: 5d 2d mov r21, r13 |
| 6ee4: c1 57 subi r28, 0x71 ; 113 |
| 6ee6: df 4f sbci r29, 0xFF ; 255 |
| 6ee8: 78 80 ld r7, Y |
| 6eea: cf 58 subi r28, 0x8F ; 143 |
| 6eec: d0 40 sbci r29, 0x00 ; 0 |
| 6eee: 57 19 sub r21, r7 |
| 6ef0: f1 e0 ldi r31, 0x01 ; 1 |
| 6ef2: d5 16 cp r13, r21 |
| 6ef4: 08 f0 brcs .+2 ; 0x6ef8 <__divdi3+0x9e2> |
| 6ef6: 5c c1 rjmp .+696 ; 0x71b0 <__divdi3+0xc9a> |
| 6ef8: 85 2f mov r24, r21 |
| 6efa: 8e 1b sub r24, r30 |
| 6efc: 91 e0 ldi r25, 0x01 ; 1 |
| 6efe: 58 17 cp r21, r24 |
| 6f00: 08 f0 brcs .+2 ; 0x6f04 <__divdi3+0x9ee> |
| 6f02: 54 c1 rjmp .+680 ; 0x71ac <__divdi3+0xc96> |
| 6f04: f9 2b or r31, r25 |
| 6f06: 58 2f mov r21, r24 |
| 6f08: 6e 2d mov r22, r14 |
| 6f0a: c0 57 subi r28, 0x70 ; 112 |
| 6f0c: df 4f sbci r29, 0xFF ; 255 |
| 6f0e: 88 81 ld r24, Y |
| 6f10: c0 59 subi r28, 0x90 ; 144 |
| 6f12: d0 40 sbci r29, 0x00 ; 0 |
| 6f14: 68 1b sub r22, r24 |
| 6f16: 91 e0 ldi r25, 0x01 ; 1 |
| 6f18: e6 16 cp r14, r22 |
| 6f1a: 08 f0 brcs .+2 ; 0x6f1e <__divdi3+0xa08> |
| 6f1c: 3f c1 rjmp .+638 ; 0x719c <__divdi3+0xc86> |
| 6f1e: 86 2f mov r24, r22 |
| 6f20: 8f 1b sub r24, r31 |
| 6f22: e1 e0 ldi r30, 0x01 ; 1 |
| 6f24: 68 17 cp r22, r24 |
| 6f26: 08 f0 brcs .+2 ; 0x6f2a <__divdi3+0xa14> |
| 6f28: 37 c1 rjmp .+622 ; 0x7198 <__divdi3+0xc82> |
| 6f2a: 9e 2b or r25, r30 |
| 6f2c: 68 2f mov r22, r24 |
| 6f2e: 7f 2d mov r23, r15 |
| 6f30: cf 56 subi r28, 0x6F ; 111 |
| 6f32: df 4f sbci r29, 0xFF ; 255 |
| 6f34: a8 81 ld r26, Y |
| 6f36: c1 59 subi r28, 0x91 ; 145 |
| 6f38: d0 40 sbci r29, 0x00 ; 0 |
| 6f3a: 7a 1b sub r23, r26 |
| 6f3c: 87 2f mov r24, r23 |
| 6f3e: 89 1b sub r24, r25 |
| 6f40: 09 83 std Y+1, r16 ; 0x01 |
| 6f42: 1a 83 std Y+2, r17 ; 0x02 |
| 6f44: 2b 83 std Y+3, r18 ; 0x03 |
| 6f46: 3c 83 std Y+4, r19 ; 0x04 |
| 6f48: 4d 83 std Y+5, r20 ; 0x05 |
| 6f4a: 5e 83 std Y+6, r21 ; 0x06 |
| 6f4c: 6f 83 std Y+7, r22 ; 0x07 |
| 6f4e: 88 87 std Y+8, r24 ; 0x08 |
| 6f50: 1e cb rjmp .-2500 ; 0x658e <__divdi3+0x78> |
| 6f52: 88 24 eor r8, r8 |
| 6f54: 99 24 eor r9, r9 |
| 6f56: aa 24 eor r10, r10 |
| 6f58: bb 24 eor r11, r11 |
| 6f5a: cc 24 eor r12, r12 |
| 6f5c: dd 24 eor r13, r13 |
| 6f5e: ee 24 eor r14, r14 |
| 6f60: ff 24 eor r15, r15 |
| 6f62: 09 a1 ldd r16, Y+33 ; 0x21 |
| 6f64: ce 57 subi r28, 0x7E ; 126 |
| 6f66: df 4f sbci r29, 0xFF ; 255 |
| 6f68: 08 83 st Y, r16 |
| 6f6a: c2 58 subi r28, 0x82 ; 130 |
| 6f6c: d0 40 sbci r29, 0x00 ; 0 |
| 6f6e: 1a a1 ldd r17, Y+34 ; 0x22 |
| 6f70: cd 57 subi r28, 0x7D ; 125 |
| 6f72: df 4f sbci r29, 0xFF ; 255 |
| 6f74: 18 83 st Y, r17 |
| 6f76: c3 58 subi r28, 0x83 ; 131 |
| 6f78: d0 40 sbci r29, 0x00 ; 0 |
| 6f7a: 2b a1 ldd r18, Y+35 ; 0x23 |
| 6f7c: cc 57 subi r28, 0x7C ; 124 |
| 6f7e: df 4f sbci r29, 0xFF ; 255 |
| 6f80: 28 83 st Y, r18 |
| 6f82: c4 58 subi r28, 0x84 ; 132 |
| 6f84: d0 40 sbci r29, 0x00 ; 0 |
| 6f86: 3c a1 ldd r19, Y+36 ; 0x24 |
| 6f88: cb 57 subi r28, 0x7B ; 123 |
| 6f8a: df 4f sbci r29, 0xFF ; 255 |
| 6f8c: 38 83 st Y, r19 |
| 6f8e: c5 58 subi r28, 0x85 ; 133 |
| 6f90: d0 40 sbci r29, 0x00 ; 0 |
| 6f92: 4d a1 ldd r20, Y+37 ; 0x25 |
| 6f94: ca 57 subi r28, 0x7A ; 122 |
| 6f96: df 4f sbci r29, 0xFF ; 255 |
| 6f98: 48 83 st Y, r20 |
| 6f9a: c6 58 subi r28, 0x86 ; 134 |
| 6f9c: d0 40 sbci r29, 0x00 ; 0 |
| 6f9e: 5e a1 ldd r21, Y+38 ; 0x26 |
| 6fa0: c9 57 subi r28, 0x79 ; 121 |
| 6fa2: df 4f sbci r29, 0xFF ; 255 |
| 6fa4: 58 83 st Y, r21 |
| 6fa6: c7 58 subi r28, 0x87 ; 135 |
| 6fa8: d0 40 sbci r29, 0x00 ; 0 |
| 6faa: 8f a1 ldd r24, Y+39 ; 0x27 |
| 6fac: c8 57 subi r28, 0x78 ; 120 |
| 6fae: df 4f sbci r29, 0xFF ; 255 |
| 6fb0: 88 83 st Y, r24 |
| 6fb2: c8 58 subi r28, 0x88 ; 136 |
| 6fb4: d0 40 sbci r29, 0x00 ; 0 |
| 6fb6: 98 a5 ldd r25, Y+40 ; 0x28 |
| 6fb8: c7 57 subi r28, 0x77 ; 119 |
| 6fba: df 4f sbci r29, 0xFF ; 255 |
| 6fbc: 98 83 st Y, r25 |
| 6fbe: c9 58 subi r28, 0x89 ; 137 |
| 6fc0: d0 40 sbci r29, 0x00 ; 0 |
| 6fc2: 08 2d mov r16, r8 |
| 6fc4: ce 57 subi r28, 0x7E ; 126 |
| 6fc6: df 4f sbci r29, 0xFF ; 255 |
| 6fc8: a8 81 ld r26, Y |
| 6fca: c2 58 subi r28, 0x82 ; 130 |
| 6fcc: d0 40 sbci r29, 0x00 ; 0 |
| 6fce: 0a 1b sub r16, r26 |
| 6fd0: 81 e0 ldi r24, 0x01 ; 1 |
| 6fd2: 80 16 cp r8, r16 |
| 6fd4: 08 f0 brcs .+2 ; 0x6fd8 <__divdi3+0xac2> |
| 6fd6: de c0 rjmp .+444 ; 0x7194 <__divdi3+0xc7e> |
| 6fd8: 19 2d mov r17, r9 |
| 6fda: cd 57 subi r28, 0x7D ; 125 |
| 6fdc: df 4f sbci r29, 0xFF ; 255 |
| 6fde: b8 81 ld r27, Y |
| 6fe0: c3 58 subi r28, 0x83 ; 131 |
| 6fe2: d0 40 sbci r29, 0x00 ; 0 |
| 6fe4: 1b 1b sub r17, r27 |
| 6fe6: 91 e0 ldi r25, 0x01 ; 1 |
| 6fe8: 91 16 cp r9, r17 |
| 6fea: 08 f0 brcs .+2 ; 0x6fee <__divdi3+0xad8> |
| 6fec: ca c0 rjmp .+404 ; 0x7182 <__divdi3+0xc6c> |
| 6fee: e1 2f mov r30, r17 |
| 6ff0: e8 1b sub r30, r24 |
| 6ff2: 8e 2f mov r24, r30 |
| 6ff4: e1 e0 ldi r30, 0x01 ; 1 |
| 6ff6: 18 17 cp r17, r24 |
| 6ff8: 08 f0 brcs .+2 ; 0x6ffc <__divdi3+0xae6> |
| 6ffa: c1 c0 rjmp .+386 ; 0x717e <__divdi3+0xc68> |
| 6ffc: 9e 2b or r25, r30 |
| 6ffe: 18 2f mov r17, r24 |
| 7000: 2a 2d mov r18, r10 |
| 7002: cc 57 subi r28, 0x7C ; 124 |
| 7004: df 4f sbci r29, 0xFF ; 255 |
| 7006: f8 81 ld r31, Y |
| 7008: c4 58 subi r28, 0x84 ; 132 |
| 700a: d0 40 sbci r29, 0x00 ; 0 |
| 700c: 2f 1b sub r18, r31 |
| 700e: e1 e0 ldi r30, 0x01 ; 1 |
| 7010: a2 16 cp r10, r18 |
| 7012: 08 f0 brcs .+2 ; 0x7016 <__divdi3+0xb00> |
| 7014: 20 c1 rjmp .+576 ; 0x7256 <__divdi3+0xd40> |
| 7016: 82 2f mov r24, r18 |
| 7018: 89 1b sub r24, r25 |
| 701a: 91 e0 ldi r25, 0x01 ; 1 |
| 701c: 28 17 cp r18, r24 |
| 701e: 08 f0 brcs .+2 ; 0x7022 <__divdi3+0xb0c> |
| 7020: 18 c1 rjmp .+560 ; 0x7252 <__divdi3+0xd3c> |
| 7022: e9 2b or r30, r25 |
| 7024: 28 2f mov r18, r24 |
| 7026: 3b 2d mov r19, r11 |
| 7028: cb 57 subi r28, 0x7B ; 123 |
| 702a: df 4f sbci r29, 0xFF ; 255 |
| 702c: 68 80 ld r6, Y |
| 702e: c5 58 subi r28, 0x85 ; 133 |
| 7030: d0 40 sbci r29, 0x00 ; 0 |
| 7032: 36 19 sub r19, r6 |
| 7034: 91 e0 ldi r25, 0x01 ; 1 |
| 7036: b3 16 cp r11, r19 |
| 7038: 08 f0 brcs .+2 ; 0x703c <__divdi3+0xb26> |
| 703a: 03 c1 rjmp .+518 ; 0x7242 <__divdi3+0xd2c> |
| 703c: 83 2f mov r24, r19 |
| 703e: 8e 1b sub r24, r30 |
| 7040: e1 e0 ldi r30, 0x01 ; 1 |
| 7042: 38 17 cp r19, r24 |
| 7044: 08 f0 brcs .+2 ; 0x7048 <__divdi3+0xb32> |
| 7046: fb c0 rjmp .+502 ; 0x723e <__divdi3+0xd28> |
| 7048: 9e 2b or r25, r30 |
| 704a: 38 2f mov r19, r24 |
| 704c: 4c 2d mov r20, r12 |
| 704e: ca 57 subi r28, 0x7A ; 122 |
| 7050: df 4f sbci r29, 0xFF ; 255 |
| 7052: 78 80 ld r7, Y |
| 7054: c6 58 subi r28, 0x86 ; 134 |
| 7056: d0 40 sbci r29, 0x00 ; 0 |
| 7058: 47 19 sub r20, r7 |
| 705a: e1 e0 ldi r30, 0x01 ; 1 |
| 705c: c4 16 cp r12, r20 |
| 705e: 08 f0 brcs .+2 ; 0x7062 <__divdi3+0xb4c> |
| 7060: e6 c0 rjmp .+460 ; 0x722e <__divdi3+0xd18> |
| 7062: 84 2f mov r24, r20 |
| 7064: 89 1b sub r24, r25 |
| 7066: 91 e0 ldi r25, 0x01 ; 1 |
| 7068: 48 17 cp r20, r24 |
| 706a: 08 f0 brcs .+2 ; 0x706e <__divdi3+0xb58> |
| 706c: de c0 rjmp .+444 ; 0x722a <__divdi3+0xd14> |
| 706e: e9 2b or r30, r25 |
| 7070: 48 2f mov r20, r24 |
| 7072: 5d 2d mov r21, r13 |
| 7074: c9 57 subi r28, 0x79 ; 121 |
| 7076: df 4f sbci r29, 0xFF ; 255 |
| 7078: 88 81 ld r24, Y |
| 707a: c7 58 subi r28, 0x87 ; 135 |
| 707c: d0 40 sbci r29, 0x00 ; 0 |
| 707e: 58 1b sub r21, r24 |
| 7080: f1 e0 ldi r31, 0x01 ; 1 |
| 7082: d5 16 cp r13, r21 |
| 7084: 08 f0 brcs .+2 ; 0x7088 <__divdi3+0xb72> |
| 7086: c9 c0 rjmp .+402 ; 0x721a <__divdi3+0xd04> |
| 7088: 85 2f mov r24, r21 |
| 708a: 8e 1b sub r24, r30 |
| 708c: 91 e0 ldi r25, 0x01 ; 1 |
| 708e: 58 17 cp r21, r24 |
| 7090: 08 f0 brcs .+2 ; 0x7094 <__divdi3+0xb7e> |
| 7092: c1 c0 rjmp .+386 ; 0x7216 <__divdi3+0xd00> |
| 7094: f9 2b or r31, r25 |
| 7096: 58 2f mov r21, r24 |
| 7098: 6e 2d mov r22, r14 |
| 709a: c8 57 subi r28, 0x78 ; 120 |
| 709c: df 4f sbci r29, 0xFF ; 255 |
| 709e: 98 81 ld r25, Y |
| 70a0: c8 58 subi r28, 0x88 ; 136 |
| 70a2: d0 40 sbci r29, 0x00 ; 0 |
| 70a4: 69 1b sub r22, r25 |
| 70a6: 91 e0 ldi r25, 0x01 ; 1 |
| 70a8: e6 16 cp r14, r22 |
| 70aa: 08 f0 brcs .+2 ; 0x70ae <__divdi3+0xb98> |
| 70ac: 60 c0 rjmp .+192 ; 0x716e <__divdi3+0xc58> |
| 70ae: 86 2f mov r24, r22 |
| 70b0: 8f 1b sub r24, r31 |
| 70b2: e1 e0 ldi r30, 0x01 ; 1 |
| 70b4: 68 17 cp r22, r24 |
| 70b6: 08 f0 brcs .+2 ; 0x70ba <__divdi3+0xba4> |
| 70b8: 58 c0 rjmp .+176 ; 0x716a <__divdi3+0xc54> |
| 70ba: 9e 2b or r25, r30 |
| 70bc: 68 2f mov r22, r24 |
| 70be: 7f 2d mov r23, r15 |
| 70c0: c7 57 subi r28, 0x77 ; 119 |
| 70c2: df 4f sbci r29, 0xFF ; 255 |
| 70c4: a8 81 ld r26, Y |
| 70c6: c9 58 subi r28, 0x89 ; 137 |
| 70c8: d0 40 sbci r29, 0x00 ; 0 |
| 70ca: 7a 1b sub r23, r26 |
| 70cc: 87 2f mov r24, r23 |
| 70ce: 89 1b sub r24, r25 |
| 70d0: 09 a3 std Y+33, r16 ; 0x21 |
| 70d2: 1a a3 std Y+34, r17 ; 0x22 |
| 70d4: 2b a3 std Y+35, r18 ; 0x23 |
| 70d6: 3c a3 std Y+36, r19 ; 0x24 |
| 70d8: 4d a3 std Y+37, r20 ; 0x25 |
| 70da: 5e a3 std Y+38, r21 ; 0x26 |
| 70dc: 6f a3 std Y+39, r22 ; 0x27 |
| 70de: 88 a7 std Y+40, r24 ; 0x28 |
| 70e0: bf ef ldi r27, 0xFF ; 255 |
| 70e2: cf 57 subi r28, 0x7F ; 127 |
| 70e4: df 4f sbci r29, 0xFF ; 255 |
| 70e6: b8 83 st Y, r27 |
| 70e8: c1 58 subi r28, 0x81 ; 129 |
| 70ea: d0 40 sbci r29, 0x00 ; 0 |
| 70ec: 4a ca rjmp .-2924 ; 0x6582 <__divdi3+0x6c> |
| 70ee: 20 e0 ldi r18, 0x00 ; 0 |
| 70f0: 22 16 cp r2, r18 |
| 70f2: 20 e0 ldi r18, 0x00 ; 0 |
| 70f4: 32 06 cpc r3, r18 |
| 70f6: 20 e0 ldi r18, 0x00 ; 0 |
| 70f8: 42 06 cpc r4, r18 |
| 70fa: 21 e0 ldi r18, 0x01 ; 1 |
| 70fc: 52 06 cpc r5, r18 |
| 70fe: 08 f0 brcs .+2 ; 0x7102 <__divdi3+0xbec> |
| 7100: 07 c4 rjmp .+2062 ; 0x7910 <__divdi3+0x13fa> |
| 7102: 20 e1 ldi r18, 0x10 ; 16 |
| 7104: 30 e0 ldi r19, 0x00 ; 0 |
| 7106: 40 e0 ldi r20, 0x00 ; 0 |
| 7108: 50 e0 ldi r21, 0x00 ; 0 |
| 710a: 80 e1 ldi r24, 0x10 ; 16 |
| 710c: 90 e0 ldi r25, 0x00 ; 0 |
| 710e: b2 ca rjmp .-2716 ; 0x6674 <__divdi3+0x15e> |
| 7110: 61 e0 ldi r22, 0x01 ; 1 |
| 7112: 70 e0 ldi r23, 0x00 ; 0 |
| 7114: 80 e0 ldi r24, 0x00 ; 0 |
| 7116: 90 e0 ldi r25, 0x00 ; 0 |
| 7118: 20 e0 ldi r18, 0x00 ; 0 |
| 711a: 30 e0 ldi r19, 0x00 ; 0 |
| 711c: 40 e0 ldi r20, 0x00 ; 0 |
| 711e: 50 e0 ldi r21, 0x00 ; 0 |
| 7120: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 7124: 19 01 movw r2, r18 |
| 7126: 2a 01 movw r4, r20 |
| 7128: 8c ca rjmp .-2792 ; 0x6642 <__divdi3+0x12c> |
| 712a: 20 e0 ldi r18, 0x00 ; 0 |
| 712c: 22 16 cp r2, r18 |
| 712e: 20 e0 ldi r18, 0x00 ; 0 |
| 7130: 32 06 cpc r3, r18 |
| 7132: 20 e0 ldi r18, 0x00 ; 0 |
| 7134: 42 06 cpc r4, r18 |
| 7136: 21 e0 ldi r18, 0x01 ; 1 |
| 7138: 52 06 cpc r5, r18 |
| 713a: 08 f0 brcs .+2 ; 0x713e <__divdi3+0xc28> |
| 713c: e2 c3 rjmp .+1988 ; 0x7902 <__divdi3+0x13ec> |
| 713e: 20 e1 ldi r18, 0x10 ; 16 |
| 7140: 30 e0 ldi r19, 0x00 ; 0 |
| 7142: 40 e0 ldi r20, 0x00 ; 0 |
| 7144: 50 e0 ldi r21, 0x00 ; 0 |
| 7146: 80 e1 ldi r24, 0x10 ; 16 |
| 7148: 90 e0 ldi r25, 0x00 ; 0 |
| 714a: af cc rjmp .-1698 ; 0x6aaa <__divdi3+0x594> |
| 714c: 3f ef ldi r19, 0xFF ; 255 |
| 714e: e3 16 cp r14, r19 |
| 7150: f1 04 cpc r15, r1 |
| 7152: 01 05 cpc r16, r1 |
| 7154: 11 05 cpc r17, r1 |
| 7156: 11 f0 breq .+4 ; 0x715c <__divdi3+0xc46> |
| 7158: 08 f0 brcs .+2 ; 0x715c <__divdi3+0xc46> |
| 715a: b6 c3 rjmp .+1900 ; 0x78c8 <__divdi3+0x13b2> |
| 715c: 20 e0 ldi r18, 0x00 ; 0 |
| 715e: 30 e0 ldi r19, 0x00 ; 0 |
| 7160: 40 e0 ldi r20, 0x00 ; 0 |
| 7162: 50 e0 ldi r21, 0x00 ; 0 |
| 7164: 80 e0 ldi r24, 0x00 ; 0 |
| 7166: 90 e0 ldi r25, 0x00 ; 0 |
| 7168: e3 cd rjmp .-1082 ; 0x6d30 <__divdi3+0x81a> |
| 716a: e0 e0 ldi r30, 0x00 ; 0 |
| 716c: a6 cf rjmp .-180 ; 0x70ba <__divdi3+0xba4> |
| 716e: 90 e0 ldi r25, 0x00 ; 0 |
| 7170: 86 2f mov r24, r22 |
| 7172: 8f 1b sub r24, r31 |
| 7174: e1 e0 ldi r30, 0x01 ; 1 |
| 7176: 68 17 cp r22, r24 |
| 7178: 08 f4 brcc .+2 ; 0x717c <__divdi3+0xc66> |
| 717a: 9f cf rjmp .-194 ; 0x70ba <__divdi3+0xba4> |
| 717c: f6 cf rjmp .-20 ; 0x716a <__divdi3+0xc54> |
| 717e: e0 e0 ldi r30, 0x00 ; 0 |
| 7180: 3d cf rjmp .-390 ; 0x6ffc <__divdi3+0xae6> |
| 7182: 90 e0 ldi r25, 0x00 ; 0 |
| 7184: e1 2f mov r30, r17 |
| 7186: e8 1b sub r30, r24 |
| 7188: 8e 2f mov r24, r30 |
| 718a: e1 e0 ldi r30, 0x01 ; 1 |
| 718c: 18 17 cp r17, r24 |
| 718e: 08 f4 brcc .+2 ; 0x7192 <__divdi3+0xc7c> |
| 7190: 35 cf rjmp .-406 ; 0x6ffc <__divdi3+0xae6> |
| 7192: f5 cf rjmp .-22 ; 0x717e <__divdi3+0xc68> |
| 7194: 80 e0 ldi r24, 0x00 ; 0 |
| 7196: 20 cf rjmp .-448 ; 0x6fd8 <__divdi3+0xac2> |
| 7198: e0 e0 ldi r30, 0x00 ; 0 |
| 719a: c7 ce rjmp .-626 ; 0x6f2a <__divdi3+0xa14> |
| 719c: 90 e0 ldi r25, 0x00 ; 0 |
| 719e: 86 2f mov r24, r22 |
| 71a0: 8f 1b sub r24, r31 |
| 71a2: e1 e0 ldi r30, 0x01 ; 1 |
| 71a4: 68 17 cp r22, r24 |
| 71a6: 08 f4 brcc .+2 ; 0x71aa <__divdi3+0xc94> |
| 71a8: c0 ce rjmp .-640 ; 0x6f2a <__divdi3+0xa14> |
| 71aa: f6 cf rjmp .-20 ; 0x7198 <__divdi3+0xc82> |
| 71ac: 90 e0 ldi r25, 0x00 ; 0 |
| 71ae: aa ce rjmp .-684 ; 0x6f04 <__divdi3+0x9ee> |
| 71b0: f0 e0 ldi r31, 0x00 ; 0 |
| 71b2: 85 2f mov r24, r21 |
| 71b4: 8e 1b sub r24, r30 |
| 71b6: 91 e0 ldi r25, 0x01 ; 1 |
| 71b8: 58 17 cp r21, r24 |
| 71ba: 08 f4 brcc .+2 ; 0x71be <__divdi3+0xca8> |
| 71bc: a3 ce rjmp .-698 ; 0x6f04 <__divdi3+0x9ee> |
| 71be: f6 cf rjmp .-20 ; 0x71ac <__divdi3+0xc96> |
| 71c0: 90 e0 ldi r25, 0x00 ; 0 |
| 71c2: 8d ce rjmp .-742 ; 0x6ede <__divdi3+0x9c8> |
| 71c4: e0 e0 ldi r30, 0x00 ; 0 |
| 71c6: 84 2f mov r24, r20 |
| 71c8: 89 1b sub r24, r25 |
| 71ca: 91 e0 ldi r25, 0x01 ; 1 |
| 71cc: 48 17 cp r20, r24 |
| 71ce: 08 f4 brcc .+2 ; 0x71d2 <__divdi3+0xcbc> |
| 71d0: 86 ce rjmp .-756 ; 0x6ede <__divdi3+0x9c8> |
| 71d2: f6 cf rjmp .-20 ; 0x71c0 <__divdi3+0xcaa> |
| 71d4: e0 e0 ldi r30, 0x00 ; 0 |
| 71d6: 70 ce rjmp .-800 ; 0x6eb8 <__divdi3+0x9a2> |
| 71d8: 90 e0 ldi r25, 0x00 ; 0 |
| 71da: 83 2f mov r24, r19 |
| 71dc: 8e 1b sub r24, r30 |
| 71de: e1 e0 ldi r30, 0x01 ; 1 |
| 71e0: 38 17 cp r19, r24 |
| 71e2: 08 f4 brcc .+2 ; 0x71e6 <__divdi3+0xcd0> |
| 71e4: 69 ce rjmp .-814 ; 0x6eb8 <__divdi3+0x9a2> |
| 71e6: f6 cf rjmp .-20 ; 0x71d4 <__divdi3+0xcbe> |
| 71e8: 90 e0 ldi r25, 0x00 ; 0 |
| 71ea: 53 ce rjmp .-858 ; 0x6e92 <__divdi3+0x97c> |
| 71ec: e0 e0 ldi r30, 0x00 ; 0 |
| 71ee: 82 2f mov r24, r18 |
| 71f0: 89 1b sub r24, r25 |
| 71f2: 91 e0 ldi r25, 0x01 ; 1 |
| 71f4: 28 17 cp r18, r24 |
| 71f6: 08 f4 brcc .+2 ; 0x71fa <__divdi3+0xce4> |
| 71f8: 4c ce rjmp .-872 ; 0x6e92 <__divdi3+0x97c> |
| 71fa: f6 cf rjmp .-20 ; 0x71e8 <__divdi3+0xcd2> |
| 71fc: e0 e0 ldi r30, 0x00 ; 0 |
| 71fe: 36 ce rjmp .-916 ; 0x6e6c <__divdi3+0x956> |
| 7200: 90 e0 ldi r25, 0x00 ; 0 |
| 7202: a1 2f mov r26, r17 |
| 7204: a8 1b sub r26, r24 |
| 7206: 8a 2f mov r24, r26 |
| 7208: e1 e0 ldi r30, 0x01 ; 1 |
| 720a: 1a 17 cp r17, r26 |
| 720c: 08 f4 brcc .+2 ; 0x7210 <__divdi3+0xcfa> |
| 720e: 2e ce rjmp .-932 ; 0x6e6c <__divdi3+0x956> |
| 7210: f5 cf rjmp .-22 ; 0x71fc <__divdi3+0xce6> |
| 7212: 80 e0 ldi r24, 0x00 ; 0 |
| 7214: 19 ce rjmp .-974 ; 0x6e48 <__divdi3+0x932> |
| 7216: 90 e0 ldi r25, 0x00 ; 0 |
| 7218: 3d cf rjmp .-390 ; 0x7094 <__divdi3+0xb7e> |
| 721a: f0 e0 ldi r31, 0x00 ; 0 |
| 721c: 85 2f mov r24, r21 |
| 721e: 8e 1b sub r24, r30 |
| 7220: 91 e0 ldi r25, 0x01 ; 1 |
| 7222: 58 17 cp r21, r24 |
| 7224: 08 f4 brcc .+2 ; 0x7228 <__divdi3+0xd12> |
| 7226: 36 cf rjmp .-404 ; 0x7094 <__divdi3+0xb7e> |
| 7228: f6 cf rjmp .-20 ; 0x7216 <__divdi3+0xd00> |
| 722a: 90 e0 ldi r25, 0x00 ; 0 |
| 722c: 20 cf rjmp .-448 ; 0x706e <__divdi3+0xb58> |
| 722e: e0 e0 ldi r30, 0x00 ; 0 |
| 7230: 84 2f mov r24, r20 |
| 7232: 89 1b sub r24, r25 |
| 7234: 91 e0 ldi r25, 0x01 ; 1 |
| 7236: 48 17 cp r20, r24 |
| 7238: 08 f4 brcc .+2 ; 0x723c <__divdi3+0xd26> |
| 723a: 19 cf rjmp .-462 ; 0x706e <__divdi3+0xb58> |
| 723c: f6 cf rjmp .-20 ; 0x722a <__divdi3+0xd14> |
| 723e: e0 e0 ldi r30, 0x00 ; 0 |
| 7240: 03 cf rjmp .-506 ; 0x7048 <__divdi3+0xb32> |
| 7242: 90 e0 ldi r25, 0x00 ; 0 |
| 7244: 83 2f mov r24, r19 |
| 7246: 8e 1b sub r24, r30 |
| 7248: e1 e0 ldi r30, 0x01 ; 1 |
| 724a: 38 17 cp r19, r24 |
| 724c: 08 f4 brcc .+2 ; 0x7250 <__divdi3+0xd3a> |
| 724e: fc ce rjmp .-520 ; 0x7048 <__divdi3+0xb32> |
| 7250: f6 cf rjmp .-20 ; 0x723e <__divdi3+0xd28> |
| 7252: 90 e0 ldi r25, 0x00 ; 0 |
| 7254: e6 ce rjmp .-564 ; 0x7022 <__divdi3+0xb0c> |
| 7256: e0 e0 ldi r30, 0x00 ; 0 |
| 7258: 82 2f mov r24, r18 |
| 725a: 89 1b sub r24, r25 |
| 725c: 91 e0 ldi r25, 0x01 ; 1 |
| 725e: 28 17 cp r18, r24 |
| 7260: 08 f4 brcc .+2 ; 0x7264 <__divdi3+0xd4e> |
| 7262: df ce rjmp .-578 ; 0x7022 <__divdi3+0xb0c> |
| 7264: f6 cf rjmp .-20 ; 0x7252 <__divdi3+0xd3c> |
| 7266: 21 96 adiw r28, 0x01 ; 1 |
| 7268: 3f af std Y+63, r19 ; 0x3f |
| 726a: 2e af std Y+62, r18 ; 0x3e |
| 726c: 21 97 sbiw r28, 0x01 ; 1 |
| 726e: a2 1a sub r10, r18 |
| 7270: b3 0a sbc r11, r19 |
| 7272: c4 0a sbc r12, r20 |
| 7274: d5 0a sbc r13, r21 |
| 7276: a6 01 movw r20, r12 |
| 7278: 95 01 movw r18, r10 |
| 727a: 0f ac ldd r0, Y+63 ; 0x3f |
| 727c: 04 c0 rjmp .+8 ; 0x7286 <__divdi3+0xd70> |
| 727e: ee 0c add r14, r14 |
| 7280: ff 1c adc r15, r15 |
| 7282: 00 1f adc r16, r16 |
| 7284: 11 1f adc r17, r17 |
| 7286: 0a 94 dec r0 |
| 7288: d2 f7 brpl .-12 ; 0x727e <__divdi3+0xd68> |
| 728a: d2 01 movw r26, r4 |
| 728c: c1 01 movw r24, r2 |
| 728e: 04 c0 rjmp .+8 ; 0x7298 <__divdi3+0xd82> |
| 7290: b6 95 lsr r27 |
| 7292: a7 95 ror r26 |
| 7294: 97 95 ror r25 |
| 7296: 87 95 ror r24 |
| 7298: aa 94 dec r10 |
| 729a: d2 f7 brpl .-12 ; 0x7290 <__divdi3+0xd7a> |
| 729c: e8 2a or r14, r24 |
| 729e: f9 2a or r15, r25 |
| 72a0: 0a 2b or r16, r26 |
| 72a2: 1b 2b or r17, r27 |
| 72a4: 25 96 adiw r28, 0x05 ; 5 |
| 72a6: ec ae std Y+60, r14 ; 0x3c |
| 72a8: fd ae std Y+61, r15 ; 0x3d |
| 72aa: 0e af std Y+62, r16 ; 0x3e |
| 72ac: 1f af std Y+63, r17 ; 0x3f |
| 72ae: 25 97 sbiw r28, 0x05 ; 5 |
| 72b0: 0f ac ldd r0, Y+63 ; 0x3f |
| 72b2: 04 c0 rjmp .+8 ; 0x72bc <__divdi3+0xda6> |
| 72b4: 22 0c add r2, r2 |
| 72b6: 33 1c adc r3, r3 |
| 72b8: 44 1c adc r4, r4 |
| 72ba: 55 1c adc r5, r5 |
| 72bc: 0a 94 dec r0 |
| 72be: d2 f7 brpl .-12 ; 0x72b4 <__divdi3+0xd9e> |
| 72c0: 29 a6 std Y+41, r2 ; 0x29 |
| 72c2: 3a a6 std Y+42, r3 ; 0x2a |
| 72c4: 4b a6 std Y+43, r4 ; 0x2b |
| 72c6: 5c a6 std Y+44, r5 ; 0x2c |
| 72c8: 2d 96 adiw r28, 0x0d ; 13 |
| 72ca: ac ac ldd r10, Y+60 ; 0x3c |
| 72cc: bd ac ldd r11, Y+61 ; 0x3d |
| 72ce: ce ac ldd r12, Y+62 ; 0x3e |
| 72d0: df ac ldd r13, Y+63 ; 0x3f |
| 72d2: 2d 97 sbiw r28, 0x0d ; 13 |
| 72d4: 02 2e mov r0, r18 |
| 72d6: 04 c0 rjmp .+8 ; 0x72e0 <__divdi3+0xdca> |
| 72d8: d6 94 lsr r13 |
| 72da: c7 94 ror r12 |
| 72dc: b7 94 ror r11 |
| 72de: a7 94 ror r10 |
| 72e0: 0a 94 dec r0 |
| 72e2: d2 f7 brpl .-12 ; 0x72d8 <__divdi3+0xdc2> |
| 72e4: 2d 96 adiw r28, 0x0d ; 13 |
| 72e6: ec ac ldd r14, Y+60 ; 0x3c |
| 72e8: fd ac ldd r15, Y+61 ; 0x3d |
| 72ea: 0e ad ldd r16, Y+62 ; 0x3e |
| 72ec: 1f ad ldd r17, Y+63 ; 0x3f |
| 72ee: 2d 97 sbiw r28, 0x0d ; 13 |
| 72f0: 0f ac ldd r0, Y+63 ; 0x3f |
| 72f2: 04 c0 rjmp .+8 ; 0x72fc <__divdi3+0xde6> |
| 72f4: ee 0c add r14, r14 |
| 72f6: ff 1c adc r15, r15 |
| 72f8: 00 1f adc r16, r16 |
| 72fa: 11 1f adc r17, r17 |
| 72fc: 0a 94 dec r0 |
| 72fe: d2 f7 brpl .-12 ; 0x72f4 <__divdi3+0xdde> |
| 7300: 29 96 adiw r28, 0x09 ; 9 |
| 7302: 8c ad ldd r24, Y+60 ; 0x3c |
| 7304: 9d ad ldd r25, Y+61 ; 0x3d |
| 7306: ae ad ldd r26, Y+62 ; 0x3e |
| 7308: bf ad ldd r27, Y+63 ; 0x3f |
| 730a: 29 97 sbiw r28, 0x09 ; 9 |
| 730c: 04 c0 rjmp .+8 ; 0x7316 <__divdi3+0xe00> |
| 730e: b6 95 lsr r27 |
| 7310: a7 95 ror r26 |
| 7312: 97 95 ror r25 |
| 7314: 87 95 ror r24 |
| 7316: 2a 95 dec r18 |
| 7318: d2 f7 brpl .-12 ; 0x730e <__divdi3+0xdf8> |
| 731a: e8 2a or r14, r24 |
| 731c: f9 2a or r15, r25 |
| 731e: 0a 2b or r16, r26 |
| 7320: 1b 2b or r17, r27 |
| 7322: ed aa std Y+53, r14 ; 0x35 |
| 7324: fe aa std Y+54, r15 ; 0x36 |
| 7326: 0f ab std Y+55, r16 ; 0x37 |
| 7328: 18 af std Y+56, r17 ; 0x38 |
| 732a: 25 96 adiw r28, 0x05 ; 5 |
| 732c: 0c ad ldd r16, Y+60 ; 0x3c |
| 732e: 1d ad ldd r17, Y+61 ; 0x3d |
| 7330: 2e ad ldd r18, Y+62 ; 0x3e |
| 7332: 3f ad ldd r19, Y+63 ; 0x3f |
| 7334: 25 97 sbiw r28, 0x05 ; 5 |
| 7336: 79 01 movw r14, r18 |
| 7338: 00 27 eor r16, r16 |
| 733a: 11 27 eor r17, r17 |
| 733c: e5 96 adiw r28, 0x35 ; 53 |
| 733e: ec ae std Y+60, r14 ; 0x3c |
| 7340: fd ae std Y+61, r15 ; 0x3d |
| 7342: 0e af std Y+62, r16 ; 0x3e |
| 7344: 1f af std Y+63, r17 ; 0x3f |
| 7346: e5 97 sbiw r28, 0x35 ; 53 |
| 7348: 25 96 adiw r28, 0x05 ; 5 |
| 734a: 2c ad ldd r18, Y+60 ; 0x3c |
| 734c: 3d ad ldd r19, Y+61 ; 0x3d |
| 734e: 4e ad ldd r20, Y+62 ; 0x3e |
| 7350: 5f ad ldd r21, Y+63 ; 0x3f |
| 7352: 25 97 sbiw r28, 0x05 ; 5 |
| 7354: 40 70 andi r20, 0x00 ; 0 |
| 7356: 50 70 andi r21, 0x00 ; 0 |
| 7358: e9 96 adiw r28, 0x39 ; 57 |
| 735a: 2c af std Y+60, r18 ; 0x3c |
| 735c: 3d af std Y+61, r19 ; 0x3d |
| 735e: 4e af std Y+62, r20 ; 0x3e |
| 7360: 5f af std Y+63, r21 ; 0x3f |
| 7362: e9 97 sbiw r28, 0x39 ; 57 |
| 7364: c6 01 movw r24, r12 |
| 7366: b5 01 movw r22, r10 |
| 7368: a8 01 movw r20, r16 |
| 736a: 97 01 movw r18, r14 |
| 736c: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 7370: ed 96 adiw r28, 0x3d ; 61 |
| 7372: 2c af std Y+60, r18 ; 0x3c |
| 7374: 3d af std Y+61, r19 ; 0x3d |
| 7376: 4e af std Y+62, r20 ; 0x3e |
| 7378: 5f af std Y+63, r21 ; 0x3f |
| 737a: ed 97 sbiw r28, 0x3d ; 61 |
| 737c: e9 96 adiw r28, 0x39 ; 57 |
| 737e: 6c ad ldd r22, Y+60 ; 0x3c |
| 7380: 7d ad ldd r23, Y+61 ; 0x3d |
| 7382: 8e ad ldd r24, Y+62 ; 0x3e |
| 7384: 9f ad ldd r25, Y+63 ; 0x3f |
| 7386: e9 97 sbiw r28, 0x39 ; 57 |
| 7388: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 738c: 3b 01 movw r6, r22 |
| 738e: 4c 01 movw r8, r24 |
| 7390: c6 01 movw r24, r12 |
| 7392: b5 01 movw r22, r10 |
| 7394: a8 01 movw r20, r16 |
| 7396: 97 01 movw r18, r14 |
| 7398: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 739c: cb 01 movw r24, r22 |
| 739e: 77 27 eor r23, r23 |
| 73a0: 66 27 eor r22, r22 |
| 73a2: ad a8 ldd r10, Y+53 ; 0x35 |
| 73a4: be a8 ldd r11, Y+54 ; 0x36 |
| 73a6: cf a8 ldd r12, Y+55 ; 0x37 |
| 73a8: d8 ac ldd r13, Y+56 ; 0x38 |
| 73aa: 96 01 movw r18, r12 |
| 73ac: 44 27 eor r20, r20 |
| 73ae: 55 27 eor r21, r21 |
| 73b0: 7b 01 movw r14, r22 |
| 73b2: 8c 01 movw r16, r24 |
| 73b4: e2 2a or r14, r18 |
| 73b6: f3 2a or r15, r19 |
| 73b8: 04 2b or r16, r20 |
| 73ba: 15 2b or r17, r21 |
| 73bc: e6 14 cp r14, r6 |
| 73be: f7 04 cpc r15, r7 |
| 73c0: 08 05 cpc r16, r8 |
| 73c2: 19 05 cpc r17, r9 |
| 73c4: 00 f5 brcc .+64 ; 0x7406 <__divdi3+0xef0> |
| 73c6: ed 96 adiw r28, 0x3d ; 61 |
| 73c8: 2c ad ldd r18, Y+60 ; 0x3c |
| 73ca: 3d ad ldd r19, Y+61 ; 0x3d |
| 73cc: 4e ad ldd r20, Y+62 ; 0x3e |
| 73ce: 5f ad ldd r21, Y+63 ; 0x3f |
| 73d0: ed 97 sbiw r28, 0x3d ; 61 |
| 73d2: 21 50 subi r18, 0x01 ; 1 |
| 73d4: 30 40 sbci r19, 0x00 ; 0 |
| 73d6: 40 40 sbci r20, 0x00 ; 0 |
| 73d8: 50 40 sbci r21, 0x00 ; 0 |
| 73da: ed 96 adiw r28, 0x3d ; 61 |
| 73dc: 2c af std Y+60, r18 ; 0x3c |
| 73de: 3d af std Y+61, r19 ; 0x3d |
| 73e0: 4e af std Y+62, r20 ; 0x3e |
| 73e2: 5f af std Y+63, r21 ; 0x3f |
| 73e4: ed 97 sbiw r28, 0x3d ; 61 |
| 73e6: 25 96 adiw r28, 0x05 ; 5 |
| 73e8: 8c ad ldd r24, Y+60 ; 0x3c |
| 73ea: 9d ad ldd r25, Y+61 ; 0x3d |
| 73ec: ae ad ldd r26, Y+62 ; 0x3e |
| 73ee: bf ad ldd r27, Y+63 ; 0x3f |
| 73f0: 25 97 sbiw r28, 0x05 ; 5 |
| 73f2: e8 0e add r14, r24 |
| 73f4: f9 1e adc r15, r25 |
| 73f6: 0a 1f adc r16, r26 |
| 73f8: 1b 1f adc r17, r27 |
| 73fa: e8 16 cp r14, r24 |
| 73fc: f9 06 cpc r15, r25 |
| 73fe: 0a 07 cpc r16, r26 |
| 7400: 1b 07 cpc r17, r27 |
| 7402: 08 f0 brcs .+2 ; 0x7406 <__divdi3+0xef0> |
| 7404: b2 c2 rjmp .+1380 ; 0x796a <__divdi3+0x1454> |
| 7406: e6 18 sub r14, r6 |
| 7408: f7 08 sbc r15, r7 |
| 740a: 08 09 sbc r16, r8 |
| 740c: 19 09 sbc r17, r9 |
| 740e: c8 01 movw r24, r16 |
| 7410: b7 01 movw r22, r14 |
| 7412: e5 96 adiw r28, 0x35 ; 53 |
| 7414: 2c ad ldd r18, Y+60 ; 0x3c |
| 7416: 3d ad ldd r19, Y+61 ; 0x3d |
| 7418: 4e ad ldd r20, Y+62 ; 0x3e |
| 741a: 5f ad ldd r21, Y+63 ; 0x3f |
| 741c: e5 97 sbiw r28, 0x35 ; 53 |
| 741e: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 7422: 19 01 movw r2, r18 |
| 7424: 2a 01 movw r4, r20 |
| 7426: e9 96 adiw r28, 0x39 ; 57 |
| 7428: 6c ad ldd r22, Y+60 ; 0x3c |
| 742a: 7d ad ldd r23, Y+61 ; 0x3d |
| 742c: 8e ad ldd r24, Y+62 ; 0x3e |
| 742e: 9f ad ldd r25, Y+63 ; 0x3f |
| 7430: e9 97 sbiw r28, 0x39 ; 57 |
| 7432: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 7436: 3b 01 movw r6, r22 |
| 7438: 4c 01 movw r8, r24 |
| 743a: c8 01 movw r24, r16 |
| 743c: b7 01 movw r22, r14 |
| 743e: e5 96 adiw r28, 0x35 ; 53 |
| 7440: 2c ad ldd r18, Y+60 ; 0x3c |
| 7442: 3d ad ldd r19, Y+61 ; 0x3d |
| 7444: 4e ad ldd r20, Y+62 ; 0x3e |
| 7446: 5f ad ldd r21, Y+63 ; 0x3f |
| 7448: e5 97 sbiw r28, 0x35 ; 53 |
| 744a: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 744e: cb 01 movw r24, r22 |
| 7450: 77 27 eor r23, r23 |
| 7452: 66 27 eor r22, r22 |
| 7454: 2d a9 ldd r18, Y+53 ; 0x35 |
| 7456: 3e a9 ldd r19, Y+54 ; 0x36 |
| 7458: 4f a9 ldd r20, Y+55 ; 0x37 |
| 745a: 58 ad ldd r21, Y+56 ; 0x38 |
| 745c: 40 70 andi r20, 0x00 ; 0 |
| 745e: 50 70 andi r21, 0x00 ; 0 |
| 7460: 5b 01 movw r10, r22 |
| 7462: 6c 01 movw r12, r24 |
| 7464: a2 2a or r10, r18 |
| 7466: b3 2a or r11, r19 |
| 7468: c4 2a or r12, r20 |
| 746a: d5 2a or r13, r21 |
| 746c: a6 14 cp r10, r6 |
| 746e: b7 04 cpc r11, r7 |
| 7470: c8 04 cpc r12, r8 |
| 7472: d9 04 cpc r13, r9 |
| 7474: a8 f4 brcc .+42 ; 0x74a0 <__divdi3+0xf8a> |
| 7476: 08 94 sec |
| 7478: 21 08 sbc r2, r1 |
| 747a: 31 08 sbc r3, r1 |
| 747c: 41 08 sbc r4, r1 |
| 747e: 51 08 sbc r5, r1 |
| 7480: 25 96 adiw r28, 0x05 ; 5 |
| 7482: ec ac ldd r14, Y+60 ; 0x3c |
| 7484: fd ac ldd r15, Y+61 ; 0x3d |
| 7486: 0e ad ldd r16, Y+62 ; 0x3e |
| 7488: 1f ad ldd r17, Y+63 ; 0x3f |
| 748a: 25 97 sbiw r28, 0x05 ; 5 |
| 748c: ae 0c add r10, r14 |
| 748e: bf 1c adc r11, r15 |
| 7490: c0 1e adc r12, r16 |
| 7492: d1 1e adc r13, r17 |
| 7494: ae 14 cp r10, r14 |
| 7496: bf 04 cpc r11, r15 |
| 7498: c0 06 cpc r12, r16 |
| 749a: d1 06 cpc r13, r17 |
| 749c: 08 f0 brcs .+2 ; 0x74a0 <__divdi3+0xf8a> |
| 749e: 55 c2 rjmp .+1194 ; 0x794a <__divdi3+0x1434> |
| 74a0: a6 18 sub r10, r6 |
| 74a2: b7 08 sbc r11, r7 |
| 74a4: c8 08 sbc r12, r8 |
| 74a6: d9 08 sbc r13, r9 |
| 74a8: a9 aa std Y+49, r10 ; 0x31 |
| 74aa: ba aa std Y+50, r11 ; 0x32 |
| 74ac: cb aa std Y+51, r12 ; 0x33 |
| 74ae: dc aa std Y+52, r13 ; 0x34 |
| 74b0: ed 96 adiw r28, 0x3d ; 61 |
| 74b2: 0c ad ldd r16, Y+60 ; 0x3c |
| 74b4: 1d ad ldd r17, Y+61 ; 0x3d |
| 74b6: 2e ad ldd r18, Y+62 ; 0x3e |
| 74b8: 3f ad ldd r19, Y+63 ; 0x3f |
| 74ba: ed 97 sbiw r28, 0x3d ; 61 |
| 74bc: d8 01 movw r26, r16 |
| 74be: 99 27 eor r25, r25 |
| 74c0: 88 27 eor r24, r24 |
| 74c2: 28 2a or r2, r24 |
| 74c4: 39 2a or r3, r25 |
| 74c6: 4a 2a or r4, r26 |
| 74c8: 5b 2a or r5, r27 |
| 74ca: 61 96 adiw r28, 0x11 ; 17 |
| 74cc: 2c ae std Y+60, r2 ; 0x3c |
| 74ce: 3d ae std Y+61, r3 ; 0x3d |
| 74d0: 4e ae std Y+62, r4 ; 0x3e |
| 74d2: 5f ae std Y+63, r5 ; 0x3f |
| 74d4: 61 97 sbiw r28, 0x11 ; 17 |
| 74d6: 82 01 movw r16, r4 |
| 74d8: 71 01 movw r14, r2 |
| 74da: 2f ef ldi r18, 0xFF ; 255 |
| 74dc: 3f ef ldi r19, 0xFF ; 255 |
| 74de: 40 e0 ldi r20, 0x00 ; 0 |
| 74e0: 50 e0 ldi r21, 0x00 ; 0 |
| 74e2: e2 22 and r14, r18 |
| 74e4: f3 22 and r15, r19 |
| 74e6: 04 23 and r16, r20 |
| 74e8: 15 23 and r17, r21 |
| 74ea: 12 01 movw r2, r4 |
| 74ec: 44 24 eor r4, r4 |
| 74ee: 55 24 eor r5, r5 |
| 74f0: a9 a4 ldd r10, Y+41 ; 0x29 |
| 74f2: ba a4 ldd r11, Y+42 ; 0x2a |
| 74f4: cb a4 ldd r12, Y+43 ; 0x2b |
| 74f6: dc a4 ldd r13, Y+44 ; 0x2c |
| 74f8: a2 22 and r10, r18 |
| 74fa: b3 22 and r11, r19 |
| 74fc: c4 22 and r12, r20 |
| 74fe: d5 22 and r13, r21 |
| 7500: 29 a5 ldd r18, Y+41 ; 0x29 |
| 7502: 3a a5 ldd r19, Y+42 ; 0x2a |
| 7504: 4b a5 ldd r20, Y+43 ; 0x2b |
| 7506: 5c a5 ldd r21, Y+44 ; 0x2c |
| 7508: 3a 01 movw r6, r20 |
| 750a: 88 24 eor r8, r8 |
| 750c: 99 24 eor r9, r9 |
| 750e: c8 01 movw r24, r16 |
| 7510: b7 01 movw r22, r14 |
| 7512: a6 01 movw r20, r12 |
| 7514: 95 01 movw r18, r10 |
| 7516: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 751a: c3 58 subi r28, 0x83 ; 131 |
| 751c: df 4f sbci r29, 0xFF ; 255 |
| 751e: 68 83 st Y, r22 |
| 7520: 79 83 std Y+1, r23 ; 0x01 |
| 7522: 8a 83 std Y+2, r24 ; 0x02 |
| 7524: 9b 83 std Y+3, r25 ; 0x03 |
| 7526: cd 57 subi r28, 0x7D ; 125 |
| 7528: d0 40 sbci r29, 0x00 ; 0 |
| 752a: c8 01 movw r24, r16 |
| 752c: b7 01 movw r22, r14 |
| 752e: a4 01 movw r20, r8 |
| 7530: 93 01 movw r18, r6 |
| 7532: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 7536: 7b 01 movw r14, r22 |
| 7538: 8c 01 movw r16, r24 |
| 753a: c2 01 movw r24, r4 |
| 753c: b1 01 movw r22, r2 |
| 753e: a6 01 movw r20, r12 |
| 7540: 95 01 movw r18, r10 |
| 7542: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 7546: 5b 01 movw r10, r22 |
| 7548: 6c 01 movw r12, r24 |
| 754a: c2 01 movw r24, r4 |
| 754c: b1 01 movw r22, r2 |
| 754e: a4 01 movw r20, r8 |
| 7550: 93 01 movw r18, r6 |
| 7552: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 7556: 9b 01 movw r18, r22 |
| 7558: ac 01 movw r20, r24 |
| 755a: ea 0c add r14, r10 |
| 755c: fb 1c adc r15, r11 |
| 755e: 0c 1d adc r16, r12 |
| 7560: 1d 1d adc r17, r13 |
| 7562: c3 58 subi r28, 0x83 ; 131 |
| 7564: df 4f sbci r29, 0xFF ; 255 |
| 7566: 68 80 ld r6, Y |
| 7568: 79 80 ldd r7, Y+1 ; 0x01 |
| 756a: 8a 80 ldd r8, Y+2 ; 0x02 |
| 756c: 9b 80 ldd r9, Y+3 ; 0x03 |
| 756e: cd 57 subi r28, 0x7D ; 125 |
| 7570: d0 40 sbci r29, 0x00 ; 0 |
| 7572: c4 01 movw r24, r8 |
| 7574: aa 27 eor r26, r26 |
| 7576: bb 27 eor r27, r27 |
| 7578: e8 0e add r14, r24 |
| 757a: f9 1e adc r15, r25 |
| 757c: 0a 1f adc r16, r26 |
| 757e: 1b 1f adc r17, r27 |
| 7580: ea 14 cp r14, r10 |
| 7582: fb 04 cpc r15, r11 |
| 7584: 0c 05 cpc r16, r12 |
| 7586: 1d 05 cpc r17, r13 |
| 7588: 20 f4 brcc .+8 ; 0x7592 <__divdi3+0x107c> |
| 758a: 20 50 subi r18, 0x00 ; 0 |
| 758c: 30 40 sbci r19, 0x00 ; 0 |
| 758e: 4f 4f sbci r20, 0xFF ; 255 |
| 7590: 5f 4f sbci r21, 0xFF ; 255 |
| 7592: c8 01 movw r24, r16 |
| 7594: aa 27 eor r26, r26 |
| 7596: bb 27 eor r27, r27 |
| 7598: 28 0f add r18, r24 |
| 759a: 39 1f adc r19, r25 |
| 759c: 4a 1f adc r20, r26 |
| 759e: 5b 1f adc r21, r27 |
| 75a0: 89 a8 ldd r8, Y+49 ; 0x31 |
| 75a2: 9a a8 ldd r9, Y+50 ; 0x32 |
| 75a4: ab a8 ldd r10, Y+51 ; 0x33 |
| 75a6: bc a8 ldd r11, Y+52 ; 0x34 |
| 75a8: 82 16 cp r8, r18 |
| 75aa: 93 06 cpc r9, r19 |
| 75ac: a4 06 cpc r10, r20 |
| 75ae: b5 06 cpc r11, r21 |
| 75b0: 08 f4 brcc .+2 ; 0x75b4 <__divdi3+0x109e> |
| 75b2: 79 c1 rjmp .+754 ; 0x78a6 <__divdi3+0x1390> |
| 75b4: 82 16 cp r8, r18 |
| 75b6: 93 06 cpc r9, r19 |
| 75b8: a4 06 cpc r10, r20 |
| 75ba: b5 06 cpc r11, r21 |
| 75bc: 09 f4 brne .+2 ; 0x75c0 <__divdi3+0x10aa> |
| 75be: 46 c1 rjmp .+652 ; 0x784c <__divdi3+0x1336> |
| 75c0: 61 96 adiw r28, 0x11 ; 17 |
| 75c2: 2c ac ldd r2, Y+60 ; 0x3c |
| 75c4: 3d ac ldd r3, Y+61 ; 0x3d |
| 75c6: 4e ac ldd r4, Y+62 ; 0x3e |
| 75c8: 5f ac ldd r5, Y+63 ; 0x3f |
| 75ca: 61 97 sbiw r28, 0x11 ; 17 |
| 75cc: 20 e0 ldi r18, 0x00 ; 0 |
| 75ce: 30 e0 ldi r19, 0x00 ; 0 |
| 75d0: 40 e0 ldi r20, 0x00 ; 0 |
| 75d2: 50 e0 ldi r21, 0x00 ; 0 |
| 75d4: 68 c9 rjmp .-3376 ; 0x68a6 <__divdi3+0x390> |
| 75d6: 7e ae std Y+62, r7 ; 0x3e |
| 75d8: 6d ae std Y+61, r6 ; 0x3d |
| 75da: 0d ac ldd r0, Y+61 ; 0x3d |
| 75dc: 04 c0 rjmp .+8 ; 0x75e6 <__divdi3+0x10d0> |
| 75de: 22 0c add r2, r2 |
| 75e0: 33 1c adc r3, r3 |
| 75e2: 44 1c adc r4, r4 |
| 75e4: 55 1c adc r5, r5 |
| 75e6: 0a 94 dec r0 |
| 75e8: d2 f7 brpl .-12 ; 0x75de <__divdi3+0x10c8> |
| 75ea: 26 19 sub r18, r6 |
| 75ec: 37 09 sbc r19, r7 |
| 75ee: 48 09 sbc r20, r8 |
| 75f0: 59 09 sbc r21, r9 |
| 75f2: da 01 movw r26, r20 |
| 75f4: c9 01 movw r24, r18 |
| 75f6: 2d 96 adiw r28, 0x0d ; 13 |
| 75f8: ec ac ldd r14, Y+60 ; 0x3c |
| 75fa: fd ac ldd r15, Y+61 ; 0x3d |
| 75fc: 0e ad ldd r16, Y+62 ; 0x3e |
| 75fe: 1f ad ldd r17, Y+63 ; 0x3f |
| 7600: 2d 97 sbiw r28, 0x0d ; 13 |
| 7602: 04 c0 rjmp .+8 ; 0x760c <__divdi3+0x10f6> |
| 7604: 16 95 lsr r17 |
| 7606: 07 95 ror r16 |
| 7608: f7 94 ror r15 |
| 760a: e7 94 ror r14 |
| 760c: 2a 95 dec r18 |
| 760e: d2 f7 brpl .-12 ; 0x7604 <__divdi3+0x10ee> |
| 7610: 2d 96 adiw r28, 0x0d ; 13 |
| 7612: 2c ad ldd r18, Y+60 ; 0x3c |
| 7614: 3d ad ldd r19, Y+61 ; 0x3d |
| 7616: 4e ad ldd r20, Y+62 ; 0x3e |
| 7618: 5f ad ldd r21, Y+63 ; 0x3f |
| 761a: 2d 97 sbiw r28, 0x0d ; 13 |
| 761c: 0d ac ldd r0, Y+61 ; 0x3d |
| 761e: 04 c0 rjmp .+8 ; 0x7628 <__divdi3+0x1112> |
| 7620: 22 0f add r18, r18 |
| 7622: 33 1f adc r19, r19 |
| 7624: 44 1f adc r20, r20 |
| 7626: 55 1f adc r21, r21 |
| 7628: 0a 94 dec r0 |
| 762a: d2 f7 brpl .-12 ; 0x7620 <__divdi3+0x110a> |
| 762c: 29 96 adiw r28, 0x09 ; 9 |
| 762e: 6c ac ldd r6, Y+60 ; 0x3c |
| 7630: 7d ac ldd r7, Y+61 ; 0x3d |
| 7632: 8e ac ldd r8, Y+62 ; 0x3e |
| 7634: 9f ac ldd r9, Y+63 ; 0x3f |
| 7636: 29 97 sbiw r28, 0x09 ; 9 |
| 7638: 04 c0 rjmp .+8 ; 0x7642 <__divdi3+0x112c> |
| 763a: 96 94 lsr r9 |
| 763c: 87 94 ror r8 |
| 763e: 77 94 ror r7 |
| 7640: 67 94 ror r6 |
| 7642: 8a 95 dec r24 |
| 7644: d2 f7 brpl .-12 ; 0x763a <__divdi3+0x1124> |
| 7646: 26 29 or r18, r6 |
| 7648: 37 29 or r19, r7 |
| 764a: 48 29 or r20, r8 |
| 764c: 59 29 or r21, r9 |
| 764e: 2d a7 std Y+45, r18 ; 0x2d |
| 7650: 3e a7 std Y+46, r19 ; 0x2e |
| 7652: 4f a7 std Y+47, r20 ; 0x2f |
| 7654: 58 ab std Y+48, r21 ; 0x30 |
| 7656: 42 01 movw r8, r4 |
| 7658: aa 24 eor r10, r10 |
| 765a: bb 24 eor r11, r11 |
| 765c: a1 96 adiw r28, 0x21 ; 33 |
| 765e: 8c ae std Y+60, r8 ; 0x3c |
| 7660: 9d ae std Y+61, r9 ; 0x3d |
| 7662: ae ae std Y+62, r10 ; 0x3e |
| 7664: bf ae std Y+63, r11 ; 0x3f |
| 7666: a1 97 sbiw r28, 0x21 ; 33 |
| 7668: a2 01 movw r20, r4 |
| 766a: 91 01 movw r18, r2 |
| 766c: 40 70 andi r20, 0x00 ; 0 |
| 766e: 50 70 andi r21, 0x00 ; 0 |
| 7670: a5 96 adiw r28, 0x25 ; 37 |
| 7672: 2c af std Y+60, r18 ; 0x3c |
| 7674: 3d af std Y+61, r19 ; 0x3d |
| 7676: 4e af std Y+62, r20 ; 0x3e |
| 7678: 5f af std Y+63, r21 ; 0x3f |
| 767a: a5 97 sbiw r28, 0x25 ; 37 |
| 767c: c8 01 movw r24, r16 |
| 767e: b7 01 movw r22, r14 |
| 7680: a5 01 movw r20, r10 |
| 7682: 94 01 movw r18, r8 |
| 7684: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 7688: a9 96 adiw r28, 0x29 ; 41 |
| 768a: 2c af std Y+60, r18 ; 0x3c |
| 768c: 3d af std Y+61, r19 ; 0x3d |
| 768e: 4e af std Y+62, r20 ; 0x3e |
| 7690: 5f af std Y+63, r21 ; 0x3f |
| 7692: a9 97 sbiw r28, 0x29 ; 41 |
| 7694: a5 96 adiw r28, 0x25 ; 37 |
| 7696: 6c ad ldd r22, Y+60 ; 0x3c |
| 7698: 7d ad ldd r23, Y+61 ; 0x3d |
| 769a: 8e ad ldd r24, Y+62 ; 0x3e |
| 769c: 9f ad ldd r25, Y+63 ; 0x3f |
| 769e: a5 97 sbiw r28, 0x25 ; 37 |
| 76a0: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 76a4: 5b 01 movw r10, r22 |
| 76a6: 6c 01 movw r12, r24 |
| 76a8: c8 01 movw r24, r16 |
| 76aa: b7 01 movw r22, r14 |
| 76ac: a1 96 adiw r28, 0x21 ; 33 |
| 76ae: 2c ad ldd r18, Y+60 ; 0x3c |
| 76b0: 3d ad ldd r19, Y+61 ; 0x3d |
| 76b2: 4e ad ldd r20, Y+62 ; 0x3e |
| 76b4: 5f ad ldd r21, Y+63 ; 0x3f |
| 76b6: a1 97 sbiw r28, 0x21 ; 33 |
| 76b8: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 76bc: cb 01 movw r24, r22 |
| 76be: 77 27 eor r23, r23 |
| 76c0: 66 27 eor r22, r22 |
| 76c2: 6d a4 ldd r6, Y+45 ; 0x2d |
| 76c4: 7e a4 ldd r7, Y+46 ; 0x2e |
| 76c6: 8f a4 ldd r8, Y+47 ; 0x2f |
| 76c8: 98 a8 ldd r9, Y+48 ; 0x30 |
| 76ca: 94 01 movw r18, r8 |
| 76cc: 44 27 eor r20, r20 |
| 76ce: 55 27 eor r21, r21 |
| 76d0: 7b 01 movw r14, r22 |
| 76d2: 8c 01 movw r16, r24 |
| 76d4: e2 2a or r14, r18 |
| 76d6: f3 2a or r15, r19 |
| 76d8: 04 2b or r16, r20 |
| 76da: 15 2b or r17, r21 |
| 76dc: ea 14 cp r14, r10 |
| 76de: fb 04 cpc r15, r11 |
| 76e0: 0c 05 cpc r16, r12 |
| 76e2: 1d 05 cpc r17, r13 |
| 76e4: d0 f4 brcc .+52 ; 0x771a <__divdi3+0x1204> |
| 76e6: a9 96 adiw r28, 0x29 ; 41 |
| 76e8: 2c ad ldd r18, Y+60 ; 0x3c |
| 76ea: 3d ad ldd r19, Y+61 ; 0x3d |
| 76ec: 4e ad ldd r20, Y+62 ; 0x3e |
| 76ee: 5f ad ldd r21, Y+63 ; 0x3f |
| 76f0: a9 97 sbiw r28, 0x29 ; 41 |
| 76f2: 21 50 subi r18, 0x01 ; 1 |
| 76f4: 30 40 sbci r19, 0x00 ; 0 |
| 76f6: 40 40 sbci r20, 0x00 ; 0 |
| 76f8: 50 40 sbci r21, 0x00 ; 0 |
| 76fa: a9 96 adiw r28, 0x29 ; 41 |
| 76fc: 2c af std Y+60, r18 ; 0x3c |
| 76fe: 3d af std Y+61, r19 ; 0x3d |
| 7700: 4e af std Y+62, r20 ; 0x3e |
| 7702: 5f af std Y+63, r21 ; 0x3f |
| 7704: a9 97 sbiw r28, 0x29 ; 41 |
| 7706: e2 0c add r14, r2 |
| 7708: f3 1c adc r15, r3 |
| 770a: 04 1d adc r16, r4 |
| 770c: 15 1d adc r17, r5 |
| 770e: e2 14 cp r14, r2 |
| 7710: f3 04 cpc r15, r3 |
| 7712: 04 05 cpc r16, r4 |
| 7714: 15 05 cpc r17, r5 |
| 7716: 08 f0 brcs .+2 ; 0x771a <__divdi3+0x1204> |
| 7718: 03 c1 rjmp .+518 ; 0x7920 <__divdi3+0x140a> |
| 771a: ea 18 sub r14, r10 |
| 771c: fb 08 sbc r15, r11 |
| 771e: 0c 09 sbc r16, r12 |
| 7720: 1d 09 sbc r17, r13 |
| 7722: c8 01 movw r24, r16 |
| 7724: b7 01 movw r22, r14 |
| 7726: a1 96 adiw r28, 0x21 ; 33 |
| 7728: 2c ad ldd r18, Y+60 ; 0x3c |
| 772a: 3d ad ldd r19, Y+61 ; 0x3d |
| 772c: 4e ad ldd r20, Y+62 ; 0x3e |
| 772e: 5f ad ldd r21, Y+63 ; 0x3f |
| 7730: a1 97 sbiw r28, 0x21 ; 33 |
| 7732: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 7736: ad 96 adiw r28, 0x2d ; 45 |
| 7738: 2c af std Y+60, r18 ; 0x3c |
| 773a: 3d af std Y+61, r19 ; 0x3d |
| 773c: 4e af std Y+62, r20 ; 0x3e |
| 773e: 5f af std Y+63, r21 ; 0x3f |
| 7740: ad 97 sbiw r28, 0x2d ; 45 |
| 7742: a5 96 adiw r28, 0x25 ; 37 |
| 7744: 6c ad ldd r22, Y+60 ; 0x3c |
| 7746: 7d ad ldd r23, Y+61 ; 0x3d |
| 7748: 8e ad ldd r24, Y+62 ; 0x3e |
| 774a: 9f ad ldd r25, Y+63 ; 0x3f |
| 774c: a5 97 sbiw r28, 0x25 ; 37 |
| 774e: 0e 94 78 3e call 0x7cf0 ; 0x7cf0 <__mulsi3> |
| 7752: 3b 01 movw r6, r22 |
| 7754: 4c 01 movw r8, r24 |
| 7756: c8 01 movw r24, r16 |
| 7758: b7 01 movw r22, r14 |
| 775a: a1 96 adiw r28, 0x21 ; 33 |
| 775c: 2c ad ldd r18, Y+60 ; 0x3c |
| 775e: 3d ad ldd r19, Y+61 ; 0x3d |
| 7760: 4e ad ldd r20, Y+62 ; 0x3e |
| 7762: 5f ad ldd r21, Y+63 ; 0x3f |
| 7764: a1 97 sbiw r28, 0x21 ; 33 |
| 7766: 0e 94 be 3e call 0x7d7c ; 0x7d7c <__udivmodsi4> |
| 776a: cb 01 movw r24, r22 |
| 776c: 77 27 eor r23, r23 |
| 776e: 66 27 eor r22, r22 |
| 7770: 2d a5 ldd r18, Y+45 ; 0x2d |
| 7772: 3e a5 ldd r19, Y+46 ; 0x2e |
| 7774: 4f a5 ldd r20, Y+47 ; 0x2f |
| 7776: 58 a9 ldd r21, Y+48 ; 0x30 |
| 7778: 40 70 andi r20, 0x00 ; 0 |
| 777a: 50 70 andi r21, 0x00 ; 0 |
| 777c: 5b 01 movw r10, r22 |
| 777e: 6c 01 movw r12, r24 |
| 7780: a2 2a or r10, r18 |
| 7782: b3 2a or r11, r19 |
| 7784: c4 2a or r12, r20 |
| 7786: d5 2a or r13, r21 |
| 7788: a6 14 cp r10, r6 |
| 778a: b7 04 cpc r11, r7 |
| 778c: c8 04 cpc r12, r8 |
| 778e: d9 04 cpc r13, r9 |
| 7790: 50 f5 brcc .+84 ; 0x77e6 <__divdi3+0x12d0> |
| 7792: ad 96 adiw r28, 0x2d ; 45 |
| 7794: 8c ad ldd r24, Y+60 ; 0x3c |
| 7796: 9d ad ldd r25, Y+61 ; 0x3d |
| 7798: ae ad ldd r26, Y+62 ; 0x3e |
| 779a: bf ad ldd r27, Y+63 ; 0x3f |
| 779c: ad 97 sbiw r28, 0x2d ; 45 |
| 779e: 01 97 sbiw r24, 0x01 ; 1 |
| 77a0: a1 09 sbc r26, r1 |
| 77a2: b1 09 sbc r27, r1 |
| 77a4: ad 96 adiw r28, 0x2d ; 45 |
| 77a6: 8c af std Y+60, r24 ; 0x3c |
| 77a8: 9d af std Y+61, r25 ; 0x3d |
| 77aa: ae af std Y+62, r26 ; 0x3e |
| 77ac: bf af std Y+63, r27 ; 0x3f |
| 77ae: ad 97 sbiw r28, 0x2d ; 45 |
| 77b0: a2 0c add r10, r2 |
| 77b2: b3 1c adc r11, r3 |
| 77b4: c4 1c adc r12, r4 |
| 77b6: d5 1c adc r13, r5 |
| 77b8: a2 14 cp r10, r2 |
| 77ba: b3 04 cpc r11, r3 |
| 77bc: c4 04 cpc r12, r4 |
| 77be: d5 04 cpc r13, r5 |
| 77c0: 90 f0 brcs .+36 ; 0x77e6 <__divdi3+0x12d0> |
| 77c2: a6 14 cp r10, r6 |
| 77c4: b7 04 cpc r11, r7 |
| 77c6: c8 04 cpc r12, r8 |
| 77c8: d9 04 cpc r13, r9 |
| 77ca: 68 f4 brcc .+26 ; 0x77e6 <__divdi3+0x12d0> |
| 77cc: 01 97 sbiw r24, 0x01 ; 1 |
| 77ce: a1 09 sbc r26, r1 |
| 77d0: b1 09 sbc r27, r1 |
| 77d2: ad 96 adiw r28, 0x2d ; 45 |
| 77d4: 8c af std Y+60, r24 ; 0x3c |
| 77d6: 9d af std Y+61, r25 ; 0x3d |
| 77d8: ae af std Y+62, r26 ; 0x3e |
| 77da: bf af std Y+63, r27 ; 0x3f |
| 77dc: ad 97 sbiw r28, 0x2d ; 45 |
| 77de: a2 0c add r10, r2 |
| 77e0: b3 1c adc r11, r3 |
| 77e2: c4 1c adc r12, r4 |
| 77e4: d5 1c adc r13, r5 |
| 77e6: 29 96 adiw r28, 0x09 ; 9 |
| 77e8: ec ac ldd r14, Y+60 ; 0x3c |
| 77ea: fd ac ldd r15, Y+61 ; 0x3d |
| 77ec: 0e ad ldd r16, Y+62 ; 0x3e |
| 77ee: 1f ad ldd r17, Y+63 ; 0x3f |
| 77f0: 29 97 sbiw r28, 0x09 ; 9 |
| 77f2: 0d ac ldd r0, Y+61 ; 0x3d |
| 77f4: 04 c0 rjmp .+8 ; 0x77fe <__divdi3+0x12e8> |
| 77f6: ee 0c add r14, r14 |
| 77f8: ff 1c adc r15, r15 |
| 77fa: 00 1f adc r16, r16 |
| 77fc: 11 1f adc r17, r17 |
| 77fe: 0a 94 dec r0 |
| 7800: d2 f7 brpl .-12 ; 0x77f6 <__divdi3+0x12e0> |
| 7802: 29 96 adiw r28, 0x09 ; 9 |
| 7804: ec ae std Y+60, r14 ; 0x3c |
| 7806: fd ae std Y+61, r15 ; 0x3d |
| 7808: 0e af std Y+62, r16 ; 0x3e |
| 780a: 1f af std Y+63, r17 ; 0x3f |
| 780c: 29 97 sbiw r28, 0x09 ; 9 |
| 780e: a6 18 sub r10, r6 |
| 7810: b7 08 sbc r11, r7 |
| 7812: c8 08 sbc r12, r8 |
| 7814: d9 08 sbc r13, r9 |
| 7816: a9 96 adiw r28, 0x29 ; 41 |
| 7818: 0c ad ldd r16, Y+60 ; 0x3c |
| 781a: 1d ad ldd r17, Y+61 ; 0x3d |
| 781c: 2e ad ldd r18, Y+62 ; 0x3e |
| 781e: 3f ad ldd r19, Y+63 ; 0x3f |
| 7820: a9 97 sbiw r28, 0x29 ; 41 |
| 7822: d8 01 movw r26, r16 |
| 7824: 99 27 eor r25, r25 |
| 7826: 88 27 eor r24, r24 |
| 7828: ad 96 adiw r28, 0x2d ; 45 |
| 782a: 2c ad ldd r18, Y+60 ; 0x3c |
| 782c: 3d ad ldd r19, Y+61 ; 0x3d |
| 782e: 4e ad ldd r20, Y+62 ; 0x3e |
| 7830: 5f ad ldd r21, Y+63 ; 0x3f |
| 7832: ad 97 sbiw r28, 0x2d ; 45 |
| 7834: 28 2b or r18, r24 |
| 7836: 39 2b or r19, r25 |
| 7838: 4a 2b or r20, r26 |
| 783a: 5b 2b or r21, r27 |
| 783c: 65 96 adiw r28, 0x15 ; 21 |
| 783e: 2c af std Y+60, r18 ; 0x3c |
| 7840: 3d af std Y+61, r19 ; 0x3d |
| 7842: 4e af std Y+62, r20 ; 0x3e |
| 7844: 5f af std Y+63, r21 ; 0x3f |
| 7846: 65 97 sbiw r28, 0x15 ; 21 |
| 7848: 0c 94 82 33 jmp 0x6704 ; 0x6704 <__divdi3+0x1ee> |
| 784c: 29 96 adiw r28, 0x09 ; 9 |
| 784e: 8c ad ldd r24, Y+60 ; 0x3c |
| 7850: 9d ad ldd r25, Y+61 ; 0x3d |
| 7852: ae ad ldd r26, Y+62 ; 0x3e |
| 7854: bf ad ldd r27, Y+63 ; 0x3f |
| 7856: 29 97 sbiw r28, 0x09 ; 9 |
| 7858: 0f ac ldd r0, Y+63 ; 0x3f |
| 785a: 04 c0 rjmp .+8 ; 0x7864 <__divdi3+0x134e> |
| 785c: 88 0f add r24, r24 |
| 785e: 99 1f adc r25, r25 |
| 7860: aa 1f adc r26, r26 |
| 7862: bb 1f adc r27, r27 |
| 7864: 0a 94 dec r0 |
| 7866: d2 f7 brpl .-12 ; 0x785c <__divdi3+0x1346> |
| 7868: a7 01 movw r20, r14 |
| 786a: 33 27 eor r19, r19 |
| 786c: 22 27 eor r18, r18 |
| 786e: c3 58 subi r28, 0x83 ; 131 |
| 7870: df 4f sbci r29, 0xFF ; 255 |
| 7872: e8 80 ld r14, Y |
| 7874: f9 80 ldd r15, Y+1 ; 0x01 |
| 7876: 0a 81 ldd r16, Y+2 ; 0x02 |
| 7878: 1b 81 ldd r17, Y+3 ; 0x03 |
| 787a: cd 57 subi r28, 0x7D ; 125 |
| 787c: d0 40 sbci r29, 0x00 ; 0 |
| 787e: 6f ef ldi r22, 0xFF ; 255 |
| 7880: a6 2e mov r10, r22 |
| 7882: 6f ef ldi r22, 0xFF ; 255 |
| 7884: b6 2e mov r11, r22 |
| 7886: c1 2c mov r12, r1 |
| 7888: d1 2c mov r13, r1 |
| 788a: ea 20 and r14, r10 |
| 788c: fb 20 and r15, r11 |
| 788e: 0c 21 and r16, r12 |
| 7890: 1d 21 and r17, r13 |
| 7892: 2e 0d add r18, r14 |
| 7894: 3f 1d adc r19, r15 |
| 7896: 40 1f adc r20, r16 |
| 7898: 51 1f adc r21, r17 |
| 789a: 82 17 cp r24, r18 |
| 789c: 93 07 cpc r25, r19 |
| 789e: a4 07 cpc r26, r20 |
| 78a0: b5 07 cpc r27, r21 |
| 78a2: 08 f0 brcs .+2 ; 0x78a6 <__divdi3+0x1390> |
| 78a4: 8d ce rjmp .-742 ; 0x75c0 <__divdi3+0x10aa> |
| 78a6: 61 96 adiw r28, 0x11 ; 17 |
| 78a8: 2c ac ldd r2, Y+60 ; 0x3c |
| 78aa: 3d ac ldd r3, Y+61 ; 0x3d |
| 78ac: 4e ac ldd r4, Y+62 ; 0x3e |
| 78ae: 5f ac ldd r5, Y+63 ; 0x3f |
| 78b0: 61 97 sbiw r28, 0x11 ; 17 |
| 78b2: 08 94 sec |
| 78b4: 21 08 sbc r2, r1 |
| 78b6: 31 08 sbc r3, r1 |
| 78b8: 41 08 sbc r4, r1 |
| 78ba: 51 08 sbc r5, r1 |
| 78bc: 20 e0 ldi r18, 0x00 ; 0 |
| 78be: 30 e0 ldi r19, 0x00 ; 0 |
| 78c0: 40 e0 ldi r20, 0x00 ; 0 |
| 78c2: 50 e0 ldi r21, 0x00 ; 0 |
| 78c4: 0c 94 53 34 jmp 0x68a6 ; 0x68a6 <__divdi3+0x390> |
| 78c8: 28 e0 ldi r18, 0x08 ; 8 |
| 78ca: 30 e0 ldi r19, 0x00 ; 0 |
| 78cc: 40 e0 ldi r20, 0x00 ; 0 |
| 78ce: 50 e0 ldi r21, 0x00 ; 0 |
| 78d0: 88 e0 ldi r24, 0x08 ; 8 |
| 78d2: 90 e0 ldi r25, 0x00 ; 0 |
| 78d4: 2d ca rjmp .-2982 ; 0x6d30 <__divdi3+0x81a> |
| 78d6: 28 e0 ldi r18, 0x08 ; 8 |
| 78d8: 30 e0 ldi r19, 0x00 ; 0 |
| 78da: 40 e0 ldi r20, 0x00 ; 0 |
| 78dc: 50 e0 ldi r21, 0x00 ; 0 |
| 78de: 88 e0 ldi r24, 0x08 ; 8 |
| 78e0: 90 e0 ldi r25, 0x00 ; 0 |
| 78e2: e3 c8 rjmp .-3642 ; 0x6aaa <__divdi3+0x594> |
| 78e4: 28 e0 ldi r18, 0x08 ; 8 |
| 78e6: 30 e0 ldi r19, 0x00 ; 0 |
| 78e8: 40 e0 ldi r20, 0x00 ; 0 |
| 78ea: 50 e0 ldi r21, 0x00 ; 0 |
| 78ec: 88 e0 ldi r24, 0x08 ; 8 |
| 78ee: 90 e0 ldi r25, 0x00 ; 0 |
| 78f0: 0c 94 3a 33 jmp 0x6674 ; 0x6674 <__divdi3+0x15e> |
| 78f4: 28 e1 ldi r18, 0x18 ; 24 |
| 78f6: 30 e0 ldi r19, 0x00 ; 0 |
| 78f8: 40 e0 ldi r20, 0x00 ; 0 |
| 78fa: 50 e0 ldi r21, 0x00 ; 0 |
| 78fc: 88 e1 ldi r24, 0x18 ; 24 |
| 78fe: 90 e0 ldi r25, 0x00 ; 0 |
| 7900: 17 ca rjmp .-3026 ; 0x6d30 <__divdi3+0x81a> |
| 7902: 28 e1 ldi r18, 0x18 ; 24 |
| 7904: 30 e0 ldi r19, 0x00 ; 0 |
| 7906: 40 e0 ldi r20, 0x00 ; 0 |
| 7908: 50 e0 ldi r21, 0x00 ; 0 |
| 790a: 88 e1 ldi r24, 0x18 ; 24 |
| 790c: 90 e0 ldi r25, 0x00 ; 0 |
| 790e: cd c8 rjmp .-3686 ; 0x6aaa <__divdi3+0x594> |
| 7910: 28 e1 ldi r18, 0x18 ; 24 |
| 7912: 30 e0 ldi r19, 0x00 ; 0 |
| 7914: 40 e0 ldi r20, 0x00 ; 0 |
| 7916: 50 e0 ldi r21, 0x00 ; 0 |
| 7918: 88 e1 ldi r24, 0x18 ; 24 |
| 791a: 90 e0 ldi r25, 0x00 ; 0 |
| 791c: 0c 94 3a 33 jmp 0x6674 ; 0x6674 <__divdi3+0x15e> |
| 7920: ea 14 cp r14, r10 |
| 7922: fb 04 cpc r15, r11 |
| 7924: 0c 05 cpc r16, r12 |
| 7926: 1d 05 cpc r17, r13 |
| 7928: 08 f0 brcs .+2 ; 0x792c <__divdi3+0x1416> |
| 792a: f7 ce rjmp .-530 ; 0x771a <__divdi3+0x1204> |
| 792c: 21 50 subi r18, 0x01 ; 1 |
| 792e: 30 40 sbci r19, 0x00 ; 0 |
| 7930: 40 40 sbci r20, 0x00 ; 0 |
| 7932: 50 40 sbci r21, 0x00 ; 0 |
| 7934: a9 96 adiw r28, 0x29 ; 41 |
| 7936: 2c af std Y+60, r18 ; 0x3c |
| 7938: 3d af std Y+61, r19 ; 0x3d |
| 793a: 4e af std Y+62, r20 ; 0x3e |
| 793c: 5f af std Y+63, r21 ; 0x3f |
| 793e: a9 97 sbiw r28, 0x29 ; 41 |
| 7940: e2 0c add r14, r2 |
| 7942: f3 1c adc r15, r3 |
| 7944: 04 1d adc r16, r4 |
| 7946: 15 1d adc r17, r5 |
| 7948: e8 ce rjmp .-560 ; 0x771a <__divdi3+0x1204> |
| 794a: a6 14 cp r10, r6 |
| 794c: b7 04 cpc r11, r7 |
| 794e: c8 04 cpc r12, r8 |
| 7950: d9 04 cpc r13, r9 |
| 7952: 08 f0 brcs .+2 ; 0x7956 <__divdi3+0x1440> |
| 7954: a5 cd rjmp .-1206 ; 0x74a0 <__divdi3+0xf8a> |
| 7956: 08 94 sec |
| 7958: 21 08 sbc r2, r1 |
| 795a: 31 08 sbc r3, r1 |
| 795c: 41 08 sbc r4, r1 |
| 795e: 51 08 sbc r5, r1 |
| 7960: ae 0c add r10, r14 |
| 7962: bf 1c adc r11, r15 |
| 7964: c0 1e adc r12, r16 |
| 7966: d1 1e adc r13, r17 |
| 7968: 9b cd rjmp .-1226 ; 0x74a0 <__divdi3+0xf8a> |
| 796a: e6 14 cp r14, r6 |
| 796c: f7 04 cpc r15, r7 |
| 796e: 08 05 cpc r16, r8 |
| 7970: 19 05 cpc r17, r9 |
| 7972: 08 f0 brcs .+2 ; 0x7976 <__divdi3+0x1460> |
| 7974: 48 cd rjmp .-1392 ; 0x7406 <__divdi3+0xef0> |
| 7976: 21 50 subi r18, 0x01 ; 1 |
| 7978: 30 40 sbci r19, 0x00 ; 0 |
| 797a: 40 40 sbci r20, 0x00 ; 0 |
| 797c: 50 40 sbci r21, 0x00 ; 0 |
| 797e: ed 96 adiw r28, 0x3d ; 61 |
| 7980: 2c af std Y+60, r18 ; 0x3c |
| 7982: 3d af std Y+61, r19 ; 0x3d |
| 7984: 4e af std Y+62, r20 ; 0x3e |
| 7986: 5f af std Y+63, r21 ; 0x3f |
| 7988: ed 97 sbiw r28, 0x3d ; 61 |
| 798a: e8 0e add r14, r24 |
| 798c: f9 1e adc r15, r25 |
| 798e: 0a 1f adc r16, r26 |
| 7990: 1b 1f adc r17, r27 |
| 7992: 39 cd rjmp .-1422 ; 0x7406 <__divdi3+0xef0> |
| 7994: 08 94 sec |
| 7996: a1 08 sbc r10, r1 |
| 7998: b1 08 sbc r11, r1 |
| 799a: c1 08 sbc r12, r1 |
| 799c: d1 08 sbc r13, r1 |
| 799e: 0c 94 2a 34 jmp 0x6854 ; 0x6854 <__divdi3+0x33e> |
| 79a2: 08 94 sec |
| 79a4: a1 08 sbc r10, r1 |
| 79a6: b1 08 sbc r11, r1 |
| 79a8: c1 08 sbc r12, r1 |
| 79aa: d1 08 sbc r13, r1 |
| 79ac: 93 c9 rjmp .-3290 ; 0x6cd4 <__divdi3+0x7be> |
| 79ae: 21 50 subi r18, 0x01 ; 1 |
| 79b0: 30 40 sbci r19, 0x00 ; 0 |
| 79b2: 40 40 sbci r20, 0x00 ; 0 |
| 79b4: 50 40 sbci r21, 0x00 ; 0 |
| 79b6: 6d 96 adiw r28, 0x1d ; 29 |
| 79b8: 2c af std Y+60, r18 ; 0x3c |
| 79ba: 3d af std Y+61, r19 ; 0x3d |
| 79bc: 4e af std Y+62, r20 ; 0x3e |
| 79be: 5f af std Y+63, r21 ; 0x3f |
| 79c0: 6d 97 sbiw r28, 0x1d ; 29 |
| 79c2: e2 0c add r14, r2 |
| 79c4: f3 1c adc r15, r3 |
| 79c6: 04 1d adc r16, r4 |
| 79c8: 15 1d adc r17, r5 |
| 79ca: 3a c9 rjmp .-3468 ; 0x6c40 <__divdi3+0x72a> |
| 79cc: 21 50 subi r18, 0x01 ; 1 |
| 79ce: 30 40 sbci r19, 0x00 ; 0 |
| 79d0: 40 40 sbci r20, 0x00 ; 0 |
| 79d2: 50 40 sbci r21, 0x00 ; 0 |
| 79d4: e1 96 adiw r28, 0x31 ; 49 |
| 79d6: 2c af std Y+60, r18 ; 0x3c |
| 79d8: 3d af std Y+61, r19 ; 0x3d |
| 79da: 4e af std Y+62, r20 ; 0x3e |
| 79dc: 5f af std Y+63, r21 ; 0x3f |
| 79de: e1 97 sbiw r28, 0x31 ; 49 |
| 79e0: e2 0c add r14, r2 |
| 79e2: f3 1c adc r15, r3 |
| 79e4: 04 1d adc r16, r4 |
| 79e6: 15 1d adc r17, r5 |
| 79e8: 0c 94 dd 33 jmp 0x67ba ; 0x67ba <__divdi3+0x2a4> |
| 79ec: 22 2d mov r18, r2 |
| 79ee: 33 2d mov r19, r3 |
| 79f0: 44 2d mov r20, r4 |
| 79f2: 55 2d mov r21, r5 |
| 79f4: 66 2d mov r22, r6 |
| 79f6: 77 2d mov r23, r7 |
| 79f8: 88 2d mov r24, r8 |
| 79fa: 99 2d mov r25, r9 |
| 79fc: e2 e1 ldi r30, 0x12 ; 18 |
| 79fe: c7 56 subi r28, 0x67 ; 103 |
| 7a00: df 4f sbci r29, 0xFF ; 255 |
| 7a02: 0c 94 17 3f jmp 0x7e2e ; 0x7e2e <__epilogue_restores__> |
| 00007a06 <memchr>: |
| 7a06: fc 01 movw r30, r24 |
| 7a08: 41 50 subi r20, 0x01 ; 1 |
| 7a0a: 50 40 sbci r21, 0x00 ; 0 |
| 7a0c: 30 f0 brcs .+12 ; 0x7a1a <memchr+0x14> |
| 7a0e: 01 90 ld r0, Z+ |
| 7a10: 06 16 cp r0, r22 |
| 7a12: d1 f7 brne .-12 ; 0x7a08 <memchr+0x2> |
| 7a14: 31 97 sbiw r30, 0x01 ; 1 |
| 7a16: cf 01 movw r24, r30 |
| 7a18: 08 95 ret |
| 7a1a: 88 27 eor r24, r24 |
| 7a1c: 99 27 eor r25, r25 |
| 7a1e: 08 95 ret |
| 00007a20 <__subsf3>: |
| 7a20: 50 58 subi r21, 0x80 ; 128 |
| 00007a22 <__addsf3>: |
| 7a22: 19 2e mov r1, r25 |
| 7a24: ef d0 rcall .+478 ; 0x7c04 <__fp_split3> |
| 7a26: 01 d0 rcall .+2 ; 0x7a2a <__addsf3x> |
| 7a28: d2 c0 rjmp .+420 ; 0x7bce <__fp_merge> |
| 00007a2a <__addsf3x>: |
| 7a2a: ba 17 cp r27, r26 |
| 7a2c: 62 07 cpc r22, r18 |
| 7a2e: 73 07 cpc r23, r19 |
| 7a30: 84 07 cpc r24, r20 |
| 7a32: 95 07 cpc r25, r21 |
| 7a34: b1 f1 breq .+108 ; 0x7aa2 <__addsf3x+0x78> |
| 7a36: 88 f4 brcc .+34 ; 0x7a5a <__addsf3x+0x30> |
| 7a38: 0e f4 brtc .+2 ; 0x7a3c <__addsf3x+0x12> |
| 7a3a: 10 94 com r1 |
| 7a3c: 0b 2e mov r0, r27 |
| 7a3e: ba 2f mov r27, r26 |
| 7a40: a0 2d mov r26, r0 |
| 7a42: 06 2e mov r0, r22 |
| 7a44: 62 2f mov r22, r18 |
| 7a46: 20 2d mov r18, r0 |
| 7a48: 07 2e mov r0, r23 |
| 7a4a: 73 2f mov r23, r19 |
| 7a4c: 30 2d mov r19, r0 |
| 7a4e: 08 2e mov r0, r24 |
| 7a50: 84 2f mov r24, r20 |
| 7a52: 40 2d mov r20, r0 |
| 7a54: 09 2e mov r0, r25 |
| 7a56: 95 2f mov r25, r21 |
| 7a58: 50 2d mov r21, r0 |
| 7a5a: ff 27 eor r31, r31 |
| 7a5c: 55 23 and r21, r21 |
| 7a5e: b9 f0 breq .+46 ; 0x7a8e <__addsf3x+0x64> |
| 7a60: 59 1b sub r21, r25 |
| 7a62: 49 f0 breq .+18 ; 0x7a76 <__addsf3x+0x4c> |
| 7a64: 57 3e cpi r21, 0xE7 ; 231 |
| 7a66: 98 f0 brcs .+38 ; 0x7a8e <__addsf3x+0x64> |
| 7a68: 46 95 lsr r20 |
| 7a6a: 37 95 ror r19 |
| 7a6c: 27 95 ror r18 |
| 7a6e: a7 95 ror r26 |
| 7a70: f0 40 sbci r31, 0x00 ; 0 |
| 7a72: 53 95 inc r21 |
| 7a74: c9 f7 brne .-14 ; 0x7a68 <__addsf3x+0x3e> |
| 7a76: 76 f0 brts .+28 ; 0x7a94 <__addsf3x+0x6a> |
| 7a78: ba 0f add r27, r26 |
| 7a7a: 62 1f adc r22, r18 |
| 7a7c: 73 1f adc r23, r19 |
| 7a7e: 84 1f adc r24, r20 |
| 7a80: 30 f4 brcc .+12 ; 0x7a8e <__addsf3x+0x64> |
| 7a82: 87 95 ror r24 |
| 7a84: 77 95 ror r23 |
| 7a86: 67 95 ror r22 |
| 7a88: b7 95 ror r27 |
| 7a8a: f0 40 sbci r31, 0x00 ; 0 |
| 7a8c: 93 95 inc r25 |
| 7a8e: 17 fa bst r1, 7 |
| 7a90: 0f 2e mov r0, r31 |
| 7a92: 08 95 ret |
| 7a94: bf 1b sub r27, r31 |
| 7a96: bb 27 eor r27, r27 |
| 7a98: ba 0b sbc r27, r26 |
| 7a9a: 62 0b sbc r22, r18 |
| 7a9c: 73 0b sbc r23, r19 |
| 7a9e: 84 0b sbc r24, r20 |
| 7aa0: f6 cf rjmp .-20 ; 0x7a8e <__addsf3x+0x64> |
| 7aa2: de f6 brtc .-74 ; 0x7a5a <__addsf3x+0x30> |
| 7aa4: db c0 rjmp .+438 ; 0x7c5c <__fp_zerox> |
| 00007aa6 <__divsf3>: |
| 7aa6: ae d0 rcall .+348 ; 0x7c04 <__fp_split3> |
| 7aa8: 01 d0 rcall .+2 ; 0x7aac <__divsf3x> |
| 7aaa: 91 c0 rjmp .+290 ; 0x7bce <__fp_merge> |
| 00007aac <__divsf3x>: |
| 7aac: 55 23 and r21, r21 |
| 7aae: 59 f0 breq .+22 ; 0x7ac6 <__divsf3x+0x1a> |
| 7ab0: 99 23 and r25, r25 |
| 7ab2: 69 f0 breq .+26 ; 0x7ace <__divsf3x+0x22> |
| 7ab4: 9f 57 subi r25, 0x7F ; 127 |
| 7ab6: 5f 57 subi r21, 0x7F ; 127 |
| 7ab8: 95 1b sub r25, r21 |
| 7aba: 33 f4 brvc .+12 ; 0x7ac8 <__divsf3x+0x1c> |
| 7abc: 42 f4 brpl .+16 ; 0x7ace <__divsf3x+0x22> |
| 7abe: 90 38 cpi r25, 0x80 ; 128 |
| 7ac0: 11 f4 brne .+4 ; 0x7ac6 <__divsf3x+0x1a> |
| 7ac2: 91 58 subi r25, 0x81 ; 129 |
| 7ac4: 05 c0 rjmp .+10 ; 0x7ad0 <__divsf3x+0x24> |
| 7ac6: 9b c0 rjmp .+310 ; 0x7bfe <__fp_nan> |
| 7ac8: 91 58 subi r25, 0x81 ; 129 |
| 7aca: 9f 3f cpi r25, 0xFF ; 255 |
| 7acc: 09 f4 brne .+2 ; 0x7ad0 <__divsf3x+0x24> |
| 7ace: c6 c0 rjmp .+396 ; 0x7c5c <__fp_zerox> |
| 7ad0: bb 27 eor r27, r27 |
| 7ad2: 11 24 eor r1, r1 |
| 7ad4: 62 17 cp r22, r18 |
| 7ad6: 73 07 cpc r23, r19 |
| 7ad8: 84 07 cpc r24, r20 |
| 7ada: 30 f4 brcc .+12 ; 0x7ae8 <__divsf3x+0x3c> |
| 7adc: 66 0f add r22, r22 |
| 7ade: 77 1f adc r23, r23 |
| 7ae0: 88 1f adc r24, r24 |
| 7ae2: bb 1f adc r27, r27 |
| 7ae4: 91 50 subi r25, 0x01 ; 1 |
| 7ae6: 98 f3 brcs .-26 ; 0x7ace <__divsf3x+0x22> |
| 7ae8: 11 d0 rcall .+34 ; 0x7b0c <__divsf3x+0x60> |
| 7aea: 0f 92 push r0 |
| 7aec: 0f d0 rcall .+30 ; 0x7b0c <__divsf3x+0x60> |
| 7aee: 0f 92 push r0 |
| 7af0: 0d d0 rcall .+26 ; 0x7b0c <__divsf3x+0x60> |
| 7af2: a0 e8 ldi r26, 0x80 ; 128 |
| 7af4: 26 17 cp r18, r22 |
| 7af6: 37 07 cpc r19, r23 |
| 7af8: 48 07 cpc r20, r24 |
| 7afa: 1b 06 cpc r1, r27 |
| 7afc: 09 f0 breq .+2 ; 0x7b00 <__divsf3x+0x54> |
| 7afe: a0 48 sbci r26, 0x80 ; 128 |
| 7b00: ba 2f mov r27, r26 |
| 7b02: 60 2d mov r22, r0 |
| 7b04: 7f 91 pop r23 |
| 7b06: 8f 91 pop r24 |
| 7b08: 00 24 eor r0, r0 |
| 7b0a: 08 95 ret |
| 7b0c: a0 e8 ldi r26, 0x80 ; 128 |
| 7b0e: 00 24 eor r0, r0 |
| 7b10: 62 17 cp r22, r18 |
| 7b12: 73 07 cpc r23, r19 |
| 7b14: 84 07 cpc r24, r20 |
| 7b16: b1 05 cpc r27, r1 |
| 7b18: 28 f0 brcs .+10 ; 0x7b24 <__divsf3x+0x78> |
| 7b1a: 62 1b sub r22, r18 |
| 7b1c: 73 0b sbc r23, r19 |
| 7b1e: 84 0b sbc r24, r20 |
| 7b20: b1 09 sbc r27, r1 |
| 7b22: 0a 2a or r0, r26 |
| 7b24: 66 0f add r22, r22 |
| 7b26: 77 1f adc r23, r23 |
| 7b28: 88 1f adc r24, r24 |
| 7b2a: bb 1f adc r27, r27 |
| 7b2c: a6 95 lsr r26 |
| 7b2e: 81 f7 brne .-32 ; 0x7b10 <__divsf3x+0x64> |
| 7b30: 08 95 ret |
| 00007b32 <__fixsfsi>: |
| 7b32: 97 fb bst r25, 7 |
| 7b34: 73 d0 rcall .+230 ; 0x7c1c <__fp_split1> |
| 7b36: 9f 37 cpi r25, 0x7F ; 127 |
| 7b38: 38 f0 brcs .+14 ; 0x7b48 <__fixsfsi+0x16> |
| 7b3a: fe e9 ldi r31, 0x9E ; 158 |
| 7b3c: f9 1b sub r31, r25 |
| 7b3e: 98 2f mov r25, r24 |
| 7b40: 87 2f mov r24, r23 |
| 7b42: 76 2f mov r23, r22 |
| 7b44: 6b 2f mov r22, r27 |
| 7b46: 05 c0 rjmp .+10 ; 0x7b52 <__fixsfsi+0x20> |
| 7b48: 86 c0 rjmp .+268 ; 0x7c56 <__fp_zero> |
| 7b4a: 96 95 lsr r25 |
| 7b4c: 87 95 ror r24 |
| 7b4e: 77 95 ror r23 |
| 7b50: 67 95 ror r22 |
| 7b52: f1 50 subi r31, 0x01 ; 1 |
| 7b54: d0 f7 brcc .-12 ; 0x7b4a <__fixsfsi+0x18> |
| 7b56: 3e f4 brtc .+14 ; 0x7b66 <__fp_lneg+0xe> |
| 00007b58 <__fp_lneg>: |
| 7b58: 90 95 com r25 |
| 7b5a: 80 95 com r24 |
| 7b5c: 70 95 com r23 |
| 7b5e: 61 95 neg r22 |
| 7b60: 7f 4f sbci r23, 0xFF ; 255 |
| 7b62: 8f 4f sbci r24, 0xFF ; 255 |
| 7b64: 9f 4f sbci r25, 0xFF ; 255 |
| 7b66: 08 95 ret |
| 00007b68 <__floatunssisf>: |
| 7b68: e8 94 clt |
| 7b6a: 03 c0 rjmp .+6 ; 0x7b72 <__floatsisf+0x6> |
| 00007b6c <__floatsisf>: |
| 7b6c: 97 fb bst r25, 7 |
| 7b6e: 0e f4 brtc .+2 ; 0x7b72 <__floatsisf+0x6> |
| 7b70: f3 df rcall .-26 ; 0x7b58 <__fp_lneg> |
| 7b72: b6 2f mov r27, r22 |
| 7b74: 67 2f mov r22, r23 |
| 7b76: 78 2f mov r23, r24 |
| 7b78: 89 2f mov r24, r25 |
| 7b7a: 9e e9 ldi r25, 0x9E ; 158 |
| 7b7c: 00 24 eor r0, r0 |
| 7b7e: 27 c0 rjmp .+78 ; 0x7bce <__fp_merge> |
| 00007b80 <__eqsf2>: |
| 7b80: 0e d0 rcall .+28 ; 0x7b9e <.fp_cmp> |
| 7b82: 5e f0 brts .+22 ; 0x7b9a <__cmpsf2+0xe> |
| 7b84: 04 c0 rjmp .+8 ; 0x7b8e <__cmpsf2+0x2> |
| 00007b86 <__gesf2>: |
| 7b86: 0b d0 rcall .+22 ; 0x7b9e <.fp_cmp> |
| 7b88: 26 f0 brts .+8 ; 0x7b92 <__cmpsf2+0x6> |
| 7b8a: 01 c0 rjmp .+2 ; 0x7b8e <__cmpsf2+0x2> |
| 00007b8c <__cmpsf2>: |
| 7b8c: 08 d0 rcall .+16 ; 0x7b9e <.fp_cmp> |
| 7b8e: 19 f0 breq .+6 ; 0x7b96 <__cmpsf2+0xa> |
| 7b90: 20 f4 brcc .+8 ; 0x7b9a <__cmpsf2+0xe> |
| 7b92: 8f ef ldi r24, 0xFF ; 255 |
| 7b94: 08 95 ret |
| 7b96: 80 e0 ldi r24, 0x00 ; 0 |
| 7b98: 08 95 ret |
| 7b9a: 81 e0 ldi r24, 0x01 ; 1 |
| 7b9c: 08 95 ret |
| 00007b9e <.fp_cmp>: |
| 7b9e: 97 fb bst r25, 7 |
| 7ba0: 09 2e mov r0, r25 |
| 7ba2: 05 26 eor r0, r21 |
| 7ba4: 00 f8 bld r0, 0 |
| 7ba6: 68 94 set |
| 7ba8: 30 d0 rcall .+96 ; 0x7c0a <__fp_split2> |
| 7baa: e8 94 clt |
| 7bac: 07 fc sbrc r0, 7 |
| 7bae: 07 c0 rjmp .+14 ; 0x7bbe <.fp_cmp+0x20> |
| 7bb0: 62 17 cp r22, r18 |
| 7bb2: 73 07 cpc r23, r19 |
| 7bb4: 84 07 cpc r24, r20 |
| 7bb6: 95 07 cpc r25, r21 |
| 7bb8: 21 f0 breq .+8 ; 0x7bc2 <.fp_cmp+0x24> |
| 7bba: 08 f4 brcc .+2 ; 0x7bbe <.fp_cmp+0x20> |
| 7bbc: 00 94 com r0 |
| 7bbe: 07 94 ror r0 |
| 7bc0: 98 94 clz |
| 7bc2: 08 95 ret |
| 7bc4: 9a 95 dec r25 |
| 7bc6: bb 0f add r27, r27 |
| 7bc8: 66 1f adc r22, r22 |
| 7bca: 77 1f adc r23, r23 |
| 7bcc: 88 1f adc r24, r24 |
| 00007bce <__fp_merge>: |
| 7bce: 11 24 eor r1, r1 |
| 7bd0: 99 23 and r25, r25 |
| 7bd2: a1 f0 breq .+40 ; 0x7bfc <__fp_merge+0x2e> |
| 7bd4: 88 23 and r24, r24 |
| 7bd6: b2 f7 brpl .-20 ; 0x7bc4 <.fp_cmp+0x26> |
| 7bd8: 9f 3f cpi r25, 0xFF ; 255 |
| 7bda: 59 f0 breq .+22 ; 0x7bf2 <__fp_merge+0x24> |
| 7bdc: bb 0f add r27, r27 |
| 7bde: 48 f4 brcc .+18 ; 0x7bf2 <__fp_merge+0x24> |
| 7be0: 21 f4 brne .+8 ; 0x7bea <__fp_merge+0x1c> |
| 7be2: 00 20 and r0, r0 |
| 7be4: 11 f4 brne .+4 ; 0x7bea <__fp_merge+0x1c> |
| 7be6: 60 ff sbrs r22, 0 |
| 7be8: 04 c0 rjmp .+8 ; 0x7bf2 <__fp_merge+0x24> |
| 7bea: 6f 5f subi r22, 0xFF ; 255 |
| 7bec: 7f 4f sbci r23, 0xFF ; 255 |
| 7bee: 8f 4f sbci r24, 0xFF ; 255 |
| 7bf0: 9f 4f sbci r25, 0xFF ; 255 |
| 7bf2: 88 1f adc r24, r24 |
| 7bf4: 97 95 ror r25 |
| 7bf6: 87 95 ror r24 |
| 7bf8: 97 f9 bld r25, 7 |
| 7bfa: 08 95 ret |
| 7bfc: 2c c0 rjmp .+88 ; 0x7c56 <__fp_zero> |
| 00007bfe <__fp_nan>: |
| 7bfe: 9f ef ldi r25, 0xFF ; 255 |
| 7c00: 80 ec ldi r24, 0xC0 ; 192 |
| 7c02: 08 95 ret |
| 00007c04 <__fp_split3>: |
| 7c04: 05 2e mov r0, r21 |
| 7c06: 09 26 eor r0, r25 |
| 7c08: 07 fa bst r0, 7 |
| 00007c0a <__fp_split2>: |
| 7c0a: 44 0f add r20, r20 |
| 7c0c: 55 1f adc r21, r21 |
| 7c0e: 5f 3f cpi r21, 0xFF ; 255 |
| 7c10: 79 f0 breq .+30 ; 0x7c30 <__fp_split1+0x14> |
| 7c12: aa 27 eor r26, r26 |
| 7c14: a5 17 cp r26, r21 |
| 7c16: 08 f0 brcs .+2 ; 0x7c1a <__fp_split2+0x10> |
| 7c18: 51 e0 ldi r21, 0x01 ; 1 |
| 7c1a: 47 95 ror r20 |
| 00007c1c <__fp_split1>: |
| 7c1c: 88 0f add r24, r24 |
| 7c1e: 99 1f adc r25, r25 |
| 7c20: 9f 3f cpi r25, 0xFF ; 255 |
| 7c22: 31 f0 breq .+12 ; 0x7c30 <__fp_split1+0x14> |
| 7c24: bb 27 eor r27, r27 |
| 7c26: b9 17 cp r27, r25 |
| 7c28: 08 f0 brcs .+2 ; 0x7c2c <__fp_split1+0x10> |
| 7c2a: 91 e0 ldi r25, 0x01 ; 1 |
| 7c2c: 87 95 ror r24 |
| 7c2e: 08 95 ret |
| 7c30: 9f 91 pop r25 |
| 7c32: 9f 91 pop r25 |
| 7c34: 11 24 eor r1, r1 |
| 7c36: e3 cf rjmp .-58 ; 0x7bfe <__fp_nan> |
| 00007c38 <__fp_split_a>: |
| 7c38: 97 fb bst r25, 7 |
| 7c3a: 88 0f add r24, r24 |
| 7c3c: 99 1f adc r25, r25 |
| 7c3e: 9f 3f cpi r25, 0xFF ; 255 |
| 7c40: 31 f0 breq .+12 ; 0x7c4e <__fp_split_a+0x16> |
| 7c42: bb 27 eor r27, r27 |
| 7c44: b9 17 cp r27, r25 |
| 7c46: 08 f0 brcs .+2 ; 0x7c4a <__fp_split_a+0x12> |
| 7c48: 91 e0 ldi r25, 0x01 ; 1 |
| 7c4a: 87 95 ror r24 |
| 7c4c: 08 95 ret |
| 7c4e: 9f 91 pop r25 |
| 7c50: 9f 91 pop r25 |
| 7c52: 11 24 eor r1, r1 |
| 7c54: d4 cf rjmp .-88 ; 0x7bfe <__fp_nan> |
| 00007c56 <__fp_zero>: |
| 7c56: 66 27 eor r22, r22 |
| 7c58: 77 27 eor r23, r23 |
| 7c5a: 88 27 eor r24, r24 |
| 00007c5c <__fp_zerox>: |
| 7c5c: 99 27 eor r25, r25 |
| 7c5e: 08 95 ret |
| 00007c60 <__mulsf3>: |
| 7c60: d1 df rcall .-94 ; 0x7c04 <__fp_split3> |
| 7c62: 01 d0 rcall .+2 ; 0x7c66 <__mulsf3x> |
| 7c64: b4 cf rjmp .-152 ; 0x7bce <__fp_merge> |
| 00007c66 <__mulsf3x>: |
| 7c66: 99 23 and r25, r25 |
| 7c68: 39 f0 breq .+14 ; 0x7c78 <__mulsf3x+0x12> |
| 7c6a: 55 23 and r21, r21 |
| 7c6c: 29 f0 breq .+10 ; 0x7c78 <__mulsf3x+0x12> |
| 7c6e: 9f 57 subi r25, 0x7F ; 127 |
| 7c70: 5f 57 subi r21, 0x7F ; 127 |
| 7c72: 95 0f add r25, r21 |
| 7c74: 13 f4 brvc .+4 ; 0x7c7a <__mulsf3x+0x14> |
| 7c76: 9a f1 brmi .+102 ; 0x7cde <__mulsf3x+0x78> |
| 7c78: f1 cf rjmp .-30 ; 0x7c5c <__fp_zerox> |
| 7c7a: 91 58 subi r25, 0x81 ; 129 |
| 7c7c: 9f 3f cpi r25, 0xFF ; 255 |
| 7c7e: e1 f3 breq .-8 ; 0x7c78 <__mulsf3x+0x12> |
| 7c80: 62 9f mul r22, r18 |
| 7c82: a1 2d mov r26, r1 |
| 7c84: 0f 92 push r0 |
| 7c86: bb 27 eor r27, r27 |
| 7c88: 63 9f mul r22, r19 |
| 7c8a: a0 0d add r26, r0 |
| 7c8c: b1 1d adc r27, r1 |
| 7c8e: ee 27 eor r30, r30 |
| 7c90: 72 9f mul r23, r18 |
| 7c92: a0 0d add r26, r0 |
| 7c94: b1 1d adc r27, r1 |
| 7c96: ee 1f adc r30, r30 |
| 7c98: af 93 push r26 |
| 7c9a: aa 27 eor r26, r26 |
| 7c9c: 64 9f mul r22, r20 |
| 7c9e: b0 0d add r27, r0 |
| 7ca0: e1 1d adc r30, r1 |
| 7ca2: 73 9f mul r23, r19 |
| 7ca4: b0 0d add r27, r0 |
| 7ca6: e1 1d adc r30, r1 |
| 7ca8: aa 1f adc r26, r26 |
| 7caa: 66 27 eor r22, r22 |
| 7cac: 82 9f mul r24, r18 |
| 7cae: b0 0d add r27, r0 |
| 7cb0: e1 1d adc r30, r1 |
| 7cb2: a6 1f adc r26, r22 |
| 7cb4: 55 27 eor r21, r21 |
| 7cb6: 74 9f mul r23, r20 |
| 7cb8: e0 0d add r30, r0 |
| 7cba: a1 1d adc r26, r1 |
| 7cbc: 55 1f adc r21, r21 |
| 7cbe: 83 9f mul r24, r19 |
| 7cc0: e0 0d add r30, r0 |
| 7cc2: a1 1d adc r26, r1 |
| 7cc4: 56 1f adc r21, r22 |
| 7cc6: 84 9f mul r24, r20 |
| 7cc8: a0 0d add r26, r0 |
| 7cca: 51 1d adc r21, r1 |
| 7ccc: 85 2f mov r24, r21 |
| 7cce: 7a 2f mov r23, r26 |
| 7cd0: 6e 2f mov r22, r30 |
| 7cd2: 1f 90 pop r1 |
| 7cd4: 0f 90 pop r0 |
| 7cd6: 88 23 and r24, r24 |
| 7cd8: 1a f4 brpl .+6 ; 0x7ce0 <__mulsf3x+0x7a> |
| 7cda: 93 95 inc r25 |
| 7cdc: 39 f4 brne .+14 ; 0x7cec <__mulsf3x+0x86> |
| 7cde: 8f cf rjmp .-226 ; 0x7bfe <__fp_nan> |
| 7ce0: 00 0c add r0, r0 |
| 7ce2: 11 1c adc r1, r1 |
| 7ce4: bb 1f adc r27, r27 |
| 7ce6: 66 1f adc r22, r22 |
| 7ce8: 77 1f adc r23, r23 |
| 7cea: 88 1f adc r24, r24 |
| 7cec: 01 28 or r0, r1 |
| 7cee: 08 95 ret |
| 00007cf0 <__mulsi3>: |
| 7cf0: 62 9f mul r22, r18 |
| 7cf2: d0 01 movw r26, r0 |
| 7cf4: 73 9f mul r23, r19 |
| 7cf6: f0 01 movw r30, r0 |
| 7cf8: 82 9f mul r24, r18 |
| 7cfa: e0 0d add r30, r0 |
| 7cfc: f1 1d adc r31, r1 |
| 7cfe: 64 9f mul r22, r20 |
| 7d00: e0 0d add r30, r0 |
| 7d02: f1 1d adc r31, r1 |
| 7d04: 92 9f mul r25, r18 |
| 7d06: f0 0d add r31, r0 |
| 7d08: 83 9f mul r24, r19 |
| 7d0a: f0 0d add r31, r0 |
| 7d0c: 74 9f mul r23, r20 |
| 7d0e: f0 0d add r31, r0 |
| 7d10: 65 9f mul r22, r21 |
| 7d12: f0 0d add r31, r0 |
| 7d14: 99 27 eor r25, r25 |
| 7d16: 72 9f mul r23, r18 |
| 7d18: b0 0d add r27, r0 |
| 7d1a: e1 1d adc r30, r1 |
| 7d1c: f9 1f adc r31, r25 |
| 7d1e: 63 9f mul r22, r19 |
| 7d20: b0 0d add r27, r0 |
| 7d22: e1 1d adc r30, r1 |
| 7d24: f9 1f adc r31, r25 |
| 7d26: bd 01 movw r22, r26 |
| 7d28: cf 01 movw r24, r30 |
| 7d2a: 11 24 eor r1, r1 |
| 7d2c: 08 95 ret |
| 00007d2e <__udivmodhi4>: |
| 7d2e: aa 1b sub r26, r26 |
| 7d30: bb 1b sub r27, r27 |
| 7d32: 51 e1 ldi r21, 0x11 ; 17 |
| 7d34: 07 c0 rjmp .+14 ; 0x7d44 <__udivmodhi4_ep> |
| 00007d36 <__udivmodhi4_loop>: |
| 7d36: aa 1f adc r26, r26 |
| 7d38: bb 1f adc r27, r27 |
| 7d3a: a6 17 cp r26, r22 |
| 7d3c: b7 07 cpc r27, r23 |
| 7d3e: 10 f0 brcs .+4 ; 0x7d44 <__udivmodhi4_ep> |
| 7d40: a6 1b sub r26, r22 |
| 7d42: b7 0b sbc r27, r23 |
| 00007d44 <__udivmodhi4_ep>: |
| 7d44: 88 1f adc r24, r24 |
| 7d46: 99 1f adc r25, r25 |
| 7d48: 5a 95 dec r21 |
| 7d4a: a9 f7 brne .-22 ; 0x7d36 <__udivmodhi4_loop> |
| 7d4c: 80 95 com r24 |
| 7d4e: 90 95 com r25 |
| 7d50: bc 01 movw r22, r24 |
| 7d52: cd 01 movw r24, r26 |
| 7d54: 08 95 ret |
| 00007d56 <__divmodhi4>: |
| 7d56: 97 fb bst r25, 7 |
| 7d58: 09 2e mov r0, r25 |
| 7d5a: 07 26 eor r0, r23 |
| 7d5c: 0a d0 rcall .+20 ; 0x7d72 <__divmodhi4_neg1> |
| 7d5e: 77 fd sbrc r23, 7 |
| 7d60: 04 d0 rcall .+8 ; 0x7d6a <__divmodhi4_neg2> |
| 7d62: e5 df rcall .-54 ; 0x7d2e <__udivmodhi4> |
| 7d64: 06 d0 rcall .+12 ; 0x7d72 <__divmodhi4_neg1> |
| 7d66: 00 20 and r0, r0 |
| 7d68: 1a f4 brpl .+6 ; 0x7d70 <__divmodhi4_exit> |
| 00007d6a <__divmodhi4_neg2>: |
| 7d6a: 70 95 com r23 |
| 7d6c: 61 95 neg r22 |
| 7d6e: 7f 4f sbci r23, 0xFF ; 255 |
| 00007d70 <__divmodhi4_exit>: |
| 7d70: 08 95 ret |
| 00007d72 <__divmodhi4_neg1>: |
| 7d72: f6 f7 brtc .-4 ; 0x7d70 <__divmodhi4_exit> |
| 7d74: 90 95 com r25 |
| 7d76: 81 95 neg r24 |
| 7d78: 9f 4f sbci r25, 0xFF ; 255 |
| 7d7a: 08 95 ret |
| 00007d7c <__udivmodsi4>: |
| 7d7c: a1 e2 ldi r26, 0x21 ; 33 |
| 7d7e: 1a 2e mov r1, r26 |
| 7d80: aa 1b sub r26, r26 |
| 7d82: bb 1b sub r27, r27 |
| 7d84: fd 01 movw r30, r26 |
| 7d86: 0d c0 rjmp .+26 ; 0x7da2 <__udivmodsi4_ep> |
| 00007d88 <__udivmodsi4_loop>: |
| 7d88: aa 1f adc r26, r26 |
| 7d8a: bb 1f adc r27, r27 |
| 7d8c: ee 1f adc r30, r30 |
| 7d8e: ff 1f adc r31, r31 |
| 7d90: a2 17 cp r26, r18 |
| 7d92: b3 07 cpc r27, r19 |
| 7d94: e4 07 cpc r30, r20 |
| 7d96: f5 07 cpc r31, r21 |
| 7d98: 20 f0 brcs .+8 ; 0x7da2 <__udivmodsi4_ep> |
| 7d9a: a2 1b sub r26, r18 |
| 7d9c: b3 0b sbc r27, r19 |
| 7d9e: e4 0b sbc r30, r20 |
| 7da0: f5 0b sbc r31, r21 |
| 00007da2 <__udivmodsi4_ep>: |
| 7da2: 66 1f adc r22, r22 |
| 7da4: 77 1f adc r23, r23 |
| 7da6: 88 1f adc r24, r24 |
| 7da8: 99 1f adc r25, r25 |
| 7daa: 1a 94 dec r1 |
| 7dac: 69 f7 brne .-38 ; 0x7d88 <__udivmodsi4_loop> |
| 7dae: 60 95 com r22 |
| 7db0: 70 95 com r23 |
| 7db2: 80 95 com r24 |
| 7db4: 90 95 com r25 |
| 7db6: 9b 01 movw r18, r22 |
| 7db8: ac 01 movw r20, r24 |
| 7dba: bd 01 movw r22, r26 |
| 7dbc: cf 01 movw r24, r30 |
| 7dbe: 08 95 ret |
| 00007dc0 <__divmodsi4>: |
| 7dc0: 97 fb bst r25, 7 |
| 7dc2: 09 2e mov r0, r25 |
| 7dc4: 05 26 eor r0, r21 |
| 7dc6: 0e d0 rcall .+28 ; 0x7de4 <__divmodsi4_neg1> |
| 7dc8: 57 fd sbrc r21, 7 |
| 7dca: 04 d0 rcall .+8 ; 0x7dd4 <__divmodsi4_neg2> |
| 7dcc: d7 df rcall .-82 ; 0x7d7c <__udivmodsi4> |
| 7dce: 0a d0 rcall .+20 ; 0x7de4 <__divmodsi4_neg1> |
| 7dd0: 00 1c adc r0, r0 |
| 7dd2: 38 f4 brcc .+14 ; 0x7de2 <__divmodsi4_exit> |
| 00007dd4 <__divmodsi4_neg2>: |
| 7dd4: 50 95 com r21 |
| 7dd6: 40 95 com r20 |
| 7dd8: 30 95 com r19 |
| 7dda: 21 95 neg r18 |
| 7ddc: 3f 4f sbci r19, 0xFF ; 255 |
| 7dde: 4f 4f sbci r20, 0xFF ; 255 |
| 7de0: 5f 4f sbci r21, 0xFF ; 255 |
| 00007de2 <__divmodsi4_exit>: |
| 7de2: 08 95 ret |
| 00007de4 <__divmodsi4_neg1>: |
| 7de4: f6 f7 brtc .-4 ; 0x7de2 <__divmodsi4_exit> |
| 7de6: 90 95 com r25 |
| 7de8: 80 95 com r24 |
| 7dea: 70 95 com r23 |
| 7dec: 61 95 neg r22 |
| 7dee: 7f 4f sbci r23, 0xFF ; 255 |
| 7df0: 8f 4f sbci r24, 0xFF ; 255 |
| 7df2: 9f 4f sbci r25, 0xFF ; 255 |
| 7df4: 08 95 ret |
| 00007df6 <__prologue_saves__>: |
| 7df6: 2f 92 push r2 |
| 7df8: 3f 92 push r3 |
| 7dfa: 4f 92 push r4 |
| 7dfc: 5f 92 push r5 |
| 7dfe: 6f 92 push r6 |
| 7e00: 7f 92 push r7 |
| 7e02: 8f 92 push r8 |
| 7e04: 9f 92 push r9 |
| 7e06: af 92 push r10 |
| 7e08: bf 92 push r11 |
| 7e0a: cf 92 push r12 |
| 7e0c: df 92 push r13 |
| 7e0e: ef 92 push r14 |
| 7e10: ff 92 push r15 |
| 7e12: 0f 93 push r16 |
| 7e14: 1f 93 push r17 |
| 7e16: cf 93 push r28 |
| 7e18: df 93 push r29 |
| 7e1a: cd b7 in r28, 0x3d ; 61 |
| 7e1c: de b7 in r29, 0x3e ; 62 |
| 7e1e: ca 1b sub r28, r26 |
| 7e20: db 0b sbc r29, r27 |
| 7e22: 0f b6 in r0, 0x3f ; 63 |
| 7e24: f8 94 cli |
| 7e26: de bf out 0x3e, r29 ; 62 |
| 7e28: 0f be out 0x3f, r0 ; 63 |
| 7e2a: cd bf out 0x3d, r28 ; 61 |
| 7e2c: 09 94 ijmp |
| 00007e2e <__epilogue_restores__>: |
| 7e2e: 2a 88 ldd r2, Y+18 ; 0x12 |
| 7e30: 39 88 ldd r3, Y+17 ; 0x11 |
| 7e32: 48 88 ldd r4, Y+16 ; 0x10 |
| 7e34: 5f 84 ldd r5, Y+15 ; 0x0f |
| 7e36: 6e 84 ldd r6, Y+14 ; 0x0e |
| 7e38: 7d 84 ldd r7, Y+13 ; 0x0d |
| 7e3a: 8c 84 ldd r8, Y+12 ; 0x0c |
| 7e3c: 9b 84 ldd r9, Y+11 ; 0x0b |
| 7e3e: aa 84 ldd r10, Y+10 ; 0x0a |
| 7e40: b9 84 ldd r11, Y+9 ; 0x09 |
| 7e42: c8 84 ldd r12, Y+8 ; 0x08 |
| 7e44: df 80 ldd r13, Y+7 ; 0x07 |
| 7e46: ee 80 ldd r14, Y+6 ; 0x06 |
| 7e48: fd 80 ldd r15, Y+5 ; 0x05 |
| 7e4a: 0c 81 ldd r16, Y+4 ; 0x04 |
| 7e4c: 1b 81 ldd r17, Y+3 ; 0x03 |
| 7e4e: aa 81 ldd r26, Y+2 ; 0x02 |
| 7e50: b9 81 ldd r27, Y+1 ; 0x01 |
| 7e52: ce 0f add r28, r30 |
| 7e54: d1 1d adc r29, r1 |
| 7e56: 0f b6 in r0, 0x3f ; 63 |
| 7e58: f8 94 cli |
| 7e5a: de bf out 0x3e, r29 ; 62 |
| 7e5c: 0f be out 0x3f, r0 ; 63 |
| 7e5e: cd bf out 0x3d, r28 ; 61 |
| 7e60: ed 01 movw r28, r26 |
| 7e62: 08 95 ret |
| 00007e64 <__eeprom_read_byte_1F2021>: |
| 7e64: f9 99 sbic 0x1f, 1 ; 31 |
| 7e66: fe cf rjmp .-4 ; 0x7e64 <__eeprom_read_byte_1F2021> |
| 7e68: b2 bd out 0x22, r27 ; 34 |
| 7e6a: a1 bd out 0x21, r26 ; 33 |
| 7e6c: f8 9a sbi 0x1f, 0 ; 31 |
| 7e6e: 11 96 adiw r26, 0x01 ; 1 |
| 7e70: 00 b4 in r0, 0x20 ; 32 |
| 7e72: 08 95 ret |
| 00007e74 <__eeprom_write_byte_1F2021>: |
| 7e74: f9 99 sbic 0x1f, 1 ; 31 |
| 7e76: fe cf rjmp .-4 ; 0x7e74 <__eeprom_write_byte_1F2021> |
| 7e78: b2 bd out 0x22, r27 ; 34 |
| 7e7a: a1 bd out 0x21, r26 ; 33 |
| 7e7c: 00 bc out 0x20, r0 ; 32 |
| 7e7e: 11 96 adiw r26, 0x01 ; 1 |
| 7e80: 0f b6 in r0, 0x3f ; 63 |
| 7e82: f8 94 cli |
| 7e84: fa 9a sbi 0x1f, 2 ; 31 |
| 7e86: f9 9a sbi 0x1f, 1 ; 31 |
| 7e88: 0f be out 0x3f, r0 ; 63 |
| 7e8a: 08 95 ret |
| 00007e8c <_exit>: |
| 7e8c: ff cf rjmp .-2 ; 0x7e8c <_exit> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Flight-Ctrl_MEGA644_V0_61.map |
|---|
| 0,0 → 1,1751 |
| Archive member included because of file (symbol) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| analog.o (__subsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| fc.o (__divsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) (__divsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| analog.o (__fixsfsi) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| analog.o (__floatsisf) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| analog.o (__ltsf2) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_merge) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) (__fp_nanx) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_split3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) (__fp_zero) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| fc.o (__mulsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) (__mulsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| timer0.o (__mulsi3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| analog.o (__udivmodhi4) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| timer0.o (__divmodhi4) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| printf_P.o (__udivmodsi4) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| timer0.o (__divmodsi4) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o (exit) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| main.o (__do_copy_data) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| main.o (__do_clear_bss) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| GPS.o (__divdi3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_prologue.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) (__prologue_saves__) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) (__epilogue_restores__) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) (__clz_tab) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o (memchr) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| main.o (__eeprom_read_byte_1F2021) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| main.o (__eeprom_write_byte_1F2021) |
| Allocating common symbols |
| Common symbol size file |
| durchschnitt_easting |
| 0x4 main.o |
| ubxEp 0x2 uart.o |
| MeineSlaveAdresse 0x1 uart.o |
| CK_A 0x1 uart.o |
| EE_Parameter 0x3a fc.o |
| DiffRoll 0x2 main.o |
| MesswertRoll 0x2 fc.o |
| Motor_Vorne 0x1 main.o |
| Motor_Hinten 0x1 main.o |
| D_GPS_Verstaerkung 0x2 main.o |
| MesswertNick 0x2 fc.o |
| Aktuell_ay 0x2 analog.o |
| filter_north 0x20 GPS.o |
| MIN_GAS 0x1 fc.o |
| SendeBuffer 0x96 uart.o |
| NMEABuffer 0x96 uart.o |
| Mittelwert_AccHoch 0x2 fc.o |
| Debug_Timer 0x2 uart.o |
| CK_B 0x1 uart.o |
| DiffNick 0x2 main.o |
| navStatus 0x11 uart.o |
| DebugIn 0xb uart.o |
| VersionInfo 0xa uart.o |
| rollOffset 0x4 uart.o |
| filter_east 0x20 GPS.o |
| motor_rx 0x8 twimaster.o |
| PPM_in 0x1e rc.o |
| IntegralFaktor 0x4 fc.o |
| Motor_Rechts 0x1 main.o |
| Count 0x1 main.o |
| Aktuell_az 0x2 analog.o |
| ubxP 0x2 uart.o |
| StartLuftdruck 0x2 analog.o |
| navVelECEF 0x15 uart.o |
| RxdBuffer 0x96 uart.o |
| durchschnitt_northing |
| 0x4 main.o |
| navPosUtm 0x13 uart.o |
| ubxSp 0x2 uart.o |
| PrintZiel 0x1 printf_P.o |
| Aktuell_Nick 0x2 analog.o |
| messanzahl_Druck 0x1 analog.o |
| Motor_Links 0x1 main.o |
| Aktuell_Roll 0x2 analog.o |
| msgLen 0x2 uart.o |
| nickOffset 0x4 uart.o |
| Aktuell_ax 0x2 analog.o |
| navPosECEF 0x15 uart.o |
| s 0x1 main.o |
| h 0x1 main.o |
| Mittelwert_AccNick 0x2 fc.o |
| DebugOut 0x32 uart.o |
| DruckOffsetSetting 0x1 analog.o |
| actualPos 0x2f uart.o |
| Aktuell_Gier 0x2 analog.o |
| msgID 0x1 uart.o |
| MAX_GAS 0x1 fc.o |
| MesswertGier 0x2 fc.o |
| P_GPS_Verstaerkung 0x2 main.o |
| GyroFaktor 0x4 fc.o |
| m 0x1 main.o |
| Mittelwert_AccRoll 0x2 fc.o |
| ignorePacket 0x1 uart.o |
| MotorWert 0x5 main.o |
| PPM_diff 0x1e rc.o |
| navVelNed 0x25 uart.o |
| tmpLuftdruck 0x2 analog.o |
| Discarded input sections |
| .stabstr 0x00000000 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.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-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| LOAD main.o |
| LOAD uart.o |
| LOAD printf_P.o |
| LOAD timer0.o |
| LOAD analog.o |
| LOAD menu.o |
| LOAD twimaster.o |
| LOAD rc.o |
| LOAD fc.o |
| LOAD GPS.o |
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| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_prologue.o) |
| .data 0x0080072a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| .data 0x0080072a 0x100 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| 0x0080072a __clz_tab |
| .data 0x0080082a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .data 0x0080082a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| .data 0x0080082a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| *(.data*) |
| *(.rodata) |
| *(.rodata*) |
| *(.gnu.linkonce.d*) |
| 0x0080082a . = ALIGN (0x2) |
| 0x0080082a _edata = . |
| 0x0080082a PROVIDE (__data_end, .) |
| .bss 0x0080082a 0x4f6 |
| 0x0080082a PROVIDE (__bss_start, .) |
| *(.bss) |
| .bss 0x0080082a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .bss 0x0080082a 0x0 main.o |
| .bss 0x0080082a 0x18 uart.o |
| 0x0080082a DebugGetAnforderung |
| 0x0080082e SioTmp |
| 0x00800833 PC_DebugTimeout |
| 0x0080082d GetVersionAnforderung |
| 0x00800830 NeueKoordinateEmpfangen |
| 0x0080082c DebugDataAnforderung |
| 0x00800834 MotorTest |
| 0x0080082f NeuerDatensatzEmpfangen |
| 0x0080082b DebugDisplayAnforderung |
| 0x00800831 CntCrcError |
| 0x00800832 AnzahlEmpfangsBytes |
| .bss 0x00800842 0x0 printf_P.o |
| .bss 0x00800842 0xc timer0.o |
| 0x00800847 beeptime |
| 0x00800842 CountMilliseconds |
| 0x00800845 cntKompass |
| 0x00800844 UpdateMotor |
| 0x00800849 ServoValue |
| .bss 0x0080084e 0x18 analog.o |
| 0x00800860 HoeheD |
| 0x00800852 AccumulateGier |
| 0x0080085d messanzahl_AccNick |
| 0x0080085f messanzahl_AccHoch |
| 0x00800850 AccumulateRoll |
| 0x00800862 ZaehlMessungen |
| 0x00800858 accumulate_AccHoch |
| 0x0080085e messanzahl_AccRoll |
| 0x00800854 accumulate_AccRoll |
| 0x0080085a MessanzahlNick |
| 0x0080085c MessanzahlGier |
| 0x00800856 accumulate_AccNick |
| 0x0080084e AccumulateNick |
| 0x0080085b MessanzahlRoll |
| .bss 0x00800866 0x5 menu.o |
| 0x00800868 DispPtr |
| 0x00800869 RemoteTasten |
| 0x00800866 TestInt |
| .bss 0x0080086b 0x3 twimaster.o |
| 0x0080086b twi_state |
| 0x0080086d motorread |
| 0x0080086c motor |
| .bss 0x0080086e 0x4 rc.o |
| .bss 0x00800872 0x92 fc.o |
| 0x008008ab Mess_Integral_Gier2 |
| 0x008008cb Poti7 |
| 0x008008d4 StickGier |
| 0x0080089b Mess_IntegralNick2 |
| 0x00800887 IntegralNick2 |
| 0x008008cf SenderOkay |
| 0x00800893 Integral_Gier |
| 0x008008d0 StickNick |
| 0x008008c1 Poti2 |
| 0x008008d6 MotorenEin |
| 0x00800881 CosinusNickWinkel |
| 0x008008d7 HoehenWert |
| 0x008008bc modell_fliegt_gps |
| 0x008008a3 Mess_IntegralRoll2 |
| 0x008008c3 Poti3 |
| 0x008008cd Poti8 |
| 0x008008db Parameter_UserParam1 |
| 0x00800875 AdNeutralRoll |
| 0x008008bb blinkcount_LED1 |
| 0x008008b9 Notlandung |
| 0x00800883 IntegralNick |
| 0x008008af Mess_Integral_Hoch |
| 0x008008c7 Poti5 |
| 0x00800879 NeutralAccX |
| 0x008008a7 Mess_Integral_Gier |
| 0x008008be Limit_D_Anteil |
| 0x008008de Parameter_UserParam4 |
| 0x008008b5 KompassStartwert |
| 0x008008dc Parameter_UserParam2 |
| 0x008008b3 KompassValue |
| 0x008008b7 KompassRichtung |
| 0x0080089f Mess_IntegralRoll |
| 0x008008d2 StickRoll |
| 0x00800873 AdNeutralNick |
| 0x0080087b NeutralAccY |
| 0x0080087d NeutralAccZ |
| 0x00800872 Timeout |
| 0x0080088f IntegralRoll2 |
| 0x008008bf Poti1 |
| 0x008008dd Parameter_UserParam3 |
| 0x00800877 AdNeutralGier |
| 0x00800882 CosinusRollWinkel |
| 0x008008ba HoehenReglerAktiv |
| 0x008008d9 SollHoehe |
| 0x008008c5 Poti4 |
| 0x00800897 Mess_IntegralNick |
| 0x008008c9 Poti6 |
| 0x0080088b IntegralRoll |
| .bss 0x00800904 0x56 GPS.o |
| 0x00800910 GPS_Positionsabweichung_East |
| 0x00800918 GPS_Geschwindigkeit_East |
| 0x00800950 EAST_LONG_LONG |
| 0x00800940 NORTH_MITTEL |
| 0x00800924 P_Einfluss_East |
| 0x0080093e NeuerMittelwert |
| 0x00800939 GPS_Home_East |
| 0x00800948 NORTH_LONG_LONG |
| 0x0080093f FilterPos |
| 0x0080091c P_Einfluss_North |
| 0x0080092e GPS_East |
| 0x00800908 Soll_Position_East |
| 0x00800904 Soll_Position_North |
| 0x00800914 GPS_Geschwindigkeit_North |
| 0x00800934 gethome |
| 0x0080093d blinkcount_LED2 |
| 0x0080092c GPS_North |
| 0x00800935 GPS_Home_North |
| 0x00800930 GPS_Nick |
| 0x00800958 filterfilled |
| 0x00800928 D_Einfluss_East |
| 0x00800944 EAST_MITTEL |
| 0x00800932 GPS_Roll |
| 0x00800920 D_Einfluss_North |
| 0x0080090c GPS_Positionsabweichung_North |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_prologue.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| .bss 0x0080095a 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| *(.bss*) |
| *(COMMON) |
| COMMON 0x0080095a 0x1d main.o |
| 0x0080095a durchschnitt_easting |
| 0x0080095e DiffRoll |
| 0x00800960 Motor_Vorne |
| 0x00800961 Motor_Hinten |
| 0x00800962 D_GPS_Verstaerkung |
| 0x00800964 DiffNick |
| 0x00800966 Motor_Rechts |
| 0x00800967 Count |
| 0x00800968 durchschnitt_northing |
| 0x0080096c Motor_Links |
| 0x0080096d s |
| 0x0080096e h |
| 0x0080096f P_GPS_Verstaerkung |
| 0x00800971 m |
| 0x00800972 MotorWert |
| COMMON 0x00800977 0x2c2 uart.o |
| 0x00800977 ubxEp |
| 0x00800979 MeineSlaveAdresse |
| 0x0080097a CK_A |
| 0x0080097b SendeBuffer |
| 0x00800a11 NMEABuffer |
| 0x00800aa7 Debug_Timer |
| 0x00800aa9 CK_B |
| 0x00800aaa navStatus |
| 0x00800abb DebugIn |
| 0x00800ac6 VersionInfo |
| 0x00800ad0 rollOffset |
| 0x00800ad4 ubxP |
| 0x00800ad6 navVelECEF |
| 0x00800aeb RxdBuffer |
| 0x00800b81 navPosUtm |
| 0x00800b94 ubxSp |
| 0x00800b96 msgLen |
| 0x00800b98 nickOffset |
| 0x00800b9c navPosECEF |
| 0x00800bb1 DebugOut |
| 0x00800be3 actualPos |
| 0x00800c12 msgID |
| 0x00800c13 ignorePacket |
| 0x00800c14 navVelNed |
| COMMON 0x00800c39 0x1 printf_P.o |
| 0x00800c39 PrintZiel |
| COMMON 0x00800c3a 0x12 analog.o |
| 0x00800c3a Aktuell_ay |
| 0x00800c3c Aktuell_az |
| 0x00800c3e StartLuftdruck |
| 0x00800c40 Aktuell_Nick |
| 0x00800c42 messanzahl_Druck |
| 0x00800c43 Aktuell_Roll |
| 0x00800c45 Aktuell_ax |
| 0x00800c47 DruckOffsetSetting |
| 0x00800c48 Aktuell_Gier |
| 0x00800c4a tmpLuftdruck |
| COMMON 0x00800c4c 0x8 twimaster.o |
| 0x00800c4c motor_rx |
| COMMON 0x00800c54 0x3c rc.o |
| 0x00800c54 PPM_in |
| 0x00800c72 PPM_diff |
| COMMON 0x00800c90 0x50 fc.o |
| 0x00800c90 EE_Parameter |
| 0x00800cca MesswertRoll |
| 0x00800ccc MesswertNick |
| 0x00800cce MIN_GAS |
| 0x00800ccf Mittelwert_AccHoch |
| 0x00800cd1 IntegralFaktor |
| 0x00800cd5 Mittelwert_AccNick |
| 0x00800cd7 MAX_GAS |
| 0x00800cd8 MesswertGier |
| 0x00800cda GyroFaktor |
| 0x00800cde Mittelwert_AccRoll |
| COMMON 0x00800ce0 0x40 GPS.o |
| 0x00800ce0 filter_north |
| 0x00800d00 filter_east |
| 0x00800d20 PROVIDE (__bss_end, .) |
| 0x00007e8e __data_load_start = LOADADDR (.data) |
| 0x000085b8 __data_load_end = (__data_load_start + SIZEOF (.data)) |
| .noinit 0x00800d20 0x0 |
| 0x00800d20 PROVIDE (__noinit_start, .) |
| *(.noinit*) |
| 0x00800d20 PROVIDE (__noinit_end, .) |
| 0x00800d20 _end = . |
| 0x00800d20 PROVIDE (__heap_start, .) |
| .eeprom 0x00810000 0x800 |
| *(.eeprom*) |
| .eeprom 0x00810000 0x800 main.o |
| 0x00810000 EEPromArray |
| 0x00810800 __eeprom_end = . |
| .stab 0x00000000 0x378 |
| *(.stab) |
| .stab 0x00000000 0x378 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stabstr 0x00000000 0x71 |
| *(.stabstr) |
| .stabstr 0x00000000 0x71 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stab.excl |
| *(.stab.excl) |
| .stab.exclstr |
| *(.stab.exclstr) |
| .stab.index |
| *(.stab.index) |
| .stab.indexstr |
| *(.stab.indexstr) |
| .comment |
| *(.comment) |
| .debug |
| *(.debug) |
| .line |
| *(.line) |
| .debug_srcinfo |
| *(.debug_srcinfo) |
| .debug_sfnames |
| *(.debug_sfnames) |
| .debug_aranges |
| *(.debug_aranges) |
| .debug_pubnames |
| *(.debug_pubnames) |
| .debug_info |
| *(.debug_info) |
| *(.gnu.linkonce.wi.*) |
| .debug_abbrev |
| *(.debug_abbrev) |
| .debug_line |
| *(.debug_line) |
| .debug_frame |
| *(.debug_frame) |
| .debug_str |
| *(.debug_str) |
| .debug_loc |
| *(.debug_loc) |
| .debug_macinfo |
| *(.debug_macinfo) |
| OUTPUT(Flight-Ctrl_MEGA644_V0_61.elf elf32-avr) |
| LOAD linker stubs |
| Cross Reference Table |
| Symbol File |
| ADC_Init analog.o |
| main.o |
| AccumulateGier analog.o |
| fc.o |
| menu.o |
| AccumulateNick analog.o |
| fc.o |
| menu.o |
| AccumulateRoll analog.o |
| fc.o |
| menu.o |
| AdNeutralGier fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralNick fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralRoll fc.o |
| rc.o |
| menu.o |
| analog.o |
| AddCRC uart.o |
| Aktuell_Gier analog.o |
| Aktuell_Nick analog.o |
| Aktuell_Roll analog.o |
| Aktuell_ax analog.o |
| Aktuell_ay analog.o |
| Aktuell_az fc.o |
| menu.o |
| analog.o |
| AnzahlEmpfangsBytes uart.o |
| Array menu.o |
| BearbeiteRxDaten uart.o |
| main.o |
| CK_A uart.o |
| CK_B uart.o |
| CalibrierMittelwert fc.o |
| CheckDelay timer0.o |
| fc.o |
| uart.o |
| main.o |
| CntCrcError uart.o |
| CosinusNickWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CosinusRollWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Count GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CountMilliseconds timer0.o |
| D_Einfluss_East GPS.o |
| fc.o |
| D_Einfluss_North GPS.o |
| fc.o |
| D_GPS_Verstaerkung GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DatenUebertragung uart.o |
| main.o |
| DebugDataAnforderung uart.o |
| DebugDisplayAnforderung uart.o |
| DebugGetAnforderung uart.o |
| DebugIn uart.o |
| main.o |
| DebugOut fc.o |
| uart.o |
| Debug_Timer uart.o |
| Decode64 uart.o |
| DefaultKonstanten1 fc.o |
| main.o |
| DefaultKonstanten2 fc.o |
| main.o |
| Delay_ms timer0.o |
| fc.o |
| analog.o |
| DiffNick GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DiffRoll GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DispPtr menu.o |
| printf_P.o |
| DisplayBuff menu.o |
| printf_P.o |
| uart.o |
| DruckOffsetSetting menu.o |
| analog.o |
| EAST_LONG_LONG GPS.o |
| EAST_MITTEL GPS.o |
| EEPromArray main.o |
| fc.o |
| uart.o |
| EE_Parameter fc.o |
| menu.o |
| timer0.o |
| uart.o |
| main.o |
| FilterPos GPS.o |
| GPS_East GPS.o |
| GPS_Geschwindigkeit_East GPS.o |
| fc.o |
| GPS_Geschwindigkeit_North GPS.o |
| fc.o |
| GPS_Home_East GPS.o |
| GPS_Home_North GPS.o |
| GPS_Nick GPS.o |
| fc.o |
| GPS_North GPS.o |
| GPS_Positionsabweichung_East GPS.o |
| fc.o |
| GPS_Positionsabweichung_North GPS.o |
| fc.o |
| GPS_Roll GPS.o |
| fc.o |
| GPSscanData uart.o |
| GetActiveParamSetNumber main.o |
| fc.o |
| menu.o |
| uart.o |
| GetVersionAnforderung uart.o |
| GyroFaktor fc.o |
| HoeheD analog.o |
| fc.o |
| HoehenReglerAktiv fc.o |
| HoehenWert fc.o |
| menu.o |
| analog.o |
| IntegralFaktor fc.o |
| IntegralNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Integral_Gier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Ki fc.o |
| KompassRichtung fc.o |
| menu.o |
| timer0.o |
| KompassStartwert fc.o |
| menu.o |
| timer0.o |
| KompassValue fc.o |
| GPS.o |
| menu.o |
| timer0.o |
| Kp fc.o |
| LcdClear menu.o |
| main.o |
| Limit_D_Anteil fc.o |
| GPS.o |
| Luftdruck analog.o |
| fc.o |
| MAX_GAS fc.o |
| MIN_GAS fc.o |
| MeineSlaveAdresse uart.o |
| Menu menu.o |
| uart.o |
| MessLuftdruck analog.o |
| fc.o |
| menu.o |
| Mess_IntegralNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_Integral_Gier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_Integral_Gier2 fc.o |
| analog.o |
| Mess_Integral_Hoch fc.o |
| analog.o |
| MessanzahlGier analog.o |
| fc.o |
| menu.o |
| MessanzahlNick analog.o |
| fc.o |
| menu.o |
| MessanzahlRoll analog.o |
| fc.o |
| menu.o |
| MesswertGier fc.o |
| MesswertNick fc.o |
| MesswertRoll fc.o |
| Mittelwert fc.o |
| Mittelwert_AccHoch fc.o |
| Mittelwert_AccNick fc.o |
| Mittelwert_AccRoll fc.o |
| MotorRegler fc.o |
| main.o |
| MotorTest uart.o |
| fc.o |
| MotorWert GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Hinten GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Links GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Rechts GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Vorne GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| MotorenEin fc.o |
| GPS.o |
| main.o |
| NMEABuffer uart.o |
| NORTH_LONG_LONG GPS.o |
| NORTH_MITTEL GPS.o |
| NeueKoordinateEmpfangen uart.o |
| NeuerDatensatzEmpfangen uart.o |
| NeuerMittelwert GPS.o |
| NeutralAccX fc.o |
| menu.o |
| analog.o |
| NeutralAccY fc.o |
| menu.o |
| analog.o |
| NeutralAccZ fc.o |
| menu.o |
| analog.o |
| NewPpmData rc.o |
| fc.o |
| Notlandung fc.o |
| PAD_0 printf_P.o |
| PAD_SP printf_P.o |
| PC_DebugTimeout uart.o |
| PPM_diff fc.o |
| rc.o |
| PPM_in fc.o |
| rc.o |
| menu.o |
| main.o |
| PRINT printf_P.o |
| PRINTP printf_P.o |
| P_Einfluss_East GPS.o |
| fc.o |
| P_Einfluss_North GPS.o |
| fc.o |
| P_GPS_Verstaerkung GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| ParameterZuordnung fc.o |
| Parameter_Gier_P fc.o |
| Parameter_Gyro_I fc.o |
| Parameter_Gyro_P fc.o |
| Parameter_Hoehe_ACC_Wirkung fc.o |
| Parameter_Hoehe_P fc.o |
| Parameter_I_Faktor fc.o |
| Parameter_KompassWirkung fc.o |
| Parameter_Luftdruck_D fc.o |
| Parameter_MaxHoehe fc.o |
| Parameter_ServoNickControl fc.o |
| menu.o |
| timer0.o |
| Parameter_UserParam1 fc.o |
| Parameter_UserParam2 fc.o |
| Parameter_UserParam3 fc.o |
| Parameter_UserParam4 fc.o |
| PcZugriff uart.o |
| fc.o |
| main.o |
| Piep fc.o |
| uart.o |
| Poti1 fc.o |
| menu.o |
| Poti2 fc.o |
| menu.o |
| Poti3 fc.o |
| GPS.o |
| menu.o |
| Poti4 fc.o |
| menu.o |
| Poti5 fc.o |
| menu.o |
| Poti6 fc.o |
| menu.o |
| Poti7 fc.o |
| menu.o |
| Poti8 fc.o |
| menu.o |
| PrintZiel printf_P.o |
| Putchar printf_P.o |
| ReadParameterSet main.o |
| fc.o |
| uart.o |
| RemoteTasten menu.o |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| RxdBuffer uart.o |
| SendMotorData fc.o |
| main.o |
| SendOutData uart.o |
| SendeBuffer uart.o |
| SenderOkay fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| ServoValue timer0.o |
| menu.o |
| SetDelay timer0.o |
| fc.o |
| uart.o |
| main.o |
| SetNeutral fc.o |
| main.o |
| SioTmp uart.o |
| SollHoehe fc.o |
| menu.o |
| Soll_Position_East GPS.o |
| fc.o |
| Soll_Position_North GPS.o |
| fc.o |
| StartLuftdruck fc.o |
| analog.o |
| StickGier fc.o |
| main.o |
| StickNick fc.o |
| GPS.o |
| main.o |
| StickRoll fc.o |
| GPS.o |
| main.o |
| SucheLuftruckOffset analog.o |
| fc.o |
| main.o |
| TestInt menu.o |
| Timeout fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Timer_Init timer0.o |
| main.o |
| UART_Init uart.o |
| main.o |
| UBat analog.o |
| menu.o |
| main.o |
| UebertragungAbgeschlossen uart.o |
| UpdateMotor timer0.o |
| main.o |
| VersionInfo uart.o |
| main.o |
| WriteParameterSet main.o |
| uart.o |
| WriteProgramData uart.o |
| ZaehlMessungen analog.o |
| fc.o |
| __addsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| GPS.o |
| fc.o |
| analog.o |
| __addsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __bad_interrupt c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __bss_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __bss_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __clz_tab c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| __cmpsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __data_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_load_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __divdi3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| GPS.o |
| __divmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| fc.o |
| rc.o |
| menu.o |
| analog.o |
| timer0.o |
| __divmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| fc.o |
| menu.o |
| analog.o |
| timer0.o |
| __divsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| fc.o |
| __divsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| __do_clear_bss c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __do_copy_data c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clz.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __eeprom_read_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| main.o |
| __eeprom_write_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| fc.o |
| uart.o |
| main.o |
| __epilogue_restores__ c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| __eqsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __fixsfsi c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| GPS.o |
| fc.o |
| menu.o |
| analog.o |
| __fixunssfsi c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __floatsisf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| GPS.o |
| fc.o |
| analog.o |
| __floatunssisf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_lneg c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_merge c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_nan c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_nanEDOM c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_nanERANGE c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_nanx c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| __fp_split1 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_split2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __fp_split3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_split_a c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_zero c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_zerox c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __gesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __gtsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| analog.o |
| __heap_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __init c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __lesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __ltsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| fc.o |
| analog.o |
| __mulsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| GPS.o |
| fc.o |
| __mulsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| __mulsi3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| GPS.o |
| fc.o |
| timer0.o |
| __nesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __prologue_saves__ c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_prologue.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| __stack c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __subsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| analog.o |
| __udivmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| analog.o |
| __udivmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divdi3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| printf_P.o |
| __vector_1 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_10 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_11 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_12 rc.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_13 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_14 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_15 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_16 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_17 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_18 timer0.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_19 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_20 uart.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_21 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_22 uart.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_23 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_24 analog.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_25 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_26 twimaster.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_27 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_5 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_6 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_7 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_8 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_9 timer0.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_default c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vectors c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| _div c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| _exit c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| _printf_P printf_P.o |
| menu.o |
| analog.o |
| main.o |
| accumulate_AccHoch analog.o |
| fc.o |
| accumulate_AccNick analog.o |
| fc.o |
| menu.o |
| accumulate_AccRoll analog.o |
| fc.o |
| menu.o |
| actualPos GPS.o |
| uart.o |
| beeptime timer0.o |
| GPS.o |
| fc.o |
| main.o |
| blinkcount_LED1 fc.o |
| blinkcount_LED2 GPS.o |
| c_cos GPS.o |
| c_sin GPS.o |
| cntKompass timer0.o |
| durchschnitt_easting GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| durchschnitt_northing GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| exit c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| filter_east GPS.o |
| filter_north GPS.o |
| filterfilled GPS.o |
| gethome GPS.o |
| gps_main GPS.o |
| fc.o |
| h GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| i2c_init twimaster.o |
| main.o |
| i2c_start twimaster.o |
| fc.o |
| i2c_stop twimaster.o |
| i2c_write_byte twimaster.o |
| ignorePacket uart.o |
| m GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| main main.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| memchr c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o |
| messanzahl_AccHoch analog.o |
| fc.o |
| messanzahl_AccNick analog.o |
| fc.o |
| menu.o |
| messanzahl_AccRoll analog.o |
| fc.o |
| menu.o |
| messanzahl_Druck analog.o |
| modell_fliegt_gps fc.o |
| GPS.o |
| motor twimaster.o |
| fc.o |
| motor_rx twimaster.o |
| motorread twimaster.o |
| msgID uart.o |
| msgLen uart.o |
| navPosECEF uart.o |
| navPosUtm uart.o |
| navStatus uart.o |
| navVelECEF uart.o |
| navVelNed uart.o |
| nickOffset uart.o |
| rc_sum_init rc.o |
| main.o |
| rollOffset uart.o |
| s GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| tmpLuftdruck analog.o |
| twi_state twimaster.o |
| fc.o |
| uart_putchar uart.o |
| printf_P.o |
| ubxEp uart.o |
| ubxP uart.o |
| ubxSp uart.o |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Flight-Ctrl_MEGA644_V0_61.sym |
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| 0080085f B messanzahl_AccHoch |
| 00800860 B HoeheD |
| 00800862 B ZaehlMessungen |
| 00800864 b state.2041 |
| 00800865 b kanal.2040 |
| 00800866 B TestInt |
| 00800868 B DispPtr |
| 00800869 B RemoteTasten |
| 0080086a b MenuePunkt.2007 |
| 0080086b B twi_state |
| 0080086c B motor |
| 0080086d B motorread |
| 0080086e b index.2007 |
| 00800870 b AltICR.2005 |
| 00800872 B Timeout |
| 00800873 B AdNeutralNick |
| 00800875 B AdNeutralRoll |
| 00800877 B AdNeutralGier |
| 00800879 B NeutralAccX |
| 0080087b B NeutralAccY |
| 0080087d B NeutralAccZ |
| 00800881 B CosinusNickWinkel |
| 00800882 B CosinusRollWinkel |
| 00800883 B IntegralNick |
| 00800887 B IntegralNick2 |
| 0080088b B IntegralRoll |
| 0080088f B IntegralRoll2 |
| 00800893 B Integral_Gier |
| 00800897 B Mess_IntegralNick |
| 0080089b B Mess_IntegralNick2 |
| 0080089f B Mess_IntegralRoll |
| 008008a3 B Mess_IntegralRoll2 |
| 008008a7 B Mess_Integral_Gier |
| 008008ab B Mess_Integral_Gier2 |
| 008008af B Mess_Integral_Hoch |
| 008008b3 B KompassValue |
| 008008b5 B KompassStartwert |
| 008008b7 B KompassRichtung |
| 008008b9 B Notlandung |
| 008008ba B HoehenReglerAktiv |
| 008008bb B blinkcount_LED1 |
| 008008bc B modell_fliegt_gps |
| 008008be B Limit_D_Anteil |
| 008008bf B Poti1 |
| 008008c1 B Poti2 |
| 008008c3 B Poti3 |
| 008008c5 B Poti4 |
| 008008c7 B Poti5 |
| 008008c9 B Poti6 |
| 008008cb B Poti7 |
| 008008cd B Poti8 |
| 008008cf B SenderOkay |
| 008008d0 B StickNick |
| 008008d2 B StickRoll |
| 008008d4 B StickGier |
| 008008d6 B MotorenEin |
| 008008d7 B HoehenWert |
| 008008d9 B SollHoehe |
| 008008db B Parameter_UserParam1 |
| 008008dc B Parameter_UserParam2 |
| 008008dd B Parameter_UserParam3 |
| 008008de B Parameter_UserParam4 |
| 008008df b SignalSchlecht.2457 |
| 008008e1 b NeueKompassRichtungMerken.2453 |
| 008008e2 b TimerWerteausgabe.2452 |
| 008008e3 b hoehenregler.2451 |
| 008008e5 b modell_fliegt.2450 |
| 008008e7 b delay_ausschalten.2449 |
| 008008e8 b delay_einschalten.2448 |
| 008008e9 b delay_neutral.2447 |
| 008008ea b RcLostTimer.2446 |
| 008008ec b IntegralFehlerRoll.2445 |
| 008008ee b IntegralFehlerNick.2444 |
| 008008f0 b tmp_long2.2443 |
| 008008f4 b tmp_long.2442 |
| 008008f8 b sollGier.2441 |
| 008008fc b SummeRoll.2440 |
| 00800900 b SummeNick.2439 |
| 00800904 B Soll_Position_North |
| 00800908 B Soll_Position_East |
| 0080090c B GPS_Positionsabweichung_North |
| 00800910 B GPS_Positionsabweichung_East |
| 00800914 B GPS_Geschwindigkeit_North |
| 00800918 B GPS_Geschwindigkeit_East |
| 0080091c B P_Einfluss_North |
| 00800920 B D_Einfluss_North |
| 00800924 B P_Einfluss_East |
| 00800928 B D_Einfluss_East |
| 0080092c B GPS_North |
| 0080092e B GPS_East |
| 00800930 B GPS_Nick |
| 00800932 B GPS_Roll |
| 00800934 B gethome |
| 00800935 B GPS_Home_North |
| 00800939 B GPS_Home_East |
| 0080093d B blinkcount_LED2 |
| 0080093e B NeuerMittelwert |
| 0080093f B FilterPos |
| 00800940 B NORTH_MITTEL |
| 00800944 B EAST_MITTEL |
| 00800948 B NORTH_LONG_LONG |
| 00800950 B EAST_LONG_LONG |
| 00800958 B filterfilled |
| 0080095a B durchschnitt_easting |
| 0080095e B DiffRoll |
| 00800960 B Motor_Vorne |
| 00800961 B Motor_Hinten |
| 00800962 B D_GPS_Verstaerkung |
| 00800964 B DiffNick |
| 00800966 B Motor_Rechts |
| 00800967 B Count |
| 00800968 B durchschnitt_northing |
| 0080096c B Motor_Links |
| 0080096d B s |
| 0080096e B h |
| 0080096f B P_GPS_Verstaerkung |
| 00800971 B m |
| 00800972 B MotorWert |
| 00800977 B ubxEp |
| 00800979 B MeineSlaveAdresse |
| 0080097a B CK_A |
| 0080097b B SendeBuffer |
| 00800a11 B NMEABuffer |
| 00800aa7 B Debug_Timer |
| 00800aa9 B CK_B |
| 00800aaa B navStatus |
| 00800abb B DebugIn |
| 00800ac6 B VersionInfo |
| 00800ad0 B rollOffset |
| 00800ad4 B ubxP |
| 00800ad6 B navVelECEF |
| 00800aeb B RxdBuffer |
| 00800b81 B navPosUtm |
| 00800b94 B ubxSp |
| 00800b96 B msgLen |
| 00800b98 B nickOffset |
| 00800b9c B navPosECEF |
| 00800bb1 B DebugOut |
| 00800be3 B actualPos |
| 00800c12 B msgID |
| 00800c13 B ignorePacket |
| 00800c14 B navVelNed |
| 00800c39 B PrintZiel |
| 00800c3a B Aktuell_ay |
| 00800c3c B Aktuell_az |
| 00800c3e B StartLuftdruck |
| 00800c40 B Aktuell_Nick |
| 00800c42 B messanzahl_Druck |
| 00800c43 B Aktuell_Roll |
| 00800c45 B Aktuell_ax |
| 00800c47 B DruckOffsetSetting |
| 00800c48 B Aktuell_Gier |
| 00800c4a B tmpLuftdruck |
| 00800c4c B motor_rx |
| 00800c54 B PPM_in |
| 00800c72 B PPM_diff |
| 00800c90 B EE_Parameter |
| 00800cca B MesswertRoll |
| 00800ccc B MesswertNick |
| 00800cce B MIN_GAS |
| 00800ccf B Mittelwert_AccHoch |
| 00800cd1 B IntegralFaktor |
| 00800cd5 B Mittelwert_AccNick |
| 00800cd7 B MAX_GAS |
| 00800cd8 B MesswertGier |
| 00800cda B GyroFaktor |
| 00800cde B Mittelwert_AccRoll |
| 00800ce0 B filter_north |
| 00800d00 B filter_east |
| 00800d20 B __bss_end |
| 00800d20 A _end |
| 00810000 D EEPromArray |
| 00810800 D __eeprom_end |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/GPS.c |
|---|
| 0,0 → 1,298 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by THE BOSCH TEAM |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/GPS.d |
|---|
| 0,0 → 1,2 |
| GPS.o GPS.d : GPS.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/GPS.lst |
|---|
| 0,0 → 1,2284 |
| 1 .file "GPS.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global gps_main |
| 13 gps_main: |
| 14 /* prologue: frame size=31 */ |
| 15 0000 2F92 push r2 |
| 16 0002 3F92 push r3 |
| 17 0004 4F92 push r4 |
| 18 0006 5F92 push r5 |
| 19 0008 6F92 push r6 |
| 20 000a 7F92 push r7 |
| 21 000c 8F92 push r8 |
| 22 000e 9F92 push r9 |
| 23 0010 AF92 push r10 |
| 24 0012 BF92 push r11 |
| 25 0014 CF92 push r12 |
| 26 0016 DF92 push r13 |
| 27 0018 EF92 push r14 |
| 28 001a FF92 push r15 |
| 29 001c 0F93 push r16 |
| 30 001e 1F93 push r17 |
| 31 0020 CF93 push r28 |
| 32 0022 DF93 push r29 |
| 33 0024 CDB7 in r28,__SP_L__ |
| 34 0026 DEB7 in r29,__SP_H__ |
| 35 0028 6F97 sbiw r28,31 |
| 36 002a 0FB6 in __tmp_reg__,__SREG__ |
| 37 002c F894 cli |
| 38 002e DEBF out __SP_H__,r29 |
| 39 0030 0FBE out __SREG__,__tmp_reg__ |
| 40 0032 CDBF out __SP_L__,r28 |
| 41 /* prologue end (size=26) */ |
| 42 0034 2091 0000 lds r18,actualPos+45 |
| 43 0038 2D87 std Y+13,r18 |
| 44 003a 2330 cpi r18,lo8(3) |
| 45 003c 01F0 breq .+2 |
| 46 003e 00C0 rjmp .L2 |
| 47 0040 E091 0000 lds r30,FilterPos |
| 48 0044 FF27 clr r31 |
| 49 0046 EE0F lsl r30 |
| 50 0048 FF1F rol r31 |
| 51 004a EE0F lsl r30 |
| 52 004c FF1F rol r31 |
| 53 004e E050 subi r30,lo8(-(filter_north)) |
| 54 0050 F040 sbci r31,hi8(-(filter_north)) |
| 55 0052 8091 0000 lds r24,actualPos+24 |
| 56 0056 9091 0000 lds r25,(actualPos+24)+1 |
| 57 005a A091 0000 lds r26,(actualPos+24)+2 |
| 58 005e B091 0000 lds r27,(actualPos+24)+3 |
| 59 0062 8083 st Z,r24 |
| 60 0064 9183 std Z+1,r25 |
| 61 0066 A283 std Z+2,r26 |
| 62 0068 B383 std Z+3,r27 |
| 63 006a E091 0000 lds r30,FilterPos |
| 64 006e FF27 clr r31 |
| 65 0070 EE0F lsl r30 |
| 66 0072 FF1F rol r31 |
| 67 0074 EE0F lsl r30 |
| 68 0076 FF1F rol r31 |
| 69 0078 E050 subi r30,lo8(-(filter_east)) |
| 70 007a F040 sbci r31,hi8(-(filter_east)) |
| 71 007c 8091 0000 lds r24,actualPos+28 |
| 72 0080 9091 0000 lds r25,(actualPos+28)+1 |
| 73 0084 A091 0000 lds r26,(actualPos+28)+2 |
| 74 0088 B091 0000 lds r27,(actualPos+28)+3 |
| 75 008c 8083 st Z,r24 |
| 76 008e 9183 std Z+1,r25 |
| 77 0090 A283 std Z+2,r26 |
| 78 0092 B383 std Z+3,r27 |
| 79 0094 8091 0000 lds r24,FilterPos |
| 80 0098 8F5F subi r24,lo8(-(1)) |
| 81 009a 8093 0000 sts FilterPos,r24 |
| 82 009e 8091 0000 lds r24,FilterPos |
| 83 00a2 8830 cpi r24,lo8(8) |
| 84 00a4 01F4 brne .L4 |
| 85 00a6 1092 0000 sts FilterPos,__zero_reg__ |
| 86 .L4: |
| 87 00aa 8091 0000 lds r24,filterfilled |
| 88 00ae 9091 0000 lds r25,(filterfilled)+1 |
| 89 00b2 0897 sbiw r24,8 |
| 90 00b4 04F4 brge .L6 |
| 91 00b6 8091 0000 lds r24,filterfilled |
| 92 00ba 9091 0000 lds r25,(filterfilled)+1 |
| 93 00be 0196 adiw r24,1 |
| 94 00c0 9093 0000 sts (filterfilled)+1,r25 |
| 95 00c4 8093 0000 sts filterfilled,r24 |
| 96 .L6: |
| 97 00c8 1092 0000 sts NORTH_LONG_LONG,__zero_reg__ |
| 98 00cc 1092 0000 sts NORTH_LONG_LONG+1,__zero_reg__ |
| 99 00d0 1092 0000 sts NORTH_LONG_LONG+2,__zero_reg__ |
| 100 00d4 1092 0000 sts NORTH_LONG_LONG+3,__zero_reg__ |
| 101 00d8 1092 0000 sts NORTH_LONG_LONG+4,__zero_reg__ |
| 102 00dc 1092 0000 sts NORTH_LONG_LONG+5,__zero_reg__ |
| 103 00e0 1092 0000 sts NORTH_LONG_LONG+6,__zero_reg__ |
| 104 00e4 1092 0000 sts NORTH_LONG_LONG+7,__zero_reg__ |
| 105 00e8 1092 0000 sts EAST_LONG_LONG,__zero_reg__ |
| 106 00ec 1092 0000 sts EAST_LONG_LONG+1,__zero_reg__ |
| 107 00f0 1092 0000 sts EAST_LONG_LONG+2,__zero_reg__ |
| 108 00f4 1092 0000 sts EAST_LONG_LONG+3,__zero_reg__ |
| 109 00f8 1092 0000 sts EAST_LONG_LONG+4,__zero_reg__ |
| 110 00fc 1092 0000 sts EAST_LONG_LONG+5,__zero_reg__ |
| 111 0100 1092 0000 sts EAST_LONG_LONG+6,__zero_reg__ |
| 112 0104 1092 0000 sts EAST_LONG_LONG+7,__zero_reg__ |
| 113 0108 1C82 std Y+4,__zero_reg__ |
| 114 010a 1B82 std Y+3,__zero_reg__ |
| 115 010c 80E0 ldi r24,lo8(filter_north) |
| 116 010e 90E0 ldi r25,hi8(filter_north) |
| 117 0110 9A83 std Y+2,r25 |
| 118 0112 8983 std Y+1,r24 |
| 119 0114 A0E0 ldi r26,lo8(filter_east) |
| 120 0116 B0E0 ldi r27,hi8(filter_east) |
| 121 0118 BF8F std Y+31,r27 |
| 122 011a AE8F std Y+30,r26 |
| 123 011c 00C0 rjmp .L8 |
| 124 .L9: |
| 125 011e 2090 0000 lds r2,NORTH_LONG_LONG |
| 126 0122 3090 0000 lds r3,NORTH_LONG_LONG+1 |
| 127 0126 4090 0000 lds r4,NORTH_LONG_LONG+2 |
| 128 012a 5090 0000 lds r5,NORTH_LONG_LONG+3 |
| 129 012e 6090 0000 lds r6,NORTH_LONG_LONG+4 |
| 130 0132 7090 0000 lds r7,NORTH_LONG_LONG+5 |
| 131 0136 8090 0000 lds r8,NORTH_LONG_LONG+6 |
| 132 013a 9090 0000 lds r9,NORTH_LONG_LONG+7 |
| 133 013e E981 ldd r30,Y+1 |
| 134 0140 FA81 ldd r31,Y+2 |
| 135 0142 2081 ld r18,Z |
| 136 0144 3181 ldd r19,Z+1 |
| 137 0146 4281 ldd r20,Z+2 |
| 138 0148 5381 ldd r21,Z+3 |
| 139 014a DA01 movw r26,r20 |
| 140 014c C901 movw r24,r18 |
| 141 014e BB0F lsl r27 |
| 142 0150 880B sbc r24,r24 |
| 143 0152 982F mov r25,r24 |
| 144 0154 DC01 movw r26,r24 |
| 145 0156 2E87 std Y+14,r18 |
| 146 0158 3F87 std Y+15,r19 |
| 147 015a 488B std Y+16,r20 |
| 148 015c 598B std Y+17,r21 |
| 149 015e 8A8B std Y+18,r24 |
| 150 0160 8B8B std Y+19,r24 |
| 151 0162 8C8B std Y+20,r24 |
| 152 0164 8D8B std Y+21,r24 |
| 153 0166 AE84 ldd r10,Y+14 |
| 154 0168 A20C add r10,r2 |
| 155 016a 81E0 ldi r24,lo8(1) |
| 156 016c A214 cp r10,r2 |
| 157 016e 00F0 brlo .L10 |
| 158 0170 80E0 ldi r24,lo8(0) |
| 159 .L10: |
| 160 0172 BF84 ldd r11,Y+15 |
| 161 0174 B30C add r11,r3 |
| 162 0176 21E0 ldi r18,lo8(1) |
| 163 0178 B314 cp r11,r3 |
| 164 017a 00F0 brlo .L11 |
| 165 017c 20E0 ldi r18,lo8(0) |
| 166 .L11: |
| 167 017e 8B0D add r24,r11 |
| 168 0180 91E0 ldi r25,lo8(1) |
| 169 0182 8B15 cp r24,r11 |
| 170 0184 00F0 brlo .L12 |
| 171 0186 90E0 ldi r25,lo8(0) |
| 172 .L12: |
| 173 0188 292B or r18,r25 |
| 174 018a B82E mov r11,r24 |
| 175 018c C888 ldd r12,Y+16 |
| 176 018e C40C add r12,r4 |
| 177 0190 31E0 ldi r19,lo8(1) |
| 178 0192 C414 cp r12,r4 |
| 179 0194 00F0 brlo .L13 |
| 180 0196 30E0 ldi r19,lo8(0) |
| 181 .L13: |
| 182 0198 822F mov r24,r18 |
| 183 019a 8C0D add r24,r12 |
| 184 019c 91E0 ldi r25,lo8(1) |
| 185 019e 8C15 cp r24,r12 |
| 186 01a0 00F0 brlo .L14 |
| 187 01a2 90E0 ldi r25,lo8(0) |
| 188 .L14: |
| 189 01a4 392B or r19,r25 |
| 190 01a6 C82E mov r12,r24 |
| 191 01a8 D988 ldd r13,Y+17 |
| 192 01aa D50C add r13,r5 |
| 193 01ac 21E0 ldi r18,lo8(1) |
| 194 01ae D514 cp r13,r5 |
| 195 01b0 00F0 brlo .L15 |
| 196 01b2 20E0 ldi r18,lo8(0) |
| 197 .L15: |
| 198 01b4 832F mov r24,r19 |
| 199 01b6 8D0D add r24,r13 |
| 200 01b8 91E0 ldi r25,lo8(1) |
| 201 01ba 8D15 cp r24,r13 |
| 202 01bc 00F0 brlo .L16 |
| 203 01be 90E0 ldi r25,lo8(0) |
| 204 .L16: |
| 205 01c0 292B or r18,r25 |
| 206 01c2 D82E mov r13,r24 |
| 207 01c4 EA88 ldd r14,Y+18 |
| 208 01c6 E60C add r14,r6 |
| 209 01c8 31E0 ldi r19,lo8(1) |
| 210 01ca E614 cp r14,r6 |
| 211 01cc 00F0 brlo .L17 |
| 212 01ce 30E0 ldi r19,lo8(0) |
| 213 .L17: |
| 214 01d0 822F mov r24,r18 |
| 215 01d2 8E0D add r24,r14 |
| 216 01d4 91E0 ldi r25,lo8(1) |
| 217 01d6 8E15 cp r24,r14 |
| 218 01d8 00F0 brlo .L18 |
| 219 01da 90E0 ldi r25,lo8(0) |
| 220 .L18: |
| 221 01dc 392B or r19,r25 |
| 222 01de E82E mov r14,r24 |
| 223 01e0 FB88 ldd r15,Y+19 |
| 224 01e2 F70C add r15,r7 |
| 225 01e4 21E0 ldi r18,lo8(1) |
| 226 01e6 F714 cp r15,r7 |
| 227 01e8 00F0 brlo .L19 |
| 228 01ea 20E0 ldi r18,lo8(0) |
| 229 .L19: |
| 230 01ec 832F mov r24,r19 |
| 231 01ee 8F0D add r24,r15 |
| 232 01f0 91E0 ldi r25,lo8(1) |
| 233 01f2 8F15 cp r24,r15 |
| 234 01f4 00F0 brlo .L20 |
| 235 01f6 90E0 ldi r25,lo8(0) |
| 236 .L20: |
| 237 01f8 292B or r18,r25 |
| 238 01fa F82E mov r15,r24 |
| 239 01fc 0C89 ldd r16,Y+20 |
| 240 01fe 080D add r16,r8 |
| 241 0200 91E0 ldi r25,lo8(1) |
| 242 0202 0815 cp r16,r8 |
| 243 0204 00F0 brlo .L21 |
| 244 0206 90E0 ldi r25,lo8(0) |
| 245 .L21: |
| 246 0208 822F mov r24,r18 |
| 247 020a 800F add r24,r16 |
| 248 020c E1E0 ldi r30,lo8(1) |
| 249 020e 8017 cp r24,r16 |
| 250 0210 00F0 brlo .L22 |
| 251 0212 E0E0 ldi r30,lo8(0) |
| 252 .L22: |
| 253 0214 AE2F mov r26,r30 |
| 254 0216 A92B or r26,r25 |
| 255 0218 1D89 ldd r17,Y+21 |
| 256 021a 190D add r17,r9 |
| 257 021c A10F add r26,r17 |
| 258 021e A092 0000 sts NORTH_LONG_LONG,r10 |
| 259 0222 B092 0000 sts NORTH_LONG_LONG+1,r11 |
| 260 0226 C092 0000 sts NORTH_LONG_LONG+2,r12 |
| 261 022a D092 0000 sts NORTH_LONG_LONG+3,r13 |
| 262 022e E092 0000 sts NORTH_LONG_LONG+4,r14 |
| 263 0232 F092 0000 sts NORTH_LONG_LONG+5,r15 |
| 264 0236 8093 0000 sts NORTH_LONG_LONG+6,r24 |
| 265 023a A093 0000 sts NORTH_LONG_LONG+7,r26 |
| 266 023e 2090 0000 lds r2,EAST_LONG_LONG |
| 267 0242 3090 0000 lds r3,EAST_LONG_LONG+1 |
| 268 0246 4090 0000 lds r4,EAST_LONG_LONG+2 |
| 269 024a 5090 0000 lds r5,EAST_LONG_LONG+3 |
| 270 024e 6090 0000 lds r6,EAST_LONG_LONG+4 |
| 271 0252 7090 0000 lds r7,EAST_LONG_LONG+5 |
| 272 0256 8090 0000 lds r8,EAST_LONG_LONG+6 |
| 273 025a 9090 0000 lds r9,EAST_LONG_LONG+7 |
| 274 025e AE8D ldd r26,Y+30 |
| 275 0260 BF8D ldd r27,Y+31 |
| 276 0262 2D91 ld r18,X+ |
| 277 0264 3D91 ld r19,X+ |
| 278 0266 4D91 ld r20,X+ |
| 279 0268 5C91 ld r21,X |
| 280 026a DA01 movw r26,r20 |
| 281 026c C901 movw r24,r18 |
| 282 026e BB0F lsl r27 |
| 283 0270 880B sbc r24,r24 |
| 284 0272 982F mov r25,r24 |
| 285 0274 DC01 movw r26,r24 |
| 286 0276 2E8B std Y+22,r18 |
| 287 0278 3F8B std Y+23,r19 |
| 288 027a 488F std Y+24,r20 |
| 289 027c 598F std Y+25,r21 |
| 290 027e 8A8F std Y+26,r24 |
| 291 0280 8B8F std Y+27,r24 |
| 292 0282 8C8F std Y+28,r24 |
| 293 0284 8D8F std Y+29,r24 |
| 294 0286 AE88 ldd r10,Y+22 |
| 295 0288 A20C add r10,r2 |
| 296 028a 81E0 ldi r24,lo8(1) |
| 297 028c A214 cp r10,r2 |
| 298 028e 00F0 brlo .L23 |
| 299 0290 80E0 ldi r24,lo8(0) |
| 300 .L23: |
| 301 0292 BF88 ldd r11,Y+23 |
| 302 0294 B30C add r11,r3 |
| 303 0296 21E0 ldi r18,lo8(1) |
| 304 0298 B314 cp r11,r3 |
| 305 029a 00F0 brlo .L24 |
| 306 029c 20E0 ldi r18,lo8(0) |
| 307 .L24: |
| 308 029e 8B0D add r24,r11 |
| 309 02a0 91E0 ldi r25,lo8(1) |
| 310 02a2 8B15 cp r24,r11 |
| 311 02a4 00F0 brlo .L25 |
| 312 02a6 90E0 ldi r25,lo8(0) |
| 313 .L25: |
| 314 02a8 292B or r18,r25 |
| 315 02aa B82E mov r11,r24 |
| 316 02ac C88C ldd r12,Y+24 |
| 317 02ae C40C add r12,r4 |
| 318 02b0 31E0 ldi r19,lo8(1) |
| 319 02b2 C414 cp r12,r4 |
| 320 02b4 00F0 brlo .L26 |
| 321 02b6 30E0 ldi r19,lo8(0) |
| 322 .L26: |
| 323 02b8 822F mov r24,r18 |
| 324 02ba 8C0D add r24,r12 |
| 325 02bc 91E0 ldi r25,lo8(1) |
| 326 02be 8C15 cp r24,r12 |
| 327 02c0 00F0 brlo .L27 |
| 328 02c2 90E0 ldi r25,lo8(0) |
| 329 .L27: |
| 330 02c4 392B or r19,r25 |
| 331 02c6 C82E mov r12,r24 |
| 332 02c8 D98C ldd r13,Y+25 |
| 333 02ca D50C add r13,r5 |
| 334 02cc 21E0 ldi r18,lo8(1) |
| 335 02ce D514 cp r13,r5 |
| 336 02d0 00F0 brlo .L28 |
| 337 02d2 20E0 ldi r18,lo8(0) |
| 338 .L28: |
| 339 02d4 832F mov r24,r19 |
| 340 02d6 8D0D add r24,r13 |
| 341 02d8 91E0 ldi r25,lo8(1) |
| 342 02da 8D15 cp r24,r13 |
| 343 02dc 00F0 brlo .L29 |
| 344 02de 90E0 ldi r25,lo8(0) |
| 345 .L29: |
| 346 02e0 292B or r18,r25 |
| 347 02e2 D82E mov r13,r24 |
| 348 02e4 EA8C ldd r14,Y+26 |
| 349 02e6 E60C add r14,r6 |
| 350 02e8 31E0 ldi r19,lo8(1) |
| 351 02ea E614 cp r14,r6 |
| 352 02ec 00F0 brlo .L30 |
| 353 02ee 30E0 ldi r19,lo8(0) |
| 354 .L30: |
| 355 02f0 822F mov r24,r18 |
| 356 02f2 8E0D add r24,r14 |
| 357 02f4 91E0 ldi r25,lo8(1) |
| 358 02f6 8E15 cp r24,r14 |
| 359 02f8 00F0 brlo .L31 |
| 360 02fa 90E0 ldi r25,lo8(0) |
| 361 .L31: |
| 362 02fc 392B or r19,r25 |
| 363 02fe E82E mov r14,r24 |
| 364 0300 FB8C ldd r15,Y+27 |
| 365 0302 F70C add r15,r7 |
| 366 0304 21E0 ldi r18,lo8(1) |
| 367 0306 F714 cp r15,r7 |
| 368 0308 00F0 brlo .L32 |
| 369 030a 20E0 ldi r18,lo8(0) |
| 370 .L32: |
| 371 030c 832F mov r24,r19 |
| 372 030e 8F0D add r24,r15 |
| 373 0310 91E0 ldi r25,lo8(1) |
| 374 0312 8F15 cp r24,r15 |
| 375 0314 00F0 brlo .L33 |
| 376 0316 90E0 ldi r25,lo8(0) |
| 377 .L33: |
| 378 0318 292B or r18,r25 |
| 379 031a F82E mov r15,r24 |
| 380 031c 0C8D ldd r16,Y+28 |
| 381 031e 080D add r16,r8 |
| 382 0320 91E0 ldi r25,lo8(1) |
| 383 0322 0815 cp r16,r8 |
| 384 0324 00F0 brlo .L34 |
| 385 0326 90E0 ldi r25,lo8(0) |
| 386 .L34: |
| 387 0328 822F mov r24,r18 |
| 388 032a 800F add r24,r16 |
| 389 032c E1E0 ldi r30,lo8(1) |
| 390 032e 8017 cp r24,r16 |
| 391 0330 00F0 brlo .L35 |
| 392 0332 E0E0 ldi r30,lo8(0) |
| 393 .L35: |
| 394 0334 AE2F mov r26,r30 |
| 395 0336 A92B or r26,r25 |
| 396 0338 1D8D ldd r17,Y+29 |
| 397 033a 190D add r17,r9 |
| 398 033c A10F add r26,r17 |
| 399 033e A092 0000 sts EAST_LONG_LONG,r10 |
| 400 0342 B092 0000 sts EAST_LONG_LONG+1,r11 |
| 401 0346 C092 0000 sts EAST_LONG_LONG+2,r12 |
| 402 034a D092 0000 sts EAST_LONG_LONG+3,r13 |
| 403 034e E092 0000 sts EAST_LONG_LONG+4,r14 |
| 404 0352 F092 0000 sts EAST_LONG_LONG+5,r15 |
| 405 0356 8093 0000 sts EAST_LONG_LONG+6,r24 |
| 406 035a A093 0000 sts EAST_LONG_LONG+7,r26 |
| 407 035e EB81 ldd r30,Y+3 |
| 408 0360 FC81 ldd r31,Y+4 |
| 409 0362 3196 adiw r30,1 |
| 410 0364 FC83 std Y+4,r31 |
| 411 0366 EB83 std Y+3,r30 |
| 412 0368 2981 ldd r18,Y+1 |
| 413 036a 3A81 ldd r19,Y+2 |
| 414 036c 2C5F subi r18,lo8(-(4)) |
| 415 036e 3F4F sbci r19,hi8(-(4)) |
| 416 0370 3A83 std Y+2,r19 |
| 417 0372 2983 std Y+1,r18 |
| 418 0374 8E8D ldd r24,Y+30 |
| 419 0376 9F8D ldd r25,Y+31 |
| 420 0378 0496 adiw r24,4 |
| 421 037a 9F8F std Y+31,r25 |
| 422 037c 8E8F std Y+30,r24 |
| 423 .L8: |
| 424 037e 8091 0000 lds r24,filterfilled |
| 425 0382 9091 0000 lds r25,(filterfilled)+1 |
| 426 0386 AB81 ldd r26,Y+3 |
| 427 0388 BC81 ldd r27,Y+4 |
| 428 038a A817 cp r26,r24 |
| 429 038c B907 cpc r27,r25 |
| 430 038e 04F4 brge .+2 |
| 431 0390 00C0 rjmp .L9 |
| 432 0392 2090 0000 lds r2,NORTH_LONG_LONG |
| 433 0396 3090 0000 lds r3,NORTH_LONG_LONG+1 |
| 434 039a 4090 0000 lds r4,NORTH_LONG_LONG+2 |
| 435 039e 5090 0000 lds r5,NORTH_LONG_LONG+3 |
| 436 03a2 6090 0000 lds r6,NORTH_LONG_LONG+4 |
| 437 03a6 7090 0000 lds r7,NORTH_LONG_LONG+5 |
| 438 03aa 8090 0000 lds r8,NORTH_LONG_LONG+6 |
| 439 03ae 9090 0000 lds r9,NORTH_LONG_LONG+7 |
| 440 03b2 A091 0000 lds r26,filterfilled |
| 441 03b6 B091 0000 lds r27,(filterfilled)+1 |
| 442 03ba FD01 movw r30,r26 |
| 443 03bc FF0F lsl r31 |
| 444 03be EE0B sbc r30,r30 |
| 445 03c0 FE2F mov r31,r30 |
| 446 03c2 9D01 movw r18,r26 |
| 447 03c4 AA2E mov r10,r26 |
| 448 03c6 B32E mov r11,r19 |
| 449 03c8 CE2E mov r12,r30 |
| 450 03ca DE2E mov r13,r30 |
| 451 03cc EE2E mov r14,r30 |
| 452 03ce FE2E mov r15,r30 |
| 453 03d0 0E2F mov r16,r30 |
| 454 03d2 1E2F mov r17,r30 |
| 455 03d4 222D mov r18,r2 |
| 456 03d6 332D mov r19,r3 |
| 457 03d8 442D mov r20,r4 |
| 458 03da 552D mov r21,r5 |
| 459 03dc 662D mov r22,r6 |
| 460 03de 772D mov r23,r7 |
| 461 03e0 882D mov r24,r8 |
| 462 03e2 992D mov r25,r9 |
| 463 03e4 0E94 0000 call __divdi3 |
| 464 03e8 2093 0000 sts NORTH_LONG_LONG,r18 |
| 465 03ec 3093 0000 sts NORTH_LONG_LONG+1,r19 |
| 466 03f0 4093 0000 sts NORTH_LONG_LONG+2,r20 |
| 467 03f4 5093 0000 sts NORTH_LONG_LONG+3,r21 |
| 468 03f8 6093 0000 sts NORTH_LONG_LONG+4,r22 |
| 469 03fc 7093 0000 sts NORTH_LONG_LONG+5,r23 |
| 470 0400 8093 0000 sts NORTH_LONG_LONG+6,r24 |
| 471 0404 9093 0000 sts NORTH_LONG_LONG+7,r25 |
| 472 0408 2090 0000 lds r2,EAST_LONG_LONG |
| 473 040c 3090 0000 lds r3,EAST_LONG_LONG+1 |
| 474 0410 4090 0000 lds r4,EAST_LONG_LONG+2 |
| 475 0414 5090 0000 lds r5,EAST_LONG_LONG+3 |
| 476 0418 6090 0000 lds r6,EAST_LONG_LONG+4 |
| 477 041c 7090 0000 lds r7,EAST_LONG_LONG+5 |
| 478 0420 8090 0000 lds r8,EAST_LONG_LONG+6 |
| 479 0424 9090 0000 lds r9,EAST_LONG_LONG+7 |
| 480 0428 A091 0000 lds r26,filterfilled |
| 481 042c B091 0000 lds r27,(filterfilled)+1 |
| 482 0430 FD01 movw r30,r26 |
| 483 0432 FF0F lsl r31 |
| 484 0434 EE0B sbc r30,r30 |
| 485 0436 FE2F mov r31,r30 |
| 486 0438 9D01 movw r18,r26 |
| 487 043a AA2E mov r10,r26 |
| 488 043c B32E mov r11,r19 |
| 489 043e CE2E mov r12,r30 |
| 490 0440 DE2E mov r13,r30 |
| 491 0442 EE2E mov r14,r30 |
| 492 0444 FE2E mov r15,r30 |
| 493 0446 0E2F mov r16,r30 |
| 494 0448 1E2F mov r17,r30 |
| 495 044a 222D mov r18,r2 |
| 496 044c 332D mov r19,r3 |
| 497 044e 442D mov r20,r4 |
| 498 0450 552D mov r21,r5 |
| 499 0452 662D mov r22,r6 |
| 500 0454 772D mov r23,r7 |
| 501 0456 882D mov r24,r8 |
| 502 0458 992D mov r25,r9 |
| 503 045a 0E94 0000 call __divdi3 |
| 504 045e 2093 0000 sts EAST_LONG_LONG,r18 |
| 505 0462 3093 0000 sts EAST_LONG_LONG+1,r19 |
| 506 0466 4093 0000 sts EAST_LONG_LONG+2,r20 |
| 507 046a 5093 0000 sts EAST_LONG_LONG+3,r21 |
| 508 046e 6093 0000 sts EAST_LONG_LONG+4,r22 |
| 509 0472 7093 0000 sts EAST_LONG_LONG+5,r23 |
| 510 0476 8093 0000 sts EAST_LONG_LONG+6,r24 |
| 511 047a 9093 0000 sts EAST_LONG_LONG+7,r25 |
| 512 047e 2091 0000 lds r18,NORTH_LONG_LONG |
| 513 0482 3091 0000 lds r19,NORTH_LONG_LONG+1 |
| 514 0486 4091 0000 lds r20,NORTH_LONG_LONG+2 |
| 515 048a 5091 0000 lds r21,NORTH_LONG_LONG+3 |
| 516 048e 6091 0000 lds r22,NORTH_LONG_LONG+4 |
| 517 0492 7091 0000 lds r23,NORTH_LONG_LONG+5 |
| 518 0496 8091 0000 lds r24,NORTH_LONG_LONG+6 |
| 519 049a 9091 0000 lds r25,NORTH_LONG_LONG+7 |
| 520 049e 2093 0000 sts NORTH_MITTEL,r18 |
| 521 04a2 3093 0000 sts (NORTH_MITTEL)+1,r19 |
| 522 04a6 4093 0000 sts (NORTH_MITTEL)+2,r20 |
| 523 04aa 5093 0000 sts (NORTH_MITTEL)+3,r21 |
| 524 04ae 2091 0000 lds r18,EAST_LONG_LONG |
| 525 04b2 3091 0000 lds r19,EAST_LONG_LONG+1 |
| 526 04b6 4091 0000 lds r20,EAST_LONG_LONG+2 |
| 527 04ba 5091 0000 lds r21,EAST_LONG_LONG+3 |
| 528 04be 6091 0000 lds r22,EAST_LONG_LONG+4 |
| 529 04c2 7091 0000 lds r23,EAST_LONG_LONG+5 |
| 530 04c6 8091 0000 lds r24,EAST_LONG_LONG+6 |
| 531 04ca 9091 0000 lds r25,EAST_LONG_LONG+7 |
| 532 04ce 2093 0000 sts EAST_MITTEL,r18 |
| 533 04d2 3093 0000 sts (EAST_MITTEL)+1,r19 |
| 534 04d6 4093 0000 sts (EAST_MITTEL)+2,r20 |
| 535 04da 5093 0000 sts (EAST_MITTEL)+3,r21 |
| 536 04de 81E0 ldi r24,lo8(1) |
| 537 04e0 8093 0000 sts NeuerMittelwert,r24 |
| 538 04e4 2091 0000 lds r18,MotorenEin |
| 539 04e8 2130 cpi r18,lo8(1) |
| 540 04ea 01F0 breq .+2 |
| 541 04ec 00C0 rjmp .L38 |
| 542 04ee 00C0 rjmp .L37 |
| 543 .L2: |
| 544 04f0 BD85 ldd r27,Y+13 |
| 545 04f2 B330 cpi r27,lo8(3) |
| 546 04f4 00F0 brlo .+2 |
| 547 04f6 00C0 rjmp .L38 |
| 548 04f8 8091 0000 lds r24,Poti3 |
| 549 04fc 9091 0000 lds r25,(Poti3)+1 |
| 550 0500 8734 cpi r24,71 |
| 551 0502 9105 cpc r25,__zero_reg__ |
| 552 0504 04F4 brge .+2 |
| 553 0506 00C0 rjmp .L38 |
| 554 0508 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 555 050c 1092 0000 sts GPS_Nick,__zero_reg__ |
| 556 0510 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 557 0514 1092 0000 sts GPS_Roll,__zero_reg__ |
| 558 0518 4398 cbi 40-0x20,3 |
| 559 051a 82E3 ldi r24,lo8(50) |
| 560 051c 90E0 ldi r25,hi8(50) |
| 561 051e 9093 0000 sts (beeptime)+1,r25 |
| 562 0522 8093 0000 sts beeptime,r24 |
| 563 0526 00C0 rjmp .L38 |
| 564 .L37: |
| 565 0528 8091 0000 lds r24,gethome |
| 566 052c 8823 tst r24 |
| 567 052e 01F0 breq .+2 |
| 568 0530 00C0 rjmp .L41 |
| 569 0532 8091 0000 lds r24,modell_fliegt_gps |
| 570 0536 9091 0000 lds r25,(modell_fliegt_gps)+1 |
| 571 053a 805D subi r24,lo8(2000) |
| 572 053c 9740 sbci r25,hi8(2000) |
| 573 053e 00F0 brlo .+2 |
| 574 0540 00C0 rjmp .L41 |
| 575 0542 8091 0000 lds r24,NORTH_MITTEL |
| 576 0546 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 577 054a A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 578 054e B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 579 0552 8093 0000 sts GPS_Home_North,r24 |
| 580 0556 9093 0000 sts (GPS_Home_North)+1,r25 |
| 581 055a A093 0000 sts (GPS_Home_North)+2,r26 |
| 582 055e B093 0000 sts (GPS_Home_North)+3,r27 |
| 583 0562 8091 0000 lds r24,EAST_MITTEL |
| 584 0566 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 585 056a A091 0000 lds r26,(EAST_MITTEL)+2 |
| 586 056e B091 0000 lds r27,(EAST_MITTEL)+3 |
| 587 0572 8093 0000 sts GPS_Home_East,r24 |
| 588 0576 9093 0000 sts (GPS_Home_East)+1,r25 |
| 589 057a A093 0000 sts (GPS_Home_East)+2,r26 |
| 590 057e B093 0000 sts (GPS_Home_East)+3,r27 |
| 591 0582 8091 0000 lds r24,NORTH_MITTEL |
| 592 0586 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 593 058a A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 594 058e B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 595 0592 8093 0000 sts Soll_Position_North,r24 |
| 596 0596 9093 0000 sts (Soll_Position_North)+1,r25 |
| 597 059a A093 0000 sts (Soll_Position_North)+2,r26 |
| 598 059e B093 0000 sts (Soll_Position_North)+3,r27 |
| 599 05a2 8091 0000 lds r24,EAST_MITTEL |
| 600 05a6 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 601 05aa A091 0000 lds r26,(EAST_MITTEL)+2 |
| 602 05ae B091 0000 lds r27,(EAST_MITTEL)+3 |
| 603 05b2 8093 0000 sts Soll_Position_East,r24 |
| 604 05b6 9093 0000 sts (Soll_Position_East)+1,r25 |
| 605 05ba A093 0000 sts (Soll_Position_East)+2,r26 |
| 606 05be B093 0000 sts (Soll_Position_East)+3,r27 |
| 607 05c2 82E3 ldi r24,lo8(50) |
| 608 05c4 90E0 ldi r25,hi8(50) |
| 609 05c6 9093 0000 sts (beeptime)+1,r25 |
| 610 05ca 8093 0000 sts beeptime,r24 |
| 611 05ce 2093 0000 sts gethome,r18 |
| 612 05d2 00C0 rjmp .L41 |
| 613 .L38: |
| 614 05d4 8091 0000 lds r24,MotorenEin |
| 615 05d8 8823 tst r24 |
| 616 05da 01F4 brne .L41 |
| 617 05dc 1092 0000 sts GPS_Home_North,__zero_reg__ |
| 618 05e0 1092 0000 sts (GPS_Home_North)+1,__zero_reg__ |
| 619 05e4 1092 0000 sts (GPS_Home_North)+2,__zero_reg__ |
| 620 05e8 1092 0000 sts (GPS_Home_North)+3,__zero_reg__ |
| 621 05ec 1092 0000 sts GPS_Home_East,__zero_reg__ |
| 622 05f0 1092 0000 sts (GPS_Home_East)+1,__zero_reg__ |
| 623 05f4 1092 0000 sts (GPS_Home_East)+2,__zero_reg__ |
| 624 05f8 1092 0000 sts (GPS_Home_East)+3,__zero_reg__ |
| 625 05fc 1092 0000 sts gethome,__zero_reg__ |
| 626 0600 1092 0000 sts (modell_fliegt_gps)+1,__zero_reg__ |
| 627 0604 1092 0000 sts modell_fliegt_gps,__zero_reg__ |
| 628 .L41: |
| 629 0608 2091 0000 lds r18,Poti3 |
| 630 060c 3091 0000 lds r19,(Poti3)+1 |
| 631 0610 3F8F std Y+31,r19 |
| 632 0612 2E8F std Y+30,r18 |
| 633 0614 2634 cpi r18,70 |
| 634 0616 3105 cpc r19,__zero_reg__ |
| 635 0618 04F4 brge .L45 |
| 636 061a 8091 0000 lds r24,NORTH_MITTEL |
| 637 061e 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 638 0622 A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 639 0626 B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 640 062a 8093 0000 sts Soll_Position_North,r24 |
| 641 062e 9093 0000 sts (Soll_Position_North)+1,r25 |
| 642 0632 A093 0000 sts (Soll_Position_North)+2,r26 |
| 643 0636 B093 0000 sts (Soll_Position_North)+3,r27 |
| 644 063a 8091 0000 lds r24,EAST_MITTEL |
| 645 063e 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 646 0642 A091 0000 lds r26,(EAST_MITTEL)+2 |
| 647 0646 B091 0000 lds r27,(EAST_MITTEL)+3 |
| 648 064a 8093 0000 sts Soll_Position_East,r24 |
| 649 064e 9093 0000 sts (Soll_Position_East)+1,r25 |
| 650 0652 A093 0000 sts (Soll_Position_East)+2,r26 |
| 651 0656 B093 0000 sts (Soll_Position_East)+3,r27 |
| 652 065a 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 653 065e 1092 0000 sts GPS_Nick,__zero_reg__ |
| 654 0662 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 655 0666 1092 0000 sts GPS_Roll,__zero_reg__ |
| 656 066a 4398 cbi 40-0x20,3 |
| 657 .L45: |
| 658 066c 3D85 ldd r19,Y+13 |
| 659 066e 3330 cpi r19,lo8(3) |
| 660 0670 01F0 breq .+2 |
| 661 0672 00C0 rjmp .L94 |
| 662 0674 8E8D ldd r24,Y+30 |
| 663 0676 9F8D ldd r25,Y+31 |
| 664 0678 8734 cpi r24,71 |
| 665 067a 9105 cpc r25,__zero_reg__ |
| 666 067c 04F4 brge .+2 |
| 667 067e 00C0 rjmp .L94 |
| 668 0680 8639 cpi r24,150 |
| 669 0682 9105 cpc r25,__zero_reg__ |
| 670 0684 04F0 brlt .+2 |
| 671 0686 00C0 rjmp .L50 |
| 672 0688 8091 0000 lds r24,StickNick |
| 673 068c 9091 0000 lds r25,(StickNick)+1 |
| 674 0690 0C96 adiw r24,12 |
| 675 0692 4997 sbiw r24,25 |
| 676 0694 00F4 brsh .L52 |
| 677 0696 8091 0000 lds r24,StickRoll |
| 678 069a 9091 0000 lds r25,(StickRoll)+1 |
| 679 069e 8D30 cpi r24,13 |
| 680 06a0 9105 cpc r25,__zero_reg__ |
| 681 06a2 04F4 brge .L52 |
| 682 06a4 845F subi r24,lo8(-12) |
| 683 06a6 9F4F sbci r25,hi8(-12) |
| 684 06a8 04F4 brge .L50 |
| 685 .L52: |
| 686 06aa 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 687 06ae 1092 0000 sts GPS_Nick,__zero_reg__ |
| 688 06b2 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 689 06b6 1092 0000 sts GPS_Roll,__zero_reg__ |
| 690 06ba 8091 0000 lds r24,NORTH_MITTEL |
| 691 06be 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 692 06c2 A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 693 06c6 B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 694 06ca 8093 0000 sts Soll_Position_North,r24 |
| 695 06ce 9093 0000 sts (Soll_Position_North)+1,r25 |
| 696 06d2 A093 0000 sts (Soll_Position_North)+2,r26 |
| 697 06d6 B093 0000 sts (Soll_Position_North)+3,r27 |
| 698 06da 8091 0000 lds r24,EAST_MITTEL |
| 699 06de 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 700 06e2 A091 0000 lds r26,(EAST_MITTEL)+2 |
| 701 06e6 B091 0000 lds r27,(EAST_MITTEL)+3 |
| 702 06ea 8093 0000 sts Soll_Position_East,r24 |
| 703 06ee 9093 0000 sts (Soll_Position_East)+1,r25 |
| 704 06f2 A093 0000 sts (Soll_Position_East)+2,r26 |
| 705 06f6 B093 0000 sts (Soll_Position_East)+3,r27 |
| 706 06fa 8091 0000 lds r24,blinkcount_LED2 |
| 707 06fe 883C cpi r24,lo8(-56) |
| 708 0700 00F0 brlo .L55 |
| 709 0702 88B1 in r24,40-0x20 |
| 710 0704 98E0 ldi r25,lo8(8) |
| 711 0706 8927 eor r24,r25 |
| 712 0708 88B9 out 40-0x20,r24 |
| 713 070a 1092 0000 sts blinkcount_LED2,__zero_reg__ |
| 714 .L55: |
| 715 070e 8091 0000 lds r24,blinkcount_LED2 |
| 716 0712 8F5F subi r24,lo8(-(1)) |
| 717 0714 8093 0000 sts blinkcount_LED2,r24 |
| 718 .L50: |
| 719 0718 8091 0000 lds r24,NeuerMittelwert |
| 720 071c 8130 cpi r24,lo8(1) |
| 721 071e 01F0 breq .+2 |
| 722 0720 00C0 rjmp .L94 |
| 723 0722 E090 0000 lds r14,Soll_Position_North |
| 724 0726 F090 0000 lds r15,(Soll_Position_North)+1 |
| 725 072a 0091 0000 lds r16,(Soll_Position_North)+2 |
| 726 072e 1091 0000 lds r17,(Soll_Position_North)+3 |
| 727 0732 E114 cp r14,__zero_reg__ |
| 728 0734 F104 cpc r15,__zero_reg__ |
| 729 0736 0105 cpc r16,__zero_reg__ |
| 730 0738 1105 cpc r17,__zero_reg__ |
| 731 073a 01F4 brne .+2 |
| 732 073c 00C0 rjmp .L94 |
| 733 073e A090 0000 lds r10,Soll_Position_East |
| 734 0742 B090 0000 lds r11,(Soll_Position_East)+1 |
| 735 0746 C090 0000 lds r12,(Soll_Position_East)+2 |
| 736 074a D090 0000 lds r13,(Soll_Position_East)+3 |
| 737 074e A114 cp r10,__zero_reg__ |
| 738 0750 B104 cpc r11,__zero_reg__ |
| 739 0752 C104 cpc r12,__zero_reg__ |
| 740 0754 D104 cpc r13,__zero_reg__ |
| 741 0756 01F4 brne .+2 |
| 742 0758 00C0 rjmp .L94 |
| 743 075a 8091 0000 lds r24,StickNick |
| 744 075e 9091 0000 lds r25,(StickNick)+1 |
| 745 0762 8D30 cpi r24,13 |
| 746 0764 9105 cpc r25,__zero_reg__ |
| 747 0766 04F0 brlt .+2 |
| 748 0768 00C0 rjmp .L94 |
| 749 076a 845F subi r24,lo8(-12) |
| 750 076c 9F4F sbci r25,hi8(-12) |
| 751 076e 04F4 brge .+2 |
| 752 0770 00C0 rjmp .L94 |
| 753 0772 8091 0000 lds r24,StickRoll |
| 754 0776 9091 0000 lds r25,(StickRoll)+1 |
| 755 077a 8D30 cpi r24,13 |
| 756 077c 9105 cpc r25,__zero_reg__ |
| 757 077e 04F0 brlt .+2 |
| 758 0780 00C0 rjmp .L94 |
| 759 0782 845F subi r24,lo8(-12) |
| 760 0784 9F4F sbci r25,hi8(-12) |
| 761 0786 04F4 brge .+2 |
| 762 0788 00C0 rjmp .L94 |
| 763 078a 2E8D ldd r18,Y+30 |
| 764 078c 3F8D ldd r19,Y+31 |
| 765 078e 2639 cpi r18,150 |
| 766 0790 3105 cpc r19,__zero_reg__ |
| 767 0792 04F0 brlt .+2 |
| 768 0794 00C0 rjmp .L64 |
| 769 0796 8091 0000 lds r24,NORTH_MITTEL |
| 770 079a 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 771 079e A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 772 07a2 B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 773 07a6 E81A sub r14,r24 |
| 774 07a8 F90A sbc r15,r25 |
| 775 07aa 0A0B sbc r16,r26 |
| 776 07ac 1B0B sbc r17,r27 |
| 777 07ae E092 0000 sts GPS_Positionsabweichung_North,r14 |
| 778 07b2 F092 0000 sts (GPS_Positionsabweichung_North)+1,r15 |
| 779 07b6 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16 |
| 780 07ba 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17 |
| 781 07be 8091 0000 lds r24,EAST_MITTEL |
| 782 07c2 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 783 07c6 A091 0000 lds r26,(EAST_MITTEL)+2 |
| 784 07ca B091 0000 lds r27,(EAST_MITTEL)+3 |
| 785 07ce A81A sub r10,r24 |
| 786 07d0 B90A sbc r11,r25 |
| 787 07d2 CA0A sbc r12,r26 |
| 788 07d4 DB0A sbc r13,r27 |
| 789 07d6 A092 0000 sts GPS_Positionsabweichung_East,r10 |
| 790 07da B092 0000 sts (GPS_Positionsabweichung_East)+1,r11 |
| 791 07de C092 0000 sts (GPS_Positionsabweichung_East)+2,r12 |
| 792 07e2 D092 0000 sts (GPS_Positionsabweichung_East)+3,r13 |
| 793 07e6 00C0 rjmp .L96 |
| 794 .L67: |
| 795 07e8 E090 0000 lds r14,GPS_Home_East |
| 796 07ec F090 0000 lds r15,(GPS_Home_East)+1 |
| 797 07f0 0091 0000 lds r16,(GPS_Home_East)+2 |
| 798 07f4 1091 0000 lds r17,(GPS_Home_East)+3 |
| 799 07f8 E114 cp r14,__zero_reg__ |
| 800 07fa F104 cpc r15,__zero_reg__ |
| 801 07fc 0105 cpc r16,__zero_reg__ |
| 802 07fe 1105 cpc r17,__zero_reg__ |
| 803 0800 01F4 brne .+2 |
| 804 0802 00C0 rjmp .L66 |
| 805 0804 8091 0000 lds r24,NORTH_MITTEL |
| 806 0808 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 807 080c A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 808 0810 B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 809 0814 281B sub r18,r24 |
| 810 0816 390B sbc r19,r25 |
| 811 0818 4A0B sbc r20,r26 |
| 812 081a 5B0B sbc r21,r27 |
| 813 081c 2093 0000 sts GPS_Positionsabweichung_North,r18 |
| 814 0820 3093 0000 sts (GPS_Positionsabweichung_North)+1,r19 |
| 815 0824 4093 0000 sts (GPS_Positionsabweichung_North)+2,r20 |
| 816 0828 5093 0000 sts (GPS_Positionsabweichung_North)+3,r21 |
| 817 082c 8091 0000 lds r24,EAST_MITTEL |
| 818 0830 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 819 0834 A091 0000 lds r26,(EAST_MITTEL)+2 |
| 820 0838 B091 0000 lds r27,(EAST_MITTEL)+3 |
| 821 083c E81A sub r14,r24 |
| 822 083e F90A sbc r15,r25 |
| 823 0840 0A0B sbc r16,r26 |
| 824 0842 1B0B sbc r17,r27 |
| 825 0844 E092 0000 sts GPS_Positionsabweichung_East,r14 |
| 826 0848 F092 0000 sts (GPS_Positionsabweichung_East)+1,r15 |
| 827 084c 0093 0000 sts (GPS_Positionsabweichung_East)+2,r16 |
| 828 0850 1093 0000 sts (GPS_Positionsabweichung_East)+3,r17 |
| 829 0854 8091 0000 lds r24,NORTH_MITTEL |
| 830 0858 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 831 085c A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 832 0860 B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 833 0864 8093 0000 sts Soll_Position_North,r24 |
| 834 0868 9093 0000 sts (Soll_Position_North)+1,r25 |
| 835 086c A093 0000 sts (Soll_Position_North)+2,r26 |
| 836 0870 B093 0000 sts (Soll_Position_North)+3,r27 |
| 837 0874 8091 0000 lds r24,EAST_MITTEL |
| 838 0878 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 839 087c A091 0000 lds r26,(EAST_MITTEL)+2 |
| 840 0880 B091 0000 lds r27,(EAST_MITTEL)+3 |
| 841 0884 8093 0000 sts Soll_Position_East,r24 |
| 842 0888 9093 0000 sts (Soll_Position_East)+1,r25 |
| 843 088c A093 0000 sts (Soll_Position_East)+2,r26 |
| 844 0890 B093 0000 sts (Soll_Position_East)+3,r27 |
| 845 .L96: |
| 846 0894 439A sbi 40-0x20,3 |
| 847 0896 00C0 rjmp .L66 |
| 848 .L95: |
| 849 0898 8091 0000 lds r24,GPS_Home_East |
| 850 089c 9091 0000 lds r25,(GPS_Home_East)+1 |
| 851 08a0 A091 0000 lds r26,(GPS_Home_East)+2 |
| 852 08a4 B091 0000 lds r27,(GPS_Home_East)+3 |
| 853 08a8 0097 sbiw r24,0 |
| 854 08aa A105 cpc r26,__zero_reg__ |
| 855 08ac B105 cpc r27,__zero_reg__ |
| 856 08ae 01F4 brne .L66 |
| 857 08b0 8091 0000 lds r24,NORTH_MITTEL |
| 858 08b4 9091 0000 lds r25,(NORTH_MITTEL)+1 |
| 859 08b8 A091 0000 lds r26,(NORTH_MITTEL)+2 |
| 860 08bc B091 0000 lds r27,(NORTH_MITTEL)+3 |
| 861 08c0 E81A sub r14,r24 |
| 862 08c2 F90A sbc r15,r25 |
| 863 08c4 0A0B sbc r16,r26 |
| 864 08c6 1B0B sbc r17,r27 |
| 865 08c8 E092 0000 sts GPS_Positionsabweichung_North,r14 |
| 866 08cc F092 0000 sts (GPS_Positionsabweichung_North)+1,r15 |
| 867 08d0 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16 |
| 868 08d4 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17 |
| 869 08d8 8091 0000 lds r24,EAST_MITTEL |
| 870 08dc 9091 0000 lds r25,(EAST_MITTEL)+1 |
| 871 08e0 A091 0000 lds r26,(EAST_MITTEL)+2 |
| 872 08e4 B091 0000 lds r27,(EAST_MITTEL)+3 |
| 873 08e8 A81A sub r10,r24 |
| 874 08ea B90A sbc r11,r25 |
| 875 08ec CA0A sbc r12,r26 |
| 876 08ee DB0A sbc r13,r27 |
| 877 08f0 A092 0000 sts GPS_Positionsabweichung_East,r10 |
| 878 08f4 B092 0000 sts (GPS_Positionsabweichung_East)+1,r11 |
| 879 08f8 C092 0000 sts (GPS_Positionsabweichung_East)+2,r12 |
| 880 08fc D092 0000 sts (GPS_Positionsabweichung_East)+3,r13 |
| 881 0900 439A sbi 40-0x20,3 |
| 882 0902 82E3 ldi r24,lo8(50) |
| 883 0904 90E0 ldi r25,hi8(50) |
| 884 0906 9093 0000 sts (beeptime)+1,r25 |
| 885 090a 8093 0000 sts beeptime,r24 |
| 886 .L66: |
| 887 090e E090 0000 lds r14,actualPos+36 |
| 888 0912 F090 0000 lds r15,(actualPos+36)+1 |
| 889 0916 0091 0000 lds r16,(actualPos+36)+2 |
| 890 091a 1091 0000 lds r17,(actualPos+36)+3 |
| 891 091e E092 0000 sts GPS_Geschwindigkeit_North,r14 |
| 892 0922 F092 0000 sts (GPS_Geschwindigkeit_North)+1,r15 |
| 893 0926 0093 0000 sts (GPS_Geschwindigkeit_North)+2,r16 |
| 894 092a 1093 0000 sts (GPS_Geschwindigkeit_North)+3,r17 |
| 895 092e A090 0000 lds r10,actualPos+40 |
| 896 0932 B090 0000 lds r11,(actualPos+40)+1 |
| 897 0936 C090 0000 lds r12,(actualPos+40)+2 |
| 898 093a D090 0000 lds r13,(actualPos+40)+3 |
| 899 093e A092 0000 sts GPS_Geschwindigkeit_East,r10 |
| 900 0942 B092 0000 sts (GPS_Geschwindigkeit_East)+1,r11 |
| 901 0946 C092 0000 sts (GPS_Geschwindigkeit_East)+2,r12 |
| 902 094a D092 0000 sts (GPS_Geschwindigkeit_East)+3,r13 |
| 903 094e 6091 0000 lds r22,P_GPS_Verstaerkung |
| 904 0952 7091 0000 lds r23,(P_GPS_Verstaerkung)+1 |
| 905 0956 6090 0000 lds r6,GPS_Positionsabweichung_North |
| 906 095a 7090 0000 lds r7,(GPS_Positionsabweichung_North)+1 |
| 907 095e 8090 0000 lds r8,(GPS_Positionsabweichung_North)+2 |
| 908 0962 9090 0000 lds r9,(GPS_Positionsabweichung_North)+3 |
| 909 0966 8827 clr r24 |
| 910 0968 77FD sbrc r23,7 |
| 911 096a 8095 com r24 |
| 912 096c 982F mov r25,r24 |
| 913 096e A401 movw r20,r8 |
| 914 0970 9301 movw r18,r6 |
| 915 0972 0E94 0000 call __mulsi3 |
| 916 0976 0E94 0000 call __floatsisf |
| 917 097a 2FE6 ldi r18,lo8(0x3a03126f) |
| 918 097c 32E1 ldi r19,hi8(0x3a03126f) |
| 919 097e 43E0 ldi r20,hlo8(0x3a03126f) |
| 920 0980 5AE3 ldi r21,hhi8(0x3a03126f) |
| 921 0982 0E94 0000 call __mulsf3 |
| 922 0986 0E94 0000 call __fixsfsi |
| 923 098a 6987 std Y+9,r22 |
| 924 098c 7A87 std Y+10,r23 |
| 925 098e 8B87 std Y+11,r24 |
| 926 0990 9C87 std Y+12,r25 |
| 927 0992 6093 0000 sts P_Einfluss_North,r22 |
| 928 0996 7093 0000 sts (P_Einfluss_North)+1,r23 |
| 929 099a 8093 0000 sts (P_Einfluss_North)+2,r24 |
| 930 099e 9093 0000 sts (P_Einfluss_North)+3,r25 |
| 931 09a2 6091 0000 lds r22,D_GPS_Verstaerkung |
| 932 09a6 7091 0000 lds r23,(D_GPS_Verstaerkung)+1 |
| 933 09aa 8827 clr r24 |
| 934 09ac 77FD sbrc r23,7 |
| 935 09ae 8095 com r24 |
| 936 09b0 982F mov r25,r24 |
| 937 09b2 A801 movw r20,r16 |
| 938 09b4 9701 movw r18,r14 |
| 939 09b6 0E94 0000 call __mulsi3 |
| 940 09ba 0E94 0000 call __floatsisf |
| 941 09be 21E2 ldi r18,lo8(0x3b5a3c21) |
| 942 09c0 3CE3 ldi r19,hi8(0x3b5a3c21) |
| 943 09c2 4AE5 ldi r20,hlo8(0x3b5a3c21) |
| 944 09c4 5BE3 ldi r21,hhi8(0x3b5a3c21) |
| 945 09c6 0E94 0000 call __mulsf3 |
| 946 09ca 0E94 0000 call __fixsfsi |
| 947 09ce 1B01 movw r2,r22 |
| 948 09d0 2C01 movw r4,r24 |
| 949 09d2 6093 0000 sts D_Einfluss_North,r22 |
| 950 09d6 7093 0000 sts (D_Einfluss_North)+1,r23 |
| 951 09da 8093 0000 sts (D_Einfluss_North)+2,r24 |
| 952 09de 9093 0000 sts (D_Einfluss_North)+3,r25 |
| 953 09e2 6091 0000 lds r22,P_GPS_Verstaerkung |
| 954 09e6 7091 0000 lds r23,(P_GPS_Verstaerkung)+1 |
| 955 09ea E090 0000 lds r14,GPS_Positionsabweichung_East |
| 956 09ee F090 0000 lds r15,(GPS_Positionsabweichung_East)+1 |
| 957 09f2 0091 0000 lds r16,(GPS_Positionsabweichung_East)+2 |
| 958 09f6 1091 0000 lds r17,(GPS_Positionsabweichung_East)+3 |
| 959 09fa 8827 clr r24 |
| 960 09fc 77FD sbrc r23,7 |
| 961 09fe 8095 com r24 |
| 962 0a00 982F mov r25,r24 |
| 963 0a02 A801 movw r20,r16 |
| 964 0a04 9701 movw r18,r14 |
| 965 0a06 0E94 0000 call __mulsi3 |
| 966 0a0a 0E94 0000 call __floatsisf |
| 967 0a0e 2FE6 ldi r18,lo8(0x3a03126f) |
| 968 0a10 32E1 ldi r19,hi8(0x3a03126f) |
| 969 0a12 43E0 ldi r20,hlo8(0x3a03126f) |
| 970 0a14 5AE3 ldi r21,hhi8(0x3a03126f) |
| 971 0a16 0E94 0000 call __mulsf3 |
| 972 0a1a 0E94 0000 call __fixsfsi |
| 973 0a1e 6D83 std Y+5,r22 |
| 974 0a20 7E83 std Y+6,r23 |
| 975 0a22 8F83 std Y+7,r24 |
| 976 0a24 9887 std Y+8,r25 |
| 977 0a26 6093 0000 sts P_Einfluss_East,r22 |
| 978 0a2a 7093 0000 sts (P_Einfluss_East)+1,r23 |
| 979 0a2e 8093 0000 sts (P_Einfluss_East)+2,r24 |
| 980 0a32 9093 0000 sts (P_Einfluss_East)+3,r25 |
| 981 0a36 6091 0000 lds r22,D_GPS_Verstaerkung |
| 982 0a3a 7091 0000 lds r23,(D_GPS_Verstaerkung)+1 |
| 983 0a3e 8827 clr r24 |
| 984 0a40 77FD sbrc r23,7 |
| 985 0a42 8095 com r24 |
| 986 0a44 982F mov r25,r24 |
| 987 0a46 A601 movw r20,r12 |
| 988 0a48 9501 movw r18,r10 |
| 989 0a4a 0E94 0000 call __mulsi3 |
| 990 0a4e 0E94 0000 call __floatsisf |
| 991 0a52 21E2 ldi r18,lo8(0x3b5a3c21) |
| 992 0a54 3CE3 ldi r19,hi8(0x3b5a3c21) |
| 993 0a56 4AE5 ldi r20,hlo8(0x3b5a3c21) |
| 994 0a58 5BE3 ldi r21,hhi8(0x3b5a3c21) |
| 995 0a5a 0E94 0000 call __mulsf3 |
| 996 0a5e 0E94 0000 call __fixsfsi |
| 997 0a62 5B01 movw r10,r22 |
| 998 0a64 6C01 movw r12,r24 |
| 999 0a66 6093 0000 sts D_Einfluss_East,r22 |
| 1000 0a6a 7093 0000 sts (D_Einfluss_East)+1,r23 |
| 1001 0a6e 8093 0000 sts (D_Einfluss_East)+2,r24 |
| 1002 0a72 9093 0000 sts (D_Einfluss_East)+3,r25 |
| 1003 0a76 8E8D ldd r24,Y+30 |
| 1004 0a78 9F8D ldd r25,Y+31 |
| 1005 0a7a 8639 cpi r24,150 |
| 1006 0a7c 9105 cpc r25,__zero_reg__ |
| 1007 0a7e 04F4 brge .+2 |
| 1008 0a80 00C0 rjmp .L71 |
| 1009 0a82 8091 0000 lds r24,GPS_Home_North |
| 1010 0a86 9091 0000 lds r25,(GPS_Home_North)+1 |
| 1011 0a8a A091 0000 lds r26,(GPS_Home_North)+2 |
| 1012 0a8e B091 0000 lds r27,(GPS_Home_North)+3 |
| 1013 0a92 0097 sbiw r24,0 |
| 1014 0a94 A105 cpc r26,__zero_reg__ |
| 1015 0a96 B105 cpc r27,__zero_reg__ |
| 1016 0a98 01F4 brne .+2 |
| 1017 0a9a 00C0 rjmp .L71 |
| 1018 0a9c 8091 0000 lds r24,GPS_Home_East |
| 1019 0aa0 9091 0000 lds r25,(GPS_Home_East)+1 |
| 1020 0aa4 A091 0000 lds r26,(GPS_Home_East)+2 |
| 1021 0aa8 B091 0000 lds r27,(GPS_Home_East)+3 |
| 1022 0aac 0097 sbiw r24,0 |
| 1023 0aae A105 cpc r26,__zero_reg__ |
| 1024 0ab0 B105 cpc r27,__zero_reg__ |
| 1025 0ab2 01F4 brne .+2 |
| 1026 0ab4 00C0 rjmp .L71 |
| 1027 0ab6 C301 movw r24,r6 |
| 1028 0ab8 77FE sbrs r7,7 |
| 1029 0aba 00C0 rjmp .L76 |
| 1030 0abc 9095 com r25 |
| 1031 0abe 8195 neg r24 |
| 1032 0ac0 9F4F sbci r25,lo8(-1) |
| 1033 .L76: |
| 1034 0ac2 8B3F cpi r24,251 |
| 1035 0ac4 9105 cpc r25,__zero_reg__ |
| 1036 0ac6 04F4 brge .L75 |
| 1037 0ac8 C701 movw r24,r14 |
| 1038 0aca F7FE sbrs r15,7 |
| 1039 0acc 00C0 rjmp .L78 |
| 1040 0ace 9095 com r25 |
| 1041 0ad0 8195 neg r24 |
| 1042 0ad2 9F4F sbci r25,lo8(-1) |
| 1043 .L78: |
| 1044 0ad4 8B3F cpi r24,251 |
| 1045 0ad6 9105 cpc r25,__zero_reg__ |
| 1046 0ad8 04F4 brge .+2 |
| 1047 0ada 00C0 rjmp .L71 |
| 1048 .L75: |
| 1049 0adc 8091 0000 lds r24,Limit_D_Anteil |
| 1050 0ae0 282F mov r18,r24 |
| 1051 0ae2 3327 clr r19 |
| 1052 0ae4 4427 clr r20 |
| 1053 0ae6 5527 clr r21 |
| 1054 0ae8 2215 cp r18,r2 |
| 1055 0aea 3305 cpc r19,r3 |
| 1056 0aec 4405 cpc r20,r4 |
| 1057 0aee 5505 cpc r21,r5 |
| 1058 0af0 04F4 brge .L79 |
| 1059 0af2 2093 0000 sts D_Einfluss_North,r18 |
| 1060 0af6 3093 0000 sts (D_Einfluss_North)+1,r19 |
| 1061 0afa 4093 0000 sts (D_Einfluss_North)+2,r20 |
| 1062 0afe 5093 0000 sts (D_Einfluss_North)+3,r21 |
| 1063 .L79: |
| 1064 0b02 2A15 cp r18,r10 |
| 1065 0b04 3B05 cpc r19,r11 |
| 1066 0b06 4C05 cpc r20,r12 |
| 1067 0b08 5D05 cpc r21,r13 |
| 1068 0b0a 04F4 brge .L81 |
| 1069 0b0c 2093 0000 sts D_Einfluss_East,r18 |
| 1070 0b10 3093 0000 sts (D_Einfluss_East)+1,r19 |
| 1071 0b14 4093 0000 sts (D_Einfluss_East)+2,r20 |
| 1072 0b18 5093 0000 sts (D_Einfluss_East)+3,r21 |
| 1073 .L81: |
| 1074 0b1c 9927 clr r25 |
| 1075 0b1e 9095 com r25 |
| 1076 0b20 8195 neg r24 |
| 1077 0b22 9F4F sbci r25,lo8(-1) |
| 1078 0b24 9C01 movw r18,r24 |
| 1079 0b26 4427 clr r20 |
| 1080 0b28 37FD sbrc r19,7 |
| 1081 0b2a 4095 com r20 |
| 1082 0b2c 542F mov r21,r20 |
| 1083 0b2e 8091 0000 lds r24,D_Einfluss_North |
| 1084 0b32 9091 0000 lds r25,(D_Einfluss_North)+1 |
| 1085 0b36 A091 0000 lds r26,(D_Einfluss_North)+2 |
| 1086 0b3a B091 0000 lds r27,(D_Einfluss_North)+3 |
| 1087 0b3e 8217 cp r24,r18 |
| 1088 0b40 9307 cpc r25,r19 |
| 1089 0b42 A407 cpc r26,r20 |
| 1090 0b44 B507 cpc r27,r21 |
| 1091 0b46 04F4 brge .L83 |
| 1092 0b48 2093 0000 sts D_Einfluss_North,r18 |
| 1093 0b4c 3093 0000 sts (D_Einfluss_North)+1,r19 |
| 1094 0b50 4093 0000 sts (D_Einfluss_North)+2,r20 |
| 1095 0b54 5093 0000 sts (D_Einfluss_North)+3,r21 |
| 1096 .L83: |
| 1097 0b58 8091 0000 lds r24,D_Einfluss_East |
| 1098 0b5c 9091 0000 lds r25,(D_Einfluss_East)+1 |
| 1099 0b60 A091 0000 lds r26,(D_Einfluss_East)+2 |
| 1100 0b64 B091 0000 lds r27,(D_Einfluss_East)+3 |
| 1101 0b68 8217 cp r24,r18 |
| 1102 0b6a 9307 cpc r25,r19 |
| 1103 0b6c A407 cpc r26,r20 |
| 1104 0b6e B507 cpc r27,r21 |
| 1105 0b70 04F4 brge .L71 |
| 1106 0b72 2093 0000 sts D_Einfluss_East,r18 |
| 1107 0b76 3093 0000 sts (D_Einfluss_East)+1,r19 |
| 1108 0b7a 4093 0000 sts (D_Einfluss_East)+2,r20 |
| 1109 0b7e 5093 0000 sts (D_Einfluss_East)+3,r21 |
| 1110 .L71: |
| 1111 0b82 E090 0000 lds r14,D_Einfluss_North |
| 1112 0b86 F090 0000 lds r15,(D_Einfluss_North)+1 |
| 1113 0b8a A985 ldd r26,Y+9 |
| 1114 0b8c BA85 ldd r27,Y+10 |
| 1115 0b8e EA1A sub r14,r26 |
| 1116 0b90 FB0A sbc r15,r27 |
| 1117 0b92 F092 0000 sts (GPS_North)+1,r15 |
| 1118 0b96 E092 0000 sts GPS_North,r14 |
| 1119 0b9a 8091 0000 lds r24,D_Einfluss_East |
| 1120 0b9e 9091 0000 lds r25,(D_Einfluss_East)+1 |
| 1121 0ba2 6D81 ldd r22,Y+5 |
| 1122 0ba4 7E81 ldd r23,Y+6 |
| 1123 0ba6 681B sub r22,r24 |
| 1124 0ba8 790B sbc r23,r25 |
| 1125 0baa 7093 0000 sts (GPS_East)+1,r23 |
| 1126 0bae 6093 0000 sts GPS_East,r22 |
| 1127 0bb2 C090 0000 lds r12,KompassValue |
| 1128 0bb6 D090 0000 lds r13,(KompassValue)+1 |
| 1129 0bba 8827 clr r24 |
| 1130 0bbc 77FD sbrc r23,7 |
| 1131 0bbe 8095 com r24 |
| 1132 0bc0 982F mov r25,r24 |
| 1133 0bc2 0E94 0000 call __floatsisf |
| 1134 0bc6 3B01 movw r6,r22 |
| 1135 0bc8 4C01 movw r8,r24 |
| 1136 0bca A090 0000 lds r10,KompassValue |
| 1137 0bce B090 0000 lds r11,(KompassValue)+1 |
| 1138 0bd2 0027 clr r16 |
| 1139 0bd4 F7FC sbrc r15,7 |
| 1140 0bd6 0095 com r16 |
| 1141 0bd8 102F mov r17,r16 |
| 1142 0bda C801 movw r24,r16 |
| 1143 0bdc B701 movw r22,r14 |
| 1144 0bde 0E94 0000 call __floatsisf |
| 1145 0be2 1B01 movw r2,r22 |
| 1146 0be4 2C01 movw r4,r24 |
| 1147 0be6 CC0C lsl r12 |
| 1148 0be8 DD1C rol r13 |
| 1149 0bea E0E0 ldi r30,lo8(c_sin) |
| 1150 0bec F0E0 ldi r31,hi8(c_sin) |
| 1151 0bee CE0E add r12,r30 |
| 1152 0bf0 DF1E adc r13,r31 |
| 1153 0bf2 D601 movw r26,r12 |
| 1154 0bf4 6D91 ld r22,X+ |
| 1155 0bf6 7C91 ld r23,X |
| 1156 0bf8 7095 com r23 |
| 1157 0bfa 6195 neg r22 |
| 1158 0bfc 7F4F sbci r23,lo8(-1) |
| 1159 0bfe 8827 clr r24 |
| 1160 0c00 77FD sbrc r23,7 |
| 1161 0c02 8095 com r24 |
| 1162 0c04 982F mov r25,r24 |
| 1163 0c06 0E94 0000 call __floatsisf |
| 1164 0c0a 2FE6 ldi r18,lo8(0x3a83126f) |
| 1165 0c0c 32E1 ldi r19,hi8(0x3a83126f) |
| 1166 0c0e 43E8 ldi r20,hlo8(0x3a83126f) |
| 1167 0c10 5AE3 ldi r21,hhi8(0x3a83126f) |
| 1168 0c12 0E94 0000 call __mulsf3 |
| 1169 0c16 A401 movw r20,r8 |
| 1170 0c18 9301 movw r18,r6 |
| 1171 0c1a 0E94 0000 call __mulsf3 |
| 1172 0c1e 7B01 movw r14,r22 |
| 1173 0c20 8C01 movw r16,r24 |
| 1174 0c22 AA0C lsl r10 |
| 1175 0c24 BB1C rol r11 |
| 1176 0c26 E0E0 ldi r30,lo8(c_cos) |
| 1177 0c28 F0E0 ldi r31,hi8(c_cos) |
| 1178 0c2a AE0E add r10,r30 |
| 1179 0c2c BF1E adc r11,r31 |
| 1180 0c2e D501 movw r26,r10 |
| 1181 0c30 6D91 ld r22,X+ |
| 1182 0c32 7C91 ld r23,X |
| 1183 0c34 8827 clr r24 |
| 1184 0c36 77FD sbrc r23,7 |
| 1185 0c38 8095 com r24 |
| 1186 0c3a 982F mov r25,r24 |
| 1187 0c3c 0E94 0000 call __floatsisf |
| 1188 0c40 2FE6 ldi r18,lo8(0x3a83126f) |
| 1189 0c42 32E1 ldi r19,hi8(0x3a83126f) |
| 1190 0c44 43E8 ldi r20,hlo8(0x3a83126f) |
| 1191 0c46 5AE3 ldi r21,hhi8(0x3a83126f) |
| 1192 0c48 0E94 0000 call __mulsf3 |
| 1193 0c4c A201 movw r20,r4 |
| 1194 0c4e 9101 movw r18,r2 |
| 1195 0c50 0E94 0000 call __mulsf3 |
| 1196 0c54 9B01 movw r18,r22 |
| 1197 0c56 AC01 movw r20,r24 |
| 1198 0c58 C801 movw r24,r16 |
| 1199 0c5a B701 movw r22,r14 |
| 1200 0c5c 0E94 0000 call __addsf3 |
| 1201 0c60 0E94 0000 call __fixsfsi |
| 1202 0c64 5B01 movw r10,r22 |
| 1203 0c66 7093 0000 sts (GPS_Nick)+1,r23 |
| 1204 0c6a 6093 0000 sts GPS_Nick,r22 |
| 1205 0c6e E091 0000 lds r30,KompassValue |
| 1206 0c72 F091 0000 lds r31,(KompassValue)+1 |
| 1207 0c76 0091 0000 lds r16,KompassValue |
| 1208 0c7a 1091 0000 lds r17,(KompassValue)+1 |
| 1209 0c7e EE0F lsl r30 |
| 1210 0c80 FF1F rol r31 |
| 1211 0c82 E050 subi r30,lo8(-(c_cos)) |
| 1212 0c84 F040 sbci r31,hi8(-(c_cos)) |
| 1213 0c86 6081 ld r22,Z |
| 1214 0c88 7181 ldd r23,Z+1 |
| 1215 0c8a 8827 clr r24 |
| 1216 0c8c 77FD sbrc r23,7 |
| 1217 0c8e 8095 com r24 |
| 1218 0c90 982F mov r25,r24 |
| 1219 0c92 0E94 0000 call __floatsisf |
| 1220 0c96 2FE6 ldi r18,lo8(0x3a83126f) |
| 1221 0c98 32E1 ldi r19,hi8(0x3a83126f) |
| 1222 0c9a 43E8 ldi r20,hlo8(0x3a83126f) |
| 1223 0c9c 5AE3 ldi r21,hhi8(0x3a83126f) |
| 1224 0c9e 0E94 0000 call __mulsf3 |
| 1225 0ca2 A401 movw r20,r8 |
| 1226 0ca4 9301 movw r18,r6 |
| 1227 0ca6 0E94 0000 call __mulsf3 |
| 1228 0caa 6B01 movw r12,r22 |
| 1229 0cac 7C01 movw r14,r24 |
| 1230 0cae 000F lsl r16 |
| 1231 0cb0 111F rol r17 |
| 1232 0cb2 0050 subi r16,lo8(-(c_sin)) |
| 1233 0cb4 1040 sbci r17,hi8(-(c_sin)) |
| 1234 0cb6 F801 movw r30,r16 |
| 1235 0cb8 6081 ld r22,Z |
| 1236 0cba 7181 ldd r23,Z+1 |
| 1237 0cbc 8827 clr r24 |
| 1238 0cbe 77FD sbrc r23,7 |
| 1239 0cc0 8095 com r24 |
| 1240 0cc2 982F mov r25,r24 |
| 1241 0cc4 0E94 0000 call __floatsisf |
| 1242 0cc8 2FE6 ldi r18,lo8(0x3a83126f) |
| 1243 0cca 32E1 ldi r19,hi8(0x3a83126f) |
| 1244 0ccc 43E8 ldi r20,hlo8(0x3a83126f) |
| 1245 0cce 5AE3 ldi r21,hhi8(0x3a83126f) |
| 1246 0cd0 0E94 0000 call __mulsf3 |
| 1247 0cd4 A201 movw r20,r4 |
| 1248 0cd6 9101 movw r18,r2 |
| 1249 0cd8 0E94 0000 call __mulsf3 |
| 1250 0cdc 9B01 movw r18,r22 |
| 1251 0cde AC01 movw r20,r24 |
| 1252 0ce0 C701 movw r24,r14 |
| 1253 0ce2 B601 movw r22,r12 |
| 1254 0ce4 0E94 0000 call __addsf3 |
| 1255 0ce8 0E94 0000 call __fixsfsi |
| 1256 0cec 9B01 movw r18,r22 |
| 1257 0cee 7093 0000 sts (GPS_Roll)+1,r23 |
| 1258 0cf2 6093 0000 sts GPS_Roll,r22 |
| 1259 0cf6 F4E2 ldi r31,lo8(36) |
| 1260 0cf8 AF16 cp r10,r31 |
| 1261 0cfa B104 cpc r11,__zero_reg__ |
| 1262 0cfc 04F0 brlt .L86 |
| 1263 0cfe 83E2 ldi r24,lo8(35) |
| 1264 0d00 90E0 ldi r25,hi8(35) |
| 1265 0d02 9093 0000 sts (GPS_Nick)+1,r25 |
| 1266 0d06 8093 0000 sts GPS_Nick,r24 |
| 1267 .L86: |
| 1268 0d0a 2432 cpi r18,36 |
| 1269 0d0c 3105 cpc r19,__zero_reg__ |
| 1270 0d0e 04F0 brlt .L88 |
| 1271 0d10 83E2 ldi r24,lo8(35) |
| 1272 0d12 90E0 ldi r25,hi8(35) |
| 1273 0d14 9093 0000 sts (GPS_Roll)+1,r25 |
| 1274 0d18 8093 0000 sts GPS_Roll,r24 |
| 1275 .L88: |
| 1276 0d1c 8091 0000 lds r24,GPS_Nick |
| 1277 0d20 9091 0000 lds r25,(GPS_Nick)+1 |
| 1278 0d24 8D5D subi r24,lo8(-35) |
| 1279 0d26 9F4F sbci r25,hi8(-35) |
| 1280 0d28 04F4 brge .L90 |
| 1281 0d2a 8DED ldi r24,lo8(-35) |
| 1282 0d2c 9FEF ldi r25,hi8(-35) |
| 1283 0d2e 9093 0000 sts (GPS_Nick)+1,r25 |
| 1284 0d32 8093 0000 sts GPS_Nick,r24 |
| 1285 .L90: |
| 1286 0d36 8091 0000 lds r24,GPS_Roll |
| 1287 0d3a 9091 0000 lds r25,(GPS_Roll)+1 |
| 1288 0d3e 8D5D subi r24,lo8(-35) |
| 1289 0d40 9F4F sbci r25,hi8(-35) |
| 1290 0d42 04F4 brge .L92 |
| 1291 0d44 8DED ldi r24,lo8(-35) |
| 1292 0d46 9FEF ldi r25,hi8(-35) |
| 1293 0d48 9093 0000 sts (GPS_Roll)+1,r25 |
| 1294 0d4c 8093 0000 sts GPS_Roll,r24 |
| 1295 .L92: |
| 1296 0d50 1092 0000 sts NeuerMittelwert,__zero_reg__ |
| 1297 0d54 00C0 rjmp .L94 |
| 1298 .L64: |
| 1299 0d56 2091 0000 lds r18,GPS_Home_North |
| 1300 0d5a 3091 0000 lds r19,(GPS_Home_North)+1 |
| 1301 0d5e 4091 0000 lds r20,(GPS_Home_North)+2 |
| 1302 0d62 5091 0000 lds r21,(GPS_Home_North)+3 |
| 1303 0d66 2115 cp r18,__zero_reg__ |
| 1304 0d68 3105 cpc r19,__zero_reg__ |
| 1305 0d6a 4105 cpc r20,__zero_reg__ |
| 1306 0d6c 5105 cpc r21,__zero_reg__ |
| 1307 0d6e 01F0 breq .+2 |
| 1308 0d70 00C0 rjmp .L67 |
| 1309 0d72 00C0 rjmp .L95 |
| 1310 .L94: |
| 1311 /* epilogue: frame size=31 */ |
| 1312 0d74 6F96 adiw r28,31 |
| 1313 0d76 0FB6 in __tmp_reg__,__SREG__ |
| 1314 0d78 F894 cli |
| 1315 0d7a DEBF out __SP_H__,r29 |
| 1316 0d7c 0FBE out __SREG__,__tmp_reg__ |
| 1317 0d7e CDBF out __SP_L__,r28 |
| 1318 0d80 DF91 pop r29 |
| 1319 0d82 CF91 pop r28 |
| 1320 0d84 1F91 pop r17 |
| 1321 0d86 0F91 pop r16 |
| 1322 0d88 FF90 pop r15 |
| 1323 0d8a EF90 pop r14 |
| 1324 0d8c DF90 pop r13 |
| 1325 0d8e CF90 pop r12 |
| 1326 0d90 BF90 pop r11 |
| 1327 0d92 AF90 pop r10 |
| 1328 0d94 9F90 pop r9 |
| 1329 0d96 8F90 pop r8 |
| 1330 0d98 7F90 pop r7 |
| 1331 0d9a 6F90 pop r6 |
| 1332 0d9c 5F90 pop r5 |
| 1333 0d9e 4F90 pop r4 |
| 1334 0da0 3F90 pop r3 |
| 1335 0da2 2F90 pop r2 |
| 1336 0da4 0895 ret |
| 1337 /* epilogue end (size=25) */ |
| 1338 /* function gps_main size 1755 (1704) */ |
| 1340 .global c_sin |
| 1341 .data |
| 1344 c_sin: |
| 1345 0000 0000 .word 0 |
| 1346 0002 1100 .word 17 |
| 1347 0004 2200 .word 34 |
| 1348 0006 3400 .word 52 |
| 1349 0008 4500 .word 69 |
| 1350 000a 5700 .word 87 |
| 1351 000c 6800 .word 104 |
| 1352 000e 7900 .word 121 |
| 1353 0010 8B00 .word 139 |
| 1354 0012 9C00 .word 156 |
| 1355 0014 AD00 .word 173 |
| 1356 0016 BE00 .word 190 |
| 1357 0018 CF00 .word 207 |
| 1358 001a E000 .word 224 |
| 1359 001c F100 .word 241 |
| 1360 001e 0201 .word 258 |
| 1361 0020 1301 .word 275 |
| 1362 0022 2401 .word 292 |
| 1363 0024 3501 .word 309 |
| 1364 0026 4501 .word 325 |
| 1365 0028 5601 .word 342 |
| 1366 002a 6601 .word 358 |
| 1367 002c 7601 .word 374 |
| 1368 002e 8601 .word 390 |
| 1369 0030 9601 .word 406 |
| 1370 0032 A601 .word 422 |
| 1371 0034 B601 .word 438 |
| 1372 0036 C501 .word 453 |
| 1373 0038 D501 .word 469 |
| 1374 003a E401 .word 484 |
| 1375 003c F401 .word 500 |
| 1376 003e 0302 .word 515 |
| 1377 0040 1102 .word 529 |
| 1378 0042 2002 .word 544 |
| 1379 0044 2F02 .word 559 |
| 1380 0046 3D02 .word 573 |
| 1381 0048 4B02 .word 587 |
| 1382 004a 5902 .word 601 |
| 1383 004c 6702 .word 615 |
| 1384 004e 7502 .word 629 |
| 1385 0050 8202 .word 642 |
| 1386 0052 9002 .word 656 |
| 1387 0054 9D02 .word 669 |
| 1388 0056 AA02 .word 682 |
| 1389 0058 B602 .word 694 |
| 1390 005a C302 .word 707 |
| 1391 005c CF02 .word 719 |
| 1392 005e DB02 .word 731 |
| 1393 0060 E702 .word 743 |
| 1394 0062 F202 .word 754 |
| 1395 0064 FE02 .word 766 |
| 1396 0066 0903 .word 777 |
| 1397 0068 1403 .word 788 |
| 1398 006a 1E03 .word 798 |
| 1399 006c 2903 .word 809 |
| 1400 006e 3303 .word 819 |
| 1401 0070 3D03 .word 829 |
| 1402 0072 4603 .word 838 |
| 1403 0074 5003 .word 848 |
| 1404 0076 5903 .word 857 |
| 1405 0078 6203 .word 866 |
| 1406 007a 6A03 .word 874 |
| 1407 007c 7203 .word 882 |
| 1408 007e 7B03 .word 891 |
| 1409 0080 8203 .word 898 |
| 1410 0082 8A03 .word 906 |
| 1411 0084 9103 .word 913 |
| 1412 0086 9803 .word 920 |
| 1413 0088 9F03 .word 927 |
| 1414 008a A503 .word 933 |
| 1415 008c AB03 .word 939 |
| 1416 008e B103 .word 945 |
| 1417 0090 B703 .word 951 |
| 1418 0092 BC03 .word 956 |
| 1419 0094 C103 .word 961 |
| 1420 0096 C503 .word 965 |
| 1421 0098 CA03 .word 970 |
| 1422 009a CE03 .word 974 |
| 1423 009c D203 .word 978 |
| 1424 009e D503 .word 981 |
| 1425 00a0 D803 .word 984 |
| 1426 00a2 DB03 .word 987 |
| 1427 00a4 DE03 .word 990 |
| 1428 00a6 E003 .word 992 |
| 1429 00a8 E203 .word 994 |
| 1430 00aa E403 .word 996 |
| 1431 00ac E503 .word 997 |
| 1432 00ae E603 .word 998 |
| 1433 00b0 E703 .word 999 |
| 1434 00b2 E703 .word 999 |
| 1435 00b4 E803 .word 1000 |
| 1436 00b6 E703 .word 999 |
| 1437 00b8 E703 .word 999 |
| 1438 00ba E603 .word 998 |
| 1439 00bc E503 .word 997 |
| 1440 00be E403 .word 996 |
| 1441 00c0 E203 .word 994 |
| 1442 00c2 E003 .word 992 |
| 1443 00c4 DE03 .word 990 |
| 1444 00c6 DB03 .word 987 |
| 1445 00c8 D803 .word 984 |
| 1446 00ca D503 .word 981 |
| 1447 00cc D203 .word 978 |
| 1448 00ce CE03 .word 974 |
| 1449 00d0 CA03 .word 970 |
| 1450 00d2 C503 .word 965 |
| 1451 00d4 C103 .word 961 |
| 1452 00d6 BC03 .word 956 |
| 1453 00d8 B703 .word 951 |
| 1454 00da B103 .word 945 |
| 1455 00dc AB03 .word 939 |
| 1456 00de A503 .word 933 |
| 1457 00e0 9F03 .word 927 |
| 1458 00e2 9803 .word 920 |
| 1459 00e4 9103 .word 913 |
| 1460 00e6 8A03 .word 906 |
| 1461 00e8 8203 .word 898 |
| 1462 00ea 7B03 .word 891 |
| 1463 00ec 7203 .word 882 |
| 1464 00ee 6A03 .word 874 |
| 1465 00f0 6203 .word 866 |
| 1466 00f2 5903 .word 857 |
| 1467 00f4 5003 .word 848 |
| 1468 00f6 4603 .word 838 |
| 1469 00f8 3D03 .word 829 |
| 1470 00fa 3303 .word 819 |
| 1471 00fc 2903 .word 809 |
| 1472 00fe 1E03 .word 798 |
| 1473 0100 1403 .word 788 |
| 1474 0102 0903 .word 777 |
| 1475 0104 FE02 .word 766 |
| 1476 0106 F202 .word 754 |
| 1477 0108 E702 .word 743 |
| 1478 010a DB02 .word 731 |
| 1479 010c CF02 .word 719 |
| 1480 010e C302 .word 707 |
| 1481 0110 B602 .word 694 |
| 1482 0112 AA02 .word 682 |
| 1483 0114 9D02 .word 669 |
| 1484 0116 9002 .word 656 |
| 1485 0118 8202 .word 642 |
| 1486 011a 7502 .word 629 |
| 1487 011c 6702 .word 615 |
| 1488 011e 5902 .word 601 |
| 1489 0120 4B02 .word 587 |
| 1490 0122 3D02 .word 573 |
| 1491 0124 2F02 .word 559 |
| 1492 0126 2002 .word 544 |
| 1493 0128 1102 .word 529 |
| 1494 012a 0302 .word 515 |
| 1495 012c F401 .word 500 |
| 1496 012e E401 .word 484 |
| 1497 0130 D501 .word 469 |
| 1498 0132 C501 .word 453 |
| 1499 0134 B601 .word 438 |
| 1500 0136 A601 .word 422 |
| 1501 0138 9601 .word 406 |
| 1502 013a 8601 .word 390 |
| 1503 013c 7601 .word 374 |
| 1504 013e 6601 .word 358 |
| 1505 0140 5601 .word 342 |
| 1506 0142 4501 .word 325 |
| 1507 0144 3501 .word 309 |
| 1508 0146 2401 .word 292 |
| 1509 0148 1301 .word 275 |
| 1510 014a 0201 .word 258 |
| 1511 014c F100 .word 241 |
| 1512 014e E000 .word 224 |
| 1513 0150 CF00 .word 207 |
| 1514 0152 BE00 .word 190 |
| 1515 0154 AD00 .word 173 |
| 1516 0156 9C00 .word 156 |
| 1517 0158 8B00 .word 139 |
| 1518 015a 7900 .word 121 |
| 1519 015c 6800 .word 104 |
| 1520 015e 5700 .word 87 |
| 1521 0160 4500 .word 69 |
| 1522 0162 3400 .word 52 |
| 1523 0164 2200 .word 34 |
| 1524 0166 1100 .word 17 |
| 1525 0168 0000 .word 0 |
| 1526 016a EFFF .word -17 |
| 1527 016c DEFF .word -34 |
| 1528 016e CCFF .word -52 |
| 1529 0170 BBFF .word -69 |
| 1530 0172 A9FF .word -87 |
| 1531 0174 98FF .word -104 |
| 1532 0176 87FF .word -121 |
| 1533 0178 75FF .word -139 |
| 1534 017a 64FF .word -156 |
| 1535 017c 53FF .word -173 |
| 1536 017e 42FF .word -190 |
| 1537 0180 31FF .word -207 |
| 1538 0182 20FF .word -224 |
| 1539 0184 0FFF .word -241 |
| 1540 0186 FEFE .word -258 |
| 1541 0188 EDFE .word -275 |
| 1542 018a DCFE .word -292 |
| 1543 018c CBFE .word -309 |
| 1544 018e BBFE .word -325 |
| 1545 0190 AAFE .word -342 |
| 1546 0192 9AFE .word -358 |
| 1547 0194 8AFE .word -374 |
| 1548 0196 7AFE .word -390 |
| 1549 0198 6AFE .word -406 |
| 1550 019a 5AFE .word -422 |
| 1551 019c 4AFE .word -438 |
| 1552 019e 3BFE .word -453 |
| 1553 01a0 2BFE .word -469 |
| 1554 01a2 1CFE .word -484 |
| 1555 01a4 0CFE .word -500 |
| 1556 01a6 FDFD .word -515 |
| 1557 01a8 EFFD .word -529 |
| 1558 01aa E0FD .word -544 |
| 1559 01ac D1FD .word -559 |
| 1560 01ae C3FD .word -573 |
| 1561 01b0 B5FD .word -587 |
| 1562 01b2 A7FD .word -601 |
| 1563 01b4 99FD .word -615 |
| 1564 01b6 8BFD .word -629 |
| 1565 01b8 7EFD .word -642 |
| 1566 01ba 70FD .word -656 |
| 1567 01bc 63FD .word -669 |
| 1568 01be 56FD .word -682 |
| 1569 01c0 4AFD .word -694 |
| 1570 01c2 3DFD .word -707 |
| 1571 01c4 31FD .word -719 |
| 1572 01c6 25FD .word -731 |
| 1573 01c8 19FD .word -743 |
| 1574 01ca 0EFD .word -754 |
| 1575 01cc 02FD .word -766 |
| 1576 01ce F7FC .word -777 |
| 1577 01d0 ECFC .word -788 |
| 1578 01d2 E2FC .word -798 |
| 1579 01d4 D7FC .word -809 |
| 1580 01d6 CDFC .word -819 |
| 1581 01d8 C3FC .word -829 |
| 1582 01da BAFC .word -838 |
| 1583 01dc B0FC .word -848 |
| 1584 01de A7FC .word -857 |
| 1585 01e0 9EFC .word -866 |
| 1586 01e2 96FC .word -874 |
| 1587 01e4 8EFC .word -882 |
| 1588 01e6 85FC .word -891 |
| 1589 01e8 7EFC .word -898 |
| 1590 01ea 76FC .word -906 |
| 1591 01ec 6FFC .word -913 |
| 1592 01ee 68FC .word -920 |
| 1593 01f0 61FC .word -927 |
| 1594 01f2 5BFC .word -933 |
| 1595 01f4 55FC .word -939 |
| 1596 01f6 4FFC .word -945 |
| 1597 01f8 49FC .word -951 |
| 1598 01fa 44FC .word -956 |
| 1599 01fc 3FFC .word -961 |
| 1600 01fe 3BFC .word -965 |
| 1601 0200 36FC .word -970 |
| 1602 0202 32FC .word -974 |
| 1603 0204 2EFC .word -978 |
| 1604 0206 2BFC .word -981 |
| 1605 0208 28FC .word -984 |
| 1606 020a 25FC .word -987 |
| 1607 020c 22FC .word -990 |
| 1608 020e 20FC .word -992 |
| 1609 0210 1EFC .word -994 |
| 1610 0212 1CFC .word -996 |
| 1611 0214 1BFC .word -997 |
| 1612 0216 1AFC .word -998 |
| 1613 0218 19FC .word -999 |
| 1614 021a 19FC .word -999 |
| 1615 021c 18FC .word -1000 |
| 1616 021e 19FC .word -999 |
| 1617 0220 19FC .word -999 |
| 1618 0222 1AFC .word -998 |
| 1619 0224 1BFC .word -997 |
| 1620 0226 1CFC .word -996 |
| 1621 0228 1EFC .word -994 |
| 1622 022a 20FC .word -992 |
| 1623 022c 22FC .word -990 |
| 1624 022e 25FC .word -987 |
| 1625 0230 28FC .word -984 |
| 1626 0232 2BFC .word -981 |
| 1627 0234 2EFC .word -978 |
| 1628 0236 32FC .word -974 |
| 1629 0238 36FC .word -970 |
| 1630 023a 3BFC .word -965 |
| 1631 023c 3FFC .word -961 |
| 1632 023e 44FC .word -956 |
| 1633 0240 49FC .word -951 |
| 1634 0242 4FFC .word -945 |
| 1635 0244 55FC .word -939 |
| 1636 0246 5BFC .word -933 |
| 1637 0248 61FC .word -927 |
| 1638 024a 68FC .word -920 |
| 1639 024c 6FFC .word -913 |
| 1640 024e 76FC .word -906 |
| 1641 0250 7EFC .word -898 |
| 1642 0252 85FC .word -891 |
| 1643 0254 8EFC .word -882 |
| 1644 0256 96FC .word -874 |
| 1645 0258 9EFC .word -866 |
| 1646 025a A7FC .word -857 |
| 1647 025c B0FC .word -848 |
| 1648 025e BAFC .word -838 |
| 1649 0260 C3FC .word -829 |
| 1650 0262 CDFC .word -819 |
| 1651 0264 D7FC .word -809 |
| 1652 0266 E2FC .word -798 |
| 1653 0268 ECFC .word -788 |
| 1654 026a F7FC .word -777 |
| 1655 026c 02FD .word -766 |
| 1656 026e 0EFD .word -754 |
| 1657 0270 19FD .word -743 |
| 1658 0272 25FD .word -731 |
| 1659 0274 31FD .word -719 |
| 1660 0276 3DFD .word -707 |
| 1661 0278 4AFD .word -694 |
| 1662 027a 56FD .word -682 |
| 1663 027c 63FD .word -669 |
| 1664 027e 70FD .word -656 |
| 1665 0280 7EFD .word -642 |
| 1666 0282 8BFD .word -629 |
| 1667 0284 99FD .word -615 |
| 1668 0286 A7FD .word -601 |
| 1669 0288 B5FD .word -587 |
| 1670 028a C3FD .word -573 |
| 1671 028c D1FD .word -559 |
| 1672 028e E0FD .word -544 |
| 1673 0290 EFFD .word -529 |
| 1674 0292 FDFD .word -515 |
| 1675 0294 0CFE .word -500 |
| 1676 0296 1CFE .word -484 |
| 1677 0298 2BFE .word -469 |
| 1678 029a 3BFE .word -453 |
| 1679 029c 4AFE .word -438 |
| 1680 029e 5AFE .word -422 |
| 1681 02a0 6AFE .word -406 |
| 1682 02a2 7AFE .word -390 |
| 1683 02a4 8AFE .word -374 |
| 1684 02a6 9AFE .word -358 |
| 1685 02a8 AAFE .word -342 |
| 1686 02aa BBFE .word -325 |
| 1687 02ac CBFE .word -309 |
| 1688 02ae DCFE .word -292 |
| 1689 02b0 EDFE .word -275 |
| 1690 02b2 FEFE .word -258 |
| 1691 02b4 0FFF .word -241 |
| 1692 02b6 20FF .word -224 |
| 1693 02b8 31FF .word -207 |
| 1694 02ba 42FF .word -190 |
| 1695 02bc 53FF .word -173 |
| 1696 02be 64FF .word -156 |
| 1697 02c0 75FF .word -139 |
| 1698 02c2 87FF .word -121 |
| 1699 02c4 98FF .word -104 |
| 1700 02c6 A9FF .word -87 |
| 1701 02c8 BBFF .word -69 |
| 1702 02ca CCFF .word -52 |
| 1703 02cc DEFF .word -34 |
| 1704 02ce EFFF .word -17 |
| 1705 .global c_cos |
| 1708 c_cos: |
| 1709 02d0 E803 .word 1000 |
| 1710 02d2 E703 .word 999 |
| 1711 02d4 E703 .word 999 |
| 1712 02d6 E603 .word 998 |
| 1713 02d8 E503 .word 997 |
| 1714 02da E403 .word 996 |
| 1715 02dc E203 .word 994 |
| 1716 02de E003 .word 992 |
| 1717 02e0 DE03 .word 990 |
| 1718 02e2 DB03 .word 987 |
| 1719 02e4 D803 .word 984 |
| 1720 02e6 D503 .word 981 |
| 1721 02e8 D203 .word 978 |
| 1722 02ea CE03 .word 974 |
| 1723 02ec CA03 .word 970 |
| 1724 02ee C503 .word 965 |
| 1725 02f0 C103 .word 961 |
| 1726 02f2 BC03 .word 956 |
| 1727 02f4 B703 .word 951 |
| 1728 02f6 B103 .word 945 |
| 1729 02f8 AB03 .word 939 |
| 1730 02fa A503 .word 933 |
| 1731 02fc 9F03 .word 927 |
| 1732 02fe 9803 .word 920 |
| 1733 0300 9103 .word 913 |
| 1734 0302 8A03 .word 906 |
| 1735 0304 8203 .word 898 |
| 1736 0306 7B03 .word 891 |
| 1737 0308 7203 .word 882 |
| 1738 030a 6A03 .word 874 |
| 1739 030c 6203 .word 866 |
| 1740 030e 5903 .word 857 |
| 1741 0310 5003 .word 848 |
| 1742 0312 4603 .word 838 |
| 1743 0314 3D03 .word 829 |
| 1744 0316 3303 .word 819 |
| 1745 0318 2903 .word 809 |
| 1746 031a 1E03 .word 798 |
| 1747 031c 1403 .word 788 |
| 1748 031e 0903 .word 777 |
| 1749 0320 FE02 .word 766 |
| 1750 0322 F202 .word 754 |
| 1751 0324 E702 .word 743 |
| 1752 0326 DB02 .word 731 |
| 1753 0328 CF02 .word 719 |
| 1754 032a C302 .word 707 |
| 1755 032c B602 .word 694 |
| 1756 032e AA02 .word 682 |
| 1757 0330 9D02 .word 669 |
| 1758 0332 9002 .word 656 |
| 1759 0334 8202 .word 642 |
| 1760 0336 7502 .word 629 |
| 1761 0338 6702 .word 615 |
| 1762 033a 5902 .word 601 |
| 1763 033c 4B02 .word 587 |
| 1764 033e 3D02 .word 573 |
| 1765 0340 2F02 .word 559 |
| 1766 0342 2002 .word 544 |
| 1767 0344 1102 .word 529 |
| 1768 0346 0302 .word 515 |
| 1769 0348 F401 .word 500 |
| 1770 034a E401 .word 484 |
| 1771 034c D501 .word 469 |
| 1772 034e C501 .word 453 |
| 1773 0350 B601 .word 438 |
| 1774 0352 A601 .word 422 |
| 1775 0354 9601 .word 406 |
| 1776 0356 8601 .word 390 |
| 1777 0358 7601 .word 374 |
| 1778 035a 6601 .word 358 |
| 1779 035c 5601 .word 342 |
| 1780 035e 4501 .word 325 |
| 1781 0360 3501 .word 309 |
| 1782 0362 2401 .word 292 |
| 1783 0364 1301 .word 275 |
| 1784 0366 0201 .word 258 |
| 1785 0368 F100 .word 241 |
| 1786 036a E000 .word 224 |
| 1787 036c CF00 .word 207 |
| 1788 036e BE00 .word 190 |
| 1789 0370 AD00 .word 173 |
| 1790 0372 9C00 .word 156 |
| 1791 0374 8B00 .word 139 |
| 1792 0376 7900 .word 121 |
| 1793 0378 6800 .word 104 |
| 1794 037a 5700 .word 87 |
| 1795 037c 4500 .word 69 |
| 1796 037e 3400 .word 52 |
| 1797 0380 2200 .word 34 |
| 1798 0382 1100 .word 17 |
| 1799 0384 0000 .word 0 |
| 1800 0386 EFFF .word -17 |
| 1801 0388 DEFF .word -34 |
| 1802 038a CCFF .word -52 |
| 1803 038c BBFF .word -69 |
| 1804 038e A9FF .word -87 |
| 1805 0390 98FF .word -104 |
| 1806 0392 87FF .word -121 |
| 1807 0394 75FF .word -139 |
| 1808 0396 64FF .word -156 |
| 1809 0398 53FF .word -173 |
| 1810 039a 42FF .word -190 |
| 1811 039c 31FF .word -207 |
| 1812 039e 20FF .word -224 |
| 1813 03a0 0FFF .word -241 |
| 1814 03a2 FEFE .word -258 |
| 1815 03a4 EDFE .word -275 |
| 1816 03a6 DCFE .word -292 |
| 1817 03a8 CBFE .word -309 |
| 1818 03aa BBFE .word -325 |
| 1819 03ac AAFE .word -342 |
| 1820 03ae 9AFE .word -358 |
| 1821 03b0 8AFE .word -374 |
| 1822 03b2 7AFE .word -390 |
| 1823 03b4 6AFE .word -406 |
| 1824 03b6 5AFE .word -422 |
| 1825 03b8 4AFE .word -438 |
| 1826 03ba 3BFE .word -453 |
| 1827 03bc 2BFE .word -469 |
| 1828 03be 1CFE .word -484 |
| 1829 03c0 0CFE .word -500 |
| 1830 03c2 FDFD .word -515 |
| 1831 03c4 EFFD .word -529 |
| 1832 03c6 E0FD .word -544 |
| 1833 03c8 D1FD .word -559 |
| 1834 03ca C3FD .word -573 |
| 1835 03cc B5FD .word -587 |
| 1836 03ce A7FD .word -601 |
| 1837 03d0 99FD .word -615 |
| 1838 03d2 8BFD .word -629 |
| 1839 03d4 7EFD .word -642 |
| 1840 03d6 70FD .word -656 |
| 1841 03d8 63FD .word -669 |
| 1842 03da 56FD .word -682 |
| 1843 03dc 4AFD .word -694 |
| 1844 03de 3DFD .word -707 |
| 1845 03e0 31FD .word -719 |
| 1846 03e2 25FD .word -731 |
| 1847 03e4 19FD .word -743 |
| 1848 03e6 0EFD .word -754 |
| 1849 03e8 02FD .word -766 |
| 1850 03ea F7FC .word -777 |
| 1851 03ec ECFC .word -788 |
| 1852 03ee E2FC .word -798 |
| 1853 03f0 D7FC .word -809 |
| 1854 03f2 CDFC .word -819 |
| 1855 03f4 C3FC .word -829 |
| 1856 03f6 BAFC .word -838 |
| 1857 03f8 B0FC .word -848 |
| 1858 03fa A7FC .word -857 |
| 1859 03fc 9EFC .word -866 |
| 1860 03fe 96FC .word -874 |
| 1861 0400 8EFC .word -882 |
| 1862 0402 85FC .word -891 |
| 1863 0404 7EFC .word -898 |
| 1864 0406 76FC .word -906 |
| 1865 0408 6FFC .word -913 |
| 1866 040a 68FC .word -920 |
| 1867 040c 61FC .word -927 |
| 1868 040e 5BFC .word -933 |
| 1869 0410 55FC .word -939 |
| 1870 0412 4FFC .word -945 |
| 1871 0414 49FC .word -951 |
| 1872 0416 44FC .word -956 |
| 1873 0418 3FFC .word -961 |
| 1874 041a 3BFC .word -965 |
| 1875 041c 36FC .word -970 |
| 1876 041e 32FC .word -974 |
| 1877 0420 2EFC .word -978 |
| 1878 0422 2BFC .word -981 |
| 1879 0424 28FC .word -984 |
| 1880 0426 25FC .word -987 |
| 1881 0428 22FC .word -990 |
| 1882 042a 20FC .word -992 |
| 1883 042c 1EFC .word -994 |
| 1884 042e 1CFC .word -996 |
| 1885 0430 1BFC .word -997 |
| 1886 0432 1AFC .word -998 |
| 1887 0434 19FC .word -999 |
| 1888 0436 19FC .word -999 |
| 1889 0438 18FC .word -1000 |
| 1890 043a 19FC .word -999 |
| 1891 043c 19FC .word -999 |
| 1892 043e 1AFC .word -998 |
| 1893 0440 1BFC .word -997 |
| 1894 0442 1CFC .word -996 |
| 1895 0444 1EFC .word -994 |
| 1896 0446 20FC .word -992 |
| 1897 0448 22FC .word -990 |
| 1898 044a 25FC .word -987 |
| 1899 044c 28FC .word -984 |
| 1900 044e 2BFC .word -981 |
| 1901 0450 2EFC .word -978 |
| 1902 0452 32FC .word -974 |
| 1903 0454 36FC .word -970 |
| 1904 0456 3BFC .word -965 |
| 1905 0458 3FFC .word -961 |
| 1906 045a 44FC .word -956 |
| 1907 045c 49FC .word -951 |
| 1908 045e 4FFC .word -945 |
| 1909 0460 55FC .word -939 |
| 1910 0462 5BFC .word -933 |
| 1911 0464 61FC .word -927 |
| 1912 0466 68FC .word -920 |
| 1913 0468 6FFC .word -913 |
| 1914 046a 76FC .word -906 |
| 1915 046c 7EFC .word -898 |
| 1916 046e 85FC .word -891 |
| 1917 0470 8EFC .word -882 |
| 1918 0472 96FC .word -874 |
| 1919 0474 9EFC .word -866 |
| 1920 0476 A7FC .word -857 |
| 1921 0478 B0FC .word -848 |
| 1922 047a BAFC .word -838 |
| 1923 047c C3FC .word -829 |
| 1924 047e CDFC .word -819 |
| 1925 0480 D7FC .word -809 |
| 1926 0482 E2FC .word -798 |
| 1927 0484 ECFC .word -788 |
| 1928 0486 F7FC .word -777 |
| 1929 0488 02FD .word -766 |
| 1930 048a 0EFD .word -754 |
| 1931 048c 19FD .word -743 |
| 1932 048e 25FD .word -731 |
| 1933 0490 31FD .word -719 |
| 1934 0492 3DFD .word -707 |
| 1935 0494 4AFD .word -694 |
| 1936 0496 56FD .word -682 |
| 1937 0498 63FD .word -669 |
| 1938 049a 70FD .word -656 |
| 1939 049c 7EFD .word -642 |
| 1940 049e 8BFD .word -629 |
| 1941 04a0 99FD .word -615 |
| 1942 04a2 A7FD .word -601 |
| 1943 04a4 B5FD .word -587 |
| 1944 04a6 C3FD .word -573 |
| 1945 04a8 D1FD .word -559 |
| 1946 04aa E0FD .word -544 |
| 1947 04ac EFFD .word -529 |
| 1948 04ae FDFD .word -515 |
| 1949 04b0 0CFE .word -500 |
| 1950 04b2 1CFE .word -484 |
| 1951 04b4 2BFE .word -469 |
| 1952 04b6 3BFE .word -453 |
| 1953 04b8 4AFE .word -438 |
| 1954 04ba 5AFE .word -422 |
| 1955 04bc 6AFE .word -406 |
| 1956 04be 7AFE .word -390 |
| 1957 04c0 8AFE .word -374 |
| 1958 04c2 9AFE .word -358 |
| 1959 04c4 AAFE .word -342 |
| 1960 04c6 BBFE .word -325 |
| 1961 04c8 CBFE .word -309 |
| 1962 04ca DCFE .word -292 |
| 1963 04cc EDFE .word -275 |
| 1964 04ce FEFE .word -258 |
| 1965 04d0 0FFF .word -241 |
| 1966 04d2 20FF .word -224 |
| 1967 04d4 31FF .word -207 |
| 1968 04d6 42FF .word -190 |
| 1969 04d8 53FF .word -173 |
| 1970 04da 64FF .word -156 |
| 1971 04dc 75FF .word -139 |
| 1972 04de 87FF .word -121 |
| 1973 04e0 98FF .word -104 |
| 1974 04e2 A9FF .word -87 |
| 1975 04e4 BBFF .word -69 |
| 1976 04e6 CCFF .word -52 |
| 1977 04e8 DEFF .word -34 |
| 1978 04ea EFFF .word -17 |
| 1979 04ec 0000 .word 0 |
| 1980 04ee 1100 .word 17 |
| 1981 04f0 2200 .word 34 |
| 1982 04f2 3400 .word 52 |
| 1983 04f4 4500 .word 69 |
| 1984 04f6 5700 .word 87 |
| 1985 04f8 6800 .word 104 |
| 1986 04fa 7900 .word 121 |
| 1987 04fc 8B00 .word 139 |
| 1988 04fe 9C00 .word 156 |
| 1989 0500 AD00 .word 173 |
| 1990 0502 BE00 .word 190 |
| 1991 0504 CF00 .word 207 |
| 1992 0506 E000 .word 224 |
| 1993 0508 F100 .word 241 |
| 1994 050a 0201 .word 258 |
| 1995 050c 1301 .word 275 |
| 1996 050e 2401 .word 292 |
| 1997 0510 3501 .word 309 |
| 1998 0512 4501 .word 325 |
| 1999 0514 5601 .word 342 |
| 2000 0516 6601 .word 358 |
| 2001 0518 7601 .word 374 |
| 2002 051a 8601 .word 390 |
| 2003 051c 9601 .word 406 |
| 2004 051e A601 .word 422 |
| 2005 0520 B601 .word 438 |
| 2006 0522 C501 .word 453 |
| 2007 0524 D501 .word 469 |
| 2008 0526 E401 .word 484 |
| 2009 0528 F401 .word 500 |
| 2010 052a 0302 .word 515 |
| 2011 052c 1102 .word 529 |
| 2012 052e 2002 .word 544 |
| 2013 0530 2F02 .word 559 |
| 2014 0532 3D02 .word 573 |
| 2015 0534 4B02 .word 587 |
| 2016 0536 5902 .word 601 |
| 2017 0538 6702 .word 615 |
| 2018 053a 7502 .word 629 |
| 2019 053c 8202 .word 642 |
| 2020 053e 9002 .word 656 |
| 2021 0540 9D02 .word 669 |
| 2022 0542 AA02 .word 682 |
| 2023 0544 B602 .word 694 |
| 2024 0546 C302 .word 707 |
| 2025 0548 CF02 .word 719 |
| 2026 054a DB02 .word 731 |
| 2027 054c E702 .word 743 |
| 2028 054e F202 .word 754 |
| 2029 0550 FE02 .word 766 |
| 2030 0552 0903 .word 777 |
| 2031 0554 1403 .word 788 |
| 2032 0556 1E03 .word 798 |
| 2033 0558 2903 .word 809 |
| 2034 055a 3303 .word 819 |
| 2035 055c 3D03 .word 829 |
| 2036 055e 4603 .word 838 |
| 2037 0560 5003 .word 848 |
| 2038 0562 5903 .word 857 |
| 2039 0564 6203 .word 866 |
| 2040 0566 6A03 .word 874 |
| 2041 0568 7203 .word 882 |
| 2042 056a 7B03 .word 891 |
| 2043 056c 8203 .word 898 |
| 2044 056e 8A03 .word 906 |
| 2045 0570 9103 .word 913 |
| 2046 0572 9803 .word 920 |
| 2047 0574 9F03 .word 927 |
| 2048 0576 A503 .word 933 |
| 2049 0578 AB03 .word 939 |
| 2050 057a B103 .word 945 |
| 2051 057c B703 .word 951 |
| 2052 057e BC03 .word 956 |
| 2053 0580 C103 .word 961 |
| 2054 0582 C503 .word 965 |
| 2055 0584 CA03 .word 970 |
| 2056 0586 CE03 .word 974 |
| 2057 0588 D203 .word 978 |
| 2058 058a D503 .word 981 |
| 2059 058c D803 .word 984 |
| 2060 058e DB03 .word 987 |
| 2061 0590 DE03 .word 990 |
| 2062 0592 E003 .word 992 |
| 2063 0594 E203 .word 994 |
| 2064 0596 E403 .word 996 |
| 2065 0598 E503 .word 997 |
| 2066 059a E603 .word 998 |
| 2067 059c E703 .word 999 |
| 2068 059e E703 .word 999 |
| 2069 .global Soll_Position_North |
| 2070 .global Soll_Position_North |
| 2071 .section .bss |
| 2074 Soll_Position_North: |
| 2075 0000 0000 0000 .skip 4,0 |
| 2076 .global Soll_Position_East |
| 2077 .global Soll_Position_East |
| 2080 Soll_Position_East: |
| 2081 0004 0000 0000 .skip 4,0 |
| 2082 .global GPS_Positionsabweichung_North |
| 2083 .global GPS_Positionsabweichung_North |
| 2086 GPS_Positionsabweichung_North: |
| 2087 0008 0000 0000 .skip 4,0 |
| 2088 .global GPS_Positionsabweichung_East |
| 2089 .global GPS_Positionsabweichung_East |
| 2092 GPS_Positionsabweichung_East: |
| 2093 000c 0000 0000 .skip 4,0 |
| 2094 .global GPS_Geschwindigkeit_North |
| 2095 .global GPS_Geschwindigkeit_North |
| 2098 GPS_Geschwindigkeit_North: |
| 2099 0010 0000 0000 .skip 4,0 |
| 2100 .global GPS_Geschwindigkeit_East |
| 2101 .global GPS_Geschwindigkeit_East |
| 2104 GPS_Geschwindigkeit_East: |
| 2105 0014 0000 0000 .skip 4,0 |
| 2106 .global P_Einfluss_North |
| 2107 .global P_Einfluss_North |
| 2110 P_Einfluss_North: |
| 2111 0018 0000 0000 .skip 4,0 |
| 2112 .global D_Einfluss_North |
| 2113 .global D_Einfluss_North |
| 2116 D_Einfluss_North: |
| 2117 001c 0000 0000 .skip 4,0 |
| 2118 .global P_Einfluss_East |
| 2119 .global P_Einfluss_East |
| 2122 P_Einfluss_East: |
| 2123 0020 0000 0000 .skip 4,0 |
| 2124 .global D_Einfluss_East |
| 2125 .global D_Einfluss_East |
| 2128 D_Einfluss_East: |
| 2129 0024 0000 0000 .skip 4,0 |
| 2130 .global GPS_North |
| 2131 .global GPS_North |
| 2134 GPS_North: |
| 2135 0028 0000 .skip 2,0 |
| 2136 .global GPS_East |
| 2137 .global GPS_East |
| 2140 GPS_East: |
| 2141 002a 0000 .skip 2,0 |
| 2142 .global GPS_Nick |
| 2143 .global GPS_Nick |
| 2146 GPS_Nick: |
| 2147 002c 0000 .skip 2,0 |
| 2148 .global GPS_Roll |
| 2149 .global GPS_Roll |
| 2152 GPS_Roll: |
| 2153 002e 0000 .skip 2,0 |
| 2154 .global gethome |
| 2155 .global gethome |
| 2158 gethome: |
| 2159 0030 00 .skip 1,0 |
| 2160 .global GPS_Home_North |
| 2161 .global GPS_Home_North |
| 2164 GPS_Home_North: |
| 2165 0031 0000 0000 .skip 4,0 |
| 2166 .global GPS_Home_East |
| 2167 .global GPS_Home_East |
| 2170 GPS_Home_East: |
| 2171 0035 0000 0000 .skip 4,0 |
| 2172 .global blinkcount_LED2 |
| 2173 .global blinkcount_LED2 |
| 2176 blinkcount_LED2: |
| 2177 0039 00 .skip 1,0 |
| 2178 .global NeuerMittelwert |
| 2179 .global NeuerMittelwert |
| 2182 NeuerMittelwert: |
| 2183 003a 00 .skip 1,0 |
| 2184 .global FilterPos |
| 2185 .global FilterPos |
| 2188 FilterPos: |
| 2189 003b 00 .skip 1,0 |
| 2190 .global NORTH_MITTEL |
| 2191 .global NORTH_MITTEL |
| 2194 NORTH_MITTEL: |
| 2195 003c 0000 0000 .skip 4,0 |
| 2196 .global EAST_MITTEL |
| 2197 .global EAST_MITTEL |
| 2200 EAST_MITTEL: |
| 2201 0040 0000 0000 .skip 4,0 |
| 2202 .global NORTH_LONG_LONG |
| 2203 .global NORTH_LONG_LONG |
| 2206 NORTH_LONG_LONG: |
| 2207 0044 0000 0000 .skip 8,0 |
| 2207 0000 0000 |
| 2208 .global EAST_LONG_LONG |
| 2209 .global EAST_LONG_LONG |
| 2212 EAST_LONG_LONG: |
| 2213 004c 0000 0000 .skip 8,0 |
| 2213 0000 0000 |
| 2214 .global filterfilled |
| 2215 .global filterfilled |
| 2218 filterfilled: |
| 2219 0054 0000 .skip 2,0 |
| 2220 .comm DiffNick,2,1 |
| 2221 .comm DiffRoll,2,1 |
| 2222 .comm SenderOkay,1,1 |
| 2223 .comm CosinusNickWinkel,1,1 |
| 2224 .comm CosinusRollWinkel,1,1 |
| 2225 .comm durchschnitt_northing,4,1 |
| 2226 .comm durchschnitt_easting,4,1 |
| 2227 .comm P_GPS_Verstaerkung,2,1 |
| 2228 .comm D_GPS_Verstaerkung,2,1 |
| 2229 .comm RemoteTasten,1,1 |
| 2230 .comm Timeout,1,1 |
| 2231 .comm IntegralNick,4,1 |
| 2232 .comm IntegralNick2,4,1 |
| 2233 .comm IntegralRoll,4,1 |
| 2234 .comm IntegralRoll2,4,1 |
| 2235 .comm Mess_IntegralNick,4,1 |
| 2236 .comm Mess_IntegralNick2,4,1 |
| 2237 .comm Mess_IntegralRoll,4,1 |
| 2238 .comm Mess_IntegralRoll2,4,1 |
| 2239 .comm Integral_Gier,4,1 |
| 2240 .comm Mess_Integral_Gier,4,1 |
| 2241 .comm h,1,1 |
| 2242 .comm m,1,1 |
| 2243 .comm s,1,1 |
| 2244 .comm Motor_Vorne,1,1 |
| 2245 .comm Motor_Hinten,1,1 |
| 2246 .comm Motor_Rechts,1,1 |
| 2247 .comm Motor_Links,1,1 |
| 2248 .comm Count,1,1 |
| 2249 .comm MotorWert,5,1 |
| 2250 .comm filter_north,32,1 |
| 2251 .comm filter_east,32,1 |
| 2252 /* File "GPS.c": code 1755 = 0x06db (1704), prologues 26, epilogues 25 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 GPS.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:13 .text:00000000 gps_main |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2188 .bss:0000003b FilterPos |
| *COM*:00000020 filter_north |
| *COM*:00000020 filter_east |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2218 .bss:00000054 filterfilled |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2206 .bss:00000044 NORTH_LONG_LONG |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2212 .bss:0000004c EAST_LONG_LONG |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2194 .bss:0000003c NORTH_MITTEL |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2200 .bss:00000040 EAST_MITTEL |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2182 .bss:0000003a NeuerMittelwert |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2146 .bss:0000002c GPS_Nick |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2152 .bss:0000002e GPS_Roll |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2158 .bss:00000030 gethome |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2164 .bss:00000031 GPS_Home_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2170 .bss:00000035 GPS_Home_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2074 .bss:00000000 Soll_Position_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2080 .bss:00000004 Soll_Position_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2176 .bss:00000039 blinkcount_LED2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2086 .bss:00000008 GPS_Positionsabweichung_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2092 .bss:0000000c GPS_Positionsabweichung_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2098 .bss:00000010 GPS_Geschwindigkeit_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2104 .bss:00000014 GPS_Geschwindigkeit_East |
| *COM*:00000002 P_GPS_Verstaerkung |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2110 .bss:00000018 P_Einfluss_North |
| *COM*:00000002 D_GPS_Verstaerkung |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2116 .bss:0000001c D_Einfluss_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2122 .bss:00000020 P_Einfluss_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2128 .bss:00000024 D_Einfluss_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2134 .bss:00000028 GPS_North |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2140 .bss:0000002a GPS_East |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1344 .data:00000000 c_sin |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1708 .data:000002d0 c_cos |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| actualPos |
| __divdi3 |
| MotorenEin |
| Poti3 |
| beeptime |
| modell_fliegt_gps |
| StickNick |
| StickRoll |
| __mulsi3 |
| __floatsisf |
| __mulsf3 |
| __fixsfsi |
| Limit_D_Anteil |
| KompassValue |
| __addsf3 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/Settings.h |
|---|
| --- alpha/v060JokoGPSpakoxdaMM3/_Settings.h (nonexistent) |
| +++ alpha/v060JokoGPSpakoxdaMM3/_Settings.h (revision 308) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/analog.d |
|---|
| 0,0 → 1,2 |
| analog.o analog.d : analog.c main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/analog.lst |
|---|
| 0,0 → 1,850 |
| 1 .file "analog.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global ADC_Init |
| 13 ADC_Init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 1092 7C00 sts 124,__zero_reg__ |
| 17 0004 8FEE ldi r24,lo8(-17) |
| 18 0006 8093 7A00 sts 122,r24 |
| 19 /* epilogue: frame size=0 */ |
| 20 000a 0895 ret |
| 21 /* epilogue end (size=1) */ |
| 22 /* function ADC_Init size 6 (5) */ |
| 24 .global __vector_24 |
| 26 __vector_24: |
| 27 /* prologue: frame size=0 */ |
| 28 000c 1F92 push __zero_reg__ |
| 29 000e 0F92 push __tmp_reg__ |
| 30 0010 0FB6 in __tmp_reg__,__SREG__ |
| 31 0012 0F92 push __tmp_reg__ |
| 32 0014 1124 clr __zero_reg__ |
| 33 0016 EF92 push r14 |
| 34 0018 FF92 push r15 |
| 35 001a 0F93 push r16 |
| 36 001c 1F93 push r17 |
| 37 001e 2F93 push r18 |
| 38 0020 3F93 push r19 |
| 39 0022 4F93 push r20 |
| 40 0024 5F93 push r21 |
| 41 0026 6F93 push r22 |
| 42 0028 7F93 push r23 |
| 43 002a 8F93 push r24 |
| 44 002c 9F93 push r25 |
| 45 002e AF93 push r26 |
| 46 0030 BF93 push r27 |
| 47 0032 CF93 push r28 |
| 48 0034 DF93 push r29 |
| 49 0036 EF93 push r30 |
| 50 0038 FF93 push r31 |
| 51 /* prologue end (size=23) */ |
| 52 003a 1092 7A00 sts 122,__zero_reg__ |
| 53 003e 4091 0000 lds r20,state.2041 |
| 54 0042 4F5F subi r20,lo8(-(1)) |
| 55 0044 4093 0000 sts state.2041,r20 |
| 56 0048 4150 subi r20,lo8(-(-1)) |
| 57 004a 4330 cpi r20,lo8(3) |
| 58 004c 01F4 brne .+2 |
| 59 004e 00C0 rjmp .L8 |
| 60 0050 4430 cpi r20,lo8(4) |
| 61 0052 00F4 brsh .L13 |
| 62 0054 4130 cpi r20,lo8(1) |
| 63 0056 01F4 brne .+2 |
| 64 0058 00C0 rjmp .L6 |
| 65 005a 4230 cpi r20,lo8(2) |
| 66 005c 00F0 brlo .+2 |
| 67 005e 00C0 rjmp .L7 |
| 68 0060 00C0 rjmp .L36 |
| 69 .L13: |
| 70 0062 4530 cpi r20,lo8(5) |
| 71 0064 01F4 brne .+2 |
| 72 0066 00C0 rjmp .L10 |
| 73 0068 4530 cpi r20,lo8(5) |
| 74 006a 00F4 brsh .+2 |
| 75 006c 00C0 rjmp .L9 |
| 76 006e 4630 cpi r20,lo8(6) |
| 77 0070 01F4 brne .+2 |
| 78 0072 00C0 rjmp .L11 |
| 79 0074 4730 cpi r20,lo8(7) |
| 80 0076 01F0 breq .+2 |
| 81 0078 00C0 rjmp .L37 |
| 82 007a 00C0 rjmp .L12 |
| 83 .L36: |
| 84 007c 2091 0000 lds r18,AdNeutralGier |
| 85 0080 3091 0000 lds r19,(AdNeutralGier)+1 |
| 86 0084 8091 7800 lds r24,120 |
| 87 0088 9091 7900 lds r25,(120)+1 |
| 88 008c 281B sub r18,r24 |
| 89 008e 390B sbc r19,r25 |
| 90 0090 8091 0000 lds r24,AccumulateGier |
| 91 0094 9091 0000 lds r25,(AccumulateGier)+1 |
| 92 0098 820F add r24,r18 |
| 93 009a 931F adc r25,r19 |
| 94 009c 9093 0000 sts (AccumulateGier)+1,r25 |
| 95 00a0 8093 0000 sts AccumulateGier,r24 |
| 96 00a4 8091 0000 lds r24,MessanzahlGier |
| 97 00a8 8F5F subi r24,lo8(-(1)) |
| 98 00aa 8093 0000 sts MessanzahlGier,r24 |
| 99 00ae 8091 0000 lds r24,Mess_Integral_Gier |
| 100 00b2 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 101 00b6 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 102 00ba B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 103 00be 4427 clr r20 |
| 104 00c0 37FD sbrc r19,7 |
| 105 00c2 4095 com r20 |
| 106 00c4 542F mov r21,r20 |
| 107 00c6 820F add r24,r18 |
| 108 00c8 931F adc r25,r19 |
| 109 00ca A41F adc r26,r20 |
| 110 00cc B51F adc r27,r21 |
| 111 00ce 8093 0000 sts Mess_Integral_Gier,r24 |
| 112 00d2 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 113 00d6 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 114 00da B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 115 00de 8091 0000 lds r24,Mess_Integral_Gier2 |
| 116 00e2 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 117 00e6 A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 118 00ea B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 119 00ee 820F add r24,r18 |
| 120 00f0 931F adc r25,r19 |
| 121 00f2 A41F adc r26,r20 |
| 122 00f4 B51F adc r27,r21 |
| 123 00f6 8093 0000 sts Mess_Integral_Gier2,r24 |
| 124 00fa 9093 0000 sts (Mess_Integral_Gier2)+1,r25 |
| 125 00fe A093 0000 sts (Mess_Integral_Gier2)+2,r26 |
| 126 0102 B093 0000 sts (Mess_Integral_Gier2)+3,r27 |
| 127 0106 81E0 ldi r24,lo8(1) |
| 128 0108 8093 0000 sts kanal.2040,r24 |
| 129 010c 8091 0000 lds r24,ZaehlMessungen |
| 130 0110 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 131 0114 0196 adiw r24,1 |
| 132 0116 9093 0000 sts (ZaehlMessungen)+1,r25 |
| 133 011a 8093 0000 sts ZaehlMessungen,r24 |
| 134 011e 00C0 rjmp .L14 |
| 135 .L6: |
| 136 0120 6091 7800 lds r22,120 |
| 137 0124 7091 7900 lds r23,(120)+1 |
| 138 0128 8091 0000 lds r24,AdNeutralRoll |
| 139 012c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 140 0130 681B sub r22,r24 |
| 141 0132 790B sbc r23,r25 |
| 142 0134 8091 0000 lds r24,Mess_IntegralRoll |
| 143 0138 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 144 013c A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 145 0140 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 146 0144 9B01 movw r18,r22 |
| 147 0146 4427 clr r20 |
| 148 0148 37FD sbrc r19,7 |
| 149 014a 4095 com r20 |
| 150 014c 542F mov r21,r20 |
| 151 014e 820F add r24,r18 |
| 152 0150 931F adc r25,r19 |
| 153 0152 A41F adc r26,r20 |
| 154 0154 B51F adc r27,r21 |
| 155 0156 8093 0000 sts Mess_IntegralRoll,r24 |
| 156 015a 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 157 015e A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 158 0162 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 159 0166 8091 0000 lds r24,Mess_IntegralRoll2 |
| 160 016a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 161 016e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 162 0172 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 163 0176 820F add r24,r18 |
| 164 0178 931F adc r25,r19 |
| 165 017a A41F adc r26,r20 |
| 166 017c B51F adc r27,r21 |
| 167 017e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 168 0182 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 169 0186 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 170 018a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 171 018e 8091 7800 lds r24,120 |
| 172 0192 9091 7900 lds r25,(120)+1 |
| 173 0196 0A97 sbiw r24,10 |
| 174 0198 00F4 brsh .L15 |
| 175 019a 64E4 ldi r22,lo8(-700) |
| 176 019c 7DEF ldi r23,hi8(-700) |
| 177 .L15: |
| 178 019e 8091 7800 lds r24,120 |
| 179 01a2 9091 7900 lds r25,(120)+1 |
| 180 01a6 895E subi r24,lo8(1001) |
| 181 01a8 9340 sbci r25,hi8(1001) |
| 182 01aa 00F0 brlo .L17 |
| 183 01ac 6CEB ldi r22,lo8(700) |
| 184 01ae 72E0 ldi r23,hi8(700) |
| 185 .L17: |
| 186 01b0 8091 0000 lds r24,AccumulateRoll |
| 187 01b4 9091 0000 lds r25,(AccumulateRoll)+1 |
| 188 01b8 860F add r24,r22 |
| 189 01ba 971F adc r25,r23 |
| 190 01bc 9093 0000 sts (AccumulateRoll)+1,r25 |
| 191 01c0 8093 0000 sts AccumulateRoll,r24 |
| 192 01c4 8091 0000 lds r24,MessanzahlRoll |
| 193 01c8 8F5F subi r24,lo8(-(1)) |
| 194 01ca 8093 0000 sts MessanzahlRoll,r24 |
| 195 01ce 82E0 ldi r24,lo8(2) |
| 196 01d0 00C0 rjmp .L39 |
| 197 .L7: |
| 198 01d2 6091 7800 lds r22,120 |
| 199 01d6 7091 7900 lds r23,(120)+1 |
| 200 01da 8091 0000 lds r24,AdNeutralNick |
| 201 01de 9091 0000 lds r25,(AdNeutralNick)+1 |
| 202 01e2 681B sub r22,r24 |
| 203 01e4 790B sbc r23,r25 |
| 204 01e6 8091 0000 lds r24,Mess_IntegralNick |
| 205 01ea 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 206 01ee A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 207 01f2 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 208 01f6 9B01 movw r18,r22 |
| 209 01f8 4427 clr r20 |
| 210 01fa 37FD sbrc r19,7 |
| 211 01fc 4095 com r20 |
| 212 01fe 542F mov r21,r20 |
| 213 0200 820F add r24,r18 |
| 214 0202 931F adc r25,r19 |
| 215 0204 A41F adc r26,r20 |
| 216 0206 B51F adc r27,r21 |
| 217 0208 8093 0000 sts Mess_IntegralNick,r24 |
| 218 020c 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 219 0210 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 220 0214 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 221 0218 8091 0000 lds r24,Mess_IntegralNick2 |
| 222 021c 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 223 0220 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 224 0224 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 225 0228 820F add r24,r18 |
| 226 022a 931F adc r25,r19 |
| 227 022c A41F adc r26,r20 |
| 228 022e B51F adc r27,r21 |
| 229 0230 8093 0000 sts Mess_IntegralNick2,r24 |
| 230 0234 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 231 0238 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 232 023c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 233 0240 8091 7800 lds r24,120 |
| 234 0244 9091 7900 lds r25,(120)+1 |
| 235 0248 0A97 sbiw r24,10 |
| 236 024a 00F4 brsh .L19 |
| 237 024c 64E4 ldi r22,lo8(-700) |
| 238 024e 7DEF ldi r23,hi8(-700) |
| 239 .L19: |
| 240 0250 8091 7800 lds r24,120 |
| 241 0254 9091 7900 lds r25,(120)+1 |
| 242 0258 895E subi r24,lo8(1001) |
| 243 025a 9340 sbci r25,hi8(1001) |
| 244 025c 00F0 brlo .L21 |
| 245 025e 6CEB ldi r22,lo8(700) |
| 246 0260 72E0 ldi r23,hi8(700) |
| 247 .L21: |
| 248 0262 8091 0000 lds r24,AccumulateNick |
| 249 0266 9091 0000 lds r25,(AccumulateNick)+1 |
| 250 026a 860F add r24,r22 |
| 251 026c 971F adc r25,r23 |
| 252 026e 9093 0000 sts (AccumulateNick)+1,r25 |
| 253 0272 8093 0000 sts AccumulateNick,r24 |
| 254 0276 8091 0000 lds r24,MessanzahlNick |
| 255 027a 8F5F subi r24,lo8(-(1)) |
| 256 027c 8093 0000 sts MessanzahlNick,r24 |
| 257 0280 84E0 ldi r24,lo8(4) |
| 258 .L39: |
| 259 0282 8093 0000 sts kanal.2040,r24 |
| 260 0286 00C0 rjmp .L14 |
| 261 .L8: |
| 262 0288 4091 0000 lds r20,UBat |
| 263 028c 5091 0000 lds r21,(UBat)+1 |
| 264 0290 8091 7800 lds r24,120 |
| 265 0294 9091 7900 lds r25,(120)+1 |
| 266 0298 9A01 movw r18,r20 |
| 267 029a 220F lsl r18 |
| 268 029c 331F rol r19 |
| 269 029e 240F add r18,r20 |
| 270 02a0 351F adc r19,r21 |
| 271 02a2 63E0 ldi r22,lo8(3) |
| 272 02a4 70E0 ldi r23,hi8(3) |
| 273 02a6 0E94 0000 call __udivmodhi4 |
| 274 02aa 260F add r18,r22 |
| 275 02ac 371F adc r19,r23 |
| 276 02ae 3695 lsr r19 |
| 277 02b0 2795 ror r18 |
| 278 02b2 3695 lsr r19 |
| 279 02b4 2795 ror r18 |
| 280 02b6 3093 0000 sts (UBat)+1,r19 |
| 281 02ba 2093 0000 sts UBat,r18 |
| 282 02be 86E0 ldi r24,lo8(6) |
| 283 02c0 00C0 rjmp .L39 |
| 284 .L9: |
| 285 02c2 8091 0000 lds r24,NeutralAccY |
| 286 02c6 9091 0000 lds r25,(NeutralAccY)+1 |
| 287 02ca 2091 7800 lds r18,120 |
| 288 02ce 3091 7900 lds r19,(120)+1 |
| 289 02d2 821B sub r24,r18 |
| 290 02d4 930B sbc r25,r19 |
| 291 02d6 9093 0000 sts (Aktuell_ay)+1,r25 |
| 292 02da 8093 0000 sts Aktuell_ay,r24 |
| 293 02de 8091 0000 lds r24,accumulate_AccRoll |
| 294 02e2 9091 0000 lds r25,(accumulate_AccRoll)+1 |
| 295 02e6 2091 0000 lds r18,Aktuell_ay |
| 296 02ea 3091 0000 lds r19,(Aktuell_ay)+1 |
| 297 02ee 820F add r24,r18 |
| 298 02f0 931F adc r25,r19 |
| 299 02f2 9093 0000 sts (accumulate_AccRoll)+1,r25 |
| 300 02f6 8093 0000 sts accumulate_AccRoll,r24 |
| 301 02fa 8091 0000 lds r24,messanzahl_AccRoll |
| 302 02fe 8F5F subi r24,lo8(-(1)) |
| 303 0300 8093 0000 sts messanzahl_AccRoll,r24 |
| 304 0304 87E0 ldi r24,lo8(7) |
| 305 0306 00C0 rjmp .L39 |
| 306 .L10: |
| 307 0308 8091 7800 lds r24,120 |
| 308 030c 9091 7900 lds r25,(120)+1 |
| 309 0310 2091 0000 lds r18,NeutralAccX |
| 310 0314 3091 0000 lds r19,(NeutralAccX)+1 |
| 311 0318 821B sub r24,r18 |
| 312 031a 930B sbc r25,r19 |
| 313 031c 9093 0000 sts (Aktuell_ax)+1,r25 |
| 314 0320 8093 0000 sts Aktuell_ax,r24 |
| 315 0324 8091 0000 lds r24,accumulate_AccNick |
| 316 0328 9091 0000 lds r25,(accumulate_AccNick)+1 |
| 317 032c 2091 0000 lds r18,Aktuell_ax |
| 318 0330 3091 0000 lds r19,(Aktuell_ax)+1 |
| 319 0334 820F add r24,r18 |
| 320 0336 931F adc r25,r19 |
| 321 0338 9093 0000 sts (accumulate_AccNick)+1,r25 |
| 322 033c 8093 0000 sts accumulate_AccNick,r24 |
| 323 0340 8091 0000 lds r24,messanzahl_AccNick |
| 324 0344 8F5F subi r24,lo8(-(1)) |
| 325 0346 8093 0000 sts messanzahl_AccNick,r24 |
| 326 034a 4093 0000 sts kanal.2040,r20 |
| 327 034e 86E0 ldi r24,lo8(6) |
| 328 0350 00C0 rjmp .L40 |
| 329 .L11: |
| 330 0352 6091 7800 lds r22,120 |
| 331 0356 7091 7900 lds r23,(120)+1 |
| 332 035a E090 0000 lds r14,NeutralAccZ |
| 333 035e F090 0000 lds r15,(NeutralAccZ)+1 |
| 334 0362 0091 0000 lds r16,(NeutralAccZ)+2 |
| 335 0366 1091 0000 lds r17,(NeutralAccZ)+3 |
| 336 036a 8827 clr r24 |
| 337 036c 77FD sbrc r23,7 |
| 338 036e 8095 com r24 |
| 339 0370 982F mov r25,r24 |
| 340 0372 0E94 0000 call __floatsisf |
| 341 0376 A801 movw r20,r16 |
| 342 0378 9701 movw r18,r14 |
| 343 037a 0E94 0000 call __subsf3 |
| 344 037e 0E94 0000 call __fixsfsi |
| 345 0382 7093 0000 sts (accumulate_AccHoch)+1,r23 |
| 346 0386 6093 0000 sts accumulate_AccHoch,r22 |
| 347 038a 2091 0000 lds r18,accumulate_AccHoch |
| 348 038e 3091 0000 lds r19,(accumulate_AccHoch)+1 |
| 349 0392 E091 0000 lds r30,Aktuell_ay |
| 350 0396 F091 0000 lds r31,(Aktuell_ay)+1 |
| 351 039a 8091 0000 lds r24,Aktuell_ax |
| 352 039e 9091 0000 lds r25,(Aktuell_ax)+1 |
| 353 03a2 97FF sbrs r25,7 |
| 354 03a4 00C0 rjmp .L23 |
| 355 03a6 9095 com r25 |
| 356 03a8 8195 neg r24 |
| 357 03aa 9F4F sbci r25,lo8(-1) |
| 358 .L23: |
| 359 03ac 64E0 ldi r22,lo8(4) |
| 360 03ae 70E0 ldi r23,hi8(4) |
| 361 03b0 0E94 0000 call __divmodhi4 |
| 362 03b4 EB01 movw r28,r22 |
| 363 03b6 CF01 movw r24,r30 |
| 364 03b8 F7FF sbrs r31,7 |
| 365 03ba 00C0 rjmp .L24 |
| 366 03bc 9095 com r25 |
| 367 03be 8195 neg r24 |
| 368 03c0 9F4F sbci r25,lo8(-1) |
| 369 .L24: |
| 370 03c2 64E0 ldi r22,lo8(4) |
| 371 03c4 70E0 ldi r23,hi8(4) |
| 372 03c6 0E94 0000 call __divmodhi4 |
| 373 03ca 260F add r18,r22 |
| 374 03cc 371F adc r19,r23 |
| 375 03ce 2C0F add r18,r28 |
| 376 03d0 3D1F adc r19,r29 |
| 377 03d2 3093 0000 sts (accumulate_AccHoch)+1,r19 |
| 378 03d6 2093 0000 sts accumulate_AccHoch,r18 |
| 379 03da 8091 0000 lds r24,accumulate_AccHoch |
| 380 03de 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 381 03e2 0297 sbiw r24,2 |
| 382 03e4 04F0 brlt .L25 |
| 383 03e6 6091 0000 lds r22,NeutralAccZ |
| 384 03ea 7091 0000 lds r23,(NeutralAccZ)+1 |
| 385 03ee 8091 0000 lds r24,(NeutralAccZ)+2 |
| 386 03f2 9091 0000 lds r25,(NeutralAccZ)+3 |
| 387 03f6 20E0 ldi r18,lo8(0x44480000) |
| 388 03f8 30E0 ldi r19,hi8(0x44480000) |
| 389 03fa 48E4 ldi r20,hlo8(0x44480000) |
| 390 03fc 54E4 ldi r21,hhi8(0x44480000) |
| 391 03fe 0E94 0000 call __ltsf2 |
| 392 0402 8823 tst r24 |
| 393 0404 04F0 brlt .+2 |
| 394 0406 00C0 rjmp .L27 |
| 395 0408 6091 0000 lds r22,NeutralAccZ |
| 396 040c 7091 0000 lds r23,(NeutralAccZ)+1 |
| 397 0410 8091 0000 lds r24,(NeutralAccZ)+2 |
| 398 0414 9091 0000 lds r25,(NeutralAccZ)+3 |
| 399 0418 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 400 041a 37ED ldi r19,hi8(0x3ca3d70a) |
| 401 041c 43EA ldi r20,hlo8(0x3ca3d70a) |
| 402 041e 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 403 0420 0E94 0000 call __addsf3 |
| 404 0424 00C0 rjmp .L38 |
| 405 .L25: |
| 406 0426 8091 0000 lds r24,accumulate_AccHoch |
| 407 042a 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 408 042e 8F5F subi r24,lo8(-1) |
| 409 0430 9F4F sbci r25,hi8(-1) |
| 410 0432 04F4 brge .L27 |
| 411 0434 6091 0000 lds r22,NeutralAccZ |
| 412 0438 7091 0000 lds r23,(NeutralAccZ)+1 |
| 413 043c 8091 0000 lds r24,(NeutralAccZ)+2 |
| 414 0440 9091 0000 lds r25,(NeutralAccZ)+3 |
| 415 0444 20E0 ldi r18,lo8(0x44160000) |
| 416 0446 30E0 ldi r19,hi8(0x44160000) |
| 417 0448 46E1 ldi r20,hlo8(0x44160000) |
| 418 044a 54E4 ldi r21,hhi8(0x44160000) |
| 419 044c 0E94 0000 call __gtsf2 |
| 420 0450 1816 cp __zero_reg__,r24 |
| 421 0452 04F4 brge .L27 |
| 422 0454 6091 0000 lds r22,NeutralAccZ |
| 423 0458 7091 0000 lds r23,(NeutralAccZ)+1 |
| 424 045c 8091 0000 lds r24,(NeutralAccZ)+2 |
| 425 0460 9091 0000 lds r25,(NeutralAccZ)+3 |
| 426 0464 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 427 0466 37ED ldi r19,hi8(0x3ca3d70a) |
| 428 0468 43EA ldi r20,hlo8(0x3ca3d70a) |
| 429 046a 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 430 046c 0E94 0000 call __subsf3 |
| 431 .L38: |
| 432 0470 6093 0000 sts NeutralAccZ,r22 |
| 433 0474 7093 0000 sts (NeutralAccZ)+1,r23 |
| 434 0478 8093 0000 sts (NeutralAccZ)+2,r24 |
| 435 047c 9093 0000 sts (NeutralAccZ)+3,r25 |
| 436 .L27: |
| 437 0480 81E0 ldi r24,lo8(1) |
| 438 0482 8093 0000 sts messanzahl_AccHoch,r24 |
| 439 0486 8091 7800 lds r24,120 |
| 440 048a 9091 7900 lds r25,(120)+1 |
| 441 048e 9093 0000 sts (Aktuell_az)+1,r25 |
| 442 0492 8093 0000 sts Aktuell_az,r24 |
| 443 0496 2091 0000 lds r18,Mess_Integral_Hoch |
| 444 049a 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 445 049e 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 446 04a2 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 447 04a6 8091 0000 lds r24,accumulate_AccHoch |
| 448 04aa 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 449 04ae AA27 clr r26 |
| 450 04b0 97FD sbrc r25,7 |
| 451 04b2 A095 com r26 |
| 452 04b4 BA2F mov r27,r26 |
| 453 04b6 280F add r18,r24 |
| 454 04b8 391F adc r19,r25 |
| 455 04ba 4A1F adc r20,r26 |
| 456 04bc 5B1F adc r21,r27 |
| 457 04be 2093 0000 sts Mess_Integral_Hoch,r18 |
| 458 04c2 3093 0000 sts (Mess_Integral_Hoch)+1,r19 |
| 459 04c6 4093 0000 sts (Mess_Integral_Hoch)+2,r20 |
| 460 04ca 5093 0000 sts (Mess_Integral_Hoch)+3,r21 |
| 461 04ce E090 0000 lds r14,Mess_Integral_Hoch |
| 462 04d2 F090 0000 lds r15,(Mess_Integral_Hoch)+1 |
| 463 04d6 0091 0000 lds r16,(Mess_Integral_Hoch)+2 |
| 464 04da 1091 0000 lds r17,(Mess_Integral_Hoch)+3 |
| 465 04de 6091 0000 lds r22,Mess_Integral_Hoch |
| 466 04e2 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 467 04e6 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 468 04ea 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 469 04ee 20E0 ldi r18,lo8(1024) |
| 470 04f0 34E0 ldi r19,hi8(1024) |
| 471 04f2 40E0 ldi r20,hlo8(1024) |
| 472 04f4 50E0 ldi r21,hhi8(1024) |
| 473 04f6 0E94 0000 call __divmodsi4 |
| 474 04fa E21A sub r14,r18 |
| 475 04fc F30A sbc r15,r19 |
| 476 04fe 040B sbc r16,r20 |
| 477 0500 150B sbc r17,r21 |
| 478 0502 E092 0000 sts Mess_Integral_Hoch,r14 |
| 479 0506 F092 0000 sts (Mess_Integral_Hoch)+1,r15 |
| 480 050a 0093 0000 sts (Mess_Integral_Hoch)+2,r16 |
| 481 050e 1093 0000 sts (Mess_Integral_Hoch)+3,r17 |
| 482 0512 83E0 ldi r24,lo8(3) |
| 483 0514 8093 0000 sts kanal.2040,r24 |
| 484 0518 87E0 ldi r24,lo8(7) |
| 485 .L40: |
| 486 051a 8093 0000 sts state.2041,r24 |
| 487 051e 00C0 rjmp .L14 |
| 488 .L12: |
| 489 0520 8091 0000 lds r24,tmpLuftdruck |
| 490 0524 9091 0000 lds r25,(tmpLuftdruck)+1 |
| 491 0528 2091 7800 lds r18,120 |
| 492 052c 3091 7900 lds r19,(120)+1 |
| 493 0530 820F add r24,r18 |
| 494 0532 931F adc r25,r19 |
| 495 0534 9093 0000 sts (tmpLuftdruck)+1,r25 |
| 496 0538 8093 0000 sts tmpLuftdruck,r24 |
| 497 053c 8091 0000 lds r24,messanzahl_Druck |
| 498 0540 8F5F subi r24,lo8(-(1)) |
| 499 0542 8093 0000 sts messanzahl_Druck,r24 |
| 500 0546 8091 0000 lds r24,messanzahl_Druck |
| 501 054a 8530 cpi r24,lo8(5) |
| 502 054c 00F4 brsh .+2 |
| 503 054e 00C0 rjmp .L37 |
| 504 0550 8091 7800 lds r24,120 |
| 505 0554 9091 7900 lds r25,(120)+1 |
| 506 0558 9093 0000 sts (MessLuftdruck)+1,r25 |
| 507 055c 8093 0000 sts MessLuftdruck,r24 |
| 508 0560 1092 0000 sts messanzahl_Druck,__zero_reg__ |
| 509 0564 8091 0000 lds r24,StartLuftdruck |
| 510 0568 9091 0000 lds r25,(StartLuftdruck)+1 |
| 511 056c 2091 0000 lds r18,tmpLuftdruck |
| 512 0570 3091 0000 lds r19,(tmpLuftdruck)+1 |
| 513 0574 821B sub r24,r18 |
| 514 0576 930B sbc r25,r19 |
| 515 0578 2091 0000 lds r18,HoehenWert |
| 516 057c 3091 0000 lds r19,(HoehenWert)+1 |
| 517 0580 821B sub r24,r18 |
| 518 0582 930B sbc r25,r19 |
| 519 0584 9093 0000 sts (HoeheD)+1,r25 |
| 520 0588 8093 0000 sts HoeheD,r24 |
| 521 058c 6091 0000 lds r22,tmpLuftdruck |
| 522 0590 7091 0000 lds r23,(tmpLuftdruck)+1 |
| 523 0594 E090 0000 lds r14,Luftdruck |
| 524 0598 F090 0000 lds r15,(Luftdruck)+1 |
| 525 059c 0091 0000 lds r16,(Luftdruck)+2 |
| 526 05a0 1091 0000 lds r17,(Luftdruck)+3 |
| 527 05a4 8827 clr r24 |
| 528 05a6 77FD sbrc r23,7 |
| 529 05a8 8095 com r24 |
| 530 05aa 982F mov r25,r24 |
| 531 05ac A801 movw r20,r16 |
| 532 05ae 9701 movw r18,r14 |
| 533 05b0 220F lsl r18 |
| 534 05b2 331F rol r19 |
| 535 05b4 441F rol r20 |
| 536 05b6 551F rol r21 |
| 537 05b8 2E0D add r18,r14 |
| 538 05ba 3F1D adc r19,r15 |
| 539 05bc 401F adc r20,r16 |
| 540 05be 511F adc r21,r17 |
| 541 05c0 620F add r22,r18 |
| 542 05c2 731F adc r23,r19 |
| 543 05c4 841F adc r24,r20 |
| 544 05c6 951F adc r25,r21 |
| 545 05c8 24E0 ldi r18,lo8(4) |
| 546 05ca 30E0 ldi r19,hi8(4) |
| 547 05cc 40E0 ldi r20,hlo8(4) |
| 548 05ce 50E0 ldi r21,hhi8(4) |
| 549 05d0 0E94 0000 call __divmodsi4 |
| 550 05d4 2093 0000 sts Luftdruck,r18 |
| 551 05d8 3093 0000 sts (Luftdruck)+1,r19 |
| 552 05dc 4093 0000 sts (Luftdruck)+2,r20 |
| 553 05e0 5093 0000 sts (Luftdruck)+3,r21 |
| 554 05e4 2091 0000 lds r18,StartLuftdruck |
| 555 05e8 3091 0000 lds r19,(StartLuftdruck)+1 |
| 556 05ec 8091 0000 lds r24,Luftdruck |
| 557 05f0 9091 0000 lds r25,(Luftdruck)+1 |
| 558 05f4 A091 0000 lds r26,(Luftdruck)+2 |
| 559 05f8 B091 0000 lds r27,(Luftdruck)+3 |
| 560 05fc 281B sub r18,r24 |
| 561 05fe 390B sbc r19,r25 |
| 562 0600 3093 0000 sts (HoehenWert)+1,r19 |
| 563 0604 2093 0000 sts HoehenWert,r18 |
| 564 0608 1092 0000 sts (tmpLuftdruck)+1,__zero_reg__ |
| 565 060c 1092 0000 sts tmpLuftdruck,__zero_reg__ |
| 566 .L37: |
| 567 0610 1092 0000 sts kanal.2040,__zero_reg__ |
| 568 0614 1092 0000 sts state.2041,__zero_reg__ |
| 569 .L14: |
| 570 0618 8091 0000 lds r24,kanal.2040 |
| 571 061c 8093 7C00 sts 124,r24 |
| 572 0620 8FEE ldi r24,lo8(-17) |
| 573 0622 8093 7A00 sts 122,r24 |
| 574 /* epilogue: frame size=0 */ |
| 575 0626 FF91 pop r31 |
| 576 0628 EF91 pop r30 |
| 577 062a DF91 pop r29 |
| 578 062c CF91 pop r28 |
| 579 062e BF91 pop r27 |
| 580 0630 AF91 pop r26 |
| 581 0632 9F91 pop r25 |
| 582 0634 8F91 pop r24 |
| 583 0636 7F91 pop r23 |
| 584 0638 6F91 pop r22 |
| 585 063a 5F91 pop r21 |
| 586 063c 4F91 pop r20 |
| 587 063e 3F91 pop r19 |
| 588 0640 2F91 pop r18 |
| 589 0642 1F91 pop r17 |
| 590 0644 0F91 pop r16 |
| 591 0646 FF90 pop r15 |
| 592 0648 EF90 pop r14 |
| 593 064a 0F90 pop __tmp_reg__ |
| 594 064c 0FBE out __SREG__,__tmp_reg__ |
| 595 064e 0F90 pop __tmp_reg__ |
| 596 0650 1F90 pop __zero_reg__ |
| 597 0652 1895 reti |
| 598 /* epilogue end (size=23) */ |
| 599 /* function __vector_24 size 811 (765) */ |
| 601 .global SucheLuftruckOffset |
| 603 SucheLuftruckOffset: |
| 604 /* prologue: frame size=0 */ |
| 605 0654 CF93 push r28 |
| 606 0656 DF93 push r29 |
| 607 /* prologue end (size=2) */ |
| 608 0658 C0E0 ldi r28,lo8(0) |
| 609 065a D0E0 ldi r29,hi8(0) |
| 610 .L42: |
| 611 065c C7BD out 71-0x20,r28 |
| 612 065e 82E3 ldi r24,lo8(50) |
| 613 0660 90E0 ldi r25,hi8(50) |
| 614 0662 0E94 0000 call Delay_ms |
| 615 0666 80E0 ldi r24,lo8(__c.2026) |
| 616 0668 90E0 ldi r25,hi8(__c.2026) |
| 617 066a 9F93 push r25 |
| 618 066c 8F93 push r24 |
| 619 066e 1F92 push __zero_reg__ |
| 620 0670 0E94 0000 call _printf_P |
| 621 0674 8091 0000 lds r24,MessLuftdruck |
| 622 0678 9091 0000 lds r25,(MessLuftdruck)+1 |
| 623 067c 0F90 pop __tmp_reg__ |
| 624 067e 0F90 pop __tmp_reg__ |
| 625 0680 0F90 pop __tmp_reg__ |
| 626 0682 8458 subi r24,lo8(900) |
| 627 0684 9340 sbci r25,hi8(900) |
| 628 0686 00F0 brlo .L43 |
| 629 0688 2196 adiw r28,1 |
| 630 068a CA3F cpi r28,250 |
| 631 068c D105 cpc r29,__zero_reg__ |
| 632 068e 01F4 brne .L42 |
| 633 .L43: |
| 634 0690 C093 0000 sts DruckOffsetSetting,r28 |
| 635 0694 88EC ldi r24,lo8(200) |
| 636 0696 90E0 ldi r25,hi8(200) |
| 637 0698 0E94 0000 call Delay_ms |
| 638 /* epilogue: frame size=0 */ |
| 639 069c DF91 pop r29 |
| 640 069e CF91 pop r28 |
| 641 06a0 0895 ret |
| 642 /* epilogue end (size=3) */ |
| 643 /* function SucheLuftruckOffset size 40 (35) */ |
| 645 .global UBat |
| 646 .data |
| 649 UBat: |
| 650 0000 6400 .word 100 |
| 651 .global AccumulateNick |
| 652 .global AccumulateNick |
| 653 .section .bss |
| 656 AccumulateNick: |
| 657 0000 0000 .skip 2,0 |
| 658 .global AccumulateRoll |
| 659 .global AccumulateRoll |
| 662 AccumulateRoll: |
| 663 0002 0000 .skip 2,0 |
| 664 .global AccumulateGier |
| 665 .global AccumulateGier |
| 668 AccumulateGier: |
| 669 0004 0000 .skip 2,0 |
| 670 .global accumulate_AccRoll |
| 671 .global accumulate_AccRoll |
| 674 accumulate_AccRoll: |
| 675 0006 0000 .skip 2,0 |
| 676 .global accumulate_AccNick |
| 677 .global accumulate_AccNick |
| 680 accumulate_AccNick: |
| 681 0008 0000 .skip 2,0 |
| 682 .global accumulate_AccHoch |
| 683 .global accumulate_AccHoch |
| 686 accumulate_AccHoch: |
| 687 000a 0000 .skip 2,0 |
| 688 .global MessanzahlNick |
| 689 .global MessanzahlNick |
| 692 MessanzahlNick: |
| 693 000c 00 .skip 1,0 |
| 694 .global MessanzahlRoll |
| 695 .global MessanzahlRoll |
| 698 MessanzahlRoll: |
| 699 000d 00 .skip 1,0 |
| 700 .global MessanzahlGier |
| 701 .global MessanzahlGier |
| 704 MessanzahlGier: |
| 705 000e 00 .skip 1,0 |
| 706 .global messanzahl_AccNick |
| 707 .global messanzahl_AccNick |
| 710 messanzahl_AccNick: |
| 711 000f 00 .skip 1,0 |
| 712 .global messanzahl_AccRoll |
| 713 .global messanzahl_AccRoll |
| 716 messanzahl_AccRoll: |
| 717 0010 00 .skip 1,0 |
| 718 .global messanzahl_AccHoch |
| 719 .global messanzahl_AccHoch |
| 722 messanzahl_AccHoch: |
| 723 0011 00 .skip 1,0 |
| 724 .global Luftdruck |
| 725 .data |
| 728 Luftdruck: |
| 729 0002 00 .byte 0 |
| 730 0003 7D .byte 125 |
| 731 0004 00 .byte 0 |
| 732 0005 00 .byte 0 |
| 733 .global MessLuftdruck |
| 736 MessLuftdruck: |
| 737 0006 FF03 .word 1023 |
| 738 .global HoeheD |
| 739 .global HoeheD |
| 740 .section .bss |
| 743 HoeheD: |
| 744 0012 0000 .skip 2,0 |
| 745 .global ZaehlMessungen |
| 746 .global ZaehlMessungen |
| 749 ZaehlMessungen: |
| 750 0014 0000 .skip 2,0 |
| 751 .lcomm state.2041,1 |
| 752 .lcomm kanal.2040,1 |
| 753 .section .progmem.data,"a",@progbits |
| 756 __c.2026: |
| 757 0000 2E00 .string "." |
| 758 .comm DiffNick,2,1 |
| 759 .comm DiffRoll,2,1 |
| 760 .comm SenderOkay,1,1 |
| 761 .comm CosinusNickWinkel,1,1 |
| 762 .comm CosinusRollWinkel,1,1 |
| 763 .comm durchschnitt_northing,4,1 |
| 764 .comm durchschnitt_easting,4,1 |
| 765 .comm P_GPS_Verstaerkung,2,1 |
| 766 .comm D_GPS_Verstaerkung,2,1 |
| 767 .comm Aktuell_Nick,2,1 |
| 768 .comm Aktuell_Roll,2,1 |
| 769 .comm Aktuell_Gier,2,1 |
| 770 .comm Aktuell_ax,2,1 |
| 771 .comm Aktuell_ay,2,1 |
| 772 .comm Aktuell_az,2,1 |
| 773 .comm messanzahl_Druck,1,1 |
| 774 .comm DruckOffsetSetting,1,1 |
| 775 .comm StartLuftdruck,2,1 |
| 776 .comm RemoteTasten,1,1 |
| 777 .comm Timeout,1,1 |
| 778 .comm IntegralNick,4,1 |
| 779 .comm IntegralNick2,4,1 |
| 780 .comm IntegralRoll,4,1 |
| 781 .comm IntegralRoll2,4,1 |
| 782 .comm Mess_IntegralNick,4,1 |
| 783 .comm Mess_IntegralNick2,4,1 |
| 784 .comm Mess_IntegralRoll,4,1 |
| 785 .comm Mess_IntegralRoll2,4,1 |
| 786 .comm Integral_Gier,4,1 |
| 787 .comm Mess_Integral_Gier,4,1 |
| 788 .comm h,1,1 |
| 789 .comm m,1,1 |
| 790 .comm s,1,1 |
| 791 .comm Motor_Vorne,1,1 |
| 792 .comm Motor_Hinten,1,1 |
| 793 .comm Motor_Rechts,1,1 |
| 794 .comm Motor_Links,1,1 |
| 795 .comm Count,1,1 |
| 796 .comm MotorWert,5,1 |
| 797 .comm tmpLuftdruck,2,1 |
| 798 /* File "analog.c": code 857 = 0x0359 ( 805), prologues 25, epilogues 27 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 analog.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:13 .text:00000000 ADC_Init |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:26 .text:0000000c __vector_24 |
| .bss:00000016 state.2041 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:668 .bss:00000004 AccumulateGier |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:704 .bss:0000000e MessanzahlGier |
| *COM*:00000004 Mess_Integral_Gier |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:751 .bss:00000017 kanal.2040 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:749 .bss:00000014 ZaehlMessungen |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:662 .bss:00000002 AccumulateRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:698 .bss:0000000d MessanzahlRoll |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:656 .bss:00000000 AccumulateNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:692 .bss:0000000c MessanzahlNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:649 .data:00000000 UBat |
| *COM*:00000002 Aktuell_ay |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:674 .bss:00000006 accumulate_AccRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:716 .bss:00000010 messanzahl_AccRoll |
| *COM*:00000002 Aktuell_ax |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:680 .bss:00000008 accumulate_AccNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:710 .bss:0000000f messanzahl_AccNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:686 .bss:0000000a accumulate_AccHoch |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:722 .bss:00000011 messanzahl_AccHoch |
| *COM*:00000002 Aktuell_az |
| *COM*:00000002 tmpLuftdruck |
| *COM*:00000001 messanzahl_Druck |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:736 .data:00000006 MessLuftdruck |
| *COM*:00000002 StartLuftdruck |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:743 .bss:00000012 HoeheD |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:728 .data:00000002 Luftdruck |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:603 .text:00000654 SucheLuftruckOffset |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccQFQ6lN.s:756 .progmem.data:00000000 __c.2026 |
| *COM*:00000001 DruckOffsetSetting |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000002 Aktuell_Nick |
| *COM*:00000002 Aktuell_Roll |
| *COM*:00000002 Aktuell_Gier |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| Mess_Integral_Gier2 |
| AdNeutralRoll |
| AdNeutralNick |
| __udivmodhi4 |
| NeutralAccY |
| NeutralAccX |
| NeutralAccZ |
| __floatsisf |
| __subsf3 |
| __fixsfsi |
| __divmodhi4 |
| __ltsf2 |
| __addsf3 |
| __gtsf2 |
| Mess_Integral_Hoch |
| __divmodsi4 |
| HoehenWert |
| Delay_ms |
| _printf_P |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/eeprom.c |
|---|
| --- alpha/v060JokoGPSpakoxdaMM3/fc.c (nonexistent) |
| +++ alpha/v060JokoGPSpakoxdaMM3/fc.c (revision 308) |
| @@ -0,0 +1,905 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| +unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| +unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + // DebugOut.Analog[12] = Motor_Vorne; |
| + // DebugOut.Analog[13] = Motor_Hinten; |
| + // DebugOut.Analog[14] = Motor_Links; |
| + // DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| + // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| + // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| + // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| + // DebugOut.Analog[14] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3])/4; //Mittelwert aller Motorenströme |
| + // DebugOut.Analog[15] = motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]; //Gesamtstrom aller Motoren |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// LED Stuff |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +LED1_OFF; |
| + |
| + if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| + { |
| + LED1_FLASH; |
| + blinkcount_LED1 = 0; |
| + } |
| + |
| + blinkcount_LED1++; |
| + |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + P_GPS_Verstaerkung = Parameter_UserParam1; |
| + D_GPS_Verstaerkung = Parameter_UserParam2; |
| + Limit_D_Anteil = Parameter_UserParam3; |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| + |
| + //++++++++ANFANG_Legende++++++++ |
| +/* |
| + DebugOut.Analog[0] = actualPos.GPSFix; |
| + DebugOut.Analog[1] = GPS_Nick; |
| + DebugOut.Analog[2] = GPS_Roll; |
| + DebugOut.Analog[3] = actualPos.northing; |
| + DebugOut.Analog[4] = actualPos.easting; |
| + DebugOut.Analog[5] = NORTH_MITTEL; |
| + DebugOut.Analog[6] = EAST_MITTEL; |
| + DebugOut.Analog[7] = Soll_Position_North; |
| + DebugOut.Analog[8] = Soll_Position_East; |
| + DebugOut.Analog[9] = GPS_Home_North; |
| + DebugOut.Analog[10] = GPS_Home_East; |
| + DebugOut.Analog[11] = GPS_Positionsabweichung_North; |
| + DebugOut.Analog[12] = GPS_Positionsabweichung_East; |
| + DebugOut.Analog[13] = Poti1; |
| + DebugOut.Analog[14] = Poti2; |
| + DebugOut.Analog[15] = KompassValue; |
| +*/ |
| + //++++++++ENDE_Legende++++++++ |
| + |
| + |
| + //++++++++ANFANG_Legende_1++++++++ |
| + |
| + DebugOut.Analog[0] = GPS_Roll; |
| + DebugOut.Analog[1] = GPS_Nick; |
| + DebugOut.Analog[2] = GPS_Positionsabweichung_North; |
| + DebugOut.Analog[3] = GPS_Positionsabweichung_East; |
| + DebugOut.Analog[4] = P_Einfluss_East; |
| + DebugOut.Analog[5] = D_Einfluss_East; |
| + DebugOut.Analog[6] = P_Einfluss_North; |
| + DebugOut.Analog[7] = D_Einfluss_North; |
| + DebugOut.Analog[8] = GPS_Geschwindigkeit_North; |
| + DebugOut.Analog[9] = GPS_Geschwindigkeit_East; |
| + DebugOut.Analog[10] = Parameter_UserParam1; |
| + DebugOut.Analog[11] = Parameter_UserParam2; |
| + DebugOut.Analog[12] = Soll_Position_North; |
| + DebugOut.Analog[13] = Soll_Position_East; |
| + DebugOut.Analog[14] = Poti6; |
| + DebugOut.Analog[15] = KompassValue; |
| + |
| + //++++++++ENDE_Legende_1++++++++ |
| + |
| +// DebugOut.Analog[xx] = actualPos.velNorth; |
| +// DebugOut.Analog[xx] = actualPos.velEast; |
| +// DebugOut.Analog[xx] = UBat; |
| +// DebugOut.Analog[xx] = 0; |
| + |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/fc.c.bak |
|---|
| 0,0 → 1,905 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char h,m,s; |
| volatile unsigned char Timeout = 0; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| volatile long IntegralNick = 0,IntegralNick2 = 0; |
| volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile long Integral_Gier = 0; |
| volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| float Kp = FAKTOR_P; |
| float Ki = FAKTOR_I; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| struct mk_param_struct EE_Parameter; |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| CalibrierMittelwert(); |
| timer = SetDelay(5); |
| while (!CheckDelay(timer)); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= abs(MesswertNick); |
| AdNeutralRoll= abs(MesswertRoll); |
| AdNeutralGier= abs(MesswertGier); |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| beeptime = 50; |
| } |
| //############################################################################ |
| // Bildet den Mittelwert aus den Messwerten |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| Integral_Gier = Mess_Integral_Gier; |
| // Integral_Gier2 = Mess_Integral_Gier2; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| // ADC einschalten |
| ANALOG_ON; |
| //------------------------------------------------------------------------------ |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else |
| if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else |
| if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| //------------------------------------------------------------------------------ |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| // DebugOut.Analog[12] = Motor_Vorne; |
| // DebugOut.Analog[13] = Motor_Hinten; |
| // DebugOut.Analog[14] = Motor_Links; |
| // DebugOut.Analog[15] = Motor_Rechts; |
| // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| // DebugOut.Analog[14] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3])/4; //Mittelwert aller Motorenströme |
| // DebugOut.Analog[15] = motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]; //Gesamtstrom aller Motoren |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| // unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| // unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| // unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| // unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| // CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| // CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static int IntegralFehlerNick = 0; |
| static int IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) beeptime = 500; |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| /* Poti1 = 65; |
| Poti2 = 48; |
| Poti3 = 0; |
| */ } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| ParameterZuordnung(); |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // LED Stuff |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_OFF; |
| if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| { |
| LED1_FLASH; |
| blinkcount_LED1 = 0; |
| } |
| blinkcount_LED1++; |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift kompensieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define DRIFT_FAKTOR 3 |
| if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| { |
| IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| ZaehlMessungen = 0; |
| if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier2 = Integral_Gier; |
| ANALOG_ON; // ADC einschalten |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| #define AUSGLEICH 500 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| sollGier = StickGier; |
| if(abs(StickGier) > 35) |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| ANALOG_ON; // ADC einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //KompassValue = 12; |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v; |
| static int SignalSchlecht = 0; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| ANALOG_ON; // ADC einschalten |
| if(SignalSchlecht) SignalSchlecht--; |
| } |
| else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| { |
| P_GPS_Verstaerkung = Parameter_UserParam1; |
| D_GPS_Verstaerkung = Parameter_UserParam2; |
| Limit_D_Anteil = Parameter_UserParam3; |
| gps_main(); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Sekunden++; |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 49; |
| //++++++++ANFANG_Legende++++++++ |
| /* |
| DebugOut.Analog[0] = actualPos.GPSFix; |
| DebugOut.Analog[1] = GPS_Nick; |
| DebugOut.Analog[2] = GPS_Roll; |
| DebugOut.Analog[3] = actualPos.northing; |
| DebugOut.Analog[4] = actualPos.easting; |
| DebugOut.Analog[5] = NORTH_MITTEL; |
| DebugOut.Analog[6] = EAST_MITTEL; |
| DebugOut.Analog[7] = Soll_Position_North; |
| DebugOut.Analog[8] = Soll_Position_East; |
| DebugOut.Analog[9] = GPS_Home_North; |
| DebugOut.Analog[10] = GPS_Home_East; |
| DebugOut.Analog[11] = GPS_Positionsabweichung_North; |
| DebugOut.Analog[12] = GPS_Positionsabweichung_East; |
| DebugOut.Analog[13] = Poti1; |
| DebugOut.Analog[14] = Poti2; |
| DebugOut.Analog[15] = KompassValue; |
| */ |
| //++++++++ENDE_Legende++++++++ |
| //++++++++ANFANG_Legende_1++++++++ |
| DebugOut.Analog[0] = GPS_Roll; |
| DebugOut.Analog[1] = GPS_Nick; |
| DebugOut.Analog[2] = GPS_Positionsabweichung_North; |
| DebugOut.Analog[3] = GPS_Positionsabweichung_East; |
| DebugOut.Analog[4] = P_Einfluss_East; |
| DebugOut.Analog[5] = D_Einfluss_East; |
| DebugOut.Analog[6] = P_Einfluss_North; |
| DebugOut.Analog[7] = D_Einfluss_North; |
| DebugOut.Analog[8] = GPS_Geschwindigkeit_North; |
| DebugOut.Analog[9] = GPS_Geschwindigkeit_East; |
| DebugOut.Analog[10] = Parameter_UserParam1; |
| DebugOut.Analog[11] = Parameter_UserParam2; |
| DebugOut.Analog[12] = Soll_Position_North; |
| DebugOut.Analog[13] = Soll_Position_East; |
| DebugOut.Analog[14] = Poti6; |
| DebugOut.Analog[15] = KompassValue; |
| //++++++++ENDE_Legende_1++++++++ |
| // DebugOut.Analog[xx] = actualPos.velNorth; |
| // DebugOut.Analog[xx] = actualPos.velEast; |
| // DebugOut.Analog[xx] = UBat; |
| // DebugOut.Analog[xx] = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| if(GierMischanteil > 100) GierMischanteil = 100; |
| if(GierMischanteil < -100) GierMischanteil = -100; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| SummeNick += DiffNick; // I-Anteil |
| if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| SummeRoll += DiffRoll; // I-Anteil |
| if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/fc.d |
|---|
| 0,0 → 1,2 |
| fc.o fc.d : fc.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/fc.h |
|---|
| 0,0 → 1,119 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| extern unsigned char Limit_D_Anteil;//(210907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| /* |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| */ |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/fc.h.bak |
|---|
| 0,0 → 1,117 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| extern unsigned char Limit_D_Anteil;//(210907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| /* |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| */ |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/fc.lst |
|---|
| 0,0 → 1,4908 |
| 1 .file "fc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global Mittelwert |
| 13 Mittelwert: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 AF92 push r10 |
| 16 0002 BF92 push r11 |
| 17 0004 CF92 push r12 |
| 18 0006 DF92 push r13 |
| 19 0008 EF92 push r14 |
| 20 000a FF92 push r15 |
| 21 000c 0F93 push r16 |
| 22 000e 1F93 push r17 |
| 23 /* prologue end (size=8) */ |
| 24 0010 1092 7A00 sts 122,__zero_reg__ |
| 25 0014 8091 0000 lds r24,MessanzahlNick |
| 26 0018 8823 tst r24 |
| 27 001a 01F0 breq .L2 |
| 28 001c 8091 0000 lds r24,AccumulateNick |
| 29 0020 9091 0000 lds r25,(AccumulateNick)+1 |
| 30 0024 6091 0000 lds r22,MessanzahlNick |
| 31 0028 7727 clr r23 |
| 32 002a 0E94 0000 call __divmodhi4 |
| 33 002e 7093 0000 sts (MesswertNick)+1,r23 |
| 34 0032 6093 0000 sts MesswertNick,r22 |
| 35 .L2: |
| 36 0036 8091 0000 lds r24,MessanzahlRoll |
| 37 003a 8823 tst r24 |
| 38 003c 01F0 breq .L4 |
| 39 003e 8091 0000 lds r24,AccumulateRoll |
| 40 0042 9091 0000 lds r25,(AccumulateRoll)+1 |
| 41 0046 6091 0000 lds r22,MessanzahlRoll |
| 42 004a 7727 clr r23 |
| 43 004c 0E94 0000 call __divmodhi4 |
| 44 0050 7093 0000 sts (MesswertRoll)+1,r23 |
| 45 0054 6093 0000 sts MesswertRoll,r22 |
| 46 .L4: |
| 47 0058 8091 0000 lds r24,MessanzahlGier |
| 48 005c 8823 tst r24 |
| 49 005e 01F0 breq .L6 |
| 50 0060 8091 0000 lds r24,AccumulateGier |
| 51 0064 9091 0000 lds r25,(AccumulateGier)+1 |
| 52 0068 6091 0000 lds r22,MessanzahlGier |
| 53 006c 7727 clr r23 |
| 54 006e 0E94 0000 call __divmodhi4 |
| 55 0072 7093 0000 sts (MesswertGier)+1,r23 |
| 56 0076 6093 0000 sts MesswertGier,r22 |
| 57 .L6: |
| 58 007a 8091 0000 lds r24,messanzahl_AccNick |
| 59 007e 8823 tst r24 |
| 60 0080 01F0 breq .L8 |
| 61 0082 E090 0000 lds r14,Mittelwert_AccNick |
| 62 0086 F090 0000 lds r15,(Mittelwert_AccNick)+1 |
| 63 008a 6091 0000 lds r22,accumulate_AccNick |
| 64 008e 7091 0000 lds r23,(accumulate_AccNick)+1 |
| 65 0092 2091 0000 lds r18,messanzahl_AccNick |
| 66 0096 0027 clr r16 |
| 67 0098 F7FC sbrc r15,7 |
| 68 009a 0095 com r16 |
| 69 009c 102F mov r17,r16 |
| 70 009e 5701 movw r10,r14 |
| 71 00a0 6801 movw r12,r16 |
| 72 00a2 43E0 ldi r20,3 |
| 73 00a4 AA0C 1: lsl r10 |
| 74 00a6 BB1C rol r11 |
| 75 00a8 CC1C rol r12 |
| 76 00aa DD1C rol r13 |
| 77 00ac 4A95 dec r20 |
| 78 00ae 01F4 brne 1b |
| 79 00b0 AE18 sub r10,r14 |
| 80 00b2 BF08 sbc r11,r15 |
| 81 00b4 C00A sbc r12,r16 |
| 82 00b6 D10A sbc r13,r17 |
| 83 00b8 8827 clr r24 |
| 84 00ba 77FD sbrc r23,7 |
| 85 00bc 8095 com r24 |
| 86 00be 982F mov r25,r24 |
| 87 00c0 34E0 ldi r19,4 |
| 88 00c2 660F 1: lsl r22 |
| 89 00c4 771F rol r23 |
| 90 00c6 881F rol r24 |
| 91 00c8 991F rol r25 |
| 92 00ca 3A95 dec r19 |
| 93 00cc 01F4 brne 1b |
| 94 00ce 3327 clr r19 |
| 95 00d0 4427 clr r20 |
| 96 00d2 5527 clr r21 |
| 97 00d4 0E94 0000 call __divmodsi4 |
| 98 00d8 A20E add r10,r18 |
| 99 00da B31E adc r11,r19 |
| 100 00dc C41E adc r12,r20 |
| 101 00de D51E adc r13,r21 |
| 102 00e0 C601 movw r24,r12 |
| 103 00e2 B501 movw r22,r10 |
| 104 00e4 28E0 ldi r18,lo8(8) |
| 105 00e6 30E0 ldi r19,hi8(8) |
| 106 00e8 40E0 ldi r20,hlo8(8) |
| 107 00ea 50E0 ldi r21,hhi8(8) |
| 108 00ec 0E94 0000 call __divmodsi4 |
| 109 00f0 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 110 00f4 2093 0000 sts Mittelwert_AccNick,r18 |
| 111 .L8: |
| 112 00f8 8091 0000 lds r24,messanzahl_AccRoll |
| 113 00fc 8823 tst r24 |
| 114 00fe 01F0 breq .L10 |
| 115 0100 E090 0000 lds r14,Mittelwert_AccRoll |
| 116 0104 F090 0000 lds r15,(Mittelwert_AccRoll)+1 |
| 117 0108 6091 0000 lds r22,accumulate_AccRoll |
| 118 010c 7091 0000 lds r23,(accumulate_AccRoll)+1 |
| 119 0110 2091 0000 lds r18,messanzahl_AccRoll |
| 120 0114 0027 clr r16 |
| 121 0116 F7FC sbrc r15,7 |
| 122 0118 0095 com r16 |
| 123 011a 102F mov r17,r16 |
| 124 011c 5701 movw r10,r14 |
| 125 011e 6801 movw r12,r16 |
| 126 0120 83E0 ldi r24,3 |
| 127 0122 AA0C 1: lsl r10 |
| 128 0124 BB1C rol r11 |
| 129 0126 CC1C rol r12 |
| 130 0128 DD1C rol r13 |
| 131 012a 8A95 dec r24 |
| 132 012c 01F4 brne 1b |
| 133 012e AE18 sub r10,r14 |
| 134 0130 BF08 sbc r11,r15 |
| 135 0132 C00A sbc r12,r16 |
| 136 0134 D10A sbc r13,r17 |
| 137 0136 8827 clr r24 |
| 138 0138 77FD sbrc r23,7 |
| 139 013a 8095 com r24 |
| 140 013c 982F mov r25,r24 |
| 141 013e B4E0 ldi r27,4 |
| 142 0140 660F 1: lsl r22 |
| 143 0142 771F rol r23 |
| 144 0144 881F rol r24 |
| 145 0146 991F rol r25 |
| 146 0148 BA95 dec r27 |
| 147 014a 01F4 brne 1b |
| 148 014c 3327 clr r19 |
| 149 014e 4427 clr r20 |
| 150 0150 5527 clr r21 |
| 151 0152 0E94 0000 call __divmodsi4 |
| 152 0156 A20E add r10,r18 |
| 153 0158 B31E adc r11,r19 |
| 154 015a C41E adc r12,r20 |
| 155 015c D51E adc r13,r21 |
| 156 015e C601 movw r24,r12 |
| 157 0160 B501 movw r22,r10 |
| 158 0162 28E0 ldi r18,lo8(8) |
| 159 0164 30E0 ldi r19,hi8(8) |
| 160 0166 40E0 ldi r20,hlo8(8) |
| 161 0168 50E0 ldi r21,hhi8(8) |
| 162 016a 0E94 0000 call __divmodsi4 |
| 163 016e 3093 0000 sts (Mittelwert_AccRoll)+1,r19 |
| 164 0172 2093 0000 sts Mittelwert_AccRoll,r18 |
| 165 .L10: |
| 166 0176 8091 0000 lds r24,messanzahl_AccHoch |
| 167 017a 8823 tst r24 |
| 168 017c 01F0 breq .L12 |
| 169 017e E090 0000 lds r14,Mittelwert_AccHoch |
| 170 0182 F090 0000 lds r15,(Mittelwert_AccHoch)+1 |
| 171 0186 6091 0000 lds r22,accumulate_AccHoch |
| 172 018a 7091 0000 lds r23,(accumulate_AccHoch)+1 |
| 173 018e 2091 0000 lds r18,messanzahl_AccHoch |
| 174 0192 0027 clr r16 |
| 175 0194 F7FC sbrc r15,7 |
| 176 0196 0095 com r16 |
| 177 0198 102F mov r17,r16 |
| 178 019a 5701 movw r10,r14 |
| 179 019c 6801 movw r12,r16 |
| 180 019e A3E0 ldi r26,3 |
| 181 01a0 AA0C 1: lsl r10 |
| 182 01a2 BB1C rol r11 |
| 183 01a4 CC1C rol r12 |
| 184 01a6 DD1C rol r13 |
| 185 01a8 AA95 dec r26 |
| 186 01aa 01F4 brne 1b |
| 187 01ac AE18 sub r10,r14 |
| 188 01ae BF08 sbc r11,r15 |
| 189 01b0 C00A sbc r12,r16 |
| 190 01b2 D10A sbc r13,r17 |
| 191 01b4 8827 clr r24 |
| 192 01b6 77FD sbrc r23,7 |
| 193 01b8 8095 com r24 |
| 194 01ba 982F mov r25,r24 |
| 195 01bc 3327 clr r19 |
| 196 01be 4427 clr r20 |
| 197 01c0 5527 clr r21 |
| 198 01c2 0E94 0000 call __divmodsi4 |
| 199 01c6 A20E add r10,r18 |
| 200 01c8 B31E adc r11,r19 |
| 201 01ca C41E adc r12,r20 |
| 202 01cc D51E adc r13,r21 |
| 203 01ce C601 movw r24,r12 |
| 204 01d0 B501 movw r22,r10 |
| 205 01d2 28E0 ldi r18,lo8(8) |
| 206 01d4 30E0 ldi r19,hi8(8) |
| 207 01d6 40E0 ldi r20,hlo8(8) |
| 208 01d8 50E0 ldi r21,hhi8(8) |
| 209 01da 0E94 0000 call __divmodsi4 |
| 210 01de 3093 0000 sts (Mittelwert_AccHoch)+1,r19 |
| 211 01e2 2093 0000 sts Mittelwert_AccHoch,r18 |
| 212 .L12: |
| 213 01e6 1092 0000 sts (AccumulateNick)+1,__zero_reg__ |
| 214 01ea 1092 0000 sts AccumulateNick,__zero_reg__ |
| 215 01ee 1092 0000 sts MessanzahlNick,__zero_reg__ |
| 216 01f2 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ |
| 217 01f6 1092 0000 sts AccumulateRoll,__zero_reg__ |
| 218 01fa 1092 0000 sts MessanzahlRoll,__zero_reg__ |
| 219 01fe 1092 0000 sts (AccumulateGier)+1,__zero_reg__ |
| 220 0202 1092 0000 sts AccumulateGier,__zero_reg__ |
| 221 0206 1092 0000 sts MessanzahlGier,__zero_reg__ |
| 222 020a 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ |
| 223 020e 1092 0000 sts accumulate_AccRoll,__zero_reg__ |
| 224 0212 1092 0000 sts messanzahl_AccRoll,__zero_reg__ |
| 225 0216 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ |
| 226 021a 1092 0000 sts accumulate_AccNick,__zero_reg__ |
| 227 021e 1092 0000 sts messanzahl_AccNick,__zero_reg__ |
| 228 0222 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ |
| 229 0226 1092 0000 sts accumulate_AccHoch,__zero_reg__ |
| 230 022a 1092 0000 sts messanzahl_AccHoch,__zero_reg__ |
| 231 022e 8091 0000 lds r24,Mess_Integral_Gier |
| 232 0232 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 233 0236 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 234 023a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 235 023e 8093 0000 sts Integral_Gier,r24 |
| 236 0242 9093 0000 sts (Integral_Gier)+1,r25 |
| 237 0246 A093 0000 sts (Integral_Gier)+2,r26 |
| 238 024a B093 0000 sts (Integral_Gier)+3,r27 |
| 239 024e 8091 0000 lds r24,Mess_IntegralNick |
| 240 0252 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 241 0256 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 242 025a B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 243 025e 8093 0000 sts IntegralNick,r24 |
| 244 0262 9093 0000 sts (IntegralNick)+1,r25 |
| 245 0266 A093 0000 sts (IntegralNick)+2,r26 |
| 246 026a B093 0000 sts (IntegralNick)+3,r27 |
| 247 026e 8091 0000 lds r24,Mess_IntegralRoll |
| 248 0272 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 249 0276 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 250 027a B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 251 027e 8093 0000 sts IntegralRoll,r24 |
| 252 0282 9093 0000 sts (IntegralRoll)+1,r25 |
| 253 0286 A093 0000 sts (IntegralRoll)+2,r26 |
| 254 028a B093 0000 sts (IntegralRoll)+3,r27 |
| 255 028e 8091 0000 lds r24,Mess_IntegralNick2 |
| 256 0292 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 257 0296 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 258 029a B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 259 029e 8093 0000 sts IntegralNick2,r24 |
| 260 02a2 9093 0000 sts (IntegralNick2)+1,r25 |
| 261 02a6 A093 0000 sts (IntegralNick2)+2,r26 |
| 262 02aa B093 0000 sts (IntegralNick2)+3,r27 |
| 263 02ae 8091 0000 lds r24,Mess_IntegralRoll2 |
| 264 02b2 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 265 02b6 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 266 02ba B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 267 02be 8093 0000 sts IntegralRoll2,r24 |
| 268 02c2 9093 0000 sts (IntegralRoll2)+1,r25 |
| 269 02c6 A093 0000 sts (IntegralRoll2)+2,r26 |
| 270 02ca B093 0000 sts (IntegralRoll2)+3,r27 |
| 271 02ce 8FEE ldi r24,lo8(-17) |
| 272 02d0 8093 7A00 sts 122,r24 |
| 273 02d4 8091 0000 lds r24,MesswertNick |
| 274 02d8 9091 0000 lds r25,(MesswertNick)+1 |
| 275 02dc 893C cpi r24,201 |
| 276 02de 9105 cpc r25,__zero_reg__ |
| 277 02e0 04F0 brlt .L14 |
| 278 02e2 2091 0000 lds r18,MesswertNick |
| 279 02e6 3091 0000 lds r19,(MesswertNick)+1 |
| 280 02ea 8091 0000 lds r24,MesswertNick |
| 281 02ee 9091 0000 lds r25,(MesswertNick)+1 |
| 282 02f2 880F lsl r24 |
| 283 02f4 991F rol r25 |
| 284 02f6 880F lsl r24 |
| 285 02f8 991F rol r25 |
| 286 02fa 2052 subi r18,lo8(-(-800)) |
| 287 02fc 3340 sbci r19,hi8(-(-800)) |
| 288 02fe 00C0 rjmp .L95 |
| 289 .L14: |
| 290 0300 8091 0000 lds r24,MesswertNick |
| 291 0304 9091 0000 lds r25,(MesswertNick)+1 |
| 292 0308 8853 subi r24,lo8(-200) |
| 293 030a 9F4F sbci r25,hi8(-200) |
| 294 030c 04F4 brge .L16 |
| 295 030e 2091 0000 lds r18,MesswertNick |
| 296 0312 3091 0000 lds r19,(MesswertNick)+1 |
| 297 0316 8091 0000 lds r24,MesswertNick |
| 298 031a 9091 0000 lds r25,(MesswertNick)+1 |
| 299 031e 880F lsl r24 |
| 300 0320 991F rol r25 |
| 301 0322 880F lsl r24 |
| 302 0324 991F rol r25 |
| 303 0326 205E subi r18,lo8(-(800)) |
| 304 0328 3C4F sbci r19,hi8(-(800)) |
| 305 .L95: |
| 306 032a 820F add r24,r18 |
| 307 032c 931F adc r25,r19 |
| 308 032e 9093 0000 sts (MesswertNick)+1,r25 |
| 309 0332 8093 0000 sts MesswertNick,r24 |
| 310 .L16: |
| 311 0336 8091 0000 lds r24,MesswertRoll |
| 312 033a 9091 0000 lds r25,(MesswertRoll)+1 |
| 313 033e 893C cpi r24,201 |
| 314 0340 9105 cpc r25,__zero_reg__ |
| 315 0342 04F0 brlt .L18 |
| 316 0344 2091 0000 lds r18,MesswertRoll |
| 317 0348 3091 0000 lds r19,(MesswertRoll)+1 |
| 318 034c 8091 0000 lds r24,MesswertRoll |
| 319 0350 9091 0000 lds r25,(MesswertRoll)+1 |
| 320 0354 880F lsl r24 |
| 321 0356 991F rol r25 |
| 322 0358 880F lsl r24 |
| 323 035a 991F rol r25 |
| 324 035c 2052 subi r18,lo8(-(-800)) |
| 325 035e 3340 sbci r19,hi8(-(-800)) |
| 326 0360 00C0 rjmp .L96 |
| 327 .L18: |
| 328 0362 8091 0000 lds r24,MesswertRoll |
| 329 0366 9091 0000 lds r25,(MesswertRoll)+1 |
| 330 036a 8853 subi r24,lo8(-200) |
| 331 036c 9F4F sbci r25,hi8(-200) |
| 332 036e 04F4 brge .L20 |
| 333 0370 2091 0000 lds r18,MesswertRoll |
| 334 0374 3091 0000 lds r19,(MesswertRoll)+1 |
| 335 0378 8091 0000 lds r24,MesswertRoll |
| 336 037c 9091 0000 lds r25,(MesswertRoll)+1 |
| 337 0380 880F lsl r24 |
| 338 0382 991F rol r25 |
| 339 0384 880F lsl r24 |
| 340 0386 991F rol r25 |
| 341 0388 205E subi r18,lo8(-(800)) |
| 342 038a 3C4F sbci r19,hi8(-(800)) |
| 343 .L96: |
| 344 038c 820F add r24,r18 |
| 345 038e 931F adc r25,r19 |
| 346 0390 9093 0000 sts (MesswertRoll)+1,r25 |
| 347 0394 8093 0000 sts MesswertRoll,r24 |
| 348 .L20: |
| 349 0398 2091 0000 lds r18,Poti1 |
| 350 039c 3091 0000 lds r19,(Poti1)+1 |
| 351 03a0 8091 0000 lds r24,EE_Parameter+4 |
| 352 03a4 E82F mov r30,r24 |
| 353 03a6 FF27 clr r31 |
| 354 03a8 EE0F lsl r30 |
| 355 03aa FF1F rol r31 |
| 356 03ac E050 subi r30,lo8(-(PPM_in)) |
| 357 03ae F040 sbci r31,hi8(-(PPM_in)) |
| 358 03b0 8081 ld r24,Z |
| 359 03b2 9181 ldd r25,Z+1 |
| 360 03b4 8259 subi r24,lo8(-(110)) |
| 361 03b6 9F4F sbci r25,hi8(-(110)) |
| 362 03b8 2817 cp r18,r24 |
| 363 03ba 3907 cpc r19,r25 |
| 364 03bc 04F4 brge .L22 |
| 365 03be 2F5F subi r18,lo8(-(1)) |
| 366 03c0 3F4F sbci r19,hi8(-(1)) |
| 367 03c2 00C0 rjmp .L97 |
| 368 .L22: |
| 369 03c4 8081 ld r24,Z |
| 370 03c6 9181 ldd r25,Z+1 |
| 371 03c8 8259 subi r24,lo8(-(110)) |
| 372 03ca 9F4F sbci r25,hi8(-(110)) |
| 373 03cc 8217 cp r24,r18 |
| 374 03ce 9307 cpc r25,r19 |
| 375 03d0 04F4 brge .L24 |
| 376 03d2 2115 cp r18,__zero_reg__ |
| 377 03d4 3105 cpc r19,__zero_reg__ |
| 378 03d6 01F0 breq .L24 |
| 379 03d8 2150 subi r18,lo8(-(-1)) |
| 380 03da 3040 sbci r19,hi8(-(-1)) |
| 381 .L97: |
| 382 03dc 3093 0000 sts (Poti1)+1,r19 |
| 383 03e0 2093 0000 sts Poti1,r18 |
| 384 .L24: |
| 385 03e4 2091 0000 lds r18,Poti2 |
| 386 03e8 3091 0000 lds r19,(Poti2)+1 |
| 387 03ec 8091 0000 lds r24,EE_Parameter+5 |
| 388 03f0 E82F mov r30,r24 |
| 389 03f2 FF27 clr r31 |
| 390 03f4 EE0F lsl r30 |
| 391 03f6 FF1F rol r31 |
| 392 03f8 E050 subi r30,lo8(-(PPM_in)) |
| 393 03fa F040 sbci r31,hi8(-(PPM_in)) |
| 394 03fc 8081 ld r24,Z |
| 395 03fe 9181 ldd r25,Z+1 |
| 396 0400 8259 subi r24,lo8(-(110)) |
| 397 0402 9F4F sbci r25,hi8(-(110)) |
| 398 0404 2817 cp r18,r24 |
| 399 0406 3907 cpc r19,r25 |
| 400 0408 04F4 brge .L27 |
| 401 040a 2F5F subi r18,lo8(-(1)) |
| 402 040c 3F4F sbci r19,hi8(-(1)) |
| 403 040e 00C0 rjmp .L98 |
| 404 .L27: |
| 405 0410 8081 ld r24,Z |
| 406 0412 9181 ldd r25,Z+1 |
| 407 0414 8259 subi r24,lo8(-(110)) |
| 408 0416 9F4F sbci r25,hi8(-(110)) |
| 409 0418 8217 cp r24,r18 |
| 410 041a 9307 cpc r25,r19 |
| 411 041c 04F4 brge .L29 |
| 412 041e 2115 cp r18,__zero_reg__ |
| 413 0420 3105 cpc r19,__zero_reg__ |
| 414 0422 01F0 breq .L29 |
| 415 0424 2150 subi r18,lo8(-(-1)) |
| 416 0426 3040 sbci r19,hi8(-(-1)) |
| 417 .L98: |
| 418 0428 3093 0000 sts (Poti2)+1,r19 |
| 419 042c 2093 0000 sts Poti2,r18 |
| 420 .L29: |
| 421 0430 2091 0000 lds r18,Poti3 |
| 422 0434 3091 0000 lds r19,(Poti3)+1 |
| 423 0438 8091 0000 lds r24,EE_Parameter+6 |
| 424 043c E82F mov r30,r24 |
| 425 043e FF27 clr r31 |
| 426 0440 EE0F lsl r30 |
| 427 0442 FF1F rol r31 |
| 428 0444 E050 subi r30,lo8(-(PPM_in)) |
| 429 0446 F040 sbci r31,hi8(-(PPM_in)) |
| 430 0448 8081 ld r24,Z |
| 431 044a 9181 ldd r25,Z+1 |
| 432 044c 8259 subi r24,lo8(-(110)) |
| 433 044e 9F4F sbci r25,hi8(-(110)) |
| 434 0450 2817 cp r18,r24 |
| 435 0452 3907 cpc r19,r25 |
| 436 0454 04F4 brge .L32 |
| 437 0456 2F5F subi r18,lo8(-(1)) |
| 438 0458 3F4F sbci r19,hi8(-(1)) |
| 439 045a 00C0 rjmp .L99 |
| 440 .L32: |
| 441 045c 8081 ld r24,Z |
| 442 045e 9181 ldd r25,Z+1 |
| 443 0460 8259 subi r24,lo8(-(110)) |
| 444 0462 9F4F sbci r25,hi8(-(110)) |
| 445 0464 8217 cp r24,r18 |
| 446 0466 9307 cpc r25,r19 |
| 447 0468 04F4 brge .L34 |
| 448 046a 2115 cp r18,__zero_reg__ |
| 449 046c 3105 cpc r19,__zero_reg__ |
| 450 046e 01F0 breq .L34 |
| 451 0470 2150 subi r18,lo8(-(-1)) |
| 452 0472 3040 sbci r19,hi8(-(-1)) |
| 453 .L99: |
| 454 0474 3093 0000 sts (Poti3)+1,r19 |
| 455 0478 2093 0000 sts Poti3,r18 |
| 456 .L34: |
| 457 047c 2091 0000 lds r18,Poti4 |
| 458 0480 3091 0000 lds r19,(Poti4)+1 |
| 459 0484 8091 0000 lds r24,EE_Parameter+7 |
| 460 0488 E82F mov r30,r24 |
| 461 048a FF27 clr r31 |
| 462 048c EE0F lsl r30 |
| 463 048e FF1F rol r31 |
| 464 0490 E050 subi r30,lo8(-(PPM_in)) |
| 465 0492 F040 sbci r31,hi8(-(PPM_in)) |
| 466 0494 8081 ld r24,Z |
| 467 0496 9181 ldd r25,Z+1 |
| 468 0498 8259 subi r24,lo8(-(110)) |
| 469 049a 9F4F sbci r25,hi8(-(110)) |
| 470 049c 2817 cp r18,r24 |
| 471 049e 3907 cpc r19,r25 |
| 472 04a0 04F4 brge .L37 |
| 473 04a2 2F5F subi r18,lo8(-(1)) |
| 474 04a4 3F4F sbci r19,hi8(-(1)) |
| 475 04a6 00C0 rjmp .L100 |
| 476 .L37: |
| 477 04a8 8081 ld r24,Z |
| 478 04aa 9181 ldd r25,Z+1 |
| 479 04ac 8259 subi r24,lo8(-(110)) |
| 480 04ae 9F4F sbci r25,hi8(-(110)) |
| 481 04b0 8217 cp r24,r18 |
| 482 04b2 9307 cpc r25,r19 |
| 483 04b4 04F4 brge .L39 |
| 484 04b6 2115 cp r18,__zero_reg__ |
| 485 04b8 3105 cpc r19,__zero_reg__ |
| 486 04ba 01F0 breq .L39 |
| 487 04bc 2150 subi r18,lo8(-(-1)) |
| 488 04be 3040 sbci r19,hi8(-(-1)) |
| 489 .L100: |
| 490 04c0 3093 0000 sts (Poti4)+1,r19 |
| 491 04c4 2093 0000 sts Poti4,r18 |
| 492 .L39: |
| 493 04c8 2091 0000 lds r18,Poti5 |
| 494 04cc 3091 0000 lds r19,(Poti5)+1 |
| 495 04d0 8091 0000 lds r24,PPM_in+18 |
| 496 04d4 9091 0000 lds r25,(PPM_in+18)+1 |
| 497 04d8 8259 subi r24,lo8(-(110)) |
| 498 04da 9F4F sbci r25,hi8(-(110)) |
| 499 04dc 2817 cp r18,r24 |
| 500 04de 3907 cpc r19,r25 |
| 501 04e0 04F4 brge .L42 |
| 502 04e2 2F5F subi r18,lo8(-(1)) |
| 503 04e4 3F4F sbci r19,hi8(-(1)) |
| 504 04e6 00C0 rjmp .L101 |
| 505 .L42: |
| 506 04e8 8091 0000 lds r24,PPM_in+18 |
| 507 04ec 9091 0000 lds r25,(PPM_in+18)+1 |
| 508 04f0 8259 subi r24,lo8(-(110)) |
| 509 04f2 9F4F sbci r25,hi8(-(110)) |
| 510 04f4 8217 cp r24,r18 |
| 511 04f6 9307 cpc r25,r19 |
| 512 04f8 04F4 brge .L44 |
| 513 04fa 2115 cp r18,__zero_reg__ |
| 514 04fc 3105 cpc r19,__zero_reg__ |
| 515 04fe 01F0 breq .L44 |
| 516 0500 2150 subi r18,lo8(-(-1)) |
| 517 0502 3040 sbci r19,hi8(-(-1)) |
| 518 .L101: |
| 519 0504 3093 0000 sts (Poti5)+1,r19 |
| 520 0508 2093 0000 sts Poti5,r18 |
| 521 .L44: |
| 522 050c 2091 0000 lds r18,Poti6 |
| 523 0510 3091 0000 lds r19,(Poti6)+1 |
| 524 0514 8091 0000 lds r24,PPM_in+20 |
| 525 0518 9091 0000 lds r25,(PPM_in+20)+1 |
| 526 051c 8259 subi r24,lo8(-(110)) |
| 527 051e 9F4F sbci r25,hi8(-(110)) |
| 528 0520 2817 cp r18,r24 |
| 529 0522 3907 cpc r19,r25 |
| 530 0524 04F4 brge .L47 |
| 531 0526 2F5F subi r18,lo8(-(1)) |
| 532 0528 3F4F sbci r19,hi8(-(1)) |
| 533 052a 00C0 rjmp .L102 |
| 534 .L47: |
| 535 052c 8091 0000 lds r24,PPM_in+20 |
| 536 0530 9091 0000 lds r25,(PPM_in+20)+1 |
| 537 0534 8259 subi r24,lo8(-(110)) |
| 538 0536 9F4F sbci r25,hi8(-(110)) |
| 539 0538 8217 cp r24,r18 |
| 540 053a 9307 cpc r25,r19 |
| 541 053c 04F4 brge .L49 |
| 542 053e 2115 cp r18,__zero_reg__ |
| 543 0540 3105 cpc r19,__zero_reg__ |
| 544 0542 01F0 breq .L49 |
| 545 0544 2150 subi r18,lo8(-(-1)) |
| 546 0546 3040 sbci r19,hi8(-(-1)) |
| 547 .L102: |
| 548 0548 3093 0000 sts (Poti6)+1,r19 |
| 549 054c 2093 0000 sts Poti6,r18 |
| 550 .L49: |
| 551 0550 2091 0000 lds r18,Poti7 |
| 552 0554 3091 0000 lds r19,(Poti7)+1 |
| 553 0558 8091 0000 lds r24,PPM_in+22 |
| 554 055c 9091 0000 lds r25,(PPM_in+22)+1 |
| 555 0560 8259 subi r24,lo8(-(110)) |
| 556 0562 9F4F sbci r25,hi8(-(110)) |
| 557 0564 2817 cp r18,r24 |
| 558 0566 3907 cpc r19,r25 |
| 559 0568 04F4 brge .L52 |
| 560 056a 2F5F subi r18,lo8(-(1)) |
| 561 056c 3F4F sbci r19,hi8(-(1)) |
| 562 056e 00C0 rjmp .L103 |
| 563 .L52: |
| 564 0570 8091 0000 lds r24,PPM_in+22 |
| 565 0574 9091 0000 lds r25,(PPM_in+22)+1 |
| 566 0578 8259 subi r24,lo8(-(110)) |
| 567 057a 9F4F sbci r25,hi8(-(110)) |
| 568 057c 8217 cp r24,r18 |
| 569 057e 9307 cpc r25,r19 |
| 570 0580 04F4 brge .L54 |
| 571 0582 2115 cp r18,__zero_reg__ |
| 572 0584 3105 cpc r19,__zero_reg__ |
| 573 0586 01F0 breq .L54 |
| 574 0588 2150 subi r18,lo8(-(-1)) |
| 575 058a 3040 sbci r19,hi8(-(-1)) |
| 576 .L103: |
| 577 058c 3093 0000 sts (Poti7)+1,r19 |
| 578 0590 2093 0000 sts Poti7,r18 |
| 579 .L54: |
| 580 0594 2091 0000 lds r18,Poti8 |
| 581 0598 3091 0000 lds r19,(Poti8)+1 |
| 582 059c 8091 0000 lds r24,PPM_in+24 |
| 583 05a0 9091 0000 lds r25,(PPM_in+24)+1 |
| 584 05a4 8259 subi r24,lo8(-(110)) |
| 585 05a6 9F4F sbci r25,hi8(-(110)) |
| 586 05a8 2817 cp r18,r24 |
| 587 05aa 3907 cpc r19,r25 |
| 588 05ac 04F4 brge .L57 |
| 589 05ae 2F5F subi r18,lo8(-(1)) |
| 590 05b0 3F4F sbci r19,hi8(-(1)) |
| 591 05b2 00C0 rjmp .L104 |
| 592 .L57: |
| 593 05b4 8091 0000 lds r24,PPM_in+24 |
| 594 05b8 9091 0000 lds r25,(PPM_in+24)+1 |
| 595 05bc 8259 subi r24,lo8(-(110)) |
| 596 05be 9F4F sbci r25,hi8(-(110)) |
| 597 05c0 8217 cp r24,r18 |
| 598 05c2 9307 cpc r25,r19 |
| 599 05c4 04F4 brge .L59 |
| 600 05c6 2115 cp r18,__zero_reg__ |
| 601 05c8 3105 cpc r19,__zero_reg__ |
| 602 05ca 01F0 breq .L59 |
| 603 05cc 2150 subi r18,lo8(-(-1)) |
| 604 05ce 3040 sbci r19,hi8(-(-1)) |
| 605 .L104: |
| 606 05d0 3093 0000 sts (Poti8)+1,r19 |
| 607 05d4 2093 0000 sts Poti8,r18 |
| 608 .L59: |
| 609 05d8 8091 0000 lds r24,Poti1 |
| 610 05dc 9091 0000 lds r25,(Poti1)+1 |
| 611 05e0 97FF sbrs r25,7 |
| 612 05e2 00C0 rjmp .L62 |
| 613 05e4 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 614 05e8 1092 0000 sts Poti1,__zero_reg__ |
| 615 05ec 00C0 rjmp .L64 |
| 616 .L62: |
| 617 05ee 8F3F cpi r24,255 |
| 618 05f0 9105 cpc r25,__zero_reg__ |
| 619 05f2 01F0 breq .L64 |
| 620 05f4 04F0 brlt .L64 |
| 621 05f6 8FEF ldi r24,lo8(255) |
| 622 05f8 90E0 ldi r25,hi8(255) |
| 623 05fa 9093 0000 sts (Poti1)+1,r25 |
| 624 05fe 8093 0000 sts Poti1,r24 |
| 625 .L64: |
| 626 0602 8091 0000 lds r24,Poti2 |
| 627 0606 9091 0000 lds r25,(Poti2)+1 |
| 628 060a 97FF sbrs r25,7 |
| 629 060c 00C0 rjmp .L66 |
| 630 060e 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 631 0612 1092 0000 sts Poti2,__zero_reg__ |
| 632 0616 00C0 rjmp .L68 |
| 633 .L66: |
| 634 0618 8F3F cpi r24,255 |
| 635 061a 9105 cpc r25,__zero_reg__ |
| 636 061c 01F0 breq .L68 |
| 637 061e 04F0 brlt .L68 |
| 638 0620 8FEF ldi r24,lo8(255) |
| 639 0622 90E0 ldi r25,hi8(255) |
| 640 0624 9093 0000 sts (Poti2)+1,r25 |
| 641 0628 8093 0000 sts Poti2,r24 |
| 642 .L68: |
| 643 062c 8091 0000 lds r24,Poti3 |
| 644 0630 9091 0000 lds r25,(Poti3)+1 |
| 645 0634 97FF sbrs r25,7 |
| 646 0636 00C0 rjmp .L70 |
| 647 0638 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 648 063c 1092 0000 sts Poti3,__zero_reg__ |
| 649 0640 00C0 rjmp .L72 |
| 650 .L70: |
| 651 0642 8F3F cpi r24,255 |
| 652 0644 9105 cpc r25,__zero_reg__ |
| 653 0646 01F0 breq .L72 |
| 654 0648 04F0 brlt .L72 |
| 655 064a 8FEF ldi r24,lo8(255) |
| 656 064c 90E0 ldi r25,hi8(255) |
| 657 064e 9093 0000 sts (Poti3)+1,r25 |
| 658 0652 8093 0000 sts Poti3,r24 |
| 659 .L72: |
| 660 0656 8091 0000 lds r24,Poti4 |
| 661 065a 9091 0000 lds r25,(Poti4)+1 |
| 662 065e 97FF sbrs r25,7 |
| 663 0660 00C0 rjmp .L74 |
| 664 0662 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 665 0666 1092 0000 sts Poti4,__zero_reg__ |
| 666 066a 00C0 rjmp .L76 |
| 667 .L74: |
| 668 066c 8F3F cpi r24,255 |
| 669 066e 9105 cpc r25,__zero_reg__ |
| 670 0670 01F0 breq .L76 |
| 671 0672 04F0 brlt .L76 |
| 672 0674 8FEF ldi r24,lo8(255) |
| 673 0676 90E0 ldi r25,hi8(255) |
| 674 0678 9093 0000 sts (Poti4)+1,r25 |
| 675 067c 8093 0000 sts Poti4,r24 |
| 676 .L76: |
| 677 0680 8091 0000 lds r24,Poti5 |
| 678 0684 9091 0000 lds r25,(Poti5)+1 |
| 679 0688 97FF sbrs r25,7 |
| 680 068a 00C0 rjmp .L78 |
| 681 068c 1092 0000 sts (Poti5)+1,__zero_reg__ |
| 682 0690 1092 0000 sts Poti5,__zero_reg__ |
| 683 0694 00C0 rjmp .L80 |
| 684 .L78: |
| 685 0696 8F3F cpi r24,255 |
| 686 0698 9105 cpc r25,__zero_reg__ |
| 687 069a 01F0 breq .L80 |
| 688 069c 04F0 brlt .L80 |
| 689 069e 8FEF ldi r24,lo8(255) |
| 690 06a0 90E0 ldi r25,hi8(255) |
| 691 06a2 9093 0000 sts (Poti5)+1,r25 |
| 692 06a6 8093 0000 sts Poti5,r24 |
| 693 .L80: |
| 694 06aa 8091 0000 lds r24,Poti6 |
| 695 06ae 9091 0000 lds r25,(Poti6)+1 |
| 696 06b2 97FF sbrs r25,7 |
| 697 06b4 00C0 rjmp .L82 |
| 698 06b6 1092 0000 sts (Poti6)+1,__zero_reg__ |
| 699 06ba 1092 0000 sts Poti6,__zero_reg__ |
| 700 06be 00C0 rjmp .L84 |
| 701 .L82: |
| 702 06c0 8F3F cpi r24,255 |
| 703 06c2 9105 cpc r25,__zero_reg__ |
| 704 06c4 01F0 breq .L84 |
| 705 06c6 04F0 brlt .L84 |
| 706 06c8 8FEF ldi r24,lo8(255) |
| 707 06ca 90E0 ldi r25,hi8(255) |
| 708 06cc 9093 0000 sts (Poti6)+1,r25 |
| 709 06d0 8093 0000 sts Poti6,r24 |
| 710 .L84: |
| 711 06d4 8091 0000 lds r24,Poti7 |
| 712 06d8 9091 0000 lds r25,(Poti7)+1 |
| 713 06dc 97FF sbrs r25,7 |
| 714 06de 00C0 rjmp .L86 |
| 715 06e0 1092 0000 sts (Poti7)+1,__zero_reg__ |
| 716 06e4 1092 0000 sts Poti7,__zero_reg__ |
| 717 06e8 00C0 rjmp .L88 |
| 718 .L86: |
| 719 06ea 8F3F cpi r24,255 |
| 720 06ec 9105 cpc r25,__zero_reg__ |
| 721 06ee 01F0 breq .L88 |
| 722 06f0 04F0 brlt .L88 |
| 723 06f2 8FEF ldi r24,lo8(255) |
| 724 06f4 90E0 ldi r25,hi8(255) |
| 725 06f6 9093 0000 sts (Poti7)+1,r25 |
| 726 06fa 8093 0000 sts Poti7,r24 |
| 727 .L88: |
| 728 06fe 8091 0000 lds r24,Poti8 |
| 729 0702 9091 0000 lds r25,(Poti8)+1 |
| 730 0706 97FF sbrs r25,7 |
| 731 0708 00C0 rjmp .L90 |
| 732 070a 1092 0000 sts (Poti8)+1,__zero_reg__ |
| 733 070e 1092 0000 sts Poti8,__zero_reg__ |
| 734 0712 00C0 rjmp .L94 |
| 735 .L90: |
| 736 0714 8F3F cpi r24,255 |
| 737 0716 9105 cpc r25,__zero_reg__ |
| 738 0718 01F0 breq .L94 |
| 739 071a 04F0 brlt .L94 |
| 740 071c 8FEF ldi r24,lo8(255) |
| 741 071e 90E0 ldi r25,hi8(255) |
| 742 0720 9093 0000 sts (Poti8)+1,r25 |
| 743 0724 8093 0000 sts Poti8,r24 |
| 744 .L94: |
| 745 /* epilogue: frame size=0 */ |
| 746 0728 1F91 pop r17 |
| 747 072a 0F91 pop r16 |
| 748 072c FF90 pop r15 |
| 749 072e EF90 pop r14 |
| 750 0730 DF90 pop r13 |
| 751 0732 CF90 pop r12 |
| 752 0734 BF90 pop r11 |
| 753 0736 AF90 pop r10 |
| 754 0738 0895 ret |
| 755 /* epilogue end (size=9) */ |
| 756 /* function Mittelwert size 927 (910) */ |
| 758 .global CalibrierMittelwert |
| 760 CalibrierMittelwert: |
| 761 /* prologue: frame size=0 */ |
| 762 /* prologue end (size=0) */ |
| 763 073a 1092 7A00 sts 122,__zero_reg__ |
| 764 073e 8091 0000 lds r24,MessanzahlNick |
| 765 0742 8823 tst r24 |
| 766 0744 01F0 breq .L106 |
| 767 0746 8091 0000 lds r24,AccumulateNick |
| 768 074a 9091 0000 lds r25,(AccumulateNick)+1 |
| 769 074e 6091 0000 lds r22,MessanzahlNick |
| 770 0752 7727 clr r23 |
| 771 0754 0E94 0000 call __divmodhi4 |
| 772 0758 7093 0000 sts (MesswertNick)+1,r23 |
| 773 075c 6093 0000 sts MesswertNick,r22 |
| 774 .L106: |
| 775 0760 8091 0000 lds r24,MessanzahlRoll |
| 776 0764 8823 tst r24 |
| 777 0766 01F0 breq .L108 |
| 778 0768 8091 0000 lds r24,AccumulateRoll |
| 779 076c 9091 0000 lds r25,(AccumulateRoll)+1 |
| 780 0770 6091 0000 lds r22,MessanzahlRoll |
| 781 0774 7727 clr r23 |
| 782 0776 0E94 0000 call __divmodhi4 |
| 783 077a 7093 0000 sts (MesswertRoll)+1,r23 |
| 784 077e 6093 0000 sts MesswertRoll,r22 |
| 785 .L108: |
| 786 0782 8091 0000 lds r24,MessanzahlGier |
| 787 0786 8823 tst r24 |
| 788 0788 01F0 breq .L110 |
| 789 078a 8091 0000 lds r24,AccumulateGier |
| 790 078e 9091 0000 lds r25,(AccumulateGier)+1 |
| 791 0792 6091 0000 lds r22,MessanzahlGier |
| 792 0796 7727 clr r23 |
| 793 0798 0E94 0000 call __divmodhi4 |
| 794 079c 7093 0000 sts (MesswertGier)+1,r23 |
| 795 07a0 6093 0000 sts MesswertGier,r22 |
| 796 .L110: |
| 797 07a4 8091 0000 lds r24,messanzahl_AccNick |
| 798 07a8 8823 tst r24 |
| 799 07aa 01F0 breq .L112 |
| 800 07ac 6091 0000 lds r22,accumulate_AccNick |
| 801 07b0 7091 0000 lds r23,(accumulate_AccNick)+1 |
| 802 07b4 2091 0000 lds r18,messanzahl_AccNick |
| 803 07b8 8827 clr r24 |
| 804 07ba 77FD sbrc r23,7 |
| 805 07bc 8095 com r24 |
| 806 07be 982F mov r25,r24 |
| 807 07c0 34E0 ldi r19,4 |
| 808 07c2 660F 1: lsl r22 |
| 809 07c4 771F rol r23 |
| 810 07c6 881F rol r24 |
| 811 07c8 991F rol r25 |
| 812 07ca 3A95 dec r19 |
| 813 07cc 01F4 brne 1b |
| 814 07ce 3327 clr r19 |
| 815 07d0 4427 clr r20 |
| 816 07d2 5527 clr r21 |
| 817 07d4 0E94 0000 call __divmodsi4 |
| 818 07d8 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 819 07dc 2093 0000 sts Mittelwert_AccNick,r18 |
| 820 .L112: |
| 821 07e0 8091 0000 lds r24,messanzahl_AccRoll |
| 822 07e4 8823 tst r24 |
| 823 07e6 01F0 breq .L114 |
| 824 07e8 6091 0000 lds r22,accumulate_AccRoll |
| 825 07ec 7091 0000 lds r23,(accumulate_AccRoll)+1 |
| 826 07f0 2091 0000 lds r18,messanzahl_AccRoll |
| 827 07f4 8827 clr r24 |
| 828 07f6 77FD sbrc r23,7 |
| 829 07f8 8095 com r24 |
| 830 07fa 982F mov r25,r24 |
| 831 07fc B4E0 ldi r27,4 |
| 832 07fe 660F 1: lsl r22 |
| 833 0800 771F rol r23 |
| 834 0802 881F rol r24 |
| 835 0804 991F rol r25 |
| 836 0806 BA95 dec r27 |
| 837 0808 01F4 brne 1b |
| 838 080a 3327 clr r19 |
| 839 080c 4427 clr r20 |
| 840 080e 5527 clr r21 |
| 841 0810 0E94 0000 call __divmodsi4 |
| 842 0814 3093 0000 sts (Mittelwert_AccRoll)+1,r19 |
| 843 0818 2093 0000 sts Mittelwert_AccRoll,r18 |
| 844 .L114: |
| 845 081c 8091 0000 lds r24,messanzahl_AccHoch |
| 846 0820 8823 tst r24 |
| 847 0822 01F0 breq .L116 |
| 848 0824 6091 0000 lds r22,accumulate_AccHoch |
| 849 0828 7091 0000 lds r23,(accumulate_AccHoch)+1 |
| 850 082c 2091 0000 lds r18,messanzahl_AccHoch |
| 851 0830 8827 clr r24 |
| 852 0832 77FD sbrc r23,7 |
| 853 0834 8095 com r24 |
| 854 0836 982F mov r25,r24 |
| 855 0838 3327 clr r19 |
| 856 083a 4427 clr r20 |
| 857 083c 5527 clr r21 |
| 858 083e 0E94 0000 call __divmodsi4 |
| 859 0842 3093 0000 sts (Mittelwert_AccHoch)+1,r19 |
| 860 0846 2093 0000 sts Mittelwert_AccHoch,r18 |
| 861 .L116: |
| 862 084a 1092 0000 sts (AccumulateNick)+1,__zero_reg__ |
| 863 084e 1092 0000 sts AccumulateNick,__zero_reg__ |
| 864 0852 1092 0000 sts MessanzahlNick,__zero_reg__ |
| 865 0856 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ |
| 866 085a 1092 0000 sts AccumulateRoll,__zero_reg__ |
| 867 085e 1092 0000 sts MessanzahlRoll,__zero_reg__ |
| 868 0862 1092 0000 sts (AccumulateGier)+1,__zero_reg__ |
| 869 0866 1092 0000 sts AccumulateGier,__zero_reg__ |
| 870 086a 1092 0000 sts MessanzahlGier,__zero_reg__ |
| 871 086e 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ |
| 872 0872 1092 0000 sts accumulate_AccRoll,__zero_reg__ |
| 873 0876 1092 0000 sts messanzahl_AccRoll,__zero_reg__ |
| 874 087a 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ |
| 875 087e 1092 0000 sts accumulate_AccNick,__zero_reg__ |
| 876 0882 1092 0000 sts messanzahl_AccNick,__zero_reg__ |
| 877 0886 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ |
| 878 088a 1092 0000 sts accumulate_AccHoch,__zero_reg__ |
| 879 088e 1092 0000 sts messanzahl_AccHoch,__zero_reg__ |
| 880 0892 8FEE ldi r24,lo8(-17) |
| 881 0894 8093 7A00 sts 122,r24 |
| 882 0898 2091 0000 lds r18,Poti1 |
| 883 089c 3091 0000 lds r19,(Poti1)+1 |
| 884 08a0 8091 0000 lds r24,EE_Parameter+4 |
| 885 08a4 E82F mov r30,r24 |
| 886 08a6 FF27 clr r31 |
| 887 08a8 EE0F lsl r30 |
| 888 08aa FF1F rol r31 |
| 889 08ac E050 subi r30,lo8(-(PPM_in)) |
| 890 08ae F040 sbci r31,hi8(-(PPM_in)) |
| 891 08b0 8081 ld r24,Z |
| 892 08b2 9181 ldd r25,Z+1 |
| 893 08b4 8259 subi r24,lo8(-(110)) |
| 894 08b6 9F4F sbci r25,hi8(-(110)) |
| 895 08b8 2817 cp r18,r24 |
| 896 08ba 3907 cpc r19,r25 |
| 897 08bc 04F4 brge .L118 |
| 898 08be 2F5F subi r18,lo8(-(1)) |
| 899 08c0 3F4F sbci r19,hi8(-(1)) |
| 900 08c2 00C0 rjmp .L191 |
| 901 .L118: |
| 902 08c4 8081 ld r24,Z |
| 903 08c6 9181 ldd r25,Z+1 |
| 904 08c8 8259 subi r24,lo8(-(110)) |
| 905 08ca 9F4F sbci r25,hi8(-(110)) |
| 906 08cc 8217 cp r24,r18 |
| 907 08ce 9307 cpc r25,r19 |
| 908 08d0 04F4 brge .L120 |
| 909 08d2 2115 cp r18,__zero_reg__ |
| 910 08d4 3105 cpc r19,__zero_reg__ |
| 911 08d6 01F0 breq .L120 |
| 912 08d8 2150 subi r18,lo8(-(-1)) |
| 913 08da 3040 sbci r19,hi8(-(-1)) |
| 914 .L191: |
| 915 08dc 3093 0000 sts (Poti1)+1,r19 |
| 916 08e0 2093 0000 sts Poti1,r18 |
| 917 .L120: |
| 918 08e4 2091 0000 lds r18,Poti2 |
| 919 08e8 3091 0000 lds r19,(Poti2)+1 |
| 920 08ec 8091 0000 lds r24,EE_Parameter+5 |
| 921 08f0 E82F mov r30,r24 |
| 922 08f2 FF27 clr r31 |
| 923 08f4 EE0F lsl r30 |
| 924 08f6 FF1F rol r31 |
| 925 08f8 E050 subi r30,lo8(-(PPM_in)) |
| 926 08fa F040 sbci r31,hi8(-(PPM_in)) |
| 927 08fc 8081 ld r24,Z |
| 928 08fe 9181 ldd r25,Z+1 |
| 929 0900 8259 subi r24,lo8(-(110)) |
| 930 0902 9F4F sbci r25,hi8(-(110)) |
| 931 0904 2817 cp r18,r24 |
| 932 0906 3907 cpc r19,r25 |
| 933 0908 04F4 brge .L123 |
| 934 090a 2F5F subi r18,lo8(-(1)) |
| 935 090c 3F4F sbci r19,hi8(-(1)) |
| 936 090e 00C0 rjmp .L192 |
| 937 .L123: |
| 938 0910 8081 ld r24,Z |
| 939 0912 9181 ldd r25,Z+1 |
| 940 0914 8259 subi r24,lo8(-(110)) |
| 941 0916 9F4F sbci r25,hi8(-(110)) |
| 942 0918 8217 cp r24,r18 |
| 943 091a 9307 cpc r25,r19 |
| 944 091c 04F4 brge .L125 |
| 945 091e 2115 cp r18,__zero_reg__ |
| 946 0920 3105 cpc r19,__zero_reg__ |
| 947 0922 01F0 breq .L125 |
| 948 0924 2150 subi r18,lo8(-(-1)) |
| 949 0926 3040 sbci r19,hi8(-(-1)) |
| 950 .L192: |
| 951 0928 3093 0000 sts (Poti2)+1,r19 |
| 952 092c 2093 0000 sts Poti2,r18 |
| 953 .L125: |
| 954 0930 2091 0000 lds r18,Poti3 |
| 955 0934 3091 0000 lds r19,(Poti3)+1 |
| 956 0938 8091 0000 lds r24,EE_Parameter+6 |
| 957 093c E82F mov r30,r24 |
| 958 093e FF27 clr r31 |
| 959 0940 EE0F lsl r30 |
| 960 0942 FF1F rol r31 |
| 961 0944 E050 subi r30,lo8(-(PPM_in)) |
| 962 0946 F040 sbci r31,hi8(-(PPM_in)) |
| 963 0948 8081 ld r24,Z |
| 964 094a 9181 ldd r25,Z+1 |
| 965 094c 8259 subi r24,lo8(-(110)) |
| 966 094e 9F4F sbci r25,hi8(-(110)) |
| 967 0950 2817 cp r18,r24 |
| 968 0952 3907 cpc r19,r25 |
| 969 0954 04F4 brge .L128 |
| 970 0956 2F5F subi r18,lo8(-(1)) |
| 971 0958 3F4F sbci r19,hi8(-(1)) |
| 972 095a 00C0 rjmp .L193 |
| 973 .L128: |
| 974 095c 8081 ld r24,Z |
| 975 095e 9181 ldd r25,Z+1 |
| 976 0960 8259 subi r24,lo8(-(110)) |
| 977 0962 9F4F sbci r25,hi8(-(110)) |
| 978 0964 8217 cp r24,r18 |
| 979 0966 9307 cpc r25,r19 |
| 980 0968 04F4 brge .L130 |
| 981 096a 2115 cp r18,__zero_reg__ |
| 982 096c 3105 cpc r19,__zero_reg__ |
| 983 096e 01F0 breq .L130 |
| 984 0970 2150 subi r18,lo8(-(-1)) |
| 985 0972 3040 sbci r19,hi8(-(-1)) |
| 986 .L193: |
| 987 0974 3093 0000 sts (Poti3)+1,r19 |
| 988 0978 2093 0000 sts Poti3,r18 |
| 989 .L130: |
| 990 097c 2091 0000 lds r18,Poti4 |
| 991 0980 3091 0000 lds r19,(Poti4)+1 |
| 992 0984 8091 0000 lds r24,EE_Parameter+7 |
| 993 0988 E82F mov r30,r24 |
| 994 098a FF27 clr r31 |
| 995 098c EE0F lsl r30 |
| 996 098e FF1F rol r31 |
| 997 0990 E050 subi r30,lo8(-(PPM_in)) |
| 998 0992 F040 sbci r31,hi8(-(PPM_in)) |
| 999 0994 8081 ld r24,Z |
| 1000 0996 9181 ldd r25,Z+1 |
| 1001 0998 8259 subi r24,lo8(-(110)) |
| 1002 099a 9F4F sbci r25,hi8(-(110)) |
| 1003 099c 2817 cp r18,r24 |
| 1004 099e 3907 cpc r19,r25 |
| 1005 09a0 04F4 brge .L133 |
| 1006 09a2 2F5F subi r18,lo8(-(1)) |
| 1007 09a4 3F4F sbci r19,hi8(-(1)) |
| 1008 09a6 00C0 rjmp .L194 |
| 1009 .L133: |
| 1010 09a8 8081 ld r24,Z |
| 1011 09aa 9181 ldd r25,Z+1 |
| 1012 09ac 8259 subi r24,lo8(-(110)) |
| 1013 09ae 9F4F sbci r25,hi8(-(110)) |
| 1014 09b0 8217 cp r24,r18 |
| 1015 09b2 9307 cpc r25,r19 |
| 1016 09b4 04F4 brge .L135 |
| 1017 09b6 2115 cp r18,__zero_reg__ |
| 1018 09b8 3105 cpc r19,__zero_reg__ |
| 1019 09ba 01F0 breq .L135 |
| 1020 09bc 2150 subi r18,lo8(-(-1)) |
| 1021 09be 3040 sbci r19,hi8(-(-1)) |
| 1022 .L194: |
| 1023 09c0 3093 0000 sts (Poti4)+1,r19 |
| 1024 09c4 2093 0000 sts Poti4,r18 |
| 1025 .L135: |
| 1026 09c8 2091 0000 lds r18,Poti5 |
| 1027 09cc 3091 0000 lds r19,(Poti5)+1 |
| 1028 09d0 8091 0000 lds r24,PPM_in+18 |
| 1029 09d4 9091 0000 lds r25,(PPM_in+18)+1 |
| 1030 09d8 8259 subi r24,lo8(-(110)) |
| 1031 09da 9F4F sbci r25,hi8(-(110)) |
| 1032 09dc 2817 cp r18,r24 |
| 1033 09de 3907 cpc r19,r25 |
| 1034 09e0 04F4 brge .L138 |
| 1035 09e2 2F5F subi r18,lo8(-(1)) |
| 1036 09e4 3F4F sbci r19,hi8(-(1)) |
| 1037 09e6 00C0 rjmp .L195 |
| 1038 .L138: |
| 1039 09e8 8091 0000 lds r24,PPM_in+18 |
| 1040 09ec 9091 0000 lds r25,(PPM_in+18)+1 |
| 1041 09f0 8259 subi r24,lo8(-(110)) |
| 1042 09f2 9F4F sbci r25,hi8(-(110)) |
| 1043 09f4 8217 cp r24,r18 |
| 1044 09f6 9307 cpc r25,r19 |
| 1045 09f8 04F4 brge .L140 |
| 1046 09fa 2115 cp r18,__zero_reg__ |
| 1047 09fc 3105 cpc r19,__zero_reg__ |
| 1048 09fe 01F0 breq .L140 |
| 1049 0a00 2150 subi r18,lo8(-(-1)) |
| 1050 0a02 3040 sbci r19,hi8(-(-1)) |
| 1051 .L195: |
| 1052 0a04 3093 0000 sts (Poti5)+1,r19 |
| 1053 0a08 2093 0000 sts Poti5,r18 |
| 1054 .L140: |
| 1055 0a0c 2091 0000 lds r18,Poti6 |
| 1056 0a10 3091 0000 lds r19,(Poti6)+1 |
| 1057 0a14 8091 0000 lds r24,PPM_in+20 |
| 1058 0a18 9091 0000 lds r25,(PPM_in+20)+1 |
| 1059 0a1c 8259 subi r24,lo8(-(110)) |
| 1060 0a1e 9F4F sbci r25,hi8(-(110)) |
| 1061 0a20 2817 cp r18,r24 |
| 1062 0a22 3907 cpc r19,r25 |
| 1063 0a24 04F4 brge .L143 |
| 1064 0a26 2F5F subi r18,lo8(-(1)) |
| 1065 0a28 3F4F sbci r19,hi8(-(1)) |
| 1066 0a2a 00C0 rjmp .L196 |
| 1067 .L143: |
| 1068 0a2c 8091 0000 lds r24,PPM_in+20 |
| 1069 0a30 9091 0000 lds r25,(PPM_in+20)+1 |
| 1070 0a34 8259 subi r24,lo8(-(110)) |
| 1071 0a36 9F4F sbci r25,hi8(-(110)) |
| 1072 0a38 8217 cp r24,r18 |
| 1073 0a3a 9307 cpc r25,r19 |
| 1074 0a3c 04F4 brge .L145 |
| 1075 0a3e 2115 cp r18,__zero_reg__ |
| 1076 0a40 3105 cpc r19,__zero_reg__ |
| 1077 0a42 01F0 breq .L145 |
| 1078 0a44 2150 subi r18,lo8(-(-1)) |
| 1079 0a46 3040 sbci r19,hi8(-(-1)) |
| 1080 .L196: |
| 1081 0a48 3093 0000 sts (Poti6)+1,r19 |
| 1082 0a4c 2093 0000 sts Poti6,r18 |
| 1083 .L145: |
| 1084 0a50 2091 0000 lds r18,Poti7 |
| 1085 0a54 3091 0000 lds r19,(Poti7)+1 |
| 1086 0a58 8091 0000 lds r24,PPM_in+22 |
| 1087 0a5c 9091 0000 lds r25,(PPM_in+22)+1 |
| 1088 0a60 8259 subi r24,lo8(-(110)) |
| 1089 0a62 9F4F sbci r25,hi8(-(110)) |
| 1090 0a64 2817 cp r18,r24 |
| 1091 0a66 3907 cpc r19,r25 |
| 1092 0a68 04F4 brge .L148 |
| 1093 0a6a 2F5F subi r18,lo8(-(1)) |
| 1094 0a6c 3F4F sbci r19,hi8(-(1)) |
| 1095 0a6e 00C0 rjmp .L197 |
| 1096 .L148: |
| 1097 0a70 8091 0000 lds r24,PPM_in+22 |
| 1098 0a74 9091 0000 lds r25,(PPM_in+22)+1 |
| 1099 0a78 8259 subi r24,lo8(-(110)) |
| 1100 0a7a 9F4F sbci r25,hi8(-(110)) |
| 1101 0a7c 8217 cp r24,r18 |
| 1102 0a7e 9307 cpc r25,r19 |
| 1103 0a80 04F4 brge .L150 |
| 1104 0a82 2115 cp r18,__zero_reg__ |
| 1105 0a84 3105 cpc r19,__zero_reg__ |
| 1106 0a86 01F0 breq .L150 |
| 1107 0a88 2150 subi r18,lo8(-(-1)) |
| 1108 0a8a 3040 sbci r19,hi8(-(-1)) |
| 1109 .L197: |
| 1110 0a8c 3093 0000 sts (Poti7)+1,r19 |
| 1111 0a90 2093 0000 sts Poti7,r18 |
| 1112 .L150: |
| 1113 0a94 2091 0000 lds r18,Poti8 |
| 1114 0a98 3091 0000 lds r19,(Poti8)+1 |
| 1115 0a9c 8091 0000 lds r24,PPM_in+24 |
| 1116 0aa0 9091 0000 lds r25,(PPM_in+24)+1 |
| 1117 0aa4 8259 subi r24,lo8(-(110)) |
| 1118 0aa6 9F4F sbci r25,hi8(-(110)) |
| 1119 0aa8 2817 cp r18,r24 |
| 1120 0aaa 3907 cpc r19,r25 |
| 1121 0aac 04F4 brge .L153 |
| 1122 0aae 2F5F subi r18,lo8(-(1)) |
| 1123 0ab0 3F4F sbci r19,hi8(-(1)) |
| 1124 0ab2 00C0 rjmp .L198 |
| 1125 .L153: |
| 1126 0ab4 8091 0000 lds r24,PPM_in+24 |
| 1127 0ab8 9091 0000 lds r25,(PPM_in+24)+1 |
| 1128 0abc 8259 subi r24,lo8(-(110)) |
| 1129 0abe 9F4F sbci r25,hi8(-(110)) |
| 1130 0ac0 8217 cp r24,r18 |
| 1131 0ac2 9307 cpc r25,r19 |
| 1132 0ac4 04F4 brge .L155 |
| 1133 0ac6 2115 cp r18,__zero_reg__ |
| 1134 0ac8 3105 cpc r19,__zero_reg__ |
| 1135 0aca 01F0 breq .L155 |
| 1136 0acc 2150 subi r18,lo8(-(-1)) |
| 1137 0ace 3040 sbci r19,hi8(-(-1)) |
| 1138 .L198: |
| 1139 0ad0 3093 0000 sts (Poti8)+1,r19 |
| 1140 0ad4 2093 0000 sts Poti8,r18 |
| 1141 .L155: |
| 1142 0ad8 8091 0000 lds r24,Poti1 |
| 1143 0adc 9091 0000 lds r25,(Poti1)+1 |
| 1144 0ae0 97FF sbrs r25,7 |
| 1145 0ae2 00C0 rjmp .L158 |
| 1146 0ae4 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 1147 0ae8 1092 0000 sts Poti1,__zero_reg__ |
| 1148 0aec 00C0 rjmp .L160 |
| 1149 .L158: |
| 1150 0aee 8F3F cpi r24,255 |
| 1151 0af0 9105 cpc r25,__zero_reg__ |
| 1152 0af2 01F0 breq .L160 |
| 1153 0af4 04F0 brlt .L160 |
| 1154 0af6 8FEF ldi r24,lo8(255) |
| 1155 0af8 90E0 ldi r25,hi8(255) |
| 1156 0afa 9093 0000 sts (Poti1)+1,r25 |
| 1157 0afe 8093 0000 sts Poti1,r24 |
| 1158 .L160: |
| 1159 0b02 8091 0000 lds r24,Poti2 |
| 1160 0b06 9091 0000 lds r25,(Poti2)+1 |
| 1161 0b0a 97FF sbrs r25,7 |
| 1162 0b0c 00C0 rjmp .L162 |
| 1163 0b0e 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 1164 0b12 1092 0000 sts Poti2,__zero_reg__ |
| 1165 0b16 00C0 rjmp .L164 |
| 1166 .L162: |
| 1167 0b18 8F3F cpi r24,255 |
| 1168 0b1a 9105 cpc r25,__zero_reg__ |
| 1169 0b1c 01F0 breq .L164 |
| 1170 0b1e 04F0 brlt .L164 |
| 1171 0b20 8FEF ldi r24,lo8(255) |
| 1172 0b22 90E0 ldi r25,hi8(255) |
| 1173 0b24 9093 0000 sts (Poti2)+1,r25 |
| 1174 0b28 8093 0000 sts Poti2,r24 |
| 1175 .L164: |
| 1176 0b2c 8091 0000 lds r24,Poti3 |
| 1177 0b30 9091 0000 lds r25,(Poti3)+1 |
| 1178 0b34 97FF sbrs r25,7 |
| 1179 0b36 00C0 rjmp .L166 |
| 1180 0b38 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 1181 0b3c 1092 0000 sts Poti3,__zero_reg__ |
| 1182 0b40 00C0 rjmp .L168 |
| 1183 .L166: |
| 1184 0b42 8F3F cpi r24,255 |
| 1185 0b44 9105 cpc r25,__zero_reg__ |
| 1186 0b46 01F0 breq .L168 |
| 1187 0b48 04F0 brlt .L168 |
| 1188 0b4a 8FEF ldi r24,lo8(255) |
| 1189 0b4c 90E0 ldi r25,hi8(255) |
| 1190 0b4e 9093 0000 sts (Poti3)+1,r25 |
| 1191 0b52 8093 0000 sts Poti3,r24 |
| 1192 .L168: |
| 1193 0b56 8091 0000 lds r24,Poti4 |
| 1194 0b5a 9091 0000 lds r25,(Poti4)+1 |
| 1195 0b5e 97FF sbrs r25,7 |
| 1196 0b60 00C0 rjmp .L170 |
| 1197 0b62 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 1198 0b66 1092 0000 sts Poti4,__zero_reg__ |
| 1199 0b6a 00C0 rjmp .L172 |
| 1200 .L170: |
| 1201 0b6c 8F3F cpi r24,255 |
| 1202 0b6e 9105 cpc r25,__zero_reg__ |
| 1203 0b70 01F0 breq .L172 |
| 1204 0b72 04F0 brlt .L172 |
| 1205 0b74 8FEF ldi r24,lo8(255) |
| 1206 0b76 90E0 ldi r25,hi8(255) |
| 1207 0b78 9093 0000 sts (Poti4)+1,r25 |
| 1208 0b7c 8093 0000 sts Poti4,r24 |
| 1209 .L172: |
| 1210 0b80 8091 0000 lds r24,Poti5 |
| 1211 0b84 9091 0000 lds r25,(Poti5)+1 |
| 1212 0b88 97FF sbrs r25,7 |
| 1213 0b8a 00C0 rjmp .L174 |
| 1214 0b8c 1092 0000 sts (Poti5)+1,__zero_reg__ |
| 1215 0b90 1092 0000 sts Poti5,__zero_reg__ |
| 1216 0b94 00C0 rjmp .L176 |
| 1217 .L174: |
| 1218 0b96 8F3F cpi r24,255 |
| 1219 0b98 9105 cpc r25,__zero_reg__ |
| 1220 0b9a 01F0 breq .L176 |
| 1221 0b9c 04F0 brlt .L176 |
| 1222 0b9e 8FEF ldi r24,lo8(255) |
| 1223 0ba0 90E0 ldi r25,hi8(255) |
| 1224 0ba2 9093 0000 sts (Poti5)+1,r25 |
| 1225 0ba6 8093 0000 sts Poti5,r24 |
| 1226 .L176: |
| 1227 0baa 8091 0000 lds r24,Poti6 |
| 1228 0bae 9091 0000 lds r25,(Poti6)+1 |
| 1229 0bb2 97FF sbrs r25,7 |
| 1230 0bb4 00C0 rjmp .L178 |
| 1231 0bb6 1092 0000 sts (Poti6)+1,__zero_reg__ |
| 1232 0bba 1092 0000 sts Poti6,__zero_reg__ |
| 1233 0bbe 00C0 rjmp .L180 |
| 1234 .L178: |
| 1235 0bc0 8F3F cpi r24,255 |
| 1236 0bc2 9105 cpc r25,__zero_reg__ |
| 1237 0bc4 01F0 breq .L180 |
| 1238 0bc6 04F0 brlt .L180 |
| 1239 0bc8 8FEF ldi r24,lo8(255) |
| 1240 0bca 90E0 ldi r25,hi8(255) |
| 1241 0bcc 9093 0000 sts (Poti6)+1,r25 |
| 1242 0bd0 8093 0000 sts Poti6,r24 |
| 1243 .L180: |
| 1244 0bd4 8091 0000 lds r24,Poti7 |
| 1245 0bd8 9091 0000 lds r25,(Poti7)+1 |
| 1246 0bdc 97FF sbrs r25,7 |
| 1247 0bde 00C0 rjmp .L182 |
| 1248 0be0 1092 0000 sts (Poti7)+1,__zero_reg__ |
| 1249 0be4 1092 0000 sts Poti7,__zero_reg__ |
| 1250 0be8 00C0 rjmp .L184 |
| 1251 .L182: |
| 1252 0bea 8F3F cpi r24,255 |
| 1253 0bec 9105 cpc r25,__zero_reg__ |
| 1254 0bee 01F0 breq .L184 |
| 1255 0bf0 04F0 brlt .L184 |
| 1256 0bf2 8FEF ldi r24,lo8(255) |
| 1257 0bf4 90E0 ldi r25,hi8(255) |
| 1258 0bf6 9093 0000 sts (Poti7)+1,r25 |
| 1259 0bfa 8093 0000 sts Poti7,r24 |
| 1260 .L184: |
| 1261 0bfe 8091 0000 lds r24,Poti8 |
| 1262 0c02 9091 0000 lds r25,(Poti8)+1 |
| 1263 0c06 97FF sbrs r25,7 |
| 1264 0c08 00C0 rjmp .L186 |
| 1265 0c0a 1092 0000 sts (Poti8)+1,__zero_reg__ |
| 1266 0c0e 1092 0000 sts Poti8,__zero_reg__ |
| 1267 0c12 0895 ret |
| 1268 .L186: |
| 1269 0c14 8F3F cpi r24,255 |
| 1270 0c16 9105 cpc r25,__zero_reg__ |
| 1271 0c18 01F0 breq .L190 |
| 1272 0c1a 04F0 brlt .L190 |
| 1273 0c1c 8FEF ldi r24,lo8(255) |
| 1274 0c1e 90E0 ldi r25,hi8(255) |
| 1275 0c20 9093 0000 sts (Poti8)+1,r25 |
| 1276 0c24 8093 0000 sts Poti8,r24 |
| 1277 .L190: |
| 1278 0c28 0895 ret |
| 1279 /* epilogue: frame size=0 */ |
| 1280 /* epilogue: noreturn */ |
| 1281 /* epilogue end (size=0) */ |
| 1282 /* function CalibrierMittelwert size 632 (632) */ |
| 1284 .global ParameterZuordnung |
| 1286 ParameterZuordnung: |
| 1287 /* prologue: frame size=0 */ |
| 1288 0c2a 1F93 push r17 |
| 1289 /* prologue end (size=1) */ |
| 1290 0c2c 8091 0000 lds r24,EE_Parameter+11 |
| 1291 0c30 8B3F cpi r24,lo8(-5) |
| 1292 0c32 00F0 brlo .L200 |
| 1293 0c34 8B3F cpi r24,lo8(-5) |
| 1294 0c36 01F4 brne .L202 |
| 1295 0c38 8091 0000 lds r24,Poti1 |
| 1296 0c3c 00C0 rjmp .L200 |
| 1297 .L202: |
| 1298 0c3e 8C3F cpi r24,lo8(-4) |
| 1299 0c40 01F4 brne .L205 |
| 1300 0c42 8091 0000 lds r24,Poti2 |
| 1301 0c46 00C0 rjmp .L200 |
| 1302 .L205: |
| 1303 0c48 8D3F cpi r24,lo8(-3) |
| 1304 0c4a 01F4 brne .L207 |
| 1305 0c4c 8091 0000 lds r24,Poti3 |
| 1306 0c50 00C0 rjmp .L200 |
| 1307 .L207: |
| 1308 0c52 8E3F cpi r24,lo8(-2) |
| 1309 0c54 01F4 brne .L204 |
| 1310 0c56 8091 0000 lds r24,Poti4 |
| 1311 .L200: |
| 1312 0c5a 8093 0000 sts Parameter_MaxHoehe,r24 |
| 1313 .L204: |
| 1314 0c5e 8091 0000 lds r24,Parameter_MaxHoehe |
| 1315 0c62 8823 tst r24 |
| 1316 0c64 01F4 brne .L210 |
| 1317 0c66 1092 0000 sts Parameter_MaxHoehe,__zero_reg__ |
| 1318 0c6a 00C0 rjmp .L212 |
| 1319 .L210: |
| 1320 0c6c 8F3F cpi r24,lo8(-1) |
| 1321 0c6e 01F4 brne .L212 |
| 1322 0c70 8093 0000 sts Parameter_MaxHoehe,r24 |
| 1323 .L212: |
| 1324 0c74 8091 0000 lds r24,EE_Parameter+10 |
| 1325 0c78 8B3F cpi r24,lo8(-5) |
| 1326 0c7a 00F0 brlo .L214 |
| 1327 0c7c 8B3F cpi r24,lo8(-5) |
| 1328 0c7e 01F4 brne .L216 |
| 1329 0c80 8091 0000 lds r24,Poti1 |
| 1330 0c84 00C0 rjmp .L214 |
| 1331 .L216: |
| 1332 0c86 8C3F cpi r24,lo8(-4) |
| 1333 0c88 01F4 brne .L219 |
| 1334 0c8a 8091 0000 lds r24,Poti2 |
| 1335 0c8e 00C0 rjmp .L214 |
| 1336 .L219: |
| 1337 0c90 8D3F cpi r24,lo8(-3) |
| 1338 0c92 01F4 brne .L221 |
| 1339 0c94 8091 0000 lds r24,Poti3 |
| 1340 0c98 00C0 rjmp .L214 |
| 1341 .L221: |
| 1342 0c9a 8E3F cpi r24,lo8(-2) |
| 1343 0c9c 01F4 brne .L218 |
| 1344 0c9e 8091 0000 lds r24,Poti4 |
| 1345 .L214: |
| 1346 0ca2 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 1347 .L218: |
| 1348 0ca6 8091 0000 lds r24,Parameter_Luftdruck_D |
| 1349 0caa 8823 tst r24 |
| 1350 0cac 01F4 brne .L224 |
| 1351 0cae 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ |
| 1352 0cb2 00C0 rjmp .L226 |
| 1353 .L224: |
| 1354 0cb4 8436 cpi r24,lo8(100) |
| 1355 0cb6 00F0 brlo .L226 |
| 1356 0cb8 84E6 ldi r24,lo8(100) |
| 1357 0cba 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 1358 .L226: |
| 1359 0cbe 8091 0000 lds r24,EE_Parameter+12 |
| 1360 0cc2 8B3F cpi r24,lo8(-5) |
| 1361 0cc4 00F0 brlo .L228 |
| 1362 0cc6 8B3F cpi r24,lo8(-5) |
| 1363 0cc8 01F4 brne .L230 |
| 1364 0cca 8091 0000 lds r24,Poti1 |
| 1365 0cce 00C0 rjmp .L228 |
| 1366 .L230: |
| 1367 0cd0 8C3F cpi r24,lo8(-4) |
| 1368 0cd2 01F4 brne .L233 |
| 1369 0cd4 8091 0000 lds r24,Poti2 |
| 1370 0cd8 00C0 rjmp .L228 |
| 1371 .L233: |
| 1372 0cda 8D3F cpi r24,lo8(-3) |
| 1373 0cdc 01F4 brne .L235 |
| 1374 0cde 8091 0000 lds r24,Poti3 |
| 1375 0ce2 00C0 rjmp .L228 |
| 1376 .L235: |
| 1377 0ce4 8E3F cpi r24,lo8(-2) |
| 1378 0ce6 01F4 brne .L232 |
| 1379 0ce8 8091 0000 lds r24,Poti4 |
| 1380 .L228: |
| 1381 0cec 8093 0000 sts Parameter_Hoehe_P,r24 |
| 1382 .L232: |
| 1383 0cf0 8091 0000 lds r24,Parameter_Hoehe_P |
| 1384 0cf4 8823 tst r24 |
| 1385 0cf6 01F4 brne .L238 |
| 1386 0cf8 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ |
| 1387 0cfc 00C0 rjmp .L240 |
| 1388 .L238: |
| 1389 0cfe 8436 cpi r24,lo8(100) |
| 1390 0d00 00F0 brlo .L240 |
| 1391 0d02 84E6 ldi r24,lo8(100) |
| 1392 0d04 8093 0000 sts Parameter_Hoehe_P,r24 |
| 1393 .L240: |
| 1394 0d08 8091 0000 lds r24,EE_Parameter+14 |
| 1395 0d0c 8B3F cpi r24,lo8(-5) |
| 1396 0d0e 00F0 brlo .L242 |
| 1397 0d10 8B3F cpi r24,lo8(-5) |
| 1398 0d12 01F4 brne .L244 |
| 1399 0d14 8091 0000 lds r24,Poti1 |
| 1400 0d18 00C0 rjmp .L242 |
| 1401 .L244: |
| 1402 0d1a 8C3F cpi r24,lo8(-4) |
| 1403 0d1c 01F4 brne .L247 |
| 1404 0d1e 8091 0000 lds r24,Poti2 |
| 1405 0d22 00C0 rjmp .L242 |
| 1406 .L247: |
| 1407 0d24 8D3F cpi r24,lo8(-3) |
| 1408 0d26 01F4 brne .L249 |
| 1409 0d28 8091 0000 lds r24,Poti3 |
| 1410 0d2c 00C0 rjmp .L242 |
| 1411 .L249: |
| 1412 0d2e 8E3F cpi r24,lo8(-2) |
| 1413 0d30 01F4 brne .L246 |
| 1414 0d32 8091 0000 lds r24,Poti4 |
| 1415 .L242: |
| 1416 0d36 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 1417 .L246: |
| 1418 0d3a 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung |
| 1419 0d3e 8823 tst r24 |
| 1420 0d40 01F4 brne .L252 |
| 1421 0d42 1092 0000 sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__ |
| 1422 0d46 00C0 rjmp .L254 |
| 1423 .L252: |
| 1424 0d48 8F3F cpi r24,lo8(-1) |
| 1425 0d4a 01F4 brne .L254 |
| 1426 0d4c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 1427 .L254: |
| 1428 0d50 8091 0000 lds r24,EE_Parameter+21 |
| 1429 0d54 8B3F cpi r24,lo8(-5) |
| 1430 0d56 00F0 brlo .L256 |
| 1431 0d58 8B3F cpi r24,lo8(-5) |
| 1432 0d5a 01F4 brne .L258 |
| 1433 0d5c 8091 0000 lds r24,Poti1 |
| 1434 0d60 00C0 rjmp .L256 |
| 1435 .L258: |
| 1436 0d62 8C3F cpi r24,lo8(-4) |
| 1437 0d64 01F4 brne .L261 |
| 1438 0d66 8091 0000 lds r24,Poti2 |
| 1439 0d6a 00C0 rjmp .L256 |
| 1440 .L261: |
| 1441 0d6c 8D3F cpi r24,lo8(-3) |
| 1442 0d6e 01F4 brne .L263 |
| 1443 0d70 8091 0000 lds r24,Poti3 |
| 1444 0d74 00C0 rjmp .L256 |
| 1445 .L263: |
| 1446 0d76 8E3F cpi r24,lo8(-2) |
| 1447 0d78 01F4 brne .L260 |
| 1448 0d7a 8091 0000 lds r24,Poti4 |
| 1449 .L256: |
| 1450 0d7e 8093 0000 sts Parameter_KompassWirkung,r24 |
| 1451 .L260: |
| 1452 0d82 8091 0000 lds r24,Parameter_KompassWirkung |
| 1453 0d86 8823 tst r24 |
| 1454 0d88 01F4 brne .L266 |
| 1455 0d8a 1092 0000 sts Parameter_KompassWirkung,__zero_reg__ |
| 1456 0d8e 00C0 rjmp .L268 |
| 1457 .L266: |
| 1458 0d90 8F3F cpi r24,lo8(-1) |
| 1459 0d92 01F4 brne .L268 |
| 1460 0d94 8093 0000 sts Parameter_KompassWirkung,r24 |
| 1461 .L268: |
| 1462 0d98 8091 0000 lds r24,EE_Parameter+22 |
| 1463 0d9c 8B3F cpi r24,lo8(-5) |
| 1464 0d9e 00F0 brlo .L270 |
| 1465 0da0 8B3F cpi r24,lo8(-5) |
| 1466 0da2 01F4 brne .L272 |
| 1467 0da4 8091 0000 lds r24,Poti1 |
| 1468 0da8 00C0 rjmp .L270 |
| 1469 .L272: |
| 1470 0daa 8C3F cpi r24,lo8(-4) |
| 1471 0dac 01F4 brne .L275 |
| 1472 0dae 8091 0000 lds r24,Poti2 |
| 1473 0db2 00C0 rjmp .L270 |
| 1474 .L275: |
| 1475 0db4 8D3F cpi r24,lo8(-3) |
| 1476 0db6 01F4 brne .L277 |
| 1477 0db8 8091 0000 lds r24,Poti3 |
| 1478 0dbc 00C0 rjmp .L270 |
| 1479 .L277: |
| 1480 0dbe 8E3F cpi r24,lo8(-2) |
| 1481 0dc0 01F4 brne .L274 |
| 1482 0dc2 8091 0000 lds r24,Poti4 |
| 1483 .L270: |
| 1484 0dc6 8093 0000 sts Parameter_Gyro_P,r24 |
| 1485 .L274: |
| 1486 0dca 8091 0000 lds r24,Parameter_Gyro_P |
| 1487 0dce 8B30 cpi r24,lo8(11) |
| 1488 0dd0 00F4 brsh .L280 |
| 1489 0dd2 8AE0 ldi r24,lo8(10) |
| 1490 0dd4 00C0 rjmp .L412 |
| 1491 .L280: |
| 1492 0dd6 8F3F cpi r24,lo8(-1) |
| 1493 0dd8 01F4 brne .L282 |
| 1494 .L412: |
| 1495 0dda 8093 0000 sts Parameter_Gyro_P,r24 |
| 1496 .L282: |
| 1497 0dde 8091 0000 lds r24,EE_Parameter+23 |
| 1498 0de2 8B3F cpi r24,lo8(-5) |
| 1499 0de4 00F0 brlo .L284 |
| 1500 0de6 8B3F cpi r24,lo8(-5) |
| 1501 0de8 01F4 brne .L286 |
| 1502 0dea 8091 0000 lds r24,Poti1 |
| 1503 0dee 00C0 rjmp .L284 |
| 1504 .L286: |
| 1505 0df0 8C3F cpi r24,lo8(-4) |
| 1506 0df2 01F4 brne .L289 |
| 1507 0df4 8091 0000 lds r24,Poti2 |
| 1508 0df8 00C0 rjmp .L284 |
| 1509 .L289: |
| 1510 0dfa 8D3F cpi r24,lo8(-3) |
| 1511 0dfc 01F4 brne .L291 |
| 1512 0dfe 8091 0000 lds r24,Poti3 |
| 1513 0e02 00C0 rjmp .L284 |
| 1514 .L291: |
| 1515 0e04 8E3F cpi r24,lo8(-2) |
| 1516 0e06 01F4 brne .L288 |
| 1517 0e08 8091 0000 lds r24,Poti4 |
| 1518 .L284: |
| 1519 0e0c 8093 0000 sts Parameter_Gyro_I,r24 |
| 1520 .L288: |
| 1521 0e10 8091 0000 lds r24,Parameter_Gyro_I |
| 1522 0e14 8823 tst r24 |
| 1523 0e16 01F4 brne .L294 |
| 1524 0e18 1092 0000 sts Parameter_Gyro_I,__zero_reg__ |
| 1525 0e1c 00C0 rjmp .L296 |
| 1526 .L294: |
| 1527 0e1e 8F3F cpi r24,lo8(-1) |
| 1528 0e20 01F4 brne .L296 |
| 1529 0e22 8093 0000 sts Parameter_Gyro_I,r24 |
| 1530 .L296: |
| 1531 0e26 8091 0000 lds r24,EE_Parameter+28 |
| 1532 0e2a 8B3F cpi r24,lo8(-5) |
| 1533 0e2c 00F0 brlo .L298 |
| 1534 0e2e 8B3F cpi r24,lo8(-5) |
| 1535 0e30 01F4 brne .L300 |
| 1536 0e32 8091 0000 lds r24,Poti1 |
| 1537 0e36 00C0 rjmp .L298 |
| 1538 .L300: |
| 1539 0e38 8C3F cpi r24,lo8(-4) |
| 1540 0e3a 01F4 brne .L303 |
| 1541 0e3c 8091 0000 lds r24,Poti2 |
| 1542 0e40 00C0 rjmp .L298 |
| 1543 .L303: |
| 1544 0e42 8D3F cpi r24,lo8(-3) |
| 1545 0e44 01F4 brne .L305 |
| 1546 0e46 8091 0000 lds r24,Poti3 |
| 1547 0e4a 00C0 rjmp .L298 |
| 1548 .L305: |
| 1549 0e4c 8E3F cpi r24,lo8(-2) |
| 1550 0e4e 01F4 brne .L302 |
| 1551 0e50 8091 0000 lds r24,Poti4 |
| 1552 .L298: |
| 1553 0e54 8093 0000 sts Parameter_I_Faktor,r24 |
| 1554 .L302: |
| 1555 0e58 8091 0000 lds r24,Parameter_I_Faktor |
| 1556 0e5c 8823 tst r24 |
| 1557 0e5e 01F4 brne .L308 |
| 1558 0e60 1092 0000 sts Parameter_I_Faktor,__zero_reg__ |
| 1559 0e64 00C0 rjmp .L310 |
| 1560 .L308: |
| 1561 0e66 8F3F cpi r24,lo8(-1) |
| 1562 0e68 01F4 brne .L310 |
| 1563 0e6a 8093 0000 sts Parameter_I_Faktor,r24 |
| 1564 .L310: |
| 1565 0e6e 8091 0000 lds r24,EE_Parameter+29 |
| 1566 0e72 8B3F cpi r24,lo8(-5) |
| 1567 0e74 00F0 brlo .L312 |
| 1568 0e76 8B3F cpi r24,lo8(-5) |
| 1569 0e78 01F4 brne .L314 |
| 1570 0e7a 8091 0000 lds r24,Poti1 |
| 1571 0e7e 00C0 rjmp .L312 |
| 1572 .L314: |
| 1573 0e80 8C3F cpi r24,lo8(-4) |
| 1574 0e82 01F4 brne .L317 |
| 1575 0e84 8091 0000 lds r24,Poti2 |
| 1576 0e88 00C0 rjmp .L312 |
| 1577 .L317: |
| 1578 0e8a 8D3F cpi r24,lo8(-3) |
| 1579 0e8c 01F4 brne .L319 |
| 1580 0e8e 8091 0000 lds r24,Poti3 |
| 1581 0e92 00C0 rjmp .L312 |
| 1582 .L319: |
| 1583 0e94 8E3F cpi r24,lo8(-2) |
| 1584 0e96 01F4 brne .L316 |
| 1585 0e98 8091 0000 lds r24,Poti4 |
| 1586 .L312: |
| 1587 0e9c 8093 0000 sts Parameter_UserParam1,r24 |
| 1588 .L316: |
| 1589 0ea0 8091 0000 lds r24,Parameter_UserParam1 |
| 1590 0ea4 8823 tst r24 |
| 1591 0ea6 01F4 brne .L322 |
| 1592 0ea8 1092 0000 sts Parameter_UserParam1,__zero_reg__ |
| 1593 0eac 00C0 rjmp .L324 |
| 1594 .L322: |
| 1595 0eae 8F3F cpi r24,lo8(-1) |
| 1596 0eb0 01F4 brne .L324 |
| 1597 0eb2 8093 0000 sts Parameter_UserParam1,r24 |
| 1598 .L324: |
| 1599 0eb6 8091 0000 lds r24,EE_Parameter+30 |
| 1600 0eba 8B3F cpi r24,lo8(-5) |
| 1601 0ebc 00F0 brlo .L326 |
| 1602 0ebe 8B3F cpi r24,lo8(-5) |
| 1603 0ec0 01F4 brne .L328 |
| 1604 0ec2 8091 0000 lds r24,Poti1 |
| 1605 0ec6 00C0 rjmp .L326 |
| 1606 .L328: |
| 1607 0ec8 8C3F cpi r24,lo8(-4) |
| 1608 0eca 01F4 brne .L331 |
| 1609 0ecc 8091 0000 lds r24,Poti2 |
| 1610 0ed0 00C0 rjmp .L326 |
| 1611 .L331: |
| 1612 0ed2 8D3F cpi r24,lo8(-3) |
| 1613 0ed4 01F4 brne .L333 |
| 1614 0ed6 8091 0000 lds r24,Poti3 |
| 1615 0eda 00C0 rjmp .L326 |
| 1616 .L333: |
| 1617 0edc 8E3F cpi r24,lo8(-2) |
| 1618 0ede 01F4 brne .L330 |
| 1619 0ee0 8091 0000 lds r24,Poti4 |
| 1620 .L326: |
| 1621 0ee4 8093 0000 sts Parameter_UserParam2,r24 |
| 1622 .L330: |
| 1623 0ee8 8091 0000 lds r24,Parameter_UserParam2 |
| 1624 0eec 8823 tst r24 |
| 1625 0eee 01F4 brne .L336 |
| 1626 0ef0 1092 0000 sts Parameter_UserParam2,__zero_reg__ |
| 1627 0ef4 00C0 rjmp .L338 |
| 1628 .L336: |
| 1629 0ef6 8F3F cpi r24,lo8(-1) |
| 1630 0ef8 01F4 brne .L338 |
| 1631 0efa 8093 0000 sts Parameter_UserParam2,r24 |
| 1632 .L338: |
| 1633 0efe 8091 0000 lds r24,EE_Parameter+31 |
| 1634 0f02 8B3F cpi r24,lo8(-5) |
| 1635 0f04 00F0 brlo .L340 |
| 1636 0f06 8B3F cpi r24,lo8(-5) |
| 1637 0f08 01F4 brne .L342 |
| 1638 0f0a 8091 0000 lds r24,Poti1 |
| 1639 0f0e 00C0 rjmp .L340 |
| 1640 .L342: |
| 1641 0f10 8C3F cpi r24,lo8(-4) |
| 1642 0f12 01F4 brne .L345 |
| 1643 0f14 8091 0000 lds r24,Poti2 |
| 1644 0f18 00C0 rjmp .L340 |
| 1645 .L345: |
| 1646 0f1a 8D3F cpi r24,lo8(-3) |
| 1647 0f1c 01F4 brne .L347 |
| 1648 0f1e 8091 0000 lds r24,Poti3 |
| 1649 0f22 00C0 rjmp .L340 |
| 1650 .L347: |
| 1651 0f24 8E3F cpi r24,lo8(-2) |
| 1652 0f26 01F4 brne .L344 |
| 1653 0f28 8091 0000 lds r24,Poti4 |
| 1654 .L340: |
| 1655 0f2c 8093 0000 sts Parameter_UserParam3,r24 |
| 1656 .L344: |
| 1657 0f30 8091 0000 lds r24,Parameter_UserParam3 |
| 1658 0f34 8823 tst r24 |
| 1659 0f36 01F4 brne .L350 |
| 1660 0f38 1092 0000 sts Parameter_UserParam3,__zero_reg__ |
| 1661 0f3c 00C0 rjmp .L352 |
| 1662 .L350: |
| 1663 0f3e 8F3F cpi r24,lo8(-1) |
| 1664 0f40 01F4 brne .L352 |
| 1665 0f42 8093 0000 sts Parameter_UserParam3,r24 |
| 1666 .L352: |
| 1667 0f46 8091 0000 lds r24,EE_Parameter+32 |
| 1668 0f4a 8B3F cpi r24,lo8(-5) |
| 1669 0f4c 00F0 brlo .L354 |
| 1670 0f4e 8B3F cpi r24,lo8(-5) |
| 1671 0f50 01F4 brne .L356 |
| 1672 0f52 8091 0000 lds r24,Poti1 |
| 1673 0f56 00C0 rjmp .L354 |
| 1674 .L356: |
| 1675 0f58 8C3F cpi r24,lo8(-4) |
| 1676 0f5a 01F4 brne .L359 |
| 1677 0f5c 8091 0000 lds r24,Poti2 |
| 1678 0f60 00C0 rjmp .L354 |
| 1679 .L359: |
| 1680 0f62 8D3F cpi r24,lo8(-3) |
| 1681 0f64 01F4 brne .L361 |
| 1682 0f66 8091 0000 lds r24,Poti3 |
| 1683 0f6a 00C0 rjmp .L354 |
| 1684 .L361: |
| 1685 0f6c 8E3F cpi r24,lo8(-2) |
| 1686 0f6e 01F4 brne .L358 |
| 1687 0f70 8091 0000 lds r24,Poti4 |
| 1688 .L354: |
| 1689 0f74 8093 0000 sts Parameter_UserParam4,r24 |
| 1690 .L358: |
| 1691 0f78 8091 0000 lds r24,Parameter_UserParam4 |
| 1692 0f7c 8823 tst r24 |
| 1693 0f7e 01F4 brne .L364 |
| 1694 0f80 1092 0000 sts Parameter_UserParam4,__zero_reg__ |
| 1695 0f84 00C0 rjmp .L366 |
| 1696 .L364: |
| 1697 0f86 8F3F cpi r24,lo8(-1) |
| 1698 0f88 01F4 brne .L366 |
| 1699 0f8a 8093 0000 sts Parameter_UserParam4,r24 |
| 1700 .L366: |
| 1701 0f8e 9091 0000 lds r25,EE_Parameter+33 |
| 1702 0f92 9B3F cpi r25,lo8(-5) |
| 1703 0f94 00F0 brlo .L368 |
| 1704 0f96 9B3F cpi r25,lo8(-5) |
| 1705 0f98 01F4 brne .L370 |
| 1706 0f9a 8091 0000 lds r24,Poti1 |
| 1707 0f9e 00C0 rjmp .L413 |
| 1708 .L370: |
| 1709 0fa0 9C3F cpi r25,lo8(-4) |
| 1710 0fa2 01F4 brne .L373 |
| 1711 0fa4 8091 0000 lds r24,Poti2 |
| 1712 .L413: |
| 1713 0fa8 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1714 0fac 00C0 rjmp .L372 |
| 1715 .L373: |
| 1716 0fae 9D3F cpi r25,lo8(-3) |
| 1717 0fb0 01F4 brne .L375 |
| 1718 0fb2 8091 0000 lds r24,Poti3 |
| 1719 0fb6 00C0 rjmp .L413 |
| 1720 .L375: |
| 1721 0fb8 9E3F cpi r25,lo8(-2) |
| 1722 0fba 01F4 brne .L372 |
| 1723 0fbc 8091 0000 lds r24,Poti4 |
| 1724 0fc0 00C0 rjmp .L413 |
| 1725 .L368: |
| 1726 0fc2 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1727 .L372: |
| 1728 0fc6 8091 0000 lds r24,Parameter_ServoNickControl |
| 1729 0fca 8823 tst r24 |
| 1730 0fcc 01F4 brne .L378 |
| 1731 0fce 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1732 0fd2 00C0 rjmp .L380 |
| 1733 .L378: |
| 1734 0fd4 8F3F cpi r24,lo8(-1) |
| 1735 0fd6 01F4 brne .L380 |
| 1736 0fd8 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1737 .L380: |
| 1738 0fdc 9B3F cpi r25,lo8(-5) |
| 1739 0fde 00F0 brlo .L382 |
| 1740 0fe0 9B3F cpi r25,lo8(-5) |
| 1741 0fe2 01F4 brne .L384 |
| 1742 0fe4 8091 0000 lds r24,Poti1 |
| 1743 0fe8 00C0 rjmp .L414 |
| 1744 .L384: |
| 1745 0fea 9C3F cpi r25,lo8(-4) |
| 1746 0fec 01F4 brne .L387 |
| 1747 0fee 8091 0000 lds r24,Poti2 |
| 1748 .L414: |
| 1749 0ff2 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1750 0ff6 00C0 rjmp .L386 |
| 1751 .L387: |
| 1752 0ff8 9D3F cpi r25,lo8(-3) |
| 1753 0ffa 01F4 brne .L389 |
| 1754 0ffc 8091 0000 lds r24,Poti3 |
| 1755 1000 00C0 rjmp .L414 |
| 1756 .L389: |
| 1757 1002 9E3F cpi r25,lo8(-2) |
| 1758 1004 01F4 brne .L386 |
| 1759 1006 8091 0000 lds r24,Poti4 |
| 1760 100a 00C0 rjmp .L414 |
| 1761 .L382: |
| 1762 100c 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1763 .L386: |
| 1764 1010 8091 0000 lds r24,Parameter_ServoNickControl |
| 1765 1014 8823 tst r24 |
| 1766 1016 01F4 brne .L392 |
| 1767 1018 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1768 101c 00C0 rjmp .L394 |
| 1769 .L392: |
| 1770 101e 8F3F cpi r24,lo8(-1) |
| 1771 1020 01F4 brne .L394 |
| 1772 1022 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1773 .L394: |
| 1774 1026 9B3F cpi r25,lo8(-5) |
| 1775 1028 00F0 brlo .L396 |
| 1776 102a 9B3F cpi r25,lo8(-5) |
| 1777 102c 01F4 brne .L398 |
| 1778 102e 8091 0000 lds r24,Poti1 |
| 1779 1032 00C0 rjmp .L415 |
| 1780 .L398: |
| 1781 1034 9C3F cpi r25,lo8(-4) |
| 1782 1036 01F4 brne .L401 |
| 1783 1038 8091 0000 lds r24,Poti2 |
| 1784 .L415: |
| 1785 103c 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1786 1040 00C0 rjmp .L400 |
| 1787 .L401: |
| 1788 1042 9D3F cpi r25,lo8(-3) |
| 1789 1044 01F4 brne .L403 |
| 1790 1046 8091 0000 lds r24,Poti3 |
| 1791 104a 00C0 rjmp .L415 |
| 1792 .L403: |
| 1793 104c 9E3F cpi r25,lo8(-2) |
| 1794 104e 01F4 brne .L400 |
| 1795 1050 8091 0000 lds r24,Poti4 |
| 1796 1054 00C0 rjmp .L415 |
| 1797 .L396: |
| 1798 1056 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1799 .L400: |
| 1800 105a 8091 0000 lds r24,Parameter_ServoNickControl |
| 1801 105e 8823 tst r24 |
| 1802 1060 01F4 brne .L406 |
| 1803 1062 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1804 1066 00C0 rjmp .L408 |
| 1805 .L406: |
| 1806 1068 8F3F cpi r24,lo8(-1) |
| 1807 106a 01F4 brne .L408 |
| 1808 106c 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1809 .L408: |
| 1810 1070 1091 0000 lds r17,Parameter_I_Faktor |
| 1811 1074 612F mov r22,r17 |
| 1812 1076 7727 clr r23 |
| 1813 1078 67FD sbrc r22,7 |
| 1814 107a 7095 com r23 |
| 1815 107c 872F mov r24,r23 |
| 1816 107e 972F mov r25,r23 |
| 1817 1080 0E94 0000 call __floatsisf |
| 1818 1084 17FF sbrs r17,7 |
| 1819 1086 00C0 rjmp .L410 |
| 1820 1088 20E0 ldi r18,lo8(0x43800000) |
| 1821 108a 30E0 ldi r19,hi8(0x43800000) |
| 1822 108c 40E8 ldi r20,hlo8(0x43800000) |
| 1823 108e 53E4 ldi r21,hhi8(0x43800000) |
| 1824 1090 0E94 0000 call __addsf3 |
| 1825 .L410: |
| 1826 1094 27E1 ldi r18,lo8(0x38d1b717) |
| 1827 1096 37EB ldi r19,hi8(0x38d1b717) |
| 1828 1098 41ED ldi r20,hlo8(0x38d1b717) |
| 1829 109a 58E3 ldi r21,hhi8(0x38d1b717) |
| 1830 109c 0E94 0000 call __mulsf3 |
| 1831 10a0 6093 0000 sts Ki,r22 |
| 1832 10a4 7093 0000 sts (Ki)+1,r23 |
| 1833 10a8 8093 0000 sts (Ki)+2,r24 |
| 1834 10ac 9093 0000 sts (Ki)+3,r25 |
| 1835 10b0 8091 0000 lds r24,EE_Parameter+19 |
| 1836 10b4 8093 0000 sts MAX_GAS,r24 |
| 1837 10b8 8091 0000 lds r24,EE_Parameter+18 |
| 1838 10bc 8093 0000 sts MIN_GAS,r24 |
| 1839 /* epilogue: frame size=0 */ |
| 1840 10c0 1F91 pop r17 |
| 1841 10c2 0895 ret |
| 1842 /* epilogue end (size=2) */ |
| 1843 /* function ParameterZuordnung size 589 (586) */ |
| 1845 .data |
| 1846 .LC0: |
| 1847 0000 4B61 6D65 .string "Kamera" |
| 1847 7261 00 |
| 1848 0007 00 .string "" |
| 1849 .text |
| 1850 .global DefaultKonstanten2 |
| 1852 DefaultKonstanten2: |
| 1853 /* prologue: frame size=0 */ |
| 1854 /* prologue end (size=0) */ |
| 1855 10c4 83E0 ldi r24,lo8(3) |
| 1856 10c6 8093 0000 sts EE_Parameter,r24 |
| 1857 10ca 42E0 ldi r20,lo8(2) |
| 1858 10cc 4093 0000 sts EE_Parameter+1,r20 |
| 1859 10d0 81E0 ldi r24,lo8(1) |
| 1860 10d2 8093 0000 sts EE_Parameter+2,r24 |
| 1861 10d6 34E0 ldi r19,lo8(4) |
| 1862 10d8 3093 0000 sts EE_Parameter+3,r19 |
| 1863 10dc 25E0 ldi r18,lo8(5) |
| 1864 10de 2093 0000 sts EE_Parameter+4,r18 |
| 1865 10e2 86E0 ldi r24,lo8(6) |
| 1866 10e4 8093 0000 sts EE_Parameter+5,r24 |
| 1867 10e8 87E0 ldi r24,lo8(7) |
| 1868 10ea 8093 0000 sts EE_Parameter+6,r24 |
| 1869 10ee 1092 0000 sts EE_Parameter+8,__zero_reg__ |
| 1870 10f2 8EE1 ldi r24,lo8(30) |
| 1871 10f4 8093 0000 sts EE_Parameter+9,r24 |
| 1872 10f8 8BEF ldi r24,lo8(-5) |
| 1873 10fa 8093 0000 sts EE_Parameter+11,r24 |
| 1874 10fe 8AE0 ldi r24,lo8(10) |
| 1875 1100 8093 0000 sts EE_Parameter+12,r24 |
| 1876 1104 92E3 ldi r25,lo8(50) |
| 1877 1106 9093 0000 sts EE_Parameter+10,r25 |
| 1878 110a 9093 0000 sts EE_Parameter+14,r25 |
| 1879 110e 4093 0000 sts EE_Parameter+13,r20 |
| 1880 1112 3093 0000 sts EE_Parameter+15,r19 |
| 1881 1116 1092 0000 sts EE_Parameter+16,__zero_reg__ |
| 1882 111a 80E1 ldi r24,lo8(16) |
| 1883 111c 8093 0000 sts EE_Parameter+17,r24 |
| 1884 1120 2093 0000 sts EE_Parameter+18,r18 |
| 1885 1124 8AEF ldi r24,lo8(-6) |
| 1886 1126 8093 0000 sts EE_Parameter+19,r24 |
| 1887 112a 8AE1 ldi r24,lo8(26) |
| 1888 112c 8093 0000 sts EE_Parameter+20,r24 |
| 1889 1130 80E8 ldi r24,lo8(-128) |
| 1890 1132 8093 0000 sts EE_Parameter+21,r24 |
| 1891 1136 8FEA ldi r24,lo8(-81) |
| 1892 1138 8093 0000 sts EE_Parameter+22,r24 |
| 1893 113c 8093 0000 sts EE_Parameter+23,r24 |
| 1894 1140 8AE5 ldi r24,lo8(90) |
| 1895 1142 8093 0000 sts EE_Parameter+24,r24 |
| 1896 1146 83E2 ldi r24,lo8(35) |
| 1897 1148 8093 0000 sts EE_Parameter+25,r24 |
| 1898 114c 84E1 ldi r24,lo8(20) |
| 1899 114e 8093 0000 sts EE_Parameter+26,r24 |
| 1900 1152 1092 0000 sts EE_Parameter+27,__zero_reg__ |
| 1901 1156 2093 0000 sts EE_Parameter+28,r18 |
| 1902 115a 1092 0000 sts EE_Parameter+29,__zero_reg__ |
| 1903 115e 1092 0000 sts EE_Parameter+30,__zero_reg__ |
| 1904 1162 1092 0000 sts EE_Parameter+31,__zero_reg__ |
| 1905 1166 1092 0000 sts EE_Parameter+32,__zero_reg__ |
| 1906 116a 84E6 ldi r24,lo8(100) |
| 1907 116c 8093 0000 sts EE_Parameter+33,r24 |
| 1908 1170 88E2 ldi r24,lo8(40) |
| 1909 1172 8093 0000 sts EE_Parameter+34,r24 |
| 1910 1176 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 1911 117a 9093 0000 sts EE_Parameter+35,r25 |
| 1912 117e 86E9 ldi r24,lo8(-106) |
| 1913 1180 8093 0000 sts EE_Parameter+36,r24 |
| 1914 1184 2093 0000 sts EE_Parameter+37,r18 |
| 1915 1188 A0E0 ldi r26,lo8(EE_Parameter+46) |
| 1916 118a B0E0 ldi r27,hi8(EE_Parameter+46) |
| 1917 118c E0E0 ldi r30,lo8(.LC0) |
| 1918 118e F0E0 ldi r31,hi8(.LC0) |
| 1919 1190 8CE0 ldi r24,lo8(12) |
| 1920 .L417: |
| 1921 1192 0190 ld r0,Z+ |
| 1922 1194 0D92 st X+,r0 |
| 1923 1196 8150 subi r24,lo8(-(-1)) |
| 1924 1198 01F4 brne .L417 |
| 1925 /* epilogue: frame size=0 */ |
| 1926 119a 0895 ret |
| 1927 /* epilogue end (size=1) */ |
| 1928 /* function DefaultKonstanten2 size 109 (108) */ |
| 1930 .data |
| 1931 .LC1: |
| 1932 0008 4E6F 726D .string "Normal" |
| 1932 616C 00 |
| 1933 000f 00 .string "" |
| 1934 .text |
| 1935 .global DefaultKonstanten1 |
| 1937 DefaultKonstanten1: |
| 1938 /* prologue: frame size=0 */ |
| 1939 /* prologue end (size=0) */ |
| 1940 119c 83E0 ldi r24,lo8(3) |
| 1941 119e 8093 0000 sts EE_Parameter,r24 |
| 1942 11a2 42E0 ldi r20,lo8(2) |
| 1943 11a4 4093 0000 sts EE_Parameter+1,r20 |
| 1944 11a8 81E0 ldi r24,lo8(1) |
| 1945 11aa 8093 0000 sts EE_Parameter+2,r24 |
| 1946 11ae 34E0 ldi r19,lo8(4) |
| 1947 11b0 3093 0000 sts EE_Parameter+3,r19 |
| 1948 11b4 25E0 ldi r18,lo8(5) |
| 1949 11b6 2093 0000 sts EE_Parameter+4,r18 |
| 1950 11ba 86E0 ldi r24,lo8(6) |
| 1951 11bc 8093 0000 sts EE_Parameter+5,r24 |
| 1952 11c0 87E0 ldi r24,lo8(7) |
| 1953 11c2 8093 0000 sts EE_Parameter+6,r24 |
| 1954 11c6 88E0 ldi r24,lo8(8) |
| 1955 11c8 8093 0000 sts EE_Parameter+7,r24 |
| 1956 11cc 1092 0000 sts EE_Parameter+8,__zero_reg__ |
| 1957 11d0 9EE1 ldi r25,lo8(30) |
| 1958 11d2 9093 0000 sts EE_Parameter+9,r25 |
| 1959 11d6 8BEF ldi r24,lo8(-5) |
| 1960 11d8 8093 0000 sts EE_Parameter+11,r24 |
| 1961 11dc 8AE0 ldi r24,lo8(10) |
| 1962 11de 8093 0000 sts EE_Parameter+12,r24 |
| 1963 11e2 86E4 ldi r24,lo8(70) |
| 1964 11e4 8093 0000 sts EE_Parameter+10,r24 |
| 1965 11e8 9093 0000 sts EE_Parameter+14,r25 |
| 1966 11ec 4093 0000 sts EE_Parameter+13,r20 |
| 1967 11f0 3093 0000 sts EE_Parameter+15,r19 |
| 1968 11f4 1092 0000 sts EE_Parameter+16,__zero_reg__ |
| 1969 11f8 80E1 ldi r24,lo8(16) |
| 1970 11fa 8093 0000 sts EE_Parameter+17,r24 |
| 1971 11fe 2093 0000 sts EE_Parameter+18,r18 |
| 1972 1202 8AEF ldi r24,lo8(-6) |
| 1973 1204 8093 0000 sts EE_Parameter+19,r24 |
| 1974 1208 8AE1 ldi r24,lo8(26) |
| 1975 120a 8093 0000 sts EE_Parameter+20,r24 |
| 1976 120e 80E8 ldi r24,lo8(-128) |
| 1977 1210 8093 0000 sts EE_Parameter+21,r24 |
| 1978 1214 88E7 ldi r24,lo8(120) |
| 1979 1216 8093 0000 sts EE_Parameter+22,r24 |
| 1980 121a 96E9 ldi r25,lo8(-106) |
| 1981 121c 9093 0000 sts EE_Parameter+23,r25 |
| 1982 1220 8AE5 ldi r24,lo8(90) |
| 1983 1222 8093 0000 sts EE_Parameter+24,r24 |
| 1984 1226 83E2 ldi r24,lo8(35) |
| 1985 1228 8093 0000 sts EE_Parameter+25,r24 |
| 1986 122c 84E1 ldi r24,lo8(20) |
| 1987 122e 8093 0000 sts EE_Parameter+26,r24 |
| 1988 1232 1092 0000 sts EE_Parameter+27,__zero_reg__ |
| 1989 1236 2093 0000 sts EE_Parameter+28,r18 |
| 1990 123a 1092 0000 sts EE_Parameter+29,__zero_reg__ |
| 1991 123e 1092 0000 sts EE_Parameter+30,__zero_reg__ |
| 1992 1242 1092 0000 sts EE_Parameter+31,__zero_reg__ |
| 1993 1246 1092 0000 sts EE_Parameter+32,__zero_reg__ |
| 1994 124a 84E6 ldi r24,lo8(100) |
| 1995 124c 8093 0000 sts EE_Parameter+33,r24 |
| 1996 1250 88E2 ldi r24,lo8(40) |
| 1997 1252 8093 0000 sts EE_Parameter+34,r24 |
| 1998 1256 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 1999 125a 82E3 ldi r24,lo8(50) |
| 2000 125c 8093 0000 sts EE_Parameter+35,r24 |
| 2001 1260 9093 0000 sts EE_Parameter+36,r25 |
| 2002 1264 2093 0000 sts EE_Parameter+37,r18 |
| 2003 1268 A0E0 ldi r26,lo8(EE_Parameter+46) |
| 2004 126a B0E0 ldi r27,hi8(EE_Parameter+46) |
| 2005 126c E0E0 ldi r30,lo8(.LC1) |
| 2006 126e F0E0 ldi r31,hi8(.LC1) |
| 2007 1270 8CE0 ldi r24,lo8(12) |
| 2008 .L422: |
| 2009 1272 0190 ld r0,Z+ |
| 2010 1274 0D92 st X+,r0 |
| 2011 1276 8150 subi r24,lo8(-(-1)) |
| 2012 1278 01F4 brne .L422 |
| 2013 /* epilogue: frame size=0 */ |
| 2014 127a 0895 ret |
| 2015 /* epilogue end (size=1) */ |
| 2016 /* function DefaultKonstanten1 size 113 (112) */ |
| 2018 .global SendMotorData |
| 2020 SendMotorData: |
| 2021 /* prologue: frame size=0 */ |
| 2022 /* prologue end (size=0) */ |
| 2023 127c 8091 0000 lds r24,MotorenEin |
| 2024 1280 8823 tst r24 |
| 2025 1282 01F4 brne .L427 |
| 2026 1284 1092 0000 sts Motor_Hinten,__zero_reg__ |
| 2027 1288 1092 0000 sts Motor_Vorne,__zero_reg__ |
| 2028 128c 1092 0000 sts Motor_Rechts,__zero_reg__ |
| 2029 1290 1092 0000 sts Motor_Links,__zero_reg__ |
| 2030 1294 8091 0000 lds r24,MotorTest |
| 2031 1298 8823 tst r24 |
| 2032 129a 01F0 breq .L429 |
| 2033 129c 8093 0000 sts Motor_Vorne,r24 |
| 2034 .L429: |
| 2035 12a0 8091 0000 lds r24,MotorTest+1 |
| 2036 12a4 8823 tst r24 |
| 2037 12a6 01F0 breq .L431 |
| 2038 12a8 8093 0000 sts Motor_Hinten,r24 |
| 2039 .L431: |
| 2040 12ac 8091 0000 lds r24,MotorTest+2 |
| 2041 12b0 8823 tst r24 |
| 2042 12b2 01F0 breq .L433 |
| 2043 12b4 8093 0000 sts Motor_Links,r24 |
| 2044 .L433: |
| 2045 12b8 8091 0000 lds r24,MotorTest+3 |
| 2046 12bc 8823 tst r24 |
| 2047 12be 01F0 breq .L427 |
| 2048 12c0 8093 0000 sts Motor_Rechts,r24 |
| 2049 .L427: |
| 2050 12c4 1092 0000 sts twi_state,__zero_reg__ |
| 2051 12c8 1092 0000 sts motor,__zero_reg__ |
| 2052 12cc 0E94 0000 call i2c_start |
| 2053 /* epilogue: frame size=0 */ |
| 2054 12d0 0895 ret |
| 2055 /* epilogue end (size=1) */ |
| 2056 /* function SendMotorData size 43 (42) */ |
| 2058 .global SetNeutral |
| 2060 SetNeutral: |
| 2061 /* prologue: frame size=0 */ |
| 2062 12d2 CF93 push r28 |
| 2063 12d4 DF93 push r29 |
| 2064 /* prologue end (size=2) */ |
| 2065 12d6 1092 0000 sts (NeutralAccX)+1,__zero_reg__ |
| 2066 12da 1092 0000 sts NeutralAccX,__zero_reg__ |
| 2067 12de 1092 0000 sts (NeutralAccY)+1,__zero_reg__ |
| 2068 12e2 1092 0000 sts NeutralAccY,__zero_reg__ |
| 2069 12e6 80E0 ldi r24,lo8(0x0) |
| 2070 12e8 90E0 ldi r25,hi8(0x0) |
| 2071 12ea A0E0 ldi r26,hlo8(0x0) |
| 2072 12ec B0E0 ldi r27,hhi8(0x0) |
| 2073 12ee 8093 0000 sts NeutralAccZ,r24 |
| 2074 12f2 9093 0000 sts (NeutralAccZ)+1,r25 |
| 2075 12f6 A093 0000 sts (NeutralAccZ)+2,r26 |
| 2076 12fa B093 0000 sts (NeutralAccZ)+3,r27 |
| 2077 12fe 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 2078 1302 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 2079 1306 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 2080 130a 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 2081 130e 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 2082 1312 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 2083 1316 0E94 0000 call CalibrierMittelwert |
| 2084 131a 85E0 ldi r24,lo8(5) |
| 2085 131c 90E0 ldi r25,hi8(5) |
| 2086 131e 0E94 0000 call SetDelay |
| 2087 1322 EC01 movw r28,r24 |
| 2088 .L438: |
| 2089 1324 CE01 movw r24,r28 |
| 2090 1326 0E94 0000 call CheckDelay |
| 2091 132a 8823 tst r24 |
| 2092 132c 01F0 breq .L438 |
| 2093 132e 0E94 0000 call CalibrierMittelwert |
| 2094 1332 8091 0000 lds r24,EE_Parameter+8 |
| 2095 1336 80FF sbrs r24,0 |
| 2096 1338 00C0 rjmp .L440 |
| 2097 133a 8091 0000 lds r24,MessLuftdruck |
| 2098 133e 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2099 1342 875B subi r24,lo8(951) |
| 2100 1344 9340 sbci r25,hi8(951) |
| 2101 1346 00F4 brsh .L442 |
| 2102 1348 8091 0000 lds r24,MessLuftdruck |
| 2103 134c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2104 1350 8E5E subi r24,lo8(750) |
| 2105 1352 9240 sbci r25,hi8(750) |
| 2106 1354 00F4 brsh .L440 |
| 2107 .L442: |
| 2108 1356 0E94 0000 call SucheLuftruckOffset |
| 2109 .L440: |
| 2110 135a 8091 0000 lds r24,MesswertNick |
| 2111 135e 9091 0000 lds r25,(MesswertNick)+1 |
| 2112 1362 97FF sbrs r25,7 |
| 2113 1364 00C0 rjmp .L444 |
| 2114 1366 9095 com r25 |
| 2115 1368 8195 neg r24 |
| 2116 136a 9F4F sbci r25,lo8(-1) |
| 2117 .L444: |
| 2118 136c 9093 0000 sts (AdNeutralNick)+1,r25 |
| 2119 1370 8093 0000 sts AdNeutralNick,r24 |
| 2120 1374 8091 0000 lds r24,MesswertRoll |
| 2121 1378 9091 0000 lds r25,(MesswertRoll)+1 |
| 2122 137c 97FF sbrs r25,7 |
| 2123 137e 00C0 rjmp .L445 |
| 2124 1380 9095 com r25 |
| 2125 1382 8195 neg r24 |
| 2126 1384 9F4F sbci r25,lo8(-1) |
| 2127 .L445: |
| 2128 1386 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 2129 138a 8093 0000 sts AdNeutralRoll,r24 |
| 2130 138e 8091 0000 lds r24,MesswertGier |
| 2131 1392 9091 0000 lds r25,(MesswertGier)+1 |
| 2132 1396 97FF sbrs r25,7 |
| 2133 1398 00C0 rjmp .L446 |
| 2134 139a 9095 com r25 |
| 2135 139c 8195 neg r24 |
| 2136 139e 9F4F sbci r25,lo8(-1) |
| 2137 .L446: |
| 2138 13a0 9093 0000 sts (AdNeutralGier)+1,r25 |
| 2139 13a4 8093 0000 sts AdNeutralGier,r24 |
| 2140 13a8 8091 0000 lds r24,Mittelwert_AccRoll |
| 2141 13ac 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 2142 13b0 97FF sbrs r25,7 |
| 2143 13b2 00C0 rjmp .L447 |
| 2144 13b4 9095 com r25 |
| 2145 13b6 8195 neg r24 |
| 2146 13b8 9F4F sbci r25,lo8(-1) |
| 2147 .L447: |
| 2148 13ba 60E1 ldi r22,lo8(16) |
| 2149 13bc 70E0 ldi r23,hi8(16) |
| 2150 13be 0E94 0000 call __divmodhi4 |
| 2151 13c2 7093 0000 sts (NeutralAccY)+1,r23 |
| 2152 13c6 6093 0000 sts NeutralAccY,r22 |
| 2153 13ca 8091 0000 lds r24,Mittelwert_AccNick |
| 2154 13ce 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 2155 13d2 97FF sbrs r25,7 |
| 2156 13d4 00C0 rjmp .L448 |
| 2157 13d6 9095 com r25 |
| 2158 13d8 8195 neg r24 |
| 2159 13da 9F4F sbci r25,lo8(-1) |
| 2160 .L448: |
| 2161 13dc 60E1 ldi r22,lo8(16) |
| 2162 13de 70E0 ldi r23,hi8(16) |
| 2163 13e0 0E94 0000 call __divmodhi4 |
| 2164 13e4 7093 0000 sts (NeutralAccX)+1,r23 |
| 2165 13e8 6093 0000 sts NeutralAccX,r22 |
| 2166 13ec 6091 0000 lds r22,Aktuell_az |
| 2167 13f0 7091 0000 lds r23,(Aktuell_az)+1 |
| 2168 13f4 8827 clr r24 |
| 2169 13f6 77FD sbrc r23,7 |
| 2170 13f8 8095 com r24 |
| 2171 13fa 982F mov r25,r24 |
| 2172 13fc 0E94 0000 call __floatsisf |
| 2173 1400 6093 0000 sts NeutralAccZ,r22 |
| 2174 1404 7093 0000 sts (NeutralAccZ)+1,r23 |
| 2175 1408 8093 0000 sts (NeutralAccZ)+2,r24 |
| 2176 140c 9093 0000 sts (NeutralAccZ)+3,r25 |
| 2177 1410 1092 0000 sts Mess_IntegralNick,__zero_reg__ |
| 2178 1414 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ |
| 2179 1418 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ |
| 2180 141c 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ |
| 2181 1420 1092 0000 sts Mess_IntegralNick2,__zero_reg__ |
| 2182 1424 1092 0000 sts (Mess_IntegralNick2)+1,__zero_reg__ |
| 2183 1428 1092 0000 sts (Mess_IntegralNick2)+2,__zero_reg__ |
| 2184 142c 1092 0000 sts (Mess_IntegralNick2)+3,__zero_reg__ |
| 2185 1430 1092 0000 sts Mess_IntegralRoll,__zero_reg__ |
| 2186 1434 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ |
| 2187 1438 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ |
| 2188 143c 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ |
| 2189 1440 1092 0000 sts Mess_IntegralRoll2,__zero_reg__ |
| 2190 1444 1092 0000 sts (Mess_IntegralRoll2)+1,__zero_reg__ |
| 2191 1448 1092 0000 sts (Mess_IntegralRoll2)+2,__zero_reg__ |
| 2192 144c 1092 0000 sts (Mess_IntegralRoll2)+3,__zero_reg__ |
| 2193 1450 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 2194 1454 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 2195 1458 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 2196 145c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 2197 1460 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 2198 1464 1092 0000 sts MesswertNick,__zero_reg__ |
| 2199 1468 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 2200 146c 1092 0000 sts MesswertRoll,__zero_reg__ |
| 2201 1470 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 2202 1474 1092 0000 sts MesswertGier,__zero_reg__ |
| 2203 1478 8091 0000 lds r24,Luftdruck |
| 2204 147c 9091 0000 lds r25,(Luftdruck)+1 |
| 2205 1480 A091 0000 lds r26,(Luftdruck)+2 |
| 2206 1484 B091 0000 lds r27,(Luftdruck)+3 |
| 2207 1488 9093 0000 sts (StartLuftdruck)+1,r25 |
| 2208 148c 8093 0000 sts StartLuftdruck,r24 |
| 2209 1490 1092 0000 sts (HoeheD)+1,__zero_reg__ |
| 2210 1494 1092 0000 sts HoeheD,__zero_reg__ |
| 2211 1498 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 2212 149c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 2213 14a0 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 2214 14a4 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 2215 14a8 8091 0000 lds r24,KompassValue |
| 2216 14ac 9091 0000 lds r25,(KompassValue)+1 |
| 2217 14b0 9093 0000 sts (KompassStartwert)+1,r25 |
| 2218 14b4 8093 0000 sts KompassStartwert,r24 |
| 2219 14b8 82E3 ldi r24,lo8(50) |
| 2220 14ba 90E0 ldi r25,hi8(50) |
| 2221 14bc 9093 0000 sts (beeptime)+1,r25 |
| 2222 14c0 8093 0000 sts beeptime,r24 |
| 2223 /* epilogue: frame size=0 */ |
| 2224 14c4 DF91 pop r29 |
| 2225 14c6 CF91 pop r28 |
| 2226 14c8 0895 ret |
| 2227 /* epilogue end (size=3) */ |
| 2228 /* function SetNeutral size 254 (249) */ |
| 2230 .global Piep |
| 2232 Piep: |
| 2233 /* prologue: frame size=0 */ |
| 2234 14ca 1F93 push r17 |
| 2235 /* prologue end (size=1) */ |
| 2236 14cc 182F mov r17,r24 |
| 2237 14ce 00C0 rjmp .L453 |
| 2238 .L454: |
| 2239 14d0 8091 0000 lds r24,MotorenEin |
| 2240 14d4 8823 tst r24 |
| 2241 14d6 01F4 brne .L457 |
| 2242 14d8 84E6 ldi r24,lo8(100) |
| 2243 14da 90E0 ldi r25,hi8(100) |
| 2244 14dc 9093 0000 sts (beeptime)+1,r25 |
| 2245 14e0 8093 0000 sts beeptime,r24 |
| 2246 14e4 8AEF ldi r24,lo8(250) |
| 2247 14e6 90E0 ldi r25,hi8(250) |
| 2248 14e8 0E94 0000 call Delay_ms |
| 2249 .L453: |
| 2250 14ec 1150 subi r17,1 |
| 2251 14ee 00F4 brcc .L454 |
| 2252 .L457: |
| 2253 /* epilogue: frame size=0 */ |
| 2254 14f0 1F91 pop r17 |
| 2255 14f2 0895 ret |
| 2256 /* epilogue end (size=2) */ |
| 2257 /* function Piep size 22 (19) */ |
| 2259 .global MotorRegler |
| 2261 MotorRegler: |
| 2262 /* prologue: frame size=4 */ |
| 2263 14f4 2F92 push r2 |
| 2264 14f6 3F92 push r3 |
| 2265 14f8 4F92 push r4 |
| 2266 14fa 5F92 push r5 |
| 2267 14fc 6F92 push r6 |
| 2268 14fe 7F92 push r7 |
| 2269 1500 8F92 push r8 |
| 2270 1502 9F92 push r9 |
| 2271 1504 AF92 push r10 |
| 2272 1506 BF92 push r11 |
| 2273 1508 CF92 push r12 |
| 2274 150a DF92 push r13 |
| 2275 150c EF92 push r14 |
| 2276 150e FF92 push r15 |
| 2277 1510 0F93 push r16 |
| 2278 1512 1F93 push r17 |
| 2279 1514 CF93 push r28 |
| 2280 1516 DF93 push r29 |
| 2281 1518 CDB7 in r28,__SP_L__ |
| 2282 151a DEB7 in r29,__SP_H__ |
| 2283 151c 2497 sbiw r28,4 |
| 2284 151e 0FB6 in __tmp_reg__,__SREG__ |
| 2285 1520 F894 cli |
| 2286 1522 DEBF out __SP_H__,r29 |
| 2287 1524 0FBE out __SREG__,__tmp_reg__ |
| 2288 1526 CDBF out __SP_L__,r28 |
| 2289 /* prologue end (size=26) */ |
| 2290 1528 0E94 0000 call Mittelwert |
| 2291 152c 299A sbi 37-0x20,1 |
| 2292 152e E091 0000 lds r30,EE_Parameter+2 |
| 2293 1532 AE2F mov r26,r30 |
| 2294 1534 BB27 clr r27 |
| 2295 1536 AA0F lsl r26 |
| 2296 1538 BB1F rol r27 |
| 2297 153a A050 subi r26,lo8(-(PPM_in)) |
| 2298 153c B040 sbci r27,hi8(-(PPM_in)) |
| 2299 153e 0D90 ld __tmp_reg__,X+ |
| 2300 1540 BC91 ld r27,X |
| 2301 1542 A02D mov r26,__tmp_reg__ |
| 2302 1544 9D01 movw r18,r26 |
| 2303 1546 2858 subi r18,lo8(-(120)) |
| 2304 1548 3F4F sbci r19,hi8(-(120)) |
| 2305 154a 3A83 std Y+2,r19 |
| 2306 154c 2983 std Y+1,r18 |
| 2307 154e 37FF sbrs r19,7 |
| 2308 1550 00C0 rjmp .L459 |
| 2309 1552 1A82 std Y+2,__zero_reg__ |
| 2310 1554 1982 std Y+1,__zero_reg__ |
| 2311 .L459: |
| 2312 1556 8091 0000 lds r24,SenderOkay |
| 2313 155a 8436 cpi r24,lo8(100) |
| 2314 155c 00F0 brlo .+2 |
| 2315 155e 00C0 rjmp .L460 |
| 2316 1560 8091 0000 lds r24,PcZugriff |
| 2317 1564 8823 tst r24 |
| 2318 1566 01F4 brne .L462 |
| 2319 1568 84EF ldi r24,lo8(500) |
| 2320 156a 91E0 ldi r25,hi8(500) |
| 2321 156c 9093 0000 sts (beeptime)+1,r25 |
| 2322 1570 8093 0000 sts beeptime,r24 |
| 2323 .L462: |
| 2324 1574 8091 0000 lds r24,RcLostTimer.2446 |
| 2325 1578 9091 0000 lds r25,(RcLostTimer.2446)+1 |
| 2326 157c 0097 sbiw r24,0 |
| 2327 157e 01F0 breq .L464 |
| 2328 1580 0197 sbiw r24,1 |
| 2329 1582 9093 0000 sts (RcLostTimer.2446)+1,r25 |
| 2330 1586 8093 0000 sts RcLostTimer.2446,r24 |
| 2331 158a 00C0 rjmp .L466 |
| 2332 .L464: |
| 2333 158c 1092 0000 sts MotorenEin,__zero_reg__ |
| 2334 1590 1092 0000 sts Notlandung,__zero_reg__ |
| 2335 .L466: |
| 2336 1594 289A sbi 37-0x20,0 |
| 2337 1596 8091 0000 lds r24,modell_fliegt.2450 |
| 2338 159a 9091 0000 lds r25,(modell_fliegt.2450)+1 |
| 2339 159e 815D subi r24,lo8(2001) |
| 2340 15a0 9740 sbci r25,hi8(2001) |
| 2341 15a2 00F0 brlo .L467 |
| 2342 15a4 8091 0000 lds r24,EE_Parameter+25 |
| 2343 15a8 482F mov r20,r24 |
| 2344 15aa 5527 clr r21 |
| 2345 15ac 5A83 std Y+2,r21 |
| 2346 15ae 4983 std Y+1,r20 |
| 2347 15b0 81E0 ldi r24,lo8(1) |
| 2348 15b2 8093 0000 sts Notlandung,r24 |
| 2349 15b6 E091 0000 lds r30,EE_Parameter |
| 2350 15ba FF27 clr r31 |
| 2351 15bc EE0F lsl r30 |
| 2352 15be FF1F rol r31 |
| 2353 15c0 E050 subi r30,lo8(-(PPM_in)) |
| 2354 15c2 F040 sbci r31,hi8(-(PPM_in)) |
| 2355 15c4 1182 std Z+1,__zero_reg__ |
| 2356 15c6 1082 st Z,__zero_reg__ |
| 2357 15c8 E091 0000 lds r30,EE_Parameter+1 |
| 2358 15cc FF27 clr r31 |
| 2359 15ce EE0F lsl r30 |
| 2360 15d0 FF1F rol r31 |
| 2361 15d2 E050 subi r30,lo8(-(PPM_in)) |
| 2362 15d4 F040 sbci r31,hi8(-(PPM_in)) |
| 2363 15d6 1182 std Z+1,__zero_reg__ |
| 2364 15d8 1082 st Z,__zero_reg__ |
| 2365 15da E091 0000 lds r30,EE_Parameter+3 |
| 2366 15de FF27 clr r31 |
| 2367 15e0 EE0F lsl r30 |
| 2368 15e2 FF1F rol r31 |
| 2369 15e4 E050 subi r30,lo8(-(PPM_in)) |
| 2370 15e6 F040 sbci r31,hi8(-(PPM_in)) |
| 2371 15e8 1182 std Z+1,__zero_reg__ |
| 2372 15ea 1082 st Z,__zero_reg__ |
| 2373 15ec 00C0 rjmp .L469 |
| 2374 .L467: |
| 2375 15ee 1092 0000 sts MotorenEin,__zero_reg__ |
| 2376 15f2 00C0 rjmp .L469 |
| 2377 .L460: |
| 2378 15f4 8091 0000 lds r24,SenderOkay |
| 2379 15f8 8D38 cpi r24,lo8(-115) |
| 2380 15fa 00F4 brsh .+2 |
| 2381 15fc 00C0 rjmp .L469 |
| 2382 15fe 1092 0000 sts Notlandung,__zero_reg__ |
| 2383 1602 8091 0000 lds r24,EE_Parameter+26 |
| 2384 1606 22E3 ldi r18,lo8(50) |
| 2385 1608 829F mul r24,r18 |
| 2386 160a C001 movw r24,r0 |
| 2387 160c 1124 clr r1 |
| 2388 160e 9093 0000 sts (RcLostTimer.2446)+1,r25 |
| 2389 1612 8093 0000 sts RcLostTimer.2446,r24 |
| 2390 1616 6981 ldd r22,Y+1 |
| 2391 1618 7A81 ldd r23,Y+2 |
| 2392 161a 6932 cpi r22,41 |
| 2393 161c 7105 cpc r23,__zero_reg__ |
| 2394 161e 04F0 brlt .L471 |
| 2395 1620 8091 0000 lds r24,modell_fliegt.2450 |
| 2396 1624 9091 0000 lds r25,(modell_fliegt.2450)+1 |
| 2397 1628 7FEF ldi r23,hi8(-1) |
| 2398 162a 8F3F cpi r24,lo8(-1) |
| 2399 162c 9707 cpc r25,r23 |
| 2400 162e 01F0 breq .L473 |
| 2401 1630 0196 adiw r24,1 |
| 2402 1632 9093 0000 sts (modell_fliegt.2450)+1,r25 |
| 2403 1636 8093 0000 sts modell_fliegt.2450,r24 |
| 2404 .L473: |
| 2405 163a 8091 0000 lds r24,modell_fliegt.2450 |
| 2406 163e 9091 0000 lds r25,(modell_fliegt.2450)+1 |
| 2407 1642 9093 0000 sts (modell_fliegt_gps)+1,r25 |
| 2408 1646 8093 0000 sts modell_fliegt_gps,r24 |
| 2409 .L471: |
| 2410 164a 8091 0000 lds r24,modell_fliegt.2450 |
| 2411 164e 9091 0000 lds r25,(modell_fliegt.2450)+1 |
| 2412 1652 883C cpi r24,200 |
| 2413 1654 9105 cpc r25,__zero_reg__ |
| 2414 1656 00F0 brlo .L475 |
| 2415 1658 8981 ldd r24,Y+1 |
| 2416 165a 9A81 ldd r25,Y+2 |
| 2417 165c 8897 sbiw r24,40 |
| 2418 165e 04F4 brge .L477 |
| 2419 .L475: |
| 2420 1660 1092 0000 sts SummeNick.2439,__zero_reg__ |
| 2421 1664 1092 0000 sts (SummeNick.2439)+1,__zero_reg__ |
| 2422 1668 1092 0000 sts (SummeNick.2439)+2,__zero_reg__ |
| 2423 166c 1092 0000 sts (SummeNick.2439)+3,__zero_reg__ |
| 2424 1670 1092 0000 sts SummeRoll.2440,__zero_reg__ |
| 2425 1674 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__ |
| 2426 1678 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__ |
| 2427 167c 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__ |
| 2428 1680 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 2429 1684 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 2430 1688 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 2431 168c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 2432 1690 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 2433 1694 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 2434 1698 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 2435 169c 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 2436 .L477: |
| 2437 16a0 E981 ldd r30,Y+1 |
| 2438 16a2 FA81 ldd r31,Y+2 |
| 2439 16a4 E93C cpi r30,201 |
| 2440 16a6 F105 cpc r31,__zero_reg__ |
| 2441 16a8 04F4 brge .+2 |
| 2442 16aa 00C0 rjmp .L478 |
| 2443 16ac 8091 0000 lds r24,MotorenEin |
| 2444 16b0 8823 tst r24 |
| 2445 16b2 01F0 breq .+2 |
| 2446 16b4 00C0 rjmp .L469 |
| 2447 16b6 E091 0000 lds r30,EE_Parameter+3 |
| 2448 16ba FF27 clr r31 |
| 2449 16bc EE0F lsl r30 |
| 2450 16be FF1F rol r31 |
| 2451 16c0 E050 subi r30,lo8(-(PPM_in)) |
| 2452 16c2 F040 sbci r31,hi8(-(PPM_in)) |
| 2453 16c4 8081 ld r24,Z |
| 2454 16c6 9181 ldd r25,Z+1 |
| 2455 16c8 8C34 cpi r24,76 |
| 2456 16ca 9105 cpc r25,__zero_reg__ |
| 2457 16cc 04F4 brge .+2 |
| 2458 16ce 00C0 rjmp .L481 |
| 2459 16d0 8091 0000 lds r24,delay_neutral.2447 |
| 2460 16d4 8F5F subi r24,lo8(-(1)) |
| 2461 16d6 8093 0000 sts delay_neutral.2447,r24 |
| 2462 16da 893C cpi r24,lo8(-55) |
| 2463 16dc 00F4 brsh .+2 |
| 2464 16de 00C0 rjmp .L469 |
| 2465 16e0 2998 cbi 37-0x20,1 |
| 2466 16e2 0E94 0000 call SetNeutral |
| 2467 16e6 1092 0000 sts MotorenEin,__zero_reg__ |
| 2468 16ea 1092 0000 sts delay_neutral.2447,__zero_reg__ |
| 2469 16ee 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__ |
| 2470 16f2 1092 0000 sts modell_fliegt.2450,__zero_reg__ |
| 2471 16f6 8091 0000 lds r24,EE_Parameter |
| 2472 16fa 282F mov r18,r24 |
| 2473 16fc 3327 clr r19 |
| 2474 16fe F901 movw r30,r18 |
| 2475 1700 EE0F lsl r30 |
| 2476 1702 FF1F rol r31 |
| 2477 1704 E050 subi r30,lo8(-(PPM_in)) |
| 2478 1706 F040 sbci r31,hi8(-(PPM_in)) |
| 2479 1708 8081 ld r24,Z |
| 2480 170a 9181 ldd r25,Z+1 |
| 2481 170c 8734 cpi r24,71 |
| 2482 170e 9105 cpc r25,__zero_reg__ |
| 2483 1710 04F4 brge .L484 |
| 2484 1712 E091 0000 lds r30,EE_Parameter+1 |
| 2485 1716 FF27 clr r31 |
| 2486 1718 EE0F lsl r30 |
| 2487 171a FF1F rol r31 |
| 2488 171c E050 subi r30,lo8(-(PPM_in)) |
| 2489 171e F040 sbci r31,hi8(-(PPM_in)) |
| 2490 1720 0190 ld __tmp_reg__,Z+ |
| 2491 1722 F081 ld r31,Z |
| 2492 1724 E02D mov r30,__tmp_reg__ |
| 2493 1726 F7FF sbrs r31,7 |
| 2494 1728 00C0 rjmp .L487 |
| 2495 172a F095 com r31 |
| 2496 172c E195 neg r30 |
| 2497 172e FF4F sbci r31,lo8(-1) |
| 2498 .L487: |
| 2499 1730 E734 cpi r30,71 |
| 2500 1732 F105 cpc r31,__zero_reg__ |
| 2501 1734 04F4 brge .+2 |
| 2502 1736 00C0 rjmp .L486 |
| 2503 .L484: |
| 2504 1738 8091 0000 lds r24,EE_Parameter+1 |
| 2505 173c 682F mov r22,r24 |
| 2506 173e 7727 clr r23 |
| 2507 1740 DB01 movw r26,r22 |
| 2508 1742 AA0F lsl r26 |
| 2509 1744 BB1F rol r27 |
| 2510 1746 A050 subi r26,lo8(-(PPM_in)) |
| 2511 1748 B040 sbci r27,hi8(-(PPM_in)) |
| 2512 174a 8D91 ld r24,X+ |
| 2513 174c 9C91 ld r25,X |
| 2514 174e 1197 sbiw r26,1 |
| 2515 1750 8734 cpi r24,71 |
| 2516 1752 9105 cpc r25,__zero_reg__ |
| 2517 1754 04F0 brlt .L488 |
| 2518 1756 F901 movw r30,r18 |
| 2519 1758 EE0F lsl r30 |
| 2520 175a FF1F rol r31 |
| 2521 175c E050 subi r30,lo8(-(PPM_in)) |
| 2522 175e F040 sbci r31,hi8(-(PPM_in)) |
| 2523 1760 8081 ld r24,Z |
| 2524 1762 9181 ldd r25,Z+1 |
| 2525 .L488: |
| 2526 1764 8D91 ld r24,X+ |
| 2527 1766 9C91 ld r25,X |
| 2528 1768 8734 cpi r24,71 |
| 2529 176a 9105 cpc r25,__zero_reg__ |
| 2530 176c 04F0 brlt .L490 |
| 2531 176e F901 movw r30,r18 |
| 2532 1770 EE0F lsl r30 |
| 2533 1772 FF1F rol r31 |
| 2534 1774 E050 subi r30,lo8(-(PPM_in)) |
| 2535 1776 F040 sbci r31,hi8(-(PPM_in)) |
| 2536 1778 8081 ld r24,Z |
| 2537 177a 9181 ldd r25,Z+1 |
| 2538 177c 8734 cpi r24,71 |
| 2539 177e 9105 cpc r25,__zero_reg__ |
| 2540 1780 04F0 brlt .L490 |
| 2541 1782 42E0 ldi r20,lo8(2) |
| 2542 1784 00C0 rjmp .L493 |
| 2543 .L490: |
| 2544 1786 41E0 ldi r20,lo8(1) |
| 2545 .L493: |
| 2546 1788 FB01 movw r30,r22 |
| 2547 178a EE0F lsl r30 |
| 2548 178c FF1F rol r31 |
| 2549 178e E050 subi r30,lo8(-(PPM_in)) |
| 2550 1790 F040 sbci r31,hi8(-(PPM_in)) |
| 2551 1792 8081 ld r24,Z |
| 2552 1794 9181 ldd r25,Z+1 |
| 2553 1796 8634 cpi r24,70 |
| 2554 1798 9105 cpc r25,__zero_reg__ |
| 2555 179a 04F4 brge .L494 |
| 2556 179c F901 movw r30,r18 |
| 2557 179e EE0F lsl r30 |
| 2558 17a0 FF1F rol r31 |
| 2559 17a2 E050 subi r30,lo8(-(PPM_in)) |
| 2560 17a4 F040 sbci r31,hi8(-(PPM_in)) |
| 2561 17a6 8081 ld r24,Z |
| 2562 17a8 9181 ldd r25,Z+1 |
| 2563 17aa 8734 cpi r24,71 |
| 2564 17ac 9105 cpc r25,__zero_reg__ |
| 2565 17ae 04F0 brlt .L494 |
| 2566 17b0 43E0 ldi r20,lo8(3) |
| 2567 .L494: |
| 2568 17b2 FB01 movw r30,r22 |
| 2569 17b4 EE0F lsl r30 |
| 2570 17b6 FF1F rol r31 |
| 2571 17b8 E050 subi r30,lo8(-(PPM_in)) |
| 2572 17ba F040 sbci r31,hi8(-(PPM_in)) |
| 2573 17bc 8081 ld r24,Z |
| 2574 17be 9181 ldd r25,Z+1 |
| 2575 17c0 8A5B subi r24,lo8(-70) |
| 2576 17c2 9F4F sbci r25,hi8(-70) |
| 2577 17c4 04F4 brge .L497 |
| 2578 17c6 F901 movw r30,r18 |
| 2579 17c8 EE0F lsl r30 |
| 2580 17ca FF1F rol r31 |
| 2581 17cc E050 subi r30,lo8(-(PPM_in)) |
| 2582 17ce F040 sbci r31,hi8(-(PPM_in)) |
| 2583 17d0 8081 ld r24,Z |
| 2584 17d2 9181 ldd r25,Z+1 |
| 2585 17d4 8734 cpi r24,71 |
| 2586 17d6 9105 cpc r25,__zero_reg__ |
| 2587 17d8 04F0 brlt .L497 |
| 2588 17da 44E0 ldi r20,lo8(4) |
| 2589 .L497: |
| 2590 17dc 660F lsl r22 |
| 2591 17de 771F rol r23 |
| 2592 17e0 6050 subi r22,lo8(-(PPM_in)) |
| 2593 17e2 7040 sbci r23,hi8(-(PPM_in)) |
| 2594 17e4 FB01 movw r30,r22 |
| 2595 17e6 8081 ld r24,Z |
| 2596 17e8 9181 ldd r25,Z+1 |
| 2597 17ea 8A5B subi r24,lo8(-70) |
| 2598 17ec 9F4F sbci r25,hi8(-70) |
| 2599 17ee 04F4 brge .L500 |
| 2600 17f0 220F lsl r18 |
| 2601 17f2 331F rol r19 |
| 2602 17f4 2050 subi r18,lo8(-(PPM_in)) |
| 2603 17f6 3040 sbci r19,hi8(-(PPM_in)) |
| 2604 17f8 F901 movw r30,r18 |
| 2605 17fa 8081 ld r24,Z |
| 2606 17fc 9181 ldd r25,Z+1 |
| 2607 17fe 8634 cpi r24,70 |
| 2608 1800 9105 cpc r25,__zero_reg__ |
| 2609 1802 04F4 brge .L500 |
| 2610 1804 45E0 ldi r20,lo8(5) |
| 2611 .L500: |
| 2612 1806 A0E0 ldi r26,lo8(EEPromArray+2) |
| 2613 1808 B0E0 ldi r27,hi8(EEPromArray+2) |
| 2614 /* #APP */ |
| 2615 180a 042E mov __tmp_reg__,r20 |
| 2616 180c 0E94 0000 call __eeprom_write_byte_1F2021 |
| 2617 /* #NOAPP */ |
| 2618 .L486: |
| 2619 1810 0E94 0000 call GetActiveParamSetNumber |
| 2620 1814 4AE3 ldi r20,lo8(58) |
| 2621 1816 60E0 ldi r22,lo8(EE_Parameter) |
| 2622 1818 70E0 ldi r23,hi8(EE_Parameter) |
| 2623 181a 0E94 0000 call ReadParameterSet |
| 2624 181e 0E94 0000 call GetActiveParamSetNumber |
| 2625 1822 0E94 0000 call Piep |
| 2626 1826 8091 0000 lds r24,EE_Parameter+8 |
| 2627 182a 80FF sbrs r24,0 |
| 2628 182c 00C0 rjmp .L469 |
| 2629 182e 8091 0000 lds r24,MessLuftdruck |
| 2630 1832 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2631 1836 875B subi r24,lo8(951) |
| 2632 1838 9340 sbci r25,hi8(951) |
| 2633 183a 00F4 brsh .L504 |
| 2634 183c 8091 0000 lds r24,MessLuftdruck |
| 2635 1840 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2636 1844 8E5E subi r24,lo8(750) |
| 2637 1846 9240 sbci r25,hi8(750) |
| 2638 1848 00F0 brlo .+2 |
| 2639 184a 00C0 rjmp .L469 |
| 2640 .L504: |
| 2641 184c 0E94 0000 call SucheLuftruckOffset |
| 2642 1850 00C0 rjmp .L469 |
| 2643 .L481: |
| 2644 1852 1092 0000 sts delay_neutral.2447,__zero_reg__ |
| 2645 1856 00C0 rjmp .L469 |
| 2646 .L478: |
| 2647 1858 4981 ldd r20,Y+1 |
| 2648 185a 5A81 ldd r21,Y+2 |
| 2649 185c 4332 cpi r20,35 |
| 2650 185e 5105 cpc r21,__zero_reg__ |
| 2651 1860 04F0 brlt .+2 |
| 2652 1862 00C0 rjmp .L469 |
| 2653 1864 8091 0000 lds r24,EE_Parameter+3 |
| 2654 1868 482F mov r20,r24 |
| 2655 186a 5527 clr r21 |
| 2656 186c FA01 movw r30,r20 |
| 2657 186e EE0F lsl r30 |
| 2658 1870 FF1F rol r31 |
| 2659 1872 E050 subi r30,lo8(-(PPM_in)) |
| 2660 1874 F040 sbci r31,hi8(-(PPM_in)) |
| 2661 1876 8081 ld r24,Z |
| 2662 1878 9181 ldd r25,Z+1 |
| 2663 187a 855B subi r24,lo8(-75) |
| 2664 187c 9F4F sbci r25,hi8(-75) |
| 2665 187e 04F0 brlt .+2 |
| 2666 1880 00C0 rjmp .L507 |
| 2667 1882 8091 0000 lds r24,delay_einschalten.2448 |
| 2668 1886 8F5F subi r24,lo8(-(1)) |
| 2669 1888 8093 0000 sts delay_einschalten.2448,r24 |
| 2670 188c 893C cpi r24,lo8(-55) |
| 2671 188e 00F4 brsh .+2 |
| 2672 1890 00C0 rjmp .L509 |
| 2673 1892 88EC ldi r24,lo8(-56) |
| 2674 1894 8093 0000 sts delay_einschalten.2448,r24 |
| 2675 1898 81E0 ldi r24,lo8(1) |
| 2676 189a 90E0 ldi r25,hi8(1) |
| 2677 189c 9093 0000 sts (modell_fliegt.2450)+1,r25 |
| 2678 18a0 8093 0000 sts modell_fliegt.2450,r24 |
| 2679 18a4 81E0 ldi r24,lo8(1) |
| 2680 18a6 8093 0000 sts MotorenEin,r24 |
| 2681 18aa 1092 0000 sts sollGier.2441,__zero_reg__ |
| 2682 18ae 1092 0000 sts (sollGier.2441)+1,__zero_reg__ |
| 2683 18b2 1092 0000 sts (sollGier.2441)+2,__zero_reg__ |
| 2684 18b6 1092 0000 sts (sollGier.2441)+3,__zero_reg__ |
| 2685 18ba 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 2686 18be 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 2687 18c2 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 2688 18c6 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 2689 18ca 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 2690 18ce 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 2691 18d2 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 2692 18d6 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 2693 18da 1092 0000 sts Mess_IntegralNick,__zero_reg__ |
| 2694 18de 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ |
| 2695 18e2 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ |
| 2696 18e6 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ |
| 2697 18ea 1092 0000 sts Mess_IntegralRoll,__zero_reg__ |
| 2698 18ee 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ |
| 2699 18f2 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ |
| 2700 18f6 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ |
| 2701 18fa 8091 0000 lds r24,IntegralNick |
| 2702 18fe 9091 0000 lds r25,(IntegralNick)+1 |
| 2703 1902 A091 0000 lds r26,(IntegralNick)+2 |
| 2704 1906 B091 0000 lds r27,(IntegralNick)+3 |
| 2705 190a 8093 0000 sts Mess_IntegralNick2,r24 |
| 2706 190e 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2707 1912 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2708 1916 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2709 191a 8091 0000 lds r24,IntegralRoll |
| 2710 191e 9091 0000 lds r25,(IntegralRoll)+1 |
| 2711 1922 A091 0000 lds r26,(IntegralRoll)+2 |
| 2712 1926 B091 0000 lds r27,(IntegralRoll)+3 |
| 2713 192a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2714 192e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2715 1932 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2716 1936 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2717 193a 1092 0000 sts SummeNick.2439,__zero_reg__ |
| 2718 193e 1092 0000 sts (SummeNick.2439)+1,__zero_reg__ |
| 2719 1942 1092 0000 sts (SummeNick.2439)+2,__zero_reg__ |
| 2720 1946 1092 0000 sts (SummeNick.2439)+3,__zero_reg__ |
| 2721 194a 1092 0000 sts SummeRoll.2440,__zero_reg__ |
| 2722 194e 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__ |
| 2723 1952 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__ |
| 2724 1956 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__ |
| 2725 195a 00C0 rjmp .L509 |
| 2726 .L507: |
| 2727 195c 1092 0000 sts delay_einschalten.2448,__zero_reg__ |
| 2728 .L509: |
| 2729 1960 440F lsl r20 |
| 2730 1962 551F rol r21 |
| 2731 1964 4050 subi r20,lo8(-(PPM_in)) |
| 2732 1966 5040 sbci r21,hi8(-(PPM_in)) |
| 2733 1968 FA01 movw r30,r20 |
| 2734 196a 8081 ld r24,Z |
| 2735 196c 9181 ldd r25,Z+1 |
| 2736 196e 8C34 cpi r24,76 |
| 2737 1970 9105 cpc r25,__zero_reg__ |
| 2738 1972 04F0 brlt .L511 |
| 2739 1974 8091 0000 lds r24,delay_ausschalten.2449 |
| 2740 1978 8F5F subi r24,lo8(-(1)) |
| 2741 197a 8093 0000 sts delay_ausschalten.2449,r24 |
| 2742 197e 893C cpi r24,lo8(-55) |
| 2743 1980 00F0 brlo .L469 |
| 2744 1982 1092 0000 sts MotorenEin,__zero_reg__ |
| 2745 1986 88EC ldi r24,lo8(-56) |
| 2746 1988 8093 0000 sts delay_ausschalten.2449,r24 |
| 2747 198c 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__ |
| 2748 1990 1092 0000 sts modell_fliegt.2450,__zero_reg__ |
| 2749 1994 00C0 rjmp .L469 |
| 2750 .L511: |
| 2751 1996 1092 0000 sts delay_ausschalten.2449,__zero_reg__ |
| 2752 .L469: |
| 2753 199a 8091 0000 lds r24,NewPpmData |
| 2754 199e 8150 subi r24,lo8(-(-1)) |
| 2755 19a0 8093 0000 sts NewPpmData,r24 |
| 2756 19a4 8091 0000 lds r24,NewPpmData |
| 2757 19a8 8F3F cpi r24,lo8(-1) |
| 2758 19aa 01F0 breq .L514 |
| 2759 19ac 8091 0000 lds r24,Notlandung |
| 2760 19b0 8823 tst r24 |
| 2761 19b2 01F4 brne .+2 |
| 2762 19b4 00C0 rjmp .L516 |
| 2763 .L514: |
| 2764 19b6 0E94 0000 call ParameterZuordnung |
| 2765 19ba E091 0000 lds r30,EE_Parameter |
| 2766 19be FF27 clr r31 |
| 2767 19c0 EE0F lsl r30 |
| 2768 19c2 FF1F rol r31 |
| 2769 19c4 DF01 movw r26,r30 |
| 2770 19c6 A050 subi r26,lo8(-(PPM_in)) |
| 2771 19c8 B040 sbci r27,hi8(-(PPM_in)) |
| 2772 19ca 8D91 ld r24,X+ |
| 2773 19cc 9C91 ld r25,X |
| 2774 19ce 6091 0000 lds r22,EE_Parameter+15 |
| 2775 19d2 7727 clr r23 |
| 2776 19d4 E050 subi r30,lo8(-(PPM_diff)) |
| 2777 19d6 F040 sbci r31,hi8(-(PPM_diff)) |
| 2778 19d8 2081 ld r18,Z |
| 2779 19da 3181 ldd r19,Z+1 |
| 2780 19dc 4091 0000 lds r20,EE_Parameter+16 |
| 2781 19e0 5527 clr r21 |
| 2782 19e2 FC01 movw r30,r24 |
| 2783 19e4 E69F mul r30,r22 |
| 2784 19e6 C001 movw r24,r0 |
| 2785 19e8 E79F mul r30,r23 |
| 2786 19ea 900D add r25,r0 |
| 2787 19ec F69F mul r31,r22 |
| 2788 19ee 900D add r25,r0 |
| 2789 19f0 1124 clr r1 |
| 2790 19f2 F901 movw r30,r18 |
| 2791 19f4 E49F mul r30,r20 |
| 2792 19f6 9001 movw r18,r0 |
| 2793 19f8 E59F mul r30,r21 |
| 2794 19fa 300D add r19,r0 |
| 2795 19fc F49F mul r31,r20 |
| 2796 19fe 300D add r19,r0 |
| 2797 1a00 1124 clr r1 |
| 2798 1a02 820F add r24,r18 |
| 2799 1a04 931F adc r25,r19 |
| 2800 1a06 9093 0000 sts (StickNick)+1,r25 |
| 2801 1a0a 8093 0000 sts StickNick,r24 |
| 2802 1a0e E091 0000 lds r30,EE_Parameter+1 |
| 2803 1a12 FF27 clr r31 |
| 2804 1a14 EE0F lsl r30 |
| 2805 1a16 FF1F rol r31 |
| 2806 1a18 DF01 movw r26,r30 |
| 2807 1a1a A050 subi r26,lo8(-(PPM_in)) |
| 2808 1a1c B040 sbci r27,hi8(-(PPM_in)) |
| 2809 1a1e 8D91 ld r24,X+ |
| 2810 1a20 9C91 ld r25,X |
| 2811 1a22 E050 subi r30,lo8(-(PPM_diff)) |
| 2812 1a24 F040 sbci r31,hi8(-(PPM_diff)) |
| 2813 1a26 2081 ld r18,Z |
| 2814 1a28 3181 ldd r19,Z+1 |
| 2815 1a2a FC01 movw r30,r24 |
| 2816 1a2c E69F mul r30,r22 |
| 2817 1a2e C001 movw r24,r0 |
| 2818 1a30 E79F mul r30,r23 |
| 2819 1a32 900D add r25,r0 |
| 2820 1a34 F69F mul r31,r22 |
| 2821 1a36 900D add r25,r0 |
| 2822 1a38 1124 clr r1 |
| 2823 1a3a B901 movw r22,r18 |
| 2824 1a3c 649F mul r22,r20 |
| 2825 1a3e 9001 movw r18,r0 |
| 2826 1a40 659F mul r22,r21 |
| 2827 1a42 300D add r19,r0 |
| 2828 1a44 749F mul r23,r20 |
| 2829 1a46 300D add r19,r0 |
| 2830 1a48 1124 clr r1 |
| 2831 1a4a 820F add r24,r18 |
| 2832 1a4c 931F adc r25,r19 |
| 2833 1a4e 9093 0000 sts (StickRoll)+1,r25 |
| 2834 1a52 8093 0000 sts StickRoll,r24 |
| 2835 1a56 E091 0000 lds r30,EE_Parameter+3 |
| 2836 1a5a FF27 clr r31 |
| 2837 1a5c EE0F lsl r30 |
| 2838 1a5e FF1F rol r31 |
| 2839 1a60 E050 subi r30,lo8(-(PPM_in)) |
| 2840 1a62 F040 sbci r31,hi8(-(PPM_in)) |
| 2841 1a64 8081 ld r24,Z |
| 2842 1a66 9181 ldd r25,Z+1 |
| 2843 1a68 9095 com r25 |
| 2844 1a6a 8195 neg r24 |
| 2845 1a6c 9F4F sbci r25,lo8(-1) |
| 2846 1a6e 9093 0000 sts (StickGier)+1,r25 |
| 2847 1a72 8093 0000 sts StickGier,r24 |
| 2848 1a76 1091 0000 lds r17,Parameter_Gyro_P |
| 2849 1a7a 612F mov r22,r17 |
| 2850 1a7c 7727 clr r23 |
| 2851 1a7e 67FD sbrc r22,7 |
| 2852 1a80 7095 com r23 |
| 2853 1a82 872F mov r24,r23 |
| 2854 1a84 972F mov r25,r23 |
| 2855 1a86 0E94 0000 call __floatsisf |
| 2856 1a8a 17FF sbrs r17,7 |
| 2857 1a8c 00C0 rjmp .L517 |
| 2858 1a8e 20E0 ldi r18,lo8(0x43800000) |
| 2859 1a90 30E0 ldi r19,hi8(0x43800000) |
| 2860 1a92 40E8 ldi r20,hlo8(0x43800000) |
| 2861 1a94 53E4 ldi r21,hhi8(0x43800000) |
| 2862 1a96 0E94 0000 call __addsf3 |
| 2863 .L517: |
| 2864 1a9a 20E0 ldi r18,lo8(0x41200000) |
| 2865 1a9c 30E0 ldi r19,hi8(0x41200000) |
| 2866 1a9e 40E2 ldi r20,hlo8(0x41200000) |
| 2867 1aa0 51E4 ldi r21,hhi8(0x41200000) |
| 2868 1aa2 0E94 0000 call __addsf3 |
| 2869 1aa6 20E0 ldi r18,lo8(0x3b800000) |
| 2870 1aa8 30E0 ldi r19,hi8(0x3b800000) |
| 2871 1aaa 40E8 ldi r20,hlo8(0x3b800000) |
| 2872 1aac 5BE3 ldi r21,hhi8(0x3b800000) |
| 2873 1aae 0E94 0000 call __mulsf3 |
| 2874 1ab2 5B01 movw r10,r22 |
| 2875 1ab4 6C01 movw r12,r24 |
| 2876 1ab6 6093 0000 sts GyroFaktor,r22 |
| 2877 1aba 7093 0000 sts (GyroFaktor)+1,r23 |
| 2878 1abe 8093 0000 sts (GyroFaktor)+2,r24 |
| 2879 1ac2 9093 0000 sts (GyroFaktor)+3,r25 |
| 2880 1ac6 1091 0000 lds r17,Parameter_Gyro_I |
| 2881 1aca 612F mov r22,r17 |
| 2882 1acc 7727 clr r23 |
| 2883 1ace 67FD sbrc r22,7 |
| 2884 1ad0 7095 com r23 |
| 2885 1ad2 872F mov r24,r23 |
| 2886 1ad4 972F mov r25,r23 |
| 2887 1ad6 0E94 0000 call __floatsisf |
| 2888 1ada 17FF sbrs r17,7 |
| 2889 1adc 00C0 rjmp .L518 |
| 2890 1ade 20E0 ldi r18,lo8(0x43800000) |
| 2891 1ae0 30E0 ldi r19,hi8(0x43800000) |
| 2892 1ae2 40E8 ldi r20,hlo8(0x43800000) |
| 2893 1ae4 53E4 ldi r21,hhi8(0x43800000) |
| 2894 1ae6 0E94 0000 call __addsf3 |
| 2895 .L518: |
| 2896 1aea 20E0 ldi r18,lo8(0x472be000) |
| 2897 1aec 30EE ldi r19,hi8(0x472be000) |
| 2898 1aee 4BE2 ldi r20,hlo8(0x472be000) |
| 2899 1af0 57E4 ldi r21,hhi8(0x472be000) |
| 2900 1af2 0E94 0000 call __divsf3 |
| 2901 1af6 6093 0000 sts IntegralFaktor,r22 |
| 2902 1afa 7093 0000 sts (IntegralFaktor)+1,r23 |
| 2903 1afe 8093 0000 sts (IntegralFaktor)+2,r24 |
| 2904 1b02 9093 0000 sts (IntegralFaktor)+3,r25 |
| 2905 1b06 8091 0000 lds r24,EE_Parameter+8 |
| 2906 1b0a 82FF sbrs r24,2 |
| 2907 1b0c 00C0 rjmp .L519 |
| 2908 1b0e 80E0 ldi r24,lo8(0x0) |
| 2909 1b10 90E0 ldi r25,hi8(0x0) |
| 2910 1b12 A0E0 ldi r26,hlo8(0x0) |
| 2911 1b14 B0E0 ldi r27,hhi8(0x0) |
| 2912 1b16 8093 0000 sts IntegralFaktor,r24 |
| 2913 1b1a 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2914 1b1e A093 0000 sts (IntegralFaktor)+2,r26 |
| 2915 1b22 B093 0000 sts (IntegralFaktor)+3,r27 |
| 2916 .L519: |
| 2917 1b26 20E0 ldi r18,lo8(0x0) |
| 2918 1b28 30E0 ldi r19,hi8(0x0) |
| 2919 1b2a 40E0 ldi r20,hlo8(0x0) |
| 2920 1b2c 50E0 ldi r21,hhi8(0x0) |
| 2921 1b2e C601 movw r24,r12 |
| 2922 1b30 B501 movw r22,r10 |
| 2923 1b32 0E94 0000 call __ltsf2 |
| 2924 1b36 8823 tst r24 |
| 2925 1b38 04F4 brge .L521 |
| 2926 1b3a 80E0 ldi r24,lo8(0x0) |
| 2927 1b3c 90E0 ldi r25,hi8(0x0) |
| 2928 1b3e A0E0 ldi r26,hlo8(0x0) |
| 2929 1b40 B0E0 ldi r27,hhi8(0x0) |
| 2930 1b42 8093 0000 sts GyroFaktor,r24 |
| 2931 1b46 9093 0000 sts (GyroFaktor)+1,r25 |
| 2932 1b4a A093 0000 sts (GyroFaktor)+2,r26 |
| 2933 1b4e B093 0000 sts (GyroFaktor)+3,r27 |
| 2934 .L521: |
| 2935 1b52 20E0 ldi r18,lo8(0x0) |
| 2936 1b54 30E0 ldi r19,hi8(0x0) |
| 2937 1b56 40E0 ldi r20,hlo8(0x0) |
| 2938 1b58 50E0 ldi r21,hhi8(0x0) |
| 2939 1b5a 6091 0000 lds r22,IntegralFaktor |
| 2940 1b5e 7091 0000 lds r23,(IntegralFaktor)+1 |
| 2941 1b62 8091 0000 lds r24,(IntegralFaktor)+2 |
| 2942 1b66 9091 0000 lds r25,(IntegralFaktor)+3 |
| 2943 1b6a 0E94 0000 call __ltsf2 |
| 2944 1b6e 8823 tst r24 |
| 2945 1b70 04F4 brge .L524 |
| 2946 1b72 80E0 ldi r24,lo8(0x0) |
| 2947 1b74 90E0 ldi r25,hi8(0x0) |
| 2948 1b76 A0E0 ldi r26,hlo8(0x0) |
| 2949 1b78 B0E0 ldi r27,hhi8(0x0) |
| 2950 1b7a 8093 0000 sts IntegralFaktor,r24 |
| 2951 1b7e 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2952 1b82 A093 0000 sts (IntegralFaktor)+2,r26 |
| 2953 1b86 B093 0000 sts (IntegralFaktor)+3,r27 |
| 2954 .L524: |
| 2955 1b8a 4298 cbi 40-0x20,2 |
| 2956 1b8c 9091 0000 lds r25,Parameter_UserParam4 |
| 2957 1b90 8091 0000 lds r24,blinkcount_LED1 |
| 2958 1b94 8917 cp r24,r25 |
| 2959 1b96 00F0 brlo .L527 |
| 2960 1b98 9923 tst r25 |
| 2961 1b9a 01F0 breq .L527 |
| 2962 1b9c 88B1 in r24,40-0x20 |
| 2963 1b9e 94E0 ldi r25,lo8(4) |
| 2964 1ba0 8927 eor r24,r25 |
| 2965 1ba2 88B9 out 40-0x20,r24 |
| 2966 1ba4 1092 0000 sts blinkcount_LED1,__zero_reg__ |
| 2967 .L527: |
| 2968 1ba8 8091 0000 lds r24,blinkcount_LED1 |
| 2969 1bac 8F5F subi r24,lo8(-(1)) |
| 2970 1bae 8093 0000 sts blinkcount_LED1,r24 |
| 2971 1bb2 8091 0000 lds r24,Notlandung |
| 2972 1bb6 8823 tst r24 |
| 2973 1bb8 01F0 breq .L516 |
| 2974 1bba 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 2975 1bbe 1092 0000 sts StickGier,__zero_reg__ |
| 2976 1bc2 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 2977 1bc6 1092 0000 sts StickNick,__zero_reg__ |
| 2978 1bca 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 2979 1bce 1092 0000 sts StickRoll,__zero_reg__ |
| 2980 1bd2 8DEC ldi r24,lo8(0x3dcccccd) |
| 2981 1bd4 9CEC ldi r25,hi8(0x3dcccccd) |
| 2982 1bd6 ACEC ldi r26,hlo8(0x3dcccccd) |
| 2983 1bd8 BDE3 ldi r27,hhi8(0x3dcccccd) |
| 2984 1bda 8093 0000 sts GyroFaktor,r24 |
| 2985 1bde 9093 0000 sts (GyroFaktor)+1,r25 |
| 2986 1be2 A093 0000 sts (GyroFaktor)+2,r26 |
| 2987 1be6 B093 0000 sts (GyroFaktor)+3,r27 |
| 2988 1bea 8AE0 ldi r24,lo8(0x3ba3d70a) |
| 2989 1bec 97ED ldi r25,hi8(0x3ba3d70a) |
| 2990 1bee A3EA ldi r26,hlo8(0x3ba3d70a) |
| 2991 1bf0 BBE3 ldi r27,hhi8(0x3ba3d70a) |
| 2992 1bf2 8093 0000 sts IntegralFaktor,r24 |
| 2993 1bf6 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2994 1bfa A093 0000 sts (IntegralFaktor)+2,r26 |
| 2995 1bfe B093 0000 sts (IntegralFaktor)+3,r27 |
| 2996 .L516: |
| 2997 1c02 8091 0000 lds r24,ZaehlMessungen |
| 2998 1c06 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 2999 1c0a 8D54 subi r24,lo8(333) |
| 3000 1c0c 9140 sbci r25,hi8(333) |
| 3001 1c0e 00F4 brsh .+2 |
| 3002 1c10 00C0 rjmp .L531 |
| 3003 1c12 2091 0000 lds r18,IntegralNick2 |
| 3004 1c16 3091 0000 lds r19,(IntegralNick2)+1 |
| 3005 1c1a 4091 0000 lds r20,(IntegralNick2)+2 |
| 3006 1c1e 5091 0000 lds r21,(IntegralNick2)+3 |
| 3007 1c22 8091 0000 lds r24,IntegralNick |
| 3008 1c26 9091 0000 lds r25,(IntegralNick)+1 |
| 3009 1c2a A091 0000 lds r26,(IntegralNick)+2 |
| 3010 1c2e B091 0000 lds r27,(IntegralNick)+3 |
| 3011 1c32 B901 movw r22,r18 |
| 3012 1c34 681B sub r22,r24 |
| 3013 1c36 790B sbc r23,r25 |
| 3014 1c38 7093 0000 sts (IntegralFehlerNick.2444)+1,r23 |
| 3015 1c3c 6093 0000 sts IntegralFehlerNick.2444,r22 |
| 3016 1c40 2091 0000 lds r18,IntegralRoll2 |
| 3017 1c44 3091 0000 lds r19,(IntegralRoll2)+1 |
| 3018 1c48 4091 0000 lds r20,(IntegralRoll2)+2 |
| 3019 1c4c 5091 0000 lds r21,(IntegralRoll2)+3 |
| 3020 1c50 8091 0000 lds r24,IntegralRoll |
| 3021 1c54 9091 0000 lds r25,(IntegralRoll)+1 |
| 3022 1c58 A091 0000 lds r26,(IntegralRoll)+2 |
| 3023 1c5c B091 0000 lds r27,(IntegralRoll)+3 |
| 3024 1c60 281B sub r18,r24 |
| 3025 1c62 390B sbc r19,r25 |
| 3026 1c64 3093 0000 sts (IntegralFehlerRoll.2445)+1,r19 |
| 3027 1c68 2093 0000 sts IntegralFehlerRoll.2445,r18 |
| 3028 1c6c 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 3029 1c70 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 3030 1c74 673A cpi r22,167 |
| 3031 1c76 7105 cpc r23,__zero_reg__ |
| 3032 1c78 04F0 brlt .L533 |
| 3033 1c7a 8091 0000 lds r24,AdNeutralNick |
| 3034 1c7e 9091 0000 lds r25,(AdNeutralNick)+1 |
| 3035 1c82 0196 adiw r24,1 |
| 3036 1c84 00C0 rjmp .L660 |
| 3037 .L533: |
| 3038 1c86 6A55 subi r22,lo8(-166) |
| 3039 1c88 7F4F sbci r23,hi8(-166) |
| 3040 1c8a 04F4 brge .L535 |
| 3041 1c8c 8091 0000 lds r24,AdNeutralNick |
| 3042 1c90 9091 0000 lds r25,(AdNeutralNick)+1 |
| 3043 1c94 0197 sbiw r24,1 |
| 3044 .L660: |
| 3045 1c96 9093 0000 sts (AdNeutralNick)+1,r25 |
| 3046 1c9a 8093 0000 sts AdNeutralNick,r24 |
| 3047 .L535: |
| 3048 1c9e 273A cpi r18,167 |
| 3049 1ca0 3105 cpc r19,__zero_reg__ |
| 3050 1ca2 04F0 brlt .L537 |
| 3051 1ca4 8091 0000 lds r24,AdNeutralRoll |
| 3052 1ca8 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 3053 1cac 0196 adiw r24,1 |
| 3054 1cae 00C0 rjmp .L661 |
| 3055 .L537: |
| 3056 1cb0 2A55 subi r18,lo8(-166) |
| 3057 1cb2 3F4F sbci r19,hi8(-166) |
| 3058 1cb4 04F4 brge .L539 |
| 3059 1cb6 8091 0000 lds r24,AdNeutralRoll |
| 3060 1cba 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 3061 1cbe 0197 sbiw r24,1 |
| 3062 .L661: |
| 3063 1cc0 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 3064 1cc4 8093 0000 sts AdNeutralRoll,r24 |
| 3065 .L539: |
| 3066 1cc8 8091 0000 lds r24,Mess_Integral_Gier2 |
| 3067 1ccc 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 3068 1cd0 A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 3069 1cd4 B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 3070 1cd8 873A cpi r24,lo8(167) |
| 3071 1cda 9105 cpc r25,__zero_reg__ |
| 3072 1cdc A105 cpc r26,__zero_reg__ |
| 3073 1cde B105 cpc r27,__zero_reg__ |
| 3074 1ce0 04F0 brlt .L541 |
| 3075 1ce2 8091 0000 lds r24,AdNeutralGier |
| 3076 1ce6 9091 0000 lds r25,(AdNeutralGier)+1 |
| 3077 1cea 0197 sbiw r24,1 |
| 3078 1cec 9093 0000 sts (AdNeutralGier)+1,r25 |
| 3079 1cf0 8093 0000 sts AdNeutralGier,r24 |
| 3080 .L541: |
| 3081 1cf4 8091 0000 lds r24,Mess_Integral_Gier2 |
| 3082 1cf8 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 3083 1cfc A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 3084 1d00 B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 3085 1d04 8A55 subi r24,lo8(-166) |
| 3086 1d06 9F4F sbci r25,hi8(-166) |
| 3087 1d08 AF4F sbci r26,hlo8(-166) |
| 3088 1d0a BF4F sbci r27,hhi8(-166) |
| 3089 1d0c 04F4 brge .L543 |
| 3090 1d0e 8091 0000 lds r24,AdNeutralGier |
| 3091 1d12 9091 0000 lds r25,(AdNeutralGier)+1 |
| 3092 1d16 0196 adiw r24,1 |
| 3093 1d18 9093 0000 sts (AdNeutralGier)+1,r25 |
| 3094 1d1c 8093 0000 sts AdNeutralGier,r24 |
| 3095 .L543: |
| 3096 1d20 1092 7A00 sts 122,__zero_reg__ |
| 3097 1d24 8091 0000 lds r24,IntegralNick |
| 3098 1d28 9091 0000 lds r25,(IntegralNick)+1 |
| 3099 1d2c A091 0000 lds r26,(IntegralNick)+2 |
| 3100 1d30 B091 0000 lds r27,(IntegralNick)+3 |
| 3101 1d34 8093 0000 sts Mess_IntegralNick2,r24 |
| 3102 1d38 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 3103 1d3c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 3104 1d40 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 3105 1d44 8091 0000 lds r24,IntegralRoll |
| 3106 1d48 9091 0000 lds r25,(IntegralRoll)+1 |
| 3107 1d4c A091 0000 lds r26,(IntegralRoll)+2 |
| 3108 1d50 B091 0000 lds r27,(IntegralRoll)+3 |
| 3109 1d54 8093 0000 sts Mess_IntegralRoll2,r24 |
| 3110 1d58 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 3111 1d5c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 3112 1d60 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 3113 1d64 8091 0000 lds r24,Integral_Gier |
| 3114 1d68 9091 0000 lds r25,(Integral_Gier)+1 |
| 3115 1d6c A091 0000 lds r26,(Integral_Gier)+2 |
| 3116 1d70 B091 0000 lds r27,(Integral_Gier)+3 |
| 3117 1d74 8093 0000 sts Mess_Integral_Gier2,r24 |
| 3118 1d78 9093 0000 sts (Mess_Integral_Gier2)+1,r25 |
| 3119 1d7c A093 0000 sts (Mess_Integral_Gier2)+2,r26 |
| 3120 1d80 B093 0000 sts (Mess_Integral_Gier2)+3,r27 |
| 3121 1d84 8FEE ldi r24,lo8(-17) |
| 3122 1d86 8093 7A00 sts 122,r24 |
| 3123 .L531: |
| 3124 1d8a 6091 0000 lds r22,IntegralNick |
| 3125 1d8e 7091 0000 lds r23,(IntegralNick)+1 |
| 3126 1d92 8091 0000 lds r24,(IntegralNick)+2 |
| 3127 1d96 9091 0000 lds r25,(IntegralNick)+3 |
| 3128 1d9a A090 0000 lds r10,EE_Parameter+20 |
| 3129 1d9e BB24 clr r11 |
| 3130 1da0 CC24 clr r12 |
| 3131 1da2 DD24 clr r13 |
| 3132 1da4 E090 0000 lds r14,Mittelwert_AccNick |
| 3133 1da8 F090 0000 lds r15,(Mittelwert_AccNick)+1 |
| 3134 1dac A601 movw r20,r12 |
| 3135 1dae 9501 movw r18,r10 |
| 3136 1db0 0E94 0000 call __divmodsi4 |
| 3137 1db4 0027 clr r16 |
| 3138 1db6 F7FC sbrc r15,7 |
| 3139 1db8 0095 com r16 |
| 3140 1dba 102F mov r17,r16 |
| 3141 1dbc 2E19 sub r18,r14 |
| 3142 1dbe 3F09 sbc r19,r15 |
| 3143 1dc0 400B sbc r20,r16 |
| 3144 1dc2 510B sbc r21,r17 |
| 3145 1dc4 CA01 movw r24,r20 |
| 3146 1dc6 B901 movw r22,r18 |
| 3147 1dc8 20E1 ldi r18,lo8(16) |
| 3148 1dca 30E0 ldi r19,hi8(16) |
| 3149 1dcc 40E0 ldi r20,hlo8(16) |
| 3150 1dce 50E0 ldi r21,hhi8(16) |
| 3151 1dd0 0E94 0000 call __divmodsi4 |
| 3152 1dd4 3901 movw r6,r18 |
| 3153 1dd6 4A01 movw r8,r20 |
| 3154 1dd8 2093 0000 sts tmp_long.2442,r18 |
| 3155 1ddc 3093 0000 sts (tmp_long.2442)+1,r19 |
| 3156 1de0 4093 0000 sts (tmp_long.2442)+2,r20 |
| 3157 1de4 5093 0000 sts (tmp_long.2442)+3,r21 |
| 3158 1de8 6091 0000 lds r22,IntegralRoll |
| 3159 1dec 7091 0000 lds r23,(IntegralRoll)+1 |
| 3160 1df0 8091 0000 lds r24,(IntegralRoll)+2 |
| 3161 1df4 9091 0000 lds r25,(IntegralRoll)+3 |
| 3162 1df8 E090 0000 lds r14,Mittelwert_AccRoll |
| 3163 1dfc F090 0000 lds r15,(Mittelwert_AccRoll)+1 |
| 3164 1e00 A601 movw r20,r12 |
| 3165 1e02 9501 movw r18,r10 |
| 3166 1e04 0E94 0000 call __divmodsi4 |
| 3167 1e08 0027 clr r16 |
| 3168 1e0a F7FC sbrc r15,7 |
| 3169 1e0c 0095 com r16 |
| 3170 1e0e 102F mov r17,r16 |
| 3171 1e10 2E19 sub r18,r14 |
| 3172 1e12 3F09 sbc r19,r15 |
| 3173 1e14 400B sbc r20,r16 |
| 3174 1e16 510B sbc r21,r17 |
| 3175 1e18 CA01 movw r24,r20 |
| 3176 1e1a B901 movw r22,r18 |
| 3177 1e1c 20E1 ldi r18,lo8(16) |
| 3178 1e1e 30E0 ldi r19,hi8(16) |
| 3179 1e20 40E0 ldi r20,hlo8(16) |
| 3180 1e22 50E0 ldi r21,hhi8(16) |
| 3181 1e24 0E94 0000 call __divmodsi4 |
| 3182 1e28 2093 0000 sts tmp_long2.2443,r18 |
| 3183 1e2c 3093 0000 sts (tmp_long2.2443)+1,r19 |
| 3184 1e30 4093 0000 sts (tmp_long2.2443)+2,r20 |
| 3185 1e34 5093 0000 sts (tmp_long2.2443)+3,r21 |
| 3186 1e38 F5EF ldi r31,lo8(501) |
| 3187 1e3a 6F16 cp r6,r31 |
| 3188 1e3c F1E0 ldi r31,hi8(501) |
| 3189 1e3e 7F06 cpc r7,r31 |
| 3190 1e40 F0E0 ldi r31,hlo8(501) |
| 3191 1e42 8F06 cpc r8,r31 |
| 3192 1e44 F0E0 ldi r31,hhi8(501) |
| 3193 1e46 9F06 cpc r9,r31 |
| 3194 1e48 04F0 brlt .L545 |
| 3195 1e4a 84EF ldi r24,lo8(500) |
| 3196 1e4c 91E0 ldi r25,hi8(500) |
| 3197 1e4e A0E0 ldi r26,hlo8(500) |
| 3198 1e50 B0E0 ldi r27,hhi8(500) |
| 3199 1e52 00C0 rjmp .L662 |
| 3200 .L545: |
| 3201 1e54 6CE0 ldi r22,lo8(-500) |
| 3202 1e56 6616 cp r6,r22 |
| 3203 1e58 6EEF ldi r22,hi8(-500) |
| 3204 1e5a 7606 cpc r7,r22 |
| 3205 1e5c 6FEF ldi r22,hlo8(-500) |
| 3206 1e5e 8606 cpc r8,r22 |
| 3207 1e60 6FEF ldi r22,hhi8(-500) |
| 3208 1e62 9606 cpc r9,r22 |
| 3209 1e64 04F4 brge .L547 |
| 3210 1e66 8CE0 ldi r24,lo8(-500) |
| 3211 1e68 9EEF ldi r25,hi8(-500) |
| 3212 1e6a AFEF ldi r26,hlo8(-500) |
| 3213 1e6c BFEF ldi r27,hhi8(-500) |
| 3214 .L662: |
| 3215 1e6e 8093 0000 sts tmp_long.2442,r24 |
| 3216 1e72 9093 0000 sts (tmp_long.2442)+1,r25 |
| 3217 1e76 A093 0000 sts (tmp_long.2442)+2,r26 |
| 3218 1e7a B093 0000 sts (tmp_long.2442)+3,r27 |
| 3219 .L547: |
| 3220 1e7e 253F cpi r18,lo8(501) |
| 3221 1e80 71E0 ldi r23,hi8(501) |
| 3222 1e82 3707 cpc r19,r23 |
| 3223 1e84 70E0 ldi r23,hlo8(501) |
| 3224 1e86 4707 cpc r20,r23 |
| 3225 1e88 70E0 ldi r23,hhi8(501) |
| 3226 1e8a 5707 cpc r21,r23 |
| 3227 1e8c 04F0 brlt .L549 |
| 3228 1e8e 84EF ldi r24,lo8(500) |
| 3229 1e90 91E0 ldi r25,hi8(500) |
| 3230 1e92 A0E0 ldi r26,hlo8(500) |
| 3231 1e94 B0E0 ldi r27,hhi8(500) |
| 3232 1e96 00C0 rjmp .L663 |
| 3233 .L549: |
| 3234 1e98 2C50 subi r18,lo8(-500) |
| 3235 1e9a 3E4F sbci r19,hi8(-500) |
| 3236 1e9c 4F4F sbci r20,hlo8(-500) |
| 3237 1e9e 5F4F sbci r21,hhi8(-500) |
| 3238 1ea0 04F4 brge .L551 |
| 3239 1ea2 8CE0 ldi r24,lo8(-500) |
| 3240 1ea4 9EEF ldi r25,hi8(-500) |
| 3241 1ea6 AFEF ldi r26,hlo8(-500) |
| 3242 1ea8 BFEF ldi r27,hhi8(-500) |
| 3243 .L663: |
| 3244 1eaa 8093 0000 sts tmp_long2.2443,r24 |
| 3245 1eae 9093 0000 sts (tmp_long2.2443)+1,r25 |
| 3246 1eb2 A093 0000 sts (tmp_long2.2443)+2,r26 |
| 3247 1eb6 B093 0000 sts (tmp_long2.2443)+3,r27 |
| 3248 .L551: |
| 3249 1eba 1092 7A00 sts 122,__zero_reg__ |
| 3250 1ebe 8091 0000 lds r24,Mess_IntegralNick |
| 3251 1ec2 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 3252 1ec6 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 3253 1eca B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 3254 1ece 2091 0000 lds r18,tmp_long.2442 |
| 3255 1ed2 3091 0000 lds r19,(tmp_long.2442)+1 |
| 3256 1ed6 4091 0000 lds r20,(tmp_long.2442)+2 |
| 3257 1eda 5091 0000 lds r21,(tmp_long.2442)+3 |
| 3258 1ede 821B sub r24,r18 |
| 3259 1ee0 930B sbc r25,r19 |
| 3260 1ee2 A40B sbc r26,r20 |
| 3261 1ee4 B50B sbc r27,r21 |
| 3262 1ee6 8093 0000 sts Mess_IntegralNick,r24 |
| 3263 1eea 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 3264 1eee A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 3265 1ef2 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 3266 1ef6 8091 0000 lds r24,Mess_IntegralRoll |
| 3267 1efa 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 3268 1efe A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 3269 1f02 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 3270 1f06 2091 0000 lds r18,tmp_long2.2443 |
| 3271 1f0a 3091 0000 lds r19,(tmp_long2.2443)+1 |
| 3272 1f0e 4091 0000 lds r20,(tmp_long2.2443)+2 |
| 3273 1f12 5091 0000 lds r21,(tmp_long2.2443)+3 |
| 3274 1f16 821B sub r24,r18 |
| 3275 1f18 930B sbc r25,r19 |
| 3276 1f1a A40B sbc r26,r20 |
| 3277 1f1c B50B sbc r27,r21 |
| 3278 1f1e 8093 0000 sts Mess_IntegralRoll,r24 |
| 3279 1f22 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 3280 1f26 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 3281 1f2a B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 3282 1f2e 8091 0000 lds r24,StickGier |
| 3283 1f32 9091 0000 lds r25,(StickGier)+1 |
| 3284 1f36 5C01 movw r10,r24 |
| 3285 1f38 CC24 clr r12 |
| 3286 1f3a B7FC sbrc r11,7 |
| 3287 1f3c C094 com r12 |
| 3288 1f3e DC2C mov r13,r12 |
| 3289 1f40 A092 0000 sts sollGier.2441,r10 |
| 3290 1f44 B092 0000 sts (sollGier.2441)+1,r11 |
| 3291 1f48 C092 0000 sts (sollGier.2441)+2,r12 |
| 3292 1f4c D092 0000 sts (sollGier.2441)+3,r13 |
| 3293 1f50 97FF sbrs r25,7 |
| 3294 1f52 00C0 rjmp .L554 |
| 3295 1f54 9095 com r25 |
| 3296 1f56 8195 neg r24 |
| 3297 1f58 9F4F sbci r25,lo8(-1) |
| 3298 .L554: |
| 3299 1f5a 8497 sbiw r24,36 |
| 3300 1f5c 04F0 brlt .L553 |
| 3301 1f5e 8091 0000 lds r24,EE_Parameter+8 |
| 3302 1f62 84FD sbrc r24,4 |
| 3303 1f64 00C0 rjmp .L553 |
| 3304 1f66 81E0 ldi r24,lo8(1) |
| 3305 1f68 8093 0000 sts NeueKompassRichtungMerken.2453,r24 |
| 3306 .L553: |
| 3307 1f6c 6090 0000 lds r6,Mess_Integral_Gier |
| 3308 1f70 7090 0000 lds r7,(Mess_Integral_Gier)+1 |
| 3309 1f74 8090 0000 lds r8,(Mess_Integral_Gier)+2 |
| 3310 1f78 9090 0000 lds r9,(Mess_Integral_Gier)+3 |
| 3311 1f7c C501 movw r24,r10 |
| 3312 1f7e B7FE sbrs r11,7 |
| 3313 1f80 00C0 rjmp .L557 |
| 3314 1f82 9095 com r25 |
| 3315 1f84 8195 neg r24 |
| 3316 1f86 9F4F sbci r25,lo8(-1) |
| 3317 .L557: |
| 3318 1f88 7C01 movw r14,r24 |
| 3319 1f8a 0027 clr r16 |
| 3320 1f8c F7FC sbrc r15,7 |
| 3321 1f8e 0095 com r16 |
| 3322 1f90 102F mov r17,r16 |
| 3323 1f92 2091 0000 lds r18,EE_Parameter+17 |
| 3324 1f96 3327 clr r19 |
| 3325 1f98 4427 clr r20 |
| 3326 1f9a 5527 clr r21 |
| 3327 1f9c C601 movw r24,r12 |
| 3328 1f9e B501 movw r22,r10 |
| 3329 1fa0 0E94 0000 call __mulsi3 |
| 3330 1fa4 9B01 movw r18,r22 |
| 3331 1fa6 AC01 movw r20,r24 |
| 3332 1fa8 C801 movw r24,r16 |
| 3333 1faa B701 movw r22,r14 |
| 3334 1fac 0E94 0000 call __mulsi3 |
| 3335 1fb0 20E0 ldi r18,lo8(256) |
| 3336 1fb2 31E0 ldi r19,hi8(256) |
| 3337 1fb4 40E0 ldi r20,hlo8(256) |
| 3338 1fb6 50E0 ldi r21,hhi8(256) |
| 3339 1fb8 0E94 0000 call __divmodsi4 |
| 3340 1fbc 4427 clr r20 |
| 3341 1fbe 37FD sbrc r19,7 |
| 3342 1fc0 4095 com r20 |
| 3343 1fc2 542F mov r21,r20 |
| 3344 1fc4 621A sub r6,r18 |
| 3345 1fc6 730A sbc r7,r19 |
| 3346 1fc8 840A sbc r8,r20 |
| 3347 1fca 950A sbc r9,r21 |
| 3348 1fcc 6092 0000 sts Mess_Integral_Gier,r6 |
| 3349 1fd0 7092 0000 sts (Mess_Integral_Gier)+1,r7 |
| 3350 1fd4 8092 0000 sts (Mess_Integral_Gier)+2,r8 |
| 3351 1fd8 9092 0000 sts (Mess_Integral_Gier)+3,r9 |
| 3352 1fdc 8091 0000 lds r24,Mess_Integral_Gier |
| 3353 1fe0 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 3354 1fe4 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 3355 1fe8 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 3356 1fec 8153 subi r24,lo8(30001) |
| 3357 1fee 9547 sbci r25,hi8(30001) |
| 3358 1ff0 A040 sbci r26,hlo8(30001) |
| 3359 1ff2 B040 sbci r27,hhi8(30001) |
| 3360 1ff4 04F0 brlt .L558 |
| 3361 1ff6 80E3 ldi r24,lo8(30000) |
| 3362 1ff8 95E7 ldi r25,hi8(30000) |
| 3363 1ffa A0E0 ldi r26,hlo8(30000) |
| 3364 1ffc B0E0 ldi r27,hhi8(30000) |
| 3365 1ffe 8093 0000 sts Mess_Integral_Gier,r24 |
| 3366 2002 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 3367 2006 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 3368 200a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 3369 .L558: |
| 3370 200e 8091 0000 lds r24,Mess_Integral_Gier |
| 3371 2012 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 3372 2016 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 3373 201a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 3374 201e 805D subi r24,lo8(-30000) |
| 3375 2020 9A48 sbci r25,hi8(-30000) |
| 3376 2022 AF4F sbci r26,hlo8(-30000) |
| 3377 2024 BF4F sbci r27,hhi8(-30000) |
| 3378 2026 04F4 brge .L560 |
| 3379 2028 80ED ldi r24,lo8(-30000) |
| 3380 202a 9AE8 ldi r25,hi8(-30000) |
| 3381 202c AFEF ldi r26,hlo8(-30000) |
| 3382 202e BFEF ldi r27,hhi8(-30000) |
| 3383 2030 8093 0000 sts Mess_Integral_Gier,r24 |
| 3384 2034 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 3385 2038 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 3386 203c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 3387 .L560: |
| 3388 2040 8FEE ldi r24,lo8(-17) |
| 3389 2042 8093 7A00 sts 122,r24 |
| 3390 2046 8091 0000 lds r24,KompassValue |
| 3391 204a 9091 0000 lds r25,(KompassValue)+1 |
| 3392 204e 892B or r24,r25 |
| 3393 2050 01F4 brne .+2 |
| 3394 2052 00C0 rjmp .L562 |
| 3395 2054 8091 0000 lds r24,EE_Parameter+8 |
| 3396 2058 83FF sbrs r24,3 |
| 3397 205a 00C0 rjmp .L562 |
| 3398 205c 6091 0000 lds r22,IntegralNick |
| 3399 2060 7091 0000 lds r23,(IntegralNick)+1 |
| 3400 2064 8091 0000 lds r24,(IntegralNick)+2 |
| 3401 2068 9091 0000 lds r25,(IntegralNick)+3 |
| 3402 206c 20E0 ldi r18,lo8(512) |
| 3403 206e 32E0 ldi r19,hi8(512) |
| 3404 2070 40E0 ldi r20,hlo8(512) |
| 3405 2072 50E0 ldi r21,hhi8(512) |
| 3406 2074 0E94 0000 call __divmodsi4 |
| 3407 2078 8901 movw r16,r18 |
| 3408 207a 37FF sbrs r19,7 |
| 3409 207c 00C0 rjmp .L565 |
| 3410 207e 1095 com r17 |
| 3411 2080 0195 neg r16 |
| 3412 2082 1F4F sbci r17,lo8(-1) |
| 3413 .L565: |
| 3414 2084 6091 0000 lds r22,IntegralRoll |
| 3415 2088 7091 0000 lds r23,(IntegralRoll)+1 |
| 3416 208c 8091 0000 lds r24,(IntegralRoll)+2 |
| 3417 2090 9091 0000 lds r25,(IntegralRoll)+3 |
| 3418 2094 20E0 ldi r18,lo8(512) |
| 3419 2096 32E0 ldi r19,hi8(512) |
| 3420 2098 40E0 ldi r20,hlo8(512) |
| 3421 209a 50E0 ldi r21,hhi8(512) |
| 3422 209c 0E94 0000 call __divmodsi4 |
| 3423 20a0 B901 movw r22,r18 |
| 3424 20a2 37FF sbrs r19,7 |
| 3425 20a4 00C0 rjmp .L566 |
| 3426 20a6 7095 com r23 |
| 3427 20a8 6195 neg r22 |
| 3428 20aa 7F4F sbci r23,lo8(-1) |
| 3429 .L566: |
| 3430 20ac 6017 cp r22,r16 |
| 3431 20ae 7107 cpc r23,r17 |
| 3432 20b0 04F4 brge .L567 |
| 3433 20b2 B801 movw r22,r16 |
| 3434 .L567: |
| 3435 20b4 6931 cpi r22,25 |
| 3436 20b6 7105 cpc r23,__zero_reg__ |
| 3437 20b8 04F4 brge .L568 |
| 3438 20ba 8091 0000 lds r24,NeueKompassRichtungMerken.2453 |
| 3439 20be 8823 tst r24 |
| 3440 20c0 01F0 breq .L568 |
| 3441 20c2 8091 0000 lds r24,SignalSchlecht.2457 |
| 3442 20c6 9091 0000 lds r25,(SignalSchlecht.2457)+1 |
| 3443 20ca 892B or r24,r25 |
| 3444 20cc 01F4 brne .L568 |
| 3445 20ce 8091 0000 lds r24,KompassValue |
| 3446 20d2 9091 0000 lds r25,(KompassValue)+1 |
| 3447 20d6 9093 0000 sts (KompassStartwert)+1,r25 |
| 3448 20da 8093 0000 sts KompassStartwert,r24 |
| 3449 20de 1092 0000 sts NeueKompassRichtungMerken.2453,__zero_reg__ |
| 3450 .L568: |
| 3451 20e2 2091 0000 lds r18,Parameter_KompassWirkung |
| 3452 20e6 3327 clr r19 |
| 3453 20e8 629F mul r22,r18 |
| 3454 20ea C001 movw r24,r0 |
| 3455 20ec 639F mul r22,r19 |
| 3456 20ee 900D add r25,r0 |
| 3457 20f0 729F mul r23,r18 |
| 3458 20f2 900D add r25,r0 |
| 3459 20f4 1124 clr r1 |
| 3460 20f6 60E4 ldi r22,lo8(64) |
| 3461 20f8 70E0 ldi r23,hi8(64) |
| 3462 20fa 0E94 0000 call __divmodhi4 |
| 3463 20fe A901 movw r20,r18 |
| 3464 2100 461B sub r20,r22 |
| 3465 2102 570B sbc r21,r23 |
| 3466 2104 1416 cp __zero_reg__,r20 |
| 3467 2106 1506 cpc __zero_reg__,r21 |
| 3468 2108 04F0 brlt .+2 |
| 3469 210a 00C0 rjmp .L572 |
| 3470 210c 1092 7A00 sts 122,__zero_reg__ |
| 3471 2110 2091 0000 lds r18,SignalSchlecht.2457 |
| 3472 2114 3091 0000 lds r19,(SignalSchlecht.2457)+1 |
| 3473 2118 2115 cp r18,__zero_reg__ |
| 3474 211a 3105 cpc r19,__zero_reg__ |
| 3475 211c 01F4 brne .L574 |
| 3476 211e 0091 0000 lds r16,Mess_Integral_Gier |
| 3477 2122 1091 0000 lds r17,(Mess_Integral_Gier)+1 |
| 3478 2126 2091 0000 lds r18,(Mess_Integral_Gier)+2 |
| 3479 212a 3091 0000 lds r19,(Mess_Integral_Gier)+3 |
| 3480 212e 8091 0000 lds r24,KompassRichtung |
| 3481 2132 9091 0000 lds r25,(KompassRichtung)+1 |
| 3482 2136 BC01 movw r22,r24 |
| 3483 2138 649F mul r22,r20 |
| 3484 213a C001 movw r24,r0 |
| 3485 213c 659F mul r22,r21 |
| 3486 213e 900D add r25,r0 |
| 3487 2140 749F mul r23,r20 |
| 3488 2142 900D add r25,r0 |
| 3489 2144 1124 clr r1 |
| 3490 2146 60E2 ldi r22,lo8(32) |
| 3491 2148 70E0 ldi r23,hi8(32) |
| 3492 214a 0E94 0000 call __divmodhi4 |
| 3493 214e 8827 clr r24 |
| 3494 2150 77FD sbrc r23,7 |
| 3495 2152 8095 com r24 |
| 3496 2154 982F mov r25,r24 |
| 3497 2156 060F add r16,r22 |
| 3498 2158 171F adc r17,r23 |
| 3499 215a 281F adc r18,r24 |
| 3500 215c 391F adc r19,r25 |
| 3501 215e 0093 0000 sts Mess_Integral_Gier,r16 |
| 3502 2162 1093 0000 sts (Mess_Integral_Gier)+1,r17 |
| 3503 2166 2093 0000 sts (Mess_Integral_Gier)+2,r18 |
| 3504 216a 3093 0000 sts (Mess_Integral_Gier)+3,r19 |
| 3505 216e 8FEE ldi r24,lo8(-17) |
| 3506 2170 8093 7A00 sts 122,r24 |
| 3507 2174 00C0 rjmp .L562 |
| 3508 .L574: |
| 3509 2176 8FEE ldi r24,lo8(-17) |
| 3510 2178 8093 7A00 sts 122,r24 |
| 3511 217c 2150 subi r18,lo8(-(-1)) |
| 3512 217e 3040 sbci r19,hi8(-(-1)) |
| 3513 2180 3093 0000 sts (SignalSchlecht.2457)+1,r19 |
| 3514 2184 2093 0000 sts SignalSchlecht.2457,r18 |
| 3515 2188 00C0 rjmp .L562 |
| 3516 .L572: |
| 3517 218a 84EF ldi r24,lo8(500) |
| 3518 218c 91E0 ldi r25,hi8(500) |
| 3519 218e 9093 0000 sts (SignalSchlecht.2457)+1,r25 |
| 3520 2192 8093 0000 sts SignalSchlecht.2457,r24 |
| 3521 .L562: |
| 3522 2196 8091 0000 lds r24,EE_Parameter+8 |
| 3523 219a 85FF sbrs r24,5 |
| 3524 219c 00C0 rjmp .L576 |
| 3525 219e 8091 0000 lds r24,Parameter_UserParam1 |
| 3526 21a2 9927 clr r25 |
| 3527 21a4 9093 0000 sts (P_GPS_Verstaerkung)+1,r25 |
| 3528 21a8 8093 0000 sts P_GPS_Verstaerkung,r24 |
| 3529 21ac 8091 0000 lds r24,Parameter_UserParam2 |
| 3530 21b0 9927 clr r25 |
| 3531 21b2 9093 0000 sts (D_GPS_Verstaerkung)+1,r25 |
| 3532 21b6 8093 0000 sts D_GPS_Verstaerkung,r24 |
| 3533 21ba 8091 0000 lds r24,Parameter_UserParam3 |
| 3534 21be 8093 0000 sts Limit_D_Anteil,r24 |
| 3535 21c2 0E94 0000 call gps_main |
| 3536 21c6 00C0 rjmp .L578 |
| 3537 .L576: |
| 3538 21c8 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 3539 21cc 1092 0000 sts GPS_Nick,__zero_reg__ |
| 3540 21d0 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 3541 21d4 1092 0000 sts GPS_Roll,__zero_reg__ |
| 3542 .L578: |
| 3543 21d8 8091 0000 lds r24,DebugOut+17 |
| 3544 21dc 8F5F subi r24,lo8(-(1)) |
| 3545 21de 8093 0000 sts DebugOut+17,r24 |
| 3546 21e2 8091 0000 lds r24,TimerWerteausgabe.2452 |
| 3547 21e6 8150 subi r24,lo8(-(-1)) |
| 3548 21e8 8093 0000 sts TimerWerteausgabe.2452,r24 |
| 3549 21ec 8F3F cpi r24,lo8(-1) |
| 3550 21ee 01F0 breq .+2 |
| 3551 21f0 00C0 rjmp .L579 |
| 3552 21f2 81E3 ldi r24,lo8(49) |
| 3553 21f4 8093 0000 sts TimerWerteausgabe.2452,r24 |
| 3554 21f8 8091 0000 lds r24,GPS_Roll |
| 3555 21fc 9091 0000 lds r25,(GPS_Roll)+1 |
| 3556 2200 9093 0000 sts (DebugOut+18)+1,r25 |
| 3557 2204 8093 0000 sts DebugOut+18,r24 |
| 3558 2208 8091 0000 lds r24,GPS_Nick |
| 3559 220c 9091 0000 lds r25,(GPS_Nick)+1 |
| 3560 2210 9093 0000 sts (DebugOut+20)+1,r25 |
| 3561 2214 8093 0000 sts DebugOut+20,r24 |
| 3562 2218 8091 0000 lds r24,GPS_Positionsabweichung_North |
| 3563 221c 9091 0000 lds r25,(GPS_Positionsabweichung_North)+1 |
| 3564 2220 9093 0000 sts (DebugOut+22)+1,r25 |
| 3565 2224 8093 0000 sts DebugOut+22,r24 |
| 3566 2228 8091 0000 lds r24,GPS_Positionsabweichung_East |
| 3567 222c 9091 0000 lds r25,(GPS_Positionsabweichung_East)+1 |
| 3568 2230 9093 0000 sts (DebugOut+24)+1,r25 |
| 3569 2234 8093 0000 sts DebugOut+24,r24 |
| 3570 2238 8091 0000 lds r24,P_Einfluss_East |
| 3571 223c 9091 0000 lds r25,(P_Einfluss_East)+1 |
| 3572 2240 9093 0000 sts (DebugOut+26)+1,r25 |
| 3573 2244 8093 0000 sts DebugOut+26,r24 |
| 3574 2248 8091 0000 lds r24,D_Einfluss_East |
| 3575 224c 9091 0000 lds r25,(D_Einfluss_East)+1 |
| 3576 2250 9093 0000 sts (DebugOut+28)+1,r25 |
| 3577 2254 8093 0000 sts DebugOut+28,r24 |
| 3578 2258 8091 0000 lds r24,P_Einfluss_North |
| 3579 225c 9091 0000 lds r25,(P_Einfluss_North)+1 |
| 3580 2260 9093 0000 sts (DebugOut+30)+1,r25 |
| 3581 2264 8093 0000 sts DebugOut+30,r24 |
| 3582 2268 8091 0000 lds r24,D_Einfluss_North |
| 3583 226c 9091 0000 lds r25,(D_Einfluss_North)+1 |
| 3584 2270 9093 0000 sts (DebugOut+32)+1,r25 |
| 3585 2274 8093 0000 sts DebugOut+32,r24 |
| 3586 2278 8091 0000 lds r24,GPS_Geschwindigkeit_North |
| 3587 227c 9091 0000 lds r25,(GPS_Geschwindigkeit_North)+1 |
| 3588 2280 9093 0000 sts (DebugOut+34)+1,r25 |
| 3589 2284 8093 0000 sts DebugOut+34,r24 |
| 3590 2288 8091 0000 lds r24,GPS_Geschwindigkeit_East |
| 3591 228c 9091 0000 lds r25,(GPS_Geschwindigkeit_East)+1 |
| 3592 2290 9093 0000 sts (DebugOut+36)+1,r25 |
| 3593 2294 8093 0000 sts DebugOut+36,r24 |
| 3594 2298 8091 0000 lds r24,Parameter_UserParam1 |
| 3595 229c 9927 clr r25 |
| 3596 229e 9093 0000 sts (DebugOut+38)+1,r25 |
| 3597 22a2 8093 0000 sts DebugOut+38,r24 |
| 3598 22a6 8091 0000 lds r24,Parameter_UserParam2 |
| 3599 22aa 9927 clr r25 |
| 3600 22ac 9093 0000 sts (DebugOut+40)+1,r25 |
| 3601 22b0 8093 0000 sts DebugOut+40,r24 |
| 3602 22b4 8091 0000 lds r24,Soll_Position_North |
| 3603 22b8 9091 0000 lds r25,(Soll_Position_North)+1 |
| 3604 22bc 9093 0000 sts (DebugOut+42)+1,r25 |
| 3605 22c0 8093 0000 sts DebugOut+42,r24 |
| 3606 22c4 8091 0000 lds r24,Soll_Position_East |
| 3607 22c8 9091 0000 lds r25,(Soll_Position_East)+1 |
| 3608 22cc 9093 0000 sts (DebugOut+44)+1,r25 |
| 3609 22d0 8093 0000 sts DebugOut+44,r24 |
| 3610 22d4 8091 0000 lds r24,Poti6 |
| 3611 22d8 9091 0000 lds r25,(Poti6)+1 |
| 3612 22dc 9093 0000 sts (DebugOut+46)+1,r25 |
| 3613 22e0 8093 0000 sts DebugOut+46,r24 |
| 3614 22e4 8091 0000 lds r24,KompassValue |
| 3615 22e8 9091 0000 lds r25,(KompassValue)+1 |
| 3616 22ec 9093 0000 sts (DebugOut+48)+1,r25 |
| 3617 22f0 8093 0000 sts DebugOut+48,r24 |
| 3618 .L579: |
| 3619 22f4 6091 0000 lds r22,IntegralNick |
| 3620 22f8 7091 0000 lds r23,(IntegralNick)+1 |
| 3621 22fc 8091 0000 lds r24,(IntegralNick)+2 |
| 3622 2300 9091 0000 lds r25,(IntegralNick)+3 |
| 3623 2304 2090 0000 lds r2,IntegralFaktor |
| 3624 2308 3090 0000 lds r3,(IntegralFaktor)+1 |
| 3625 230c 4090 0000 lds r4,(IntegralFaktor)+2 |
| 3626 2310 5090 0000 lds r5,(IntegralFaktor)+3 |
| 3627 2314 E090 0000 lds r14,MesswertNick |
| 3628 2318 F090 0000 lds r15,(MesswertNick)+1 |
| 3629 231c 6090 0000 lds r6,GyroFaktor |
| 3630 2320 7090 0000 lds r7,(GyroFaktor)+1 |
| 3631 2324 8090 0000 lds r8,(GyroFaktor)+2 |
| 3632 2328 9090 0000 lds r9,(GyroFaktor)+3 |
| 3633 232c 0E94 0000 call __floatsisf |
| 3634 2330 A201 movw r20,r4 |
| 3635 2332 9101 movw r18,r2 |
| 3636 2334 0E94 0000 call __mulsf3 |
| 3637 2338 5B01 movw r10,r22 |
| 3638 233a 6C01 movw r12,r24 |
| 3639 233c 0027 clr r16 |
| 3640 233e F7FC sbrc r15,7 |
| 3641 2340 0095 com r16 |
| 3642 2342 102F mov r17,r16 |
| 3643 2344 C801 movw r24,r16 |
| 3644 2346 B701 movw r22,r14 |
| 3645 2348 0E94 0000 call __floatsisf |
| 3646 234c A401 movw r20,r8 |
| 3647 234e 9301 movw r18,r6 |
| 3648 2350 0E94 0000 call __mulsf3 |
| 3649 2354 9B01 movw r18,r22 |
| 3650 2356 AC01 movw r20,r24 |
| 3651 2358 C601 movw r24,r12 |
| 3652 235a B501 movw r22,r10 |
| 3653 235c 0E94 0000 call __addsf3 |
| 3654 2360 0E94 0000 call __fixsfsi |
| 3655 2364 7093 0000 sts (MesswertNick)+1,r23 |
| 3656 2368 6093 0000 sts MesswertNick,r22 |
| 3657 236c 6091 0000 lds r22,IntegralRoll |
| 3658 2370 7091 0000 lds r23,(IntegralRoll)+1 |
| 3659 2374 8091 0000 lds r24,(IntegralRoll)+2 |
| 3660 2378 9091 0000 lds r25,(IntegralRoll)+3 |
| 3661 237c E090 0000 lds r14,MesswertRoll |
| 3662 2380 F090 0000 lds r15,(MesswertRoll)+1 |
| 3663 2384 0E94 0000 call __floatsisf |
| 3664 2388 A201 movw r20,r4 |
| 3665 238a 9101 movw r18,r2 |
| 3666 238c 0E94 0000 call __mulsf3 |
| 3667 2390 5B01 movw r10,r22 |
| 3668 2392 6C01 movw r12,r24 |
| 3669 2394 0027 clr r16 |
| 3670 2396 F7FC sbrc r15,7 |
| 3671 2398 0095 com r16 |
| 3672 239a 102F mov r17,r16 |
| 3673 239c C801 movw r24,r16 |
| 3674 239e B701 movw r22,r14 |
| 3675 23a0 0E94 0000 call __floatsisf |
| 3676 23a4 A401 movw r20,r8 |
| 3677 23a6 9301 movw r18,r6 |
| 3678 23a8 0E94 0000 call __mulsf3 |
| 3679 23ac 9B01 movw r18,r22 |
| 3680 23ae AC01 movw r20,r24 |
| 3681 23b0 C601 movw r24,r12 |
| 3682 23b2 B501 movw r22,r10 |
| 3683 23b4 0E94 0000 call __addsf3 |
| 3684 23b8 0E94 0000 call __fixsfsi |
| 3685 23bc 7093 0000 sts (MesswertRoll)+1,r23 |
| 3686 23c0 6093 0000 sts MesswertRoll,r22 |
| 3687 23c4 6091 0000 lds r22,MesswertGier |
| 3688 23c8 7091 0000 lds r23,(MesswertGier)+1 |
| 3689 23cc A090 0000 lds r10,Integral_Gier |
| 3690 23d0 B090 0000 lds r11,(Integral_Gier)+1 |
| 3691 23d4 C090 0000 lds r12,(Integral_Gier)+2 |
| 3692 23d8 D090 0000 lds r13,(Integral_Gier)+3 |
| 3693 23dc 8827 clr r24 |
| 3694 23de 77FD sbrc r23,7 |
| 3695 23e0 8095 com r24 |
| 3696 23e2 982F mov r25,r24 |
| 3697 23e4 0E94 0000 call __floatsisf |
| 3698 23e8 7B01 movw r14,r22 |
| 3699 23ea 8C01 movw r16,r24 |
| 3700 23ec 20E0 ldi r18,lo8(0x3f000000) |
| 3701 23ee 30E0 ldi r19,hi8(0x3f000000) |
| 3702 23f0 40E0 ldi r20,hlo8(0x3f000000) |
| 3703 23f2 5FE3 ldi r21,hhi8(0x3f000000) |
| 3704 23f4 C401 movw r24,r8 |
| 3705 23f6 B301 movw r22,r6 |
| 3706 23f8 0E94 0000 call __mulsf3 |
| 3707 23fc 9B01 movw r18,r22 |
| 3708 23fe AC01 movw r20,r24 |
| 3709 2400 C801 movw r24,r16 |
| 3710 2402 B701 movw r22,r14 |
| 3711 2404 0E94 0000 call __mulsf3 |
| 3712 2408 7B01 movw r14,r22 |
| 3713 240a 8C01 movw r16,r24 |
| 3714 240c C601 movw r24,r12 |
| 3715 240e B501 movw r22,r10 |
| 3716 2410 0E94 0000 call __floatsisf |
| 3717 2414 A201 movw r20,r4 |
| 3718 2416 9101 movw r18,r2 |
| 3719 2418 0E94 0000 call __mulsf3 |
| 3720 241c 9B01 movw r18,r22 |
| 3721 241e AC01 movw r20,r24 |
| 3722 2420 C801 movw r24,r16 |
| 3723 2422 B701 movw r22,r14 |
| 3724 2424 0E94 0000 call __addsf3 |
| 3725 2428 0E94 0000 call __fixsfsi |
| 3726 242c 7093 0000 sts (MesswertGier)+1,r23 |
| 3727 2430 6093 0000 sts MesswertGier,r22 |
| 3728 2434 8091 0000 lds r24,MesswertNick |
| 3729 2438 9091 0000 lds r25,(MesswertNick)+1 |
| 3730 243c 8150 subi r24,lo8(2049) |
| 3731 243e 9840 sbci r25,hi8(2049) |
| 3732 2440 04F0 brlt .L581 |
| 3733 2442 80E0 ldi r24,lo8(2048) |
| 3734 2444 98E0 ldi r25,hi8(2048) |
| 3735 2446 9093 0000 sts (MesswertNick)+1,r25 |
| 3736 244a 8093 0000 sts MesswertNick,r24 |
| 3737 .L581: |
| 3738 244e 8091 0000 lds r24,MesswertNick |
| 3739 2452 9091 0000 lds r25,(MesswertNick)+1 |
| 3740 2456 8050 subi r24,lo8(-2048) |
| 3741 2458 984F sbci r25,hi8(-2048) |
| 3742 245a 04F4 brge .L583 |
| 3743 245c 80E0 ldi r24,lo8(-2048) |
| 3744 245e 98EF ldi r25,hi8(-2048) |
| 3745 2460 9093 0000 sts (MesswertNick)+1,r25 |
| 3746 2464 8093 0000 sts MesswertNick,r24 |
| 3747 .L583: |
| 3748 2468 8091 0000 lds r24,MesswertRoll |
| 3749 246c 9091 0000 lds r25,(MesswertRoll)+1 |
| 3750 2470 8150 subi r24,lo8(2049) |
| 3751 2472 9840 sbci r25,hi8(2049) |
| 3752 2474 04F0 brlt .L585 |
| 3753 2476 80E0 ldi r24,lo8(2048) |
| 3754 2478 98E0 ldi r25,hi8(2048) |
| 3755 247a 9093 0000 sts (MesswertRoll)+1,r25 |
| 3756 247e 8093 0000 sts MesswertRoll,r24 |
| 3757 .L585: |
| 3758 2482 8091 0000 lds r24,MesswertRoll |
| 3759 2486 9091 0000 lds r25,(MesswertRoll)+1 |
| 3760 248a 8050 subi r24,lo8(-2048) |
| 3761 248c 984F sbci r25,hi8(-2048) |
| 3762 248e 04F4 brge .L587 |
| 3763 2490 80E0 ldi r24,lo8(-2048) |
| 3764 2492 98EF ldi r25,hi8(-2048) |
| 3765 2494 9093 0000 sts (MesswertRoll)+1,r25 |
| 3766 2498 8093 0000 sts MesswertRoll,r24 |
| 3767 .L587: |
| 3768 249c 8091 0000 lds r24,MesswertGier |
| 3769 24a0 9091 0000 lds r25,(MesswertGier)+1 |
| 3770 24a4 8150 subi r24,lo8(2049) |
| 3771 24a6 9840 sbci r25,hi8(2049) |
| 3772 24a8 04F0 brlt .L589 |
| 3773 24aa 80E0 ldi r24,lo8(2048) |
| 3774 24ac 98E0 ldi r25,hi8(2048) |
| 3775 24ae 9093 0000 sts (MesswertGier)+1,r25 |
| 3776 24b2 8093 0000 sts MesswertGier,r24 |
| 3777 .L589: |
| 3778 24b6 8091 0000 lds r24,MesswertGier |
| 3779 24ba 9091 0000 lds r25,(MesswertGier)+1 |
| 3780 24be 8050 subi r24,lo8(-2048) |
| 3781 24c0 984F sbci r25,hi8(-2048) |
| 3782 24c2 04F4 brge .L591 |
| 3783 24c4 80E0 ldi r24,lo8(-2048) |
| 3784 24c6 98EF ldi r25,hi8(-2048) |
| 3785 24c8 9093 0000 sts (MesswertGier)+1,r25 |
| 3786 24cc 8093 0000 sts MesswertGier,r24 |
| 3787 .L591: |
| 3788 24d0 8091 0000 lds r24,EE_Parameter+8 |
| 3789 24d4 9927 clr r25 |
| 3790 24d6 80FF sbrs r24,0 |
| 3791 24d8 00C0 rjmp .L593 |
| 3792 24da 2091 0000 lds r18,Parameter_MaxHoehe |
| 3793 24de 81FF sbrs r24,1 |
| 3794 24e0 00C0 rjmp .L595 |
| 3795 24e2 2233 cpi r18,lo8(50) |
| 3796 24e4 00F4 brsh .L664 |
| 3797 24e6 8091 0000 lds r24,HoehenWert |
| 3798 24ea 9091 0000 lds r25,(HoehenWert)+1 |
| 3799 24ee 8897 sbiw r24,40 |
| 3800 24f0 9093 0000 sts (SollHoehe)+1,r25 |
| 3801 24f4 8093 0000 sts SollHoehe,r24 |
| 3802 24f8 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 3803 24fc 00C0 rjmp .L599 |
| 3804 .L595: |
| 3805 24fe 8091 0000 lds r24,EE_Parameter+13 |
| 3806 2502 289F mul r18,r24 |
| 3807 2504 C001 movw r24,r0 |
| 3808 2506 1124 clr r1 |
| 3809 2508 8897 sbiw r24,40 |
| 3810 250a 9093 0000 sts (SollHoehe)+1,r25 |
| 3811 250e 8093 0000 sts SollHoehe,r24 |
| 3812 .L664: |
| 3813 2512 81E0 ldi r24,lo8(1) |
| 3814 2514 8093 0000 sts HoehenReglerAktiv,r24 |
| 3815 .L599: |
| 3816 2518 8091 0000 lds r24,Notlandung |
| 3817 251c 8823 tst r24 |
| 3818 251e 01F0 breq .L600 |
| 3819 2520 1092 0000 sts (SollHoehe)+1,__zero_reg__ |
| 3820 2524 1092 0000 sts SollHoehe,__zero_reg__ |
| 3821 .L600: |
| 3822 2528 2091 0000 lds r18,HoehenWert |
| 3823 252c 3091 0000 lds r19,(HoehenWert)+1 |
| 3824 2530 4091 0000 lds r20,SollHoehe |
| 3825 2534 5091 0000 lds r21,(SollHoehe)+1 |
| 3826 2538 4217 cp r20,r18 |
| 3827 253a 5307 cpc r21,r19 |
| 3828 253c 04F0 brlt .+2 |
| 3829 253e 00C0 rjmp .L593 |
| 3830 2540 8091 0000 lds r24,HoehenReglerAktiv |
| 3831 2544 8823 tst r24 |
| 3832 2546 01F4 brne .+2 |
| 3833 2548 00C0 rjmp .L593 |
| 3834 254a 241B sub r18,r20 |
| 3835 254c 350B sbc r19,r21 |
| 3836 254e 8091 0000 lds r24,Parameter_Hoehe_P |
| 3837 2552 9927 clr r25 |
| 3838 2554 BC01 movw r22,r24 |
| 3839 2556 269F mul r18,r22 |
| 3840 2558 C001 movw r24,r0 |
| 3841 255a 279F mul r18,r23 |
| 3842 255c 900D add r25,r0 |
| 3843 255e 369F mul r19,r22 |
| 3844 2560 900D add r25,r0 |
| 3845 2562 1124 clr r1 |
| 3846 2564 60E1 ldi r22,lo8(16) |
| 3847 2566 70E0 ldi r23,hi8(16) |
| 3848 2568 0E94 0000 call __divmodhi4 |
| 3849 256c 0981 ldd r16,Y+1 |
| 3850 256e 1A81 ldd r17,Y+2 |
| 3851 2570 061B sub r16,r22 |
| 3852 2572 170B sbc r17,r23 |
| 3853 2574 2091 0000 lds r18,HoeheD |
| 3854 2578 3091 0000 lds r19,(HoeheD)+1 |
| 3855 257c 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3856 2580 9927 clr r25 |
| 3857 2582 FC01 movw r30,r24 |
| 3858 2584 2E9F mul r18,r30 |
| 3859 2586 C001 movw r24,r0 |
| 3860 2588 2F9F mul r18,r31 |
| 3861 258a 900D add r25,r0 |
| 3862 258c 3E9F mul r19,r30 |
| 3863 258e 900D add r25,r0 |
| 3864 2590 1124 clr r1 |
| 3865 2592 68E0 ldi r22,lo8(8) |
| 3866 2594 70E0 ldi r23,hi8(8) |
| 3867 2596 0E94 0000 call __divmodhi4 |
| 3868 259a 061B sub r16,r22 |
| 3869 259c 170B sbc r17,r23 |
| 3870 259e 6091 0000 lds r22,Mess_Integral_Hoch |
| 3871 25a2 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 3872 25a6 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 3873 25aa 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 3874 25ae 20E0 ldi r18,lo8(512) |
| 3875 25b0 32E0 ldi r19,hi8(512) |
| 3876 25b2 40E0 ldi r20,hlo8(512) |
| 3877 25b4 50E0 ldi r21,hhi8(512) |
| 3878 25b6 0E94 0000 call __divmodsi4 |
| 3879 25ba CA01 movw r24,r20 |
| 3880 25bc B901 movw r22,r18 |
| 3881 25be 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 3882 25c2 3327 clr r19 |
| 3883 25c4 4427 clr r20 |
| 3884 25c6 5527 clr r21 |
| 3885 25c8 0E94 0000 call __mulsi3 |
| 3886 25cc 20E2 ldi r18,lo8(32) |
| 3887 25ce 30E0 ldi r19,hi8(32) |
| 3888 25d0 40E0 ldi r20,hlo8(32) |
| 3889 25d2 50E0 ldi r21,hhi8(32) |
| 3890 25d4 0E94 0000 call __divmodsi4 |
| 3891 25d8 FFEF ldi r31,hi8(-50) |
| 3892 25da 2E3C cpi r18,lo8(-50) |
| 3893 25dc 3F07 cpc r19,r31 |
| 3894 25de 04F4 brge .L604 |
| 3895 25e0 2EEC ldi r18,lo8(-50) |
| 3896 25e2 3FEF ldi r19,hi8(-50) |
| 3897 .L604: |
| 3898 25e4 8091 0000 lds r24,hoehenregler.2451 |
| 3899 25e8 9091 0000 lds r25,(hoehenregler.2451)+1 |
| 3900 25ec AC01 movw r20,r24 |
| 3901 25ee 74E0 ldi r23,4 |
| 3902 25f0 440F 1: lsl r20 |
| 3903 25f2 551F rol r21 |
| 3904 25f4 7A95 dec r23 |
| 3905 25f6 01F4 brne 1b |
| 3906 25f8 481B sub r20,r24 |
| 3907 25fa 590B sbc r21,r25 |
| 3908 25fc 2333 cpi r18,51 |
| 3909 25fe 3105 cpc r19,__zero_reg__ |
| 3910 2600 04F0 brlt .L605 |
| 3911 2602 22E3 ldi r18,lo8(50) |
| 3912 2604 30E0 ldi r19,hi8(50) |
| 3913 .L605: |
| 3914 2606 021B sub r16,r18 |
| 3915 2608 130B sbc r17,r19 |
| 3916 260a CA01 movw r24,r20 |
| 3917 260c 800F add r24,r16 |
| 3918 260e 911F adc r25,r17 |
| 3919 2610 60E1 ldi r22,lo8(16) |
| 3920 2612 70E0 ldi r23,hi8(16) |
| 3921 2614 0E94 0000 call __divmodhi4 |
| 3922 2618 7093 0000 sts (hoehenregler.2451)+1,r23 |
| 3923 261c 6093 0000 sts hoehenregler.2451,r22 |
| 3924 2620 8091 0000 lds r24,EE_Parameter+9 |
| 3925 2624 9927 clr r25 |
| 3926 2626 6817 cp r22,r24 |
| 3927 2628 7907 cpc r23,r25 |
| 3928 262a 04F4 brge .L606 |
| 3929 262c 2981 ldd r18,Y+1 |
| 3930 262e 3A81 ldd r19,Y+2 |
| 3931 2630 2817 cp r18,r24 |
| 3932 2632 3907 cpc r19,r25 |
| 3933 2634 04F0 brlt .L608 |
| 3934 2636 9093 0000 sts (hoehenregler.2451)+1,r25 |
| 3935 263a 8093 0000 sts hoehenregler.2451,r24 |
| 3936 263e 00C0 rjmp .L606 |
| 3937 .L608: |
| 3938 2640 4981 ldd r20,Y+1 |
| 3939 2642 5A81 ldd r21,Y+2 |
| 3940 2644 5093 0000 sts (hoehenregler.2451)+1,r21 |
| 3941 2648 4093 0000 sts hoehenregler.2451,r20 |
| 3942 264c 00C0 rjmp .L610 |
| 3943 .L606: |
| 3944 264e 8091 0000 lds r24,hoehenregler.2451 |
| 3945 2652 9091 0000 lds r25,(hoehenregler.2451)+1 |
| 3946 2656 6981 ldd r22,Y+1 |
| 3947 2658 7A81 ldd r23,Y+2 |
| 3948 265a 6817 cp r22,r24 |
| 3949 265c 7907 cpc r23,r25 |
| 3950 265e 04F4 brge .L610 |
| 3951 2660 7093 0000 sts (hoehenregler.2451)+1,r23 |
| 3952 2664 6093 0000 sts hoehenregler.2451,r22 |
| 3953 .L610: |
| 3954 2668 8091 0000 lds r24,hoehenregler.2451 |
| 3955 266c 9091 0000 lds r25,(hoehenregler.2451)+1 |
| 3956 2670 9A83 std Y+2,r25 |
| 3957 2672 8983 std Y+1,r24 |
| 3958 .L593: |
| 3959 2674 C090 0000 lds r12,MesswertGier |
| 3960 2678 D090 0000 lds r13,(MesswertGier)+1 |
| 3961 267c 8091 0000 lds r24,sollGier.2441 |
| 3962 2680 9091 0000 lds r25,(sollGier.2441)+1 |
| 3963 2684 C81A sub r12,r24 |
| 3964 2686 D90A sbc r13,r25 |
| 3965 2688 95E6 ldi r25,lo8(101) |
| 3966 268a C916 cp r12,r25 |
| 3967 268c D104 cpc r13,__zero_reg__ |
| 3968 268e 04F0 brlt .L612 |
| 3969 2690 64E6 ldi r22,lo8(100) |
| 3970 2692 C62E mov r12,r22 |
| 3971 2694 D12C mov r13,__zero_reg__ |
| 3972 2696 00C0 rjmp .L614 |
| 3973 .L612: |
| 3974 2698 ECE9 ldi r30,lo8(-100) |
| 3975 269a CE16 cp r12,r30 |
| 3976 269c EFEF ldi r30,hi8(-100) |
| 3977 269e DE06 cpc r13,r30 |
| 3978 26a0 04F4 brge .L614 |
| 3979 26a2 5CE9 ldi r21,lo8(-100) |
| 3980 26a4 C52E mov r12,r21 |
| 3981 26a6 5FEF ldi r21,hi8(-100) |
| 3982 26a8 D52E mov r13,r21 |
| 3983 .L614: |
| 3984 26aa 4090 0000 lds r4,Kp |
| 3985 26ae 5090 0000 lds r5,(Kp)+1 |
| 3986 26b2 6090 0000 lds r6,(Kp)+2 |
| 3987 26b6 7090 0000 lds r7,(Kp)+3 |
| 3988 26ba 6091 0000 lds r22,MesswertNick |
| 3989 26be 7091 0000 lds r23,(MesswertNick)+1 |
| 3990 26c2 2091 0000 lds r18,StickNick |
| 3991 26c6 3091 0000 lds r19,(StickNick)+1 |
| 3992 26ca 4091 0000 lds r20,GPS_Nick |
| 3993 26ce 5091 0000 lds r21,(GPS_Nick)+1 |
| 3994 26d2 241B sub r18,r20 |
| 3995 26d4 350B sbc r19,r21 |
| 3996 26d6 621B sub r22,r18 |
| 3997 26d8 730B sbc r23,r19 |
| 3998 26da 8827 clr r24 |
| 3999 26dc 77FD sbrc r23,7 |
| 4000 26de 8095 com r24 |
| 4001 26e0 982F mov r25,r24 |
| 4002 26e2 0E94 0000 call __floatsisf |
| 4003 26e6 9B01 movw r18,r22 |
| 4004 26e8 AC01 movw r20,r24 |
| 4005 26ea C301 movw r24,r6 |
| 4006 26ec B201 movw r22,r4 |
| 4007 26ee 0E94 0000 call __mulsf3 |
| 4008 26f2 0E94 0000 call __fixsfsi |
| 4009 26f6 7093 0000 sts (DiffNick)+1,r23 |
| 4010 26fa 6093 0000 sts DiffNick,r22 |
| 4011 26fe 8091 0000 lds r24,DiffNick |
| 4012 2702 9091 0000 lds r25,(DiffNick)+1 |
| 4013 2706 8C01 movw r16,r24 |
| 4014 2708 2227 clr r18 |
| 4015 270a 17FD sbrc r17,7 |
| 4016 270c 2095 com r18 |
| 4017 270e 322F mov r19,r18 |
| 4018 2710 8091 0000 lds r24,SummeNick.2439 |
| 4019 2714 9091 0000 lds r25,(SummeNick.2439)+1 |
| 4020 2718 A091 0000 lds r26,(SummeNick.2439)+2 |
| 4021 271c B091 0000 lds r27,(SummeNick.2439)+3 |
| 4022 2720 080F add r16,r24 |
| 4023 2722 191F adc r17,r25 |
| 4024 2724 2A1F adc r18,r26 |
| 4025 2726 3B1F adc r19,r27 |
| 4026 2728 0093 0000 sts SummeNick.2439,r16 |
| 4027 272c 1093 0000 sts (SummeNick.2439)+1,r17 |
| 4028 2730 2093 0000 sts (SummeNick.2439)+2,r18 |
| 4029 2734 3093 0000 sts (SummeNick.2439)+3,r19 |
| 4030 2738 1016 cp __zero_reg__,r16 |
| 4031 273a 1106 cpc __zero_reg__,r17 |
| 4032 273c 1206 cpc __zero_reg__,r18 |
| 4033 273e 1306 cpc __zero_reg__,r19 |
| 4034 2740 04F4 brge .L616 |
| 4035 2742 C801 movw r24,r16 |
| 4036 2744 17FF sbrs r17,7 |
| 4037 2746 00C0 rjmp .L618 |
| 4038 2748 9095 com r25 |
| 4039 274a 8195 neg r24 |
| 4040 274c 9F4F sbci r25,lo8(-1) |
| 4041 .L618: |
| 4042 274e 60E0 ldi r22,lo8(256) |
| 4043 2750 71E0 ldi r23,hi8(256) |
| 4044 2752 0E94 0000 call __divmodhi4 |
| 4045 2756 6F5F subi r22,lo8(-(1)) |
| 4046 2758 7F4F sbci r23,hi8(-(1)) |
| 4047 275a 8827 clr r24 |
| 4048 275c 77FD sbrc r23,7 |
| 4049 275e 8095 com r24 |
| 4050 2760 982F mov r25,r24 |
| 4051 2762 061B sub r16,r22 |
| 4052 2764 170B sbc r17,r23 |
| 4053 2766 280B sbc r18,r24 |
| 4054 2768 390B sbc r19,r25 |
| 4055 276a 00C0 rjmp .L665 |
| 4056 .L616: |
| 4057 276c C801 movw r24,r16 |
| 4058 276e 17FF sbrs r17,7 |
| 4059 2770 00C0 rjmp .L620 |
| 4060 2772 9095 com r25 |
| 4061 2774 8195 neg r24 |
| 4062 2776 9F4F sbci r25,lo8(-1) |
| 4063 .L620: |
| 4064 2778 60E0 ldi r22,lo8(256) |
| 4065 277a 71E0 ldi r23,hi8(256) |
| 4066 277c 0E94 0000 call __divmodhi4 |
| 4067 2780 6F5F subi r22,lo8(-(1)) |
| 4068 2782 7F4F sbci r23,hi8(-(1)) |
| 4069 2784 8827 clr r24 |
| 4070 2786 77FD sbrc r23,7 |
| 4071 2788 8095 com r24 |
| 4072 278a 982F mov r25,r24 |
| 4073 278c 060F add r16,r22 |
| 4074 278e 171F adc r17,r23 |
| 4075 2790 281F adc r18,r24 |
| 4076 2792 391F adc r19,r25 |
| 4077 .L665: |
| 4078 2794 0093 0000 sts SummeNick.2439,r16 |
| 4079 2798 1093 0000 sts (SummeNick.2439)+1,r17 |
| 4080 279c 2093 0000 sts (SummeNick.2439)+2,r18 |
| 4081 27a0 3093 0000 sts (SummeNick.2439)+3,r19 |
| 4082 27a4 8091 0000 lds r24,SummeNick.2439 |
| 4083 27a8 9091 0000 lds r25,(SummeNick.2439)+1 |
| 4084 27ac A091 0000 lds r26,(SummeNick.2439)+2 |
| 4085 27b0 B091 0000 lds r27,(SummeNick.2439)+3 |
| 4086 27b4 8138 cpi r24,lo8(16001) |
| 4087 27b6 FEE3 ldi r31,hi8(16001) |
| 4088 27b8 9F07 cpc r25,r31 |
| 4089 27ba F0E0 ldi r31,hlo8(16001) |
| 4090 27bc AF07 cpc r26,r31 |
| 4091 27be F0E0 ldi r31,hhi8(16001) |
| 4092 27c0 BF07 cpc r27,r31 |
| 4093 27c2 04F0 brlt .L621 |
| 4094 27c4 80E8 ldi r24,lo8(16000) |
| 4095 27c6 9EE3 ldi r25,hi8(16000) |
| 4096 27c8 A0E0 ldi r26,hlo8(16000) |
| 4097 27ca B0E0 ldi r27,hhi8(16000) |
| 4098 27cc 00C0 rjmp .L666 |
| 4099 .L621: |
| 4100 27ce 8058 subi r24,lo8(-16000) |
| 4101 27d0 914C sbci r25,hi8(-16000) |
| 4102 27d2 AF4F sbci r26,hlo8(-16000) |
| 4103 27d4 BF4F sbci r27,hhi8(-16000) |
| 4104 27d6 04F4 brge .L623 |
| 4105 27d8 80E8 ldi r24,lo8(-16000) |
| 4106 27da 91EC ldi r25,hi8(-16000) |
| 4107 27dc AFEF ldi r26,hlo8(-16000) |
| 4108 27de BFEF ldi r27,hhi8(-16000) |
| 4109 .L666: |
| 4110 27e0 8093 0000 sts SummeNick.2439,r24 |
| 4111 27e4 9093 0000 sts (SummeNick.2439)+1,r25 |
| 4112 27e8 A093 0000 sts (SummeNick.2439)+2,r26 |
| 4113 27ec B093 0000 sts (SummeNick.2439)+3,r27 |
| 4114 .L623: |
| 4115 27f0 6091 0000 lds r22,DiffNick |
| 4116 27f4 7091 0000 lds r23,(DiffNick)+1 |
| 4117 27f8 8090 0000 lds r8,Ki |
| 4118 27fc 9090 0000 lds r9,(Ki)+1 |
| 4119 2800 A090 0000 lds r10,(Ki)+2 |
| 4120 2804 B090 0000 lds r11,(Ki)+3 |
| 4121 2808 8827 clr r24 |
| 4122 280a 77FD sbrc r23,7 |
| 4123 280c 8095 com r24 |
| 4124 280e 982F mov r25,r24 |
| 4125 2810 0E94 0000 call __floatsisf |
| 4126 2814 7B01 movw r14,r22 |
| 4127 2816 8C01 movw r16,r24 |
| 4128 2818 6091 0000 lds r22,SummeNick.2439 |
| 4129 281c 7091 0000 lds r23,(SummeNick.2439)+1 |
| 4130 2820 8091 0000 lds r24,(SummeNick.2439)+2 |
| 4131 2824 9091 0000 lds r25,(SummeNick.2439)+3 |
| 4132 2828 0E94 0000 call __floatsisf |
| 4133 282c 9B01 movw r18,r22 |
| 4134 282e AC01 movw r20,r24 |
| 4135 2830 C501 movw r24,r10 |
| 4136 2832 B401 movw r22,r8 |
| 4137 2834 0E94 0000 call __mulsf3 |
| 4138 2838 9B01 movw r18,r22 |
| 4139 283a AC01 movw r20,r24 |
| 4140 283c C801 movw r24,r16 |
| 4141 283e B701 movw r22,r14 |
| 4142 2840 0E94 0000 call __addsf3 |
| 4143 2844 0E94 0000 call __fixsfsi |
| 4144 2848 9601 movw r18,r12 |
| 4145 284a 260F add r18,r22 |
| 4146 284c 371F adc r19,r23 |
| 4147 284e 4981 ldd r20,Y+1 |
| 4148 2850 5A81 ldd r21,Y+2 |
| 4149 2852 240F add r18,r20 |
| 4150 2854 351F adc r19,r21 |
| 4151 2856 2224 clr r2 |
| 4152 2858 4A30 cpi r20,10 |
| 4153 285a 5105 cpc r21,__zero_reg__ |
| 4154 285c 04F4 brge .L625 |
| 4155 285e 41E0 ldi r20,lo8(1) |
| 4156 2860 242E mov r2,r20 |
| 4157 .L625: |
| 4158 2862 37FD sbrc r19,7 |
| 4159 2864 00C0 rjmp .L628 |
| 4160 2866 2220 tst r2 |
| 4161 2868 01F0 breq .L626 |
| 4162 .L628: |
| 4163 286a 40E0 ldi r20,lo8(0) |
| 4164 286c 50E0 ldi r21,hi8(0) |
| 4165 286e 00C0 rjmp .L629 |
| 4166 .L626: |
| 4167 2870 8091 0000 lds r24,MAX_GAS |
| 4168 2874 482F mov r20,r24 |
| 4169 2876 5527 clr r21 |
| 4170 2878 2417 cp r18,r20 |
| 4171 287a 3507 cpc r19,r21 |
| 4172 287c 04F4 brge .L629 |
| 4173 287e A901 movw r20,r18 |
| 4174 .L629: |
| 4175 2880 8091 0000 lds r24,MIN_GAS |
| 4176 2884 E82F mov r30,r24 |
| 4177 2886 FF27 clr r31 |
| 4178 2888 FC83 std Y+4,r31 |
| 4179 288a EB83 std Y+3,r30 |
| 4180 288c 9F01 movw r18,r30 |
| 4181 288e E417 cp r30,r20 |
| 4182 2890 F507 cpc r31,r21 |
| 4183 2892 04F4 brge .L631 |
| 4184 2894 9A01 movw r18,r20 |
| 4185 .L631: |
| 4186 2896 2093 0000 sts Motor_Vorne,r18 |
| 4187 289a 2981 ldd r18,Y+1 |
| 4188 289c 3A81 ldd r19,Y+2 |
| 4189 289e 261B sub r18,r22 |
| 4190 28a0 370B sbc r19,r23 |
| 4191 28a2 B901 movw r22,r18 |
| 4192 28a4 6C0D add r22,r12 |
| 4193 28a6 7D1D adc r23,r13 |
| 4194 28a8 77FD sbrc r23,7 |
| 4195 28aa 00C0 rjmp .L634 |
| 4196 28ac 2220 tst r2 |
| 4197 28ae 01F0 breq .L632 |
| 4198 .L634: |
| 4199 28b0 80E0 ldi r24,lo8(0) |
| 4200 28b2 90E0 ldi r25,hi8(0) |
| 4201 28b4 00C0 rjmp .L635 |
| 4202 .L632: |
| 4203 28b6 8091 0000 lds r24,MAX_GAS |
| 4204 28ba 9927 clr r25 |
| 4205 28bc 6817 cp r22,r24 |
| 4206 28be 7907 cpc r23,r25 |
| 4207 28c0 04F4 brge .L635 |
| 4208 28c2 CB01 movw r24,r22 |
| 4209 .L635: |
| 4210 28c4 2B81 ldd r18,Y+3 |
| 4211 28c6 3C81 ldd r19,Y+4 |
| 4212 28c8 2817 cp r18,r24 |
| 4213 28ca 3907 cpc r19,r25 |
| 4214 28cc 04F4 brge .L637 |
| 4215 28ce 9C01 movw r18,r24 |
| 4216 .L637: |
| 4217 28d0 2093 0000 sts Motor_Hinten,r18 |
| 4218 28d4 6091 0000 lds r22,MesswertRoll |
| 4219 28d8 7091 0000 lds r23,(MesswertRoll)+1 |
| 4220 28dc 2091 0000 lds r18,StickRoll |
| 4221 28e0 3091 0000 lds r19,(StickRoll)+1 |
| 4222 28e4 4091 0000 lds r20,GPS_Roll |
| 4223 28e8 5091 0000 lds r21,(GPS_Roll)+1 |
| 4224 28ec 241B sub r18,r20 |
| 4225 28ee 350B sbc r19,r21 |
| 4226 28f0 621B sub r22,r18 |
| 4227 28f2 730B sbc r23,r19 |
| 4228 28f4 8827 clr r24 |
| 4229 28f6 77FD sbrc r23,7 |
| 4230 28f8 8095 com r24 |
| 4231 28fa 982F mov r25,r24 |
| 4232 28fc 0E94 0000 call __floatsisf |
| 4233 2900 9B01 movw r18,r22 |
| 4234 2902 AC01 movw r20,r24 |
| 4235 2904 C301 movw r24,r6 |
| 4236 2906 B201 movw r22,r4 |
| 4237 2908 0E94 0000 call __mulsf3 |
| 4238 290c 0E94 0000 call __fixsfsi |
| 4239 2910 7093 0000 sts (DiffRoll)+1,r23 |
| 4240 2914 6093 0000 sts DiffRoll,r22 |
| 4241 2918 8091 0000 lds r24,DiffRoll |
| 4242 291c 9091 0000 lds r25,(DiffRoll)+1 |
| 4243 2920 8C01 movw r16,r24 |
| 4244 2922 2227 clr r18 |
| 4245 2924 17FD sbrc r17,7 |
| 4246 2926 2095 com r18 |
| 4247 2928 322F mov r19,r18 |
| 4248 292a 8091 0000 lds r24,SummeRoll.2440 |
| 4249 292e 9091 0000 lds r25,(SummeRoll.2440)+1 |
| 4250 2932 A091 0000 lds r26,(SummeRoll.2440)+2 |
| 4251 2936 B091 0000 lds r27,(SummeRoll.2440)+3 |
| 4252 293a 080F add r16,r24 |
| 4253 293c 191F adc r17,r25 |
| 4254 293e 2A1F adc r18,r26 |
| 4255 2940 3B1F adc r19,r27 |
| 4256 2942 0093 0000 sts SummeRoll.2440,r16 |
| 4257 2946 1093 0000 sts (SummeRoll.2440)+1,r17 |
| 4258 294a 2093 0000 sts (SummeRoll.2440)+2,r18 |
| 4259 294e 3093 0000 sts (SummeRoll.2440)+3,r19 |
| 4260 2952 1016 cp __zero_reg__,r16 |
| 4261 2954 1106 cpc __zero_reg__,r17 |
| 4262 2956 1206 cpc __zero_reg__,r18 |
| 4263 2958 1306 cpc __zero_reg__,r19 |
| 4264 295a 04F4 brge .L638 |
| 4265 295c C801 movw r24,r16 |
| 4266 295e 17FF sbrs r17,7 |
| 4267 2960 00C0 rjmp .L640 |
| 4268 2962 9095 com r25 |
| 4269 2964 8195 neg r24 |
| 4270 2966 9F4F sbci r25,lo8(-1) |
| 4271 .L640: |
| 4272 2968 60E0 ldi r22,lo8(256) |
| 4273 296a 71E0 ldi r23,hi8(256) |
| 4274 296c 0E94 0000 call __divmodhi4 |
| 4275 2970 6F5F subi r22,lo8(-(1)) |
| 4276 2972 7F4F sbci r23,hi8(-(1)) |
| 4277 2974 8827 clr r24 |
| 4278 2976 77FD sbrc r23,7 |
| 4279 2978 8095 com r24 |
| 4280 297a 982F mov r25,r24 |
| 4281 297c 061B sub r16,r22 |
| 4282 297e 170B sbc r17,r23 |
| 4283 2980 280B sbc r18,r24 |
| 4284 2982 390B sbc r19,r25 |
| 4285 2984 00C0 rjmp .L667 |
| 4286 .L638: |
| 4287 2986 C801 movw r24,r16 |
| 4288 2988 17FF sbrs r17,7 |
| 4289 298a 00C0 rjmp .L642 |
| 4290 298c 9095 com r25 |
| 4291 298e 8195 neg r24 |
| 4292 2990 9F4F sbci r25,lo8(-1) |
| 4293 .L642: |
| 4294 2992 60E0 ldi r22,lo8(256) |
| 4295 2994 71E0 ldi r23,hi8(256) |
| 4296 2996 0E94 0000 call __divmodhi4 |
| 4297 299a 6F5F subi r22,lo8(-(1)) |
| 4298 299c 7F4F sbci r23,hi8(-(1)) |
| 4299 299e 8827 clr r24 |
| 4300 29a0 77FD sbrc r23,7 |
| 4301 29a2 8095 com r24 |
| 4302 29a4 982F mov r25,r24 |
| 4303 29a6 060F add r16,r22 |
| 4304 29a8 171F adc r17,r23 |
| 4305 29aa 281F adc r18,r24 |
| 4306 29ac 391F adc r19,r25 |
| 4307 .L667: |
| 4308 29ae 0093 0000 sts SummeRoll.2440,r16 |
| 4309 29b2 1093 0000 sts (SummeRoll.2440)+1,r17 |
| 4310 29b6 2093 0000 sts (SummeRoll.2440)+2,r18 |
| 4311 29ba 3093 0000 sts (SummeRoll.2440)+3,r19 |
| 4312 29be 8091 0000 lds r24,SummeRoll.2440 |
| 4313 29c2 9091 0000 lds r25,(SummeRoll.2440)+1 |
| 4314 29c6 A091 0000 lds r26,(SummeRoll.2440)+2 |
| 4315 29ca B091 0000 lds r27,(SummeRoll.2440)+3 |
| 4316 29ce 8138 cpi r24,lo8(16001) |
| 4317 29d0 3EE3 ldi r19,hi8(16001) |
| 4318 29d2 9307 cpc r25,r19 |
| 4319 29d4 30E0 ldi r19,hlo8(16001) |
| 4320 29d6 A307 cpc r26,r19 |
| 4321 29d8 30E0 ldi r19,hhi8(16001) |
| 4322 29da B307 cpc r27,r19 |
| 4323 29dc 04F0 brlt .L643 |
| 4324 29de 80E8 ldi r24,lo8(16000) |
| 4325 29e0 9EE3 ldi r25,hi8(16000) |
| 4326 29e2 A0E0 ldi r26,hlo8(16000) |
| 4327 29e4 B0E0 ldi r27,hhi8(16000) |
| 4328 29e6 00C0 rjmp .L668 |
| 4329 .L643: |
| 4330 29e8 8058 subi r24,lo8(-16000) |
| 4331 29ea 914C sbci r25,hi8(-16000) |
| 4332 29ec AF4F sbci r26,hlo8(-16000) |
| 4333 29ee BF4F sbci r27,hhi8(-16000) |
| 4334 29f0 04F4 brge .L645 |
| 4335 29f2 80E8 ldi r24,lo8(-16000) |
| 4336 29f4 91EC ldi r25,hi8(-16000) |
| 4337 29f6 AFEF ldi r26,hlo8(-16000) |
| 4338 29f8 BFEF ldi r27,hhi8(-16000) |
| 4339 .L668: |
| 4340 29fa 8093 0000 sts SummeRoll.2440,r24 |
| 4341 29fe 9093 0000 sts (SummeRoll.2440)+1,r25 |
| 4342 2a02 A093 0000 sts (SummeRoll.2440)+2,r26 |
| 4343 2a06 B093 0000 sts (SummeRoll.2440)+3,r27 |
| 4344 .L645: |
| 4345 2a0a 6091 0000 lds r22,DiffRoll |
| 4346 2a0e 7091 0000 lds r23,(DiffRoll)+1 |
| 4347 2a12 8827 clr r24 |
| 4348 2a14 77FD sbrc r23,7 |
| 4349 2a16 8095 com r24 |
| 4350 2a18 982F mov r25,r24 |
| 4351 2a1a 0E94 0000 call __floatsisf |
| 4352 2a1e 7B01 movw r14,r22 |
| 4353 2a20 8C01 movw r16,r24 |
| 4354 2a22 6091 0000 lds r22,SummeRoll.2440 |
| 4355 2a26 7091 0000 lds r23,(SummeRoll.2440)+1 |
| 4356 2a2a 8091 0000 lds r24,(SummeRoll.2440)+2 |
| 4357 2a2e 9091 0000 lds r25,(SummeRoll.2440)+3 |
| 4358 2a32 0E94 0000 call __floatsisf |
| 4359 2a36 9B01 movw r18,r22 |
| 4360 2a38 AC01 movw r20,r24 |
| 4361 2a3a C501 movw r24,r10 |
| 4362 2a3c B401 movw r22,r8 |
| 4363 2a3e 0E94 0000 call __mulsf3 |
| 4364 2a42 9B01 movw r18,r22 |
| 4365 2a44 AC01 movw r20,r24 |
| 4366 2a46 C801 movw r24,r16 |
| 4367 2a48 B701 movw r22,r14 |
| 4368 2a4a 0E94 0000 call __addsf3 |
| 4369 2a4e 0E94 0000 call __fixsfsi |
| 4370 2a52 2981 ldd r18,Y+1 |
| 4371 2a54 3A81 ldd r19,Y+2 |
| 4372 2a56 260F add r18,r22 |
| 4373 2a58 371F adc r19,r23 |
| 4374 2a5a 2C19 sub r18,r12 |
| 4375 2a5c 3D09 sbc r19,r13 |
| 4376 2a5e 37FD sbrc r19,7 |
| 4377 2a60 00C0 rjmp .L649 |
| 4378 2a62 2220 tst r2 |
| 4379 2a64 01F0 breq .L647 |
| 4380 .L649: |
| 4381 2a66 40E0 ldi r20,lo8(0) |
| 4382 2a68 50E0 ldi r21,hi8(0) |
| 4383 2a6a 00C0 rjmp .L650 |
| 4384 .L647: |
| 4385 2a6c 8091 0000 lds r24,MAX_GAS |
| 4386 2a70 482F mov r20,r24 |
| 4387 2a72 5527 clr r21 |
| 4388 2a74 2417 cp r18,r20 |
| 4389 2a76 3507 cpc r19,r21 |
| 4390 2a78 04F4 brge .L650 |
| 4391 2a7a A901 movw r20,r18 |
| 4392 .L650: |
| 4393 2a7c 2B81 ldd r18,Y+3 |
| 4394 2a7e 3C81 ldd r19,Y+4 |
| 4395 2a80 2417 cp r18,r20 |
| 4396 2a82 3507 cpc r19,r21 |
| 4397 2a84 04F4 brge .L652 |
| 4398 2a86 9A01 movw r18,r20 |
| 4399 .L652: |
| 4400 2a88 2093 0000 sts Motor_Links,r18 |
| 4401 2a8c 8981 ldd r24,Y+1 |
| 4402 2a8e 9A81 ldd r25,Y+2 |
| 4403 2a90 861B sub r24,r22 |
| 4404 2a92 970B sbc r25,r23 |
| 4405 2a94 BC01 movw r22,r24 |
| 4406 2a96 6C19 sub r22,r12 |
| 4407 2a98 7D09 sbc r23,r13 |
| 4408 2a9a 77FD sbrc r23,7 |
| 4409 2a9c 00C0 rjmp .L655 |
| 4410 2a9e 2220 tst r2 |
| 4411 2aa0 01F0 breq .L653 |
| 4412 .L655: |
| 4413 2aa2 20E0 ldi r18,lo8(0) |
| 4414 2aa4 30E0 ldi r19,hi8(0) |
| 4415 2aa6 00C0 rjmp .L656 |
| 4416 .L653: |
| 4417 2aa8 8091 0000 lds r24,MAX_GAS |
| 4418 2aac 282F mov r18,r24 |
| 4419 2aae 3327 clr r19 |
| 4420 2ab0 6217 cp r22,r18 |
| 4421 2ab2 7307 cpc r23,r19 |
| 4422 2ab4 04F4 brge .L656 |
| 4423 2ab6 9B01 movw r18,r22 |
| 4424 .L656: |
| 4425 2ab8 8B81 ldd r24,Y+3 |
| 4426 2aba 9C81 ldd r25,Y+4 |
| 4427 2abc 8217 cp r24,r18 |
| 4428 2abe 9307 cpc r25,r19 |
| 4429 2ac0 04F4 brge .L658 |
| 4430 2ac2 C901 movw r24,r18 |
| 4431 .L658: |
| 4432 2ac4 8093 0000 sts Motor_Rechts,r24 |
| 4433 /* epilogue: frame size=4 */ |
| 4434 2ac8 2496 adiw r28,4 |
| 4435 2aca 0FB6 in __tmp_reg__,__SREG__ |
| 4436 2acc F894 cli |
| 4437 2ace DEBF out __SP_H__,r29 |
| 4438 2ad0 0FBE out __SREG__,__tmp_reg__ |
| 4439 2ad2 CDBF out __SP_L__,r28 |
| 4440 2ad4 DF91 pop r29 |
| 4441 2ad6 CF91 pop r28 |
| 4442 2ad8 1F91 pop r17 |
| 4443 2ada 0F91 pop r16 |
| 4444 2adc FF90 pop r15 |
| 4445 2ade EF90 pop r14 |
| 4446 2ae0 DF90 pop r13 |
| 4447 2ae2 CF90 pop r12 |
| 4448 2ae4 BF90 pop r11 |
| 4449 2ae6 AF90 pop r10 |
| 4450 2ae8 9F90 pop r9 |
| 4451 2aea 8F90 pop r8 |
| 4452 2aec 7F90 pop r7 |
| 4453 2aee 6F90 pop r6 |
| 4454 2af0 5F90 pop r5 |
| 4455 2af2 4F90 pop r4 |
| 4456 2af4 3F90 pop r3 |
| 4457 2af6 2F90 pop r2 |
| 4458 2af8 0895 ret |
| 4459 /* epilogue end (size=25) */ |
| 4460 /* function MotorRegler size 2856 (2805) */ |
| 4462 .global Timeout |
| 4463 .global Timeout |
| 4464 .section .bss |
| 4467 Timeout: |
| 4468 0000 00 .skip 1,0 |
| 4469 .global AdNeutralNick |
| 4470 .global AdNeutralNick |
| 4473 AdNeutralNick: |
| 4474 0001 0000 .skip 2,0 |
| 4475 .global AdNeutralRoll |
| 4476 .global AdNeutralRoll |
| 4479 AdNeutralRoll: |
| 4480 0003 0000 .skip 2,0 |
| 4481 .global AdNeutralGier |
| 4482 .global AdNeutralGier |
| 4485 AdNeutralGier: |
| 4486 0005 0000 .skip 2,0 |
| 4487 .global NeutralAccX |
| 4488 .global NeutralAccX |
| 4491 NeutralAccX: |
| 4492 0007 0000 .skip 2,0 |
| 4493 .global NeutralAccY |
| 4494 .global NeutralAccY |
| 4497 NeutralAccY: |
| 4498 0009 0000 .skip 2,0 |
| 4499 .global NeutralAccZ |
| 4500 .global NeutralAccZ |
| 4503 NeutralAccZ: |
| 4504 000b 0000 0000 .skip 4,0 |
| 4505 .global CosinusNickWinkel |
| 4506 .global CosinusNickWinkel |
| 4509 CosinusNickWinkel: |
| 4510 000f 00 .skip 1,0 |
| 4511 .global CosinusRollWinkel |
| 4512 .global CosinusRollWinkel |
| 4515 CosinusRollWinkel: |
| 4516 0010 00 .skip 1,0 |
| 4517 .global IntegralNick |
| 4518 .global IntegralNick |
| 4521 IntegralNick: |
| 4522 0011 0000 0000 .skip 4,0 |
| 4523 .global IntegralNick2 |
| 4524 .global IntegralNick2 |
| 4527 IntegralNick2: |
| 4528 0015 0000 0000 .skip 4,0 |
| 4529 .global IntegralRoll |
| 4530 .global IntegralRoll |
| 4533 IntegralRoll: |
| 4534 0019 0000 0000 .skip 4,0 |
| 4535 .global IntegralRoll2 |
| 4536 .global IntegralRoll2 |
| 4539 IntegralRoll2: |
| 4540 001d 0000 0000 .skip 4,0 |
| 4541 .global Integral_Gier |
| 4542 .global Integral_Gier |
| 4545 Integral_Gier: |
| 4546 0021 0000 0000 .skip 4,0 |
| 4547 .global Mess_IntegralNick |
| 4548 .global Mess_IntegralNick |
| 4551 Mess_IntegralNick: |
| 4552 0025 0000 0000 .skip 4,0 |
| 4553 .global Mess_IntegralNick2 |
| 4554 .global Mess_IntegralNick2 |
| 4557 Mess_IntegralNick2: |
| 4558 0029 0000 0000 .skip 4,0 |
| 4559 .global Mess_IntegralRoll |
| 4560 .global Mess_IntegralRoll |
| 4563 Mess_IntegralRoll: |
| 4564 002d 0000 0000 .skip 4,0 |
| 4565 .global Mess_IntegralRoll2 |
| 4566 .global Mess_IntegralRoll2 |
| 4569 Mess_IntegralRoll2: |
| 4570 0031 0000 0000 .skip 4,0 |
| 4571 .global Mess_Integral_Gier |
| 4572 .global Mess_Integral_Gier |
| 4575 Mess_Integral_Gier: |
| 4576 0035 0000 0000 .skip 4,0 |
| 4577 .global Mess_Integral_Gier2 |
| 4578 .global Mess_Integral_Gier2 |
| 4581 Mess_Integral_Gier2: |
| 4582 0039 0000 0000 .skip 4,0 |
| 4583 .global Mess_Integral_Hoch |
| 4584 .global Mess_Integral_Hoch |
| 4587 Mess_Integral_Hoch: |
| 4588 003d 0000 0000 .skip 4,0 |
| 4589 .global KompassValue |
| 4590 .global KompassValue |
| 4593 KompassValue: |
| 4594 0041 0000 .skip 2,0 |
| 4595 .global KompassStartwert |
| 4596 .global KompassStartwert |
| 4599 KompassStartwert: |
| 4600 0043 0000 .skip 2,0 |
| 4601 .global KompassRichtung |
| 4602 .global KompassRichtung |
| 4605 KompassRichtung: |
| 4606 0045 0000 .skip 2,0 |
| 4607 .global Notlandung |
| 4608 .global Notlandung |
| 4611 Notlandung: |
| 4612 0047 00 .skip 1,0 |
| 4613 .global HoehenReglerAktiv |
| 4614 .global HoehenReglerAktiv |
| 4617 HoehenReglerAktiv: |
| 4618 0048 00 .skip 1,0 |
| 4619 .global blinkcount_LED1 |
| 4620 .global blinkcount_LED1 |
| 4623 blinkcount_LED1: |
| 4624 0049 00 .skip 1,0 |
| 4625 .global modell_fliegt_gps |
| 4626 .global modell_fliegt_gps |
| 4629 modell_fliegt_gps: |
| 4630 004a 0000 .skip 2,0 |
| 4631 .global Limit_D_Anteil |
| 4632 .global Limit_D_Anteil |
| 4635 Limit_D_Anteil: |
| 4636 004c 00 .skip 1,0 |
| 4637 .global Poti1 |
| 4638 .global Poti1 |
| 4641 Poti1: |
| 4642 004d 0000 .skip 2,0 |
| 4643 .global Poti2 |
| 4644 .global Poti2 |
| 4647 Poti2: |
| 4648 004f 0000 .skip 2,0 |
| 4649 .global Poti3 |
| 4650 .global Poti3 |
| 4653 Poti3: |
| 4654 0051 0000 .skip 2,0 |
| 4655 .global Poti4 |
| 4656 .global Poti4 |
| 4659 Poti4: |
| 4660 0053 0000 .skip 2,0 |
| 4661 .global Poti5 |
| 4662 .global Poti5 |
| 4665 Poti5: |
| 4666 0055 0000 .skip 2,0 |
| 4667 .global Poti6 |
| 4668 .global Poti6 |
| 4671 Poti6: |
| 4672 0057 0000 .skip 2,0 |
| 4673 .global Poti7 |
| 4674 .global Poti7 |
| 4677 Poti7: |
| 4678 0059 0000 .skip 2,0 |
| 4679 .global Poti8 |
| 4680 .global Poti8 |
| 4683 Poti8: |
| 4684 005b 0000 .skip 2,0 |
| 4685 .global SenderOkay |
| 4686 .global SenderOkay |
| 4689 SenderOkay: |
| 4690 005d 00 .skip 1,0 |
| 4691 .global StickNick |
| 4692 .global StickNick |
| 4695 StickNick: |
| 4696 005e 0000 .skip 2,0 |
| 4697 .global StickRoll |
| 4698 .global StickRoll |
| 4701 StickRoll: |
| 4702 0060 0000 .skip 2,0 |
| 4703 .global StickGier |
| 4704 .global StickGier |
| 4707 StickGier: |
| 4708 0062 0000 .skip 2,0 |
| 4709 .global MotorenEin |
| 4710 .global MotorenEin |
| 4713 MotorenEin: |
| 4714 0064 00 .skip 1,0 |
| 4715 .global HoehenWert |
| 4716 .global HoehenWert |
| 4719 HoehenWert: |
| 4720 0065 0000 .skip 2,0 |
| 4721 .global SollHoehe |
| 4722 .global SollHoehe |
| 4725 SollHoehe: |
| 4726 0067 0000 .skip 2,0 |
| 4727 .global Kp |
| 4728 .data |
| 4731 Kp: |
| 4732 0010 00 .byte 0 |
| 4733 0011 00 .byte 0 |
| 4734 0012 80 .byte -128 |
| 4735 0013 3F .byte 63 |
| 4736 .global Ki |
| 4739 Ki: |
| 4740 0014 17 .byte 23 |
| 4741 0015 B7 .byte -73 |
| 4742 0016 D1 .byte -47 |
| 4743 0017 38 .byte 56 |
| 4744 .global Parameter_Luftdruck_D |
| 4747 Parameter_Luftdruck_D: |
| 4748 0018 30 .byte 48 |
| 4749 .global Parameter_MaxHoehe |
| 4752 Parameter_MaxHoehe: |
| 4753 0019 FB .byte -5 |
| 4754 .global Parameter_Hoehe_P |
| 4757 Parameter_Hoehe_P: |
| 4758 001a 10 .byte 16 |
| 4759 .global Parameter_Hoehe_ACC_Wirkung |
| 4762 Parameter_Hoehe_ACC_Wirkung: |
| 4763 001b 3A .byte 58 |
| 4764 .global Parameter_KompassWirkung |
| 4767 Parameter_KompassWirkung: |
| 4768 001c 40 .byte 64 |
| 4769 .global Parameter_Gyro_P |
| 4772 Parameter_Gyro_P: |
| 4773 001d 32 .byte 50 |
| 4774 .global Parameter_Gyro_I |
| 4777 Parameter_Gyro_I: |
| 4778 001e 96 .byte -106 |
| 4779 .global Parameter_Gier_P |
| 4782 Parameter_Gier_P: |
| 4783 001f 02 .byte 2 |
| 4784 .global Parameter_I_Faktor |
| 4787 Parameter_I_Faktor: |
| 4788 0020 0A .byte 10 |
| 4789 .global Parameter_UserParam1 |
| 4790 .global Parameter_UserParam1 |
| 4791 .section .bss |
| 4794 Parameter_UserParam1: |
| 4795 0069 00 .skip 1,0 |
| 4796 .global Parameter_UserParam2 |
| 4797 .global Parameter_UserParam2 |
| 4800 Parameter_UserParam2: |
| 4801 006a 00 .skip 1,0 |
| 4802 .global Parameter_UserParam3 |
| 4803 .global Parameter_UserParam3 |
| 4806 Parameter_UserParam3: |
| 4807 006b 00 .skip 1,0 |
| 4808 .global Parameter_UserParam4 |
| 4809 .global Parameter_UserParam4 |
| 4812 Parameter_UserParam4: |
| 4813 006c 00 .skip 1,0 |
| 4814 .global Parameter_ServoNickControl |
| 4815 .data |
| 4818 Parameter_ServoNickControl: |
| 4819 0021 64 .byte 100 |
| 4820 .lcomm SignalSchlecht.2457,2 |
| 4821 .lcomm NeueKompassRichtungMerken.2453,1 |
| 4822 .lcomm TimerWerteausgabe.2452,1 |
| 4823 .lcomm hoehenregler.2451,2 |
| 4824 .lcomm modell_fliegt.2450,2 |
| 4825 .lcomm delay_ausschalten.2449,1 |
| 4826 .lcomm delay_einschalten.2448,1 |
| 4827 .lcomm delay_neutral.2447,1 |
| 4828 .lcomm RcLostTimer.2446,2 |
| 4829 .lcomm IntegralFehlerRoll.2445,2 |
| 4830 .lcomm IntegralFehlerNick.2444,2 |
| 4831 .lcomm tmp_long2.2443,4 |
| 4832 .lcomm tmp_long.2442,4 |
| 4833 .lcomm sollGier.2441,4 |
| 4834 .lcomm SummeRoll.2440,4 |
| 4835 .lcomm SummeNick.2439,4 |
| 4836 .comm DiffNick,2,1 |
| 4837 .comm DiffRoll,2,1 |
| 4838 .comm durchschnitt_northing,4,1 |
| 4839 .comm durchschnitt_easting,4,1 |
| 4840 .comm P_GPS_Verstaerkung,2,1 |
| 4841 .comm D_GPS_Verstaerkung,2,1 |
| 4842 .comm RemoteTasten,1,1 |
| 4843 .comm MesswertNick,2,1 |
| 4844 .comm MesswertRoll,2,1 |
| 4845 .comm MesswertGier,2,1 |
| 4846 .comm Mittelwert_AccNick,2,1 |
| 4847 .comm Mittelwert_AccRoll,2,1 |
| 4848 .comm Mittelwert_AccHoch,2,1 |
| 4849 .comm h,1,1 |
| 4850 .comm m,1,1 |
| 4851 .comm s,1,1 |
| 4852 .comm Motor_Vorne,1,1 |
| 4853 .comm Motor_Hinten,1,1 |
| 4854 .comm Motor_Rechts,1,1 |
| 4855 .comm Motor_Links,1,1 |
| 4856 .comm Count,1,1 |
| 4857 .comm MotorWert,5,1 |
| 4858 .comm EE_Parameter,58,1 |
| 4859 .comm MAX_GAS,1,1 |
| 4860 .comm MIN_GAS,1,1 |
| 4861 .comm GyroFaktor,4,1 |
| 4862 .comm IntegralFaktor,4,1 |
| 4863 /* File "fc.c": code 5545 = 0x15a9 (5463), prologues 38, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:13 .text:00000000 Mittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000002 Mittelwert_AccHoch |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4575 .bss:00000035 Mess_Integral_Gier |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4545 .bss:00000021 Integral_Gier |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4551 .bss:00000025 Mess_IntegralNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4521 .bss:00000011 IntegralNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4563 .bss:0000002d Mess_IntegralRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4533 .bss:00000019 IntegralRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4557 .bss:00000029 Mess_IntegralNick2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4527 .bss:00000015 IntegralNick2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4569 .bss:00000031 Mess_IntegralRoll2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4539 .bss:0000001d IntegralRoll2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4641 .bss:0000004d Poti1 |
| *COM*:0000003a EE_Parameter |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4647 .bss:0000004f Poti2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4653 .bss:00000051 Poti3 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4659 .bss:00000053 Poti4 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4665 .bss:00000055 Poti5 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4671 .bss:00000057 Poti6 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4677 .bss:00000059 Poti7 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4683 .bss:0000005b Poti8 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:760 .text:0000073a CalibrierMittelwert |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1286 .text:00000c2a ParameterZuordnung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4752 .data:00000019 Parameter_MaxHoehe |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4747 .data:00000018 Parameter_Luftdruck_D |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4757 .data:0000001a Parameter_Hoehe_P |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4762 .data:0000001b Parameter_Hoehe_ACC_Wirkung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4767 .data:0000001c Parameter_KompassWirkung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4772 .data:0000001d Parameter_Gyro_P |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4777 .data:0000001e Parameter_Gyro_I |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4787 .data:00000020 Parameter_I_Faktor |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4794 .bss:00000069 Parameter_UserParam1 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4800 .bss:0000006a Parameter_UserParam2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4806 .bss:0000006b Parameter_UserParam3 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4812 .bss:0000006c Parameter_UserParam4 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4818 .data:00000021 Parameter_ServoNickControl |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4739 .data:00000014 Ki |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1852 .text:000010c4 DefaultKonstanten2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1937 .text:0000119c DefaultKonstanten1 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2020 .text:0000127c SendMotorData |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4713 .bss:00000064 MotorenEin |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2060 .text:000012d2 SetNeutral |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4491 .bss:00000007 NeutralAccX |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4497 .bss:00000009 NeutralAccY |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4503 .bss:0000000b NeutralAccZ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4473 .bss:00000001 AdNeutralNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4479 .bss:00000003 AdNeutralRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4485 .bss:00000005 AdNeutralGier |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4587 .bss:0000003d Mess_Integral_Hoch |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4593 .bss:00000041 KompassValue |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4599 .bss:00000043 KompassStartwert |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2232 .text:000014ca Piep |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2261 .text:000014f4 MotorRegler |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4689 .bss:0000005d SenderOkay |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4827 .bss:00000078 RcLostTimer.2446 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4611 .bss:00000047 Notlandung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4823 .bss:00000073 modell_fliegt.2450 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4629 .bss:0000004a modell_fliegt_gps |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4834 .bss:0000008e SummeNick.2439 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4833 .bss:0000008a SummeRoll.2440 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4581 .bss:00000039 Mess_Integral_Gier2 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4826 .bss:00000077 delay_neutral.2447 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4825 .bss:00000076 delay_einschalten.2448 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4832 .bss:00000086 sollGier.2441 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4824 .bss:00000075 delay_ausschalten.2449 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4695 .bss:0000005e StickNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4701 .bss:00000060 StickRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4707 .bss:00000062 StickGier |
| *COM*:00000004 GyroFaktor |
| *COM*:00000004 IntegralFaktor |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4623 .bss:00000049 blinkcount_LED1 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4829 .bss:0000007c IntegralFehlerNick.2444 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4828 .bss:0000007a IntegralFehlerRoll.2445 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4831 .bss:00000082 tmp_long.2442 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4830 .bss:0000007e tmp_long2.2443 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4820 .bss:0000006f NeueKompassRichtungMerken.2453 |
| .bss:0000006d SignalSchlecht.2457 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4605 .bss:00000045 KompassRichtung |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4635 .bss:0000004c Limit_D_Anteil |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4821 .bss:00000070 TimerWerteausgabe.2452 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4719 .bss:00000065 HoehenWert |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4725 .bss:00000067 SollHoehe |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4617 .bss:00000048 HoehenReglerAktiv |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4822 .bss:00000071 hoehenregler.2451 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4731 .data:00000010 Kp |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4467 .bss:00000000 Timeout |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4509 .bss:0000000f CosinusNickWinkel |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4515 .bss:00000010 CosinusRollWinkel |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4782 .data:0000001f Parameter_Gier_P |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| MessanzahlNick |
| AccumulateNick |
| __divmodhi4 |
| MessanzahlRoll |
| AccumulateRoll |
| MessanzahlGier |
| AccumulateGier |
| messanzahl_AccNick |
| accumulate_AccNick |
| __divmodsi4 |
| messanzahl_AccRoll |
| accumulate_AccRoll |
| messanzahl_AccHoch |
| accumulate_AccHoch |
| PPM_in |
| __floatsisf |
| __addsf3 |
| __mulsf3 |
| MotorTest |
| twi_state |
| motor |
| i2c_start |
| SetDelay |
| CheckDelay |
| MessLuftdruck |
| SucheLuftruckOffset |
| Aktuell_az |
| Luftdruck |
| StartLuftdruck |
| HoeheD |
| beeptime |
| Delay_ms |
| PcZugriff |
| EEPromArray |
| __eeprom_write_byte_1F2021 |
| GetActiveParamSetNumber |
| ReadParameterSet |
| NewPpmData |
| PPM_diff |
| __divsf3 |
| __ltsf2 |
| ZaehlMessungen |
| __mulsi3 |
| gps_main |
| GPS_Nick |
| GPS_Roll |
| DebugOut |
| GPS_Positionsabweichung_North |
| GPS_Positionsabweichung_East |
| P_Einfluss_East |
| D_Einfluss_East |
| P_Einfluss_North |
| D_Einfluss_North |
| GPS_Geschwindigkeit_North |
| GPS_Geschwindigkeit_East |
| Soll_Position_North |
| Soll_Position_East |
| __fixsfsi |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/flight.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>flight</ProjectName><Created>18-Aug-2007 15:51:07</Created><LastEdit>18-Oct-2007 18:43:58</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>18-Aug-2007 15:51:07</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl_MEGA644_V0_60.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>spi.c</SOURCEFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>spi.h</HEADERFILE><OTHERFILE>version.txt</OTHERFILE><OTHERFILE>License.txt</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl_MEGA644_V0_60.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -DVERSION_KOMPATIBEL=4 -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=60 -DF_CPU=20000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20070525\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>_Settings.h</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>analog.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>fc.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>gps.h</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>main.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>menu.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>old_macros.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>printf_P.h</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>rc.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>Settings.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>timer0.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>twimaster.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>uart.h</FileName><Status>1</Status></File00012></Files><Workspace><File00000><Position>340 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| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/flight.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\_Settings.h" Position="342 96 942 612" LineCol="0 0"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\analog.h" Position="364 118 956 604" LineCol="0 0"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\fc.h" Position="386 140 978 626" LineCol="0 0"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\gps.h" Position="408 162 1000 648" LineCol="0 0"/><File00004 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\main.h" Position="430 184 1022 670" LineCol="0 0"/><File00005 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\menu.h" Position="452 206 1044 692" LineCol="0 0"/><File00006 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\old_macros.h" Position="474 228 1066 714" LineCol="0 0"/><File00007 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\printf_P.h" Position="496 250 1088 736" LineCol="0 0"/><File00008 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\rc.h" Position="518 272 1110 758" LineCol="0 0"/><File00009 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\Settings.h" Position="540 294 1132 780" LineCol="0 0"/><File00010 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\timer0.h" Position="562 316 1154 802" LineCol="0 0"/><File00011 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\twimaster.h" Position="584 338 1176 824" LineCol="0 0"/><File00012 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60pakoxda MM3JokoGPS\uart.h" Position="342 96 934 582" LineCol="0 0"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/gps.h |
|---|
| 0,0 → 1,27 |
| extern long P_Einfluss_North; |
| extern long D_Einfluss_North; |
| extern long P_Einfluss_East; |
| extern long D_Einfluss_East; |
| extern long GPS_Positionsabweichung_North; |
| extern long GPS_Positionsabweichung_East; |
| extern long GPS_Geschwindigkeit_North; |
| extern long GPS_Geschwindigkeit_East; |
| extern long GPS_Home_North; |
| extern long GPS_Home_East; |
| extern long Soll_Position_North; |
| extern long Soll_Position_East; |
| extern volatile long EAST_MITTEL; |
| extern volatile long NORTH_MITTEL; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| extern void gps_main(void); |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/main.c |
|---|
| 0,0 → 1,210 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/main.d |
|---|
| 0,0 → 1,2 |
| main.o main.d : main.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/main.h |
|---|
| 0,0 → 1,98 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 //ACHTUNG: HIER SCHIEN NOCH EIN FEHLER IM AUSGEWÄHLTEN PORT ZU BESTEHEN. URSPRÜNGLICH WAR PORTD UND NICHT PORTB DEFINIERT // (280807Kr) |
| #define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
| volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/main.lst |
|---|
| 0,0 → 1,590 |
| 1 .file "main.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global GetActiveParamSetNumber |
| 13 GetActiveParamSetNumber: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 A0E0 ldi r26,lo8(EEPromArray+2) |
| 17 0002 B0E0 ldi r27,hi8(EEPromArray+2) |
| 18 /* #APP */ |
| 19 0004 0E94 0000 call __eeprom_read_byte_1F2021 |
| 20 0008 802D mov r24,__tmp_reg__ |
| 21 /* #NOAPP */ |
| 22 000a 9927 clr r25 |
| 23 /* epilogue: frame size=0 */ |
| 24 000c 0895 ret |
| 25 /* epilogue end (size=1) */ |
| 26 /* function GetActiveParamSetNumber size 8 (7) */ |
| 28 .global WriteParameterSet |
| 30 WriteParameterSet: |
| 31 /* prologue: frame size=0 */ |
| 32 /* prologue end (size=0) */ |
| 33 000e FB01 movw r30,r22 |
| 34 0010 282F mov r18,r24 |
| 35 0012 8630 cpi r24,lo8(6) |
| 36 0014 00F0 brlo .L4 |
| 37 0016 25E0 ldi r18,lo8(5) |
| 38 .L4: |
| 39 0018 842F mov r24,r20 |
| 40 001a 9927 clr r25 |
| 41 001c 429F mul r20,r18 |
| 42 001e D001 movw r26,r0 |
| 43 0020 1124 clr r1 |
| 44 0022 A050 subi r26,lo8(-(EEPromArray+100)) |
| 45 0024 B040 sbci r27,hi8(-(EEPromArray+100)) |
| 46 /* #APP */ |
| 47 .26_start: |
| 48 0026 0197 sbiw r24,1 |
| 49 0028 04F0 brlt .26_finished |
| 50 002a 0190 ld __tmp_reg__,z+ |
| 51 002c 0E94 0000 call __eeprom_write_byte_1F2021 |
| 52 0030 00C0 rjmp .26_start |
| 53 .26_finished: |
| 54 /* #NOAPP */ |
| 55 0032 A0E0 ldi r26,lo8(EEPromArray+2) |
| 56 0034 B0E0 ldi r27,hi8(EEPromArray+2) |
| 57 /* #APP */ |
| 58 0036 022E mov __tmp_reg__,r18 |
| 59 0038 0E94 0000 call __eeprom_write_byte_1F2021 |
| 60 /* #NOAPP */ |
| 61 /* epilogue: frame size=0 */ |
| 62 003c 0895 ret |
| 63 /* epilogue end (size=1) */ |
| 64 /* function WriteParameterSet size 33 (32) */ |
| 66 .global ReadParameterSet |
| 68 ReadParameterSet: |
| 69 /* prologue: frame size=0 */ |
| 70 003e CF93 push r28 |
| 71 0040 DF93 push r29 |
| 72 /* prologue end (size=2) */ |
| 73 0042 FB01 movw r30,r22 |
| 74 0044 C42F mov r28,r20 |
| 75 0046 DD27 clr r29 |
| 76 0048 8630 cpi r24,lo8(6) |
| 77 004a 00F0 brlo .L7 |
| 78 004c 85E0 ldi r24,lo8(5) |
| 79 .L7: |
| 80 004e 489F mul r20,r24 |
| 81 0050 D001 movw r26,r0 |
| 82 0052 1124 clr r1 |
| 83 0054 A050 subi r26,lo8(-(EEPromArray+100)) |
| 84 0056 B040 sbci r27,hi8(-(EEPromArray+100)) |
| 85 /* #APP */ |
| 86 .44_start: |
| 87 0058 2197 sbiw r28,1 |
| 88 005a 04F0 brlt .44_finished |
| 89 005c 0E94 0000 call __eeprom_read_byte_1F2021 |
| 90 0060 0192 st z+,__tmp_reg__ |
| 91 0062 00C0 rjmp .44_start |
| 92 .44_finished: |
| 93 /* #NOAPP */ |
| 94 /* epilogue: frame size=0 */ |
| 95 0064 DF91 pop r29 |
| 96 0066 CF91 pop r28 |
| 97 0068 0895 ret |
| 98 /* epilogue end (size=3) */ |
| 99 /* function ReadParameterSet size 30 (25) */ |
| 101 .global main |
| 103 main: |
| 104 /* prologue: frame size=0 */ |
| 105 006a 0F93 push r16 |
| 106 006c 1F93 push r17 |
| 107 006e CF93 push r28 |
| 108 0070 DF93 push r29 |
| 109 /* prologue end (size=4) */ |
| 110 0072 91E0 ldi r25,lo8(1) |
| 111 0074 97B9 out 39-0x20,r25 |
| 112 0076 8FEF ldi r24,lo8(-1) |
| 113 0078 88B9 out 40-0x20,r24 |
| 114 007a 8BE1 ldi r24,lo8(27) |
| 115 007c 84B9 out 36-0x20,r24 |
| 116 007e 95B9 out 37-0x20,r25 |
| 117 0080 8EE3 ldi r24,lo8(62) |
| 118 0082 8AB9 out 42-0x20,r24 |
| 119 0084 579A sbi 42-0x20,7 |
| 120 0086 87EF ldi r24,lo8(-9) |
| 121 0088 8BB9 out 43-0x20,r24 |
| 122 008a 84B7 in r24,84-0x20 |
| 123 008c 877F andi r24,lo8(-9) |
| 124 008e 84BF out 84-0x20,r24 |
| 125 0090 8091 6000 lds r24,96 |
| 126 0094 8861 ori r24,lo8(24) |
| 127 0096 8093 6000 sts 96,r24 |
| 128 009a 1092 6000 sts 96,__zero_reg__ |
| 129 009e 80ED ldi r24,lo8(2000) |
| 130 00a0 97E0 ldi r25,hi8(2000) |
| 131 00a2 9093 0000 sts (beeptime)+1,r25 |
| 132 00a6 8093 0000 sts beeptime,r24 |
| 133 00aa 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 134 00ae 1092 0000 sts StickGier,__zero_reg__ |
| 135 00b2 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 136 00b6 1092 0000 sts PPM_in+4,__zero_reg__ |
| 137 00ba 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 138 00be 1092 0000 sts StickRoll,__zero_reg__ |
| 139 00c2 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 140 00c6 1092 0000 sts StickNick,__zero_reg__ |
| 141 00ca 2898 cbi 37-0x20,0 |
| 142 00cc 0E94 0000 call Timer_Init |
| 143 00d0 0E94 0000 call UART_Init |
| 144 00d4 0E94 0000 call rc_sum_init |
| 145 00d8 0E94 0000 call ADC_Init |
| 146 00dc 0E94 0000 call i2c_init |
| 147 /* #APP */ |
| 148 00e0 7894 sei |
| 149 /* #NOAPP */ |
| 150 00e2 1092 0000 sts VersionInfo,__zero_reg__ |
| 151 00e6 8DE3 ldi r24,lo8(61) |
| 152 00e8 8093 0000 sts VersionInfo+1,r24 |
| 153 00ec 84E0 ldi r24,lo8(4) |
| 154 00ee 8093 0000 sts VersionInfo+2,r24 |
| 155 00f2 8DE3 ldi r24,lo8(61) |
| 156 00f4 90E0 ldi r25,hi8(61) |
| 157 00f6 9F93 push r25 |
| 158 00f8 8F93 push r24 |
| 159 00fa 1F92 push __zero_reg__ |
| 160 00fc 1F92 push __zero_reg__ |
| 161 00fe 80E0 ldi r24,lo8(__c.2027) |
| 162 0100 90E0 ldi r25,hi8(__c.2027) |
| 163 0102 9F93 push r25 |
| 164 0104 8F93 push r24 |
| 165 0106 1F92 push __zero_reg__ |
| 166 0108 0E94 0000 call _printf_P |
| 167 010c 80E0 ldi r24,lo8(__c.2029) |
| 168 010e 90E0 ldi r25,hi8(__c.2029) |
| 169 0110 9F93 push r25 |
| 170 0112 8F93 push r24 |
| 171 0114 1F92 push __zero_reg__ |
| 172 0116 0E94 0000 call _printf_P |
| 173 011a 299A sbi 37-0x20,1 |
| 174 011c A0E0 ldi r26,lo8(EEPromArray+1) |
| 175 011e B0E0 ldi r27,hi8(EEPromArray+1) |
| 176 /* #APP */ |
| 177 0120 0E94 0000 call __eeprom_read_byte_1F2021 |
| 178 0124 802D mov r24,__tmp_reg__ |
| 179 /* #NOAPP */ |
| 180 0126 2DB7 in r18,__SP_L__ |
| 181 0128 3EB7 in r19,__SP_H__ |
| 182 012a 265F subi r18,lo8(-(10)) |
| 183 012c 3F4F sbci r19,hi8(-(10)) |
| 184 012e 0FB6 in __tmp_reg__,__SREG__ |
| 185 0130 F894 cli |
| 186 0132 3EBF out __SP_H__,r19 |
| 187 0134 0FBE out __SREG__,__tmp_reg__ |
| 188 0136 2DBF out __SP_L__,r18 |
| 189 0138 8B33 cpi r24,lo8(59) |
| 190 013a 01F0 breq .L10 |
| 191 013c 80E0 ldi r24,lo8(__c.2031) |
| 192 013e 90E0 ldi r25,hi8(__c.2031) |
| 193 0140 9F93 push r25 |
| 194 0142 8F93 push r24 |
| 195 0144 1F92 push __zero_reg__ |
| 196 0146 0E94 0000 call _printf_P |
| 197 014a 0E94 0000 call DefaultKonstanten1 |
| 198 014e 4AE3 ldi r20,lo8(58) |
| 199 0150 60E0 ldi r22,lo8(EE_Parameter) |
| 200 0152 70E0 ldi r23,hi8(EE_Parameter) |
| 201 0154 80E0 ldi r24,lo8(0) |
| 202 0156 0E94 0000 call WriteParameterSet |
| 203 015a 01E0 ldi r16,lo8(1) |
| 204 015c 0F90 pop __tmp_reg__ |
| 205 015e 0F90 pop __tmp_reg__ |
| 206 0160 0F90 pop __tmp_reg__ |
| 207 .L12: |
| 208 0162 0230 cpi r16,lo8(2) |
| 209 0164 01F4 brne .L13 |
| 210 0166 0E94 0000 call DefaultKonstanten2 |
| 211 016a 4AE3 ldi r20,lo8(58) |
| 212 016c 60E0 ldi r22,lo8(EE_Parameter) |
| 213 016e 70E0 ldi r23,hi8(EE_Parameter) |
| 214 0170 82E0 ldi r24,lo8(2) |
| 215 0172 0E94 0000 call WriteParameterSet |
| 216 0176 03E0 ldi r16,lo8(3) |
| 217 .L13: |
| 218 0178 4AE3 ldi r20,lo8(58) |
| 219 017a 60E0 ldi r22,lo8(EE_Parameter) |
| 220 017c 70E0 ldi r23,hi8(EE_Parameter) |
| 221 017e 802F mov r24,r16 |
| 222 0180 0E94 0000 call WriteParameterSet |
| 223 0184 0F5F subi r16,lo8(-(1)) |
| 224 0186 0630 cpi r16,lo8(6) |
| 225 0188 00F0 brlo .L12 |
| 226 018a 81E0 ldi r24,lo8(1) |
| 227 018c 20E0 ldi r18,lo8(EEPromArray+2) |
| 228 018e 30E0 ldi r19,hi8(EEPromArray+2) |
| 229 0190 D901 movw r26,r18 |
| 230 /* #APP */ |
| 231 0192 082E mov __tmp_reg__,r24 |
| 232 0194 0E94 0000 call __eeprom_write_byte_1F2021 |
| 233 /* #NOAPP */ |
| 234 0198 8BE3 ldi r24,lo8(59) |
| 235 019a 2150 subi r18,lo8(-(-1)) |
| 236 019c 3040 sbci r19,hi8(-(-1)) |
| 237 019e D901 movw r26,r18 |
| 238 /* #APP */ |
| 239 01a0 082E mov __tmp_reg__,r24 |
| 240 01a2 0E94 0000 call __eeprom_write_byte_1F2021 |
| 241 /* #NOAPP */ |
| 242 .L10: |
| 243 01a6 00E0 ldi r16,lo8(EEPromArray+2) |
| 244 01a8 10E0 ldi r17,hi8(EEPromArray+2) |
| 245 01aa D801 movw r26,r16 |
| 246 /* #APP */ |
| 247 01ac 0E94 0000 call __eeprom_read_byte_1F2021 |
| 248 01b0 802D mov r24,__tmp_reg__ |
| 249 /* #NOAPP */ |
| 250 01b2 4AE3 ldi r20,lo8(58) |
| 251 01b4 60E0 ldi r22,lo8(EE_Parameter) |
| 252 01b6 70E0 ldi r23,hi8(EE_Parameter) |
| 253 01b8 0E94 0000 call ReadParameterSet |
| 254 01bc D801 movw r26,r16 |
| 255 /* #APP */ |
| 256 01be 0E94 0000 call __eeprom_read_byte_1F2021 |
| 257 01c2 802D mov r24,__tmp_reg__ |
| 258 /* #NOAPP */ |
| 259 01c4 9927 clr r25 |
| 260 01c6 9F93 push r25 |
| 261 01c8 8F93 push r24 |
| 262 01ca 80E0 ldi r24,lo8(__c.2037) |
| 263 01cc 90E0 ldi r25,hi8(__c.2037) |
| 264 01ce 9F93 push r25 |
| 265 01d0 8F93 push r24 |
| 266 01d2 1F92 push __zero_reg__ |
| 267 01d4 0E94 0000 call _printf_P |
| 268 01d8 8091 0000 lds r24,EE_Parameter+8 |
| 269 01dc 0F90 pop __tmp_reg__ |
| 270 01de 0F90 pop __tmp_reg__ |
| 271 01e0 0F90 pop __tmp_reg__ |
| 272 01e2 0F90 pop __tmp_reg__ |
| 273 01e4 0F90 pop __tmp_reg__ |
| 274 01e6 80FF sbrs r24,0 |
| 275 01e8 00C0 rjmp .L16 |
| 276 01ea 80E0 ldi r24,lo8(__c.2039) |
| 277 01ec 90E0 ldi r25,hi8(__c.2039) |
| 278 01ee 9F93 push r25 |
| 279 01f0 8F93 push r24 |
| 280 01f2 1F92 push __zero_reg__ |
| 281 01f4 0E94 0000 call _printf_P |
| 282 01f8 84EC ldi r24,lo8(2500) |
| 283 01fa 99E0 ldi r25,hi8(2500) |
| 284 01fc 0E94 0000 call SetDelay |
| 285 0200 EC01 movw r28,r24 |
| 286 0202 0E94 0000 call SucheLuftruckOffset |
| 287 0206 0F90 pop __tmp_reg__ |
| 288 0208 0F90 pop __tmp_reg__ |
| 289 020a 0F90 pop __tmp_reg__ |
| 290 .L18: |
| 291 020c CE01 movw r24,r28 |
| 292 020e 0E94 0000 call CheckDelay |
| 293 0212 8823 tst r24 |
| 294 0214 01F0 breq .L18 |
| 295 0216 80E0 ldi r24,lo8(__c.2044) |
| 296 0218 90E0 ldi r25,hi8(__c.2044) |
| 297 021a 9F93 push r25 |
| 298 021c 8F93 push r24 |
| 299 021e 1F92 push __zero_reg__ |
| 300 0220 0E94 0000 call _printf_P |
| 301 0224 0F90 pop __tmp_reg__ |
| 302 0226 0F90 pop __tmp_reg__ |
| 303 0228 0F90 pop __tmp_reg__ |
| 304 .L16: |
| 305 022a 0E94 0000 call SetNeutral |
| 306 022e 2898 cbi 37-0x20,0 |
| 307 0230 80ED ldi r24,lo8(2000) |
| 308 0232 97E0 ldi r25,hi8(2000) |
| 309 0234 9093 0000 sts (beeptime)+1,r25 |
| 310 0238 8093 0000 sts beeptime,r24 |
| 311 023c 88EE ldi r24,lo8(1000) |
| 312 023e 93E0 ldi r25,hi8(1000) |
| 313 0240 9093 0000 sts (DebugIn+5)+1,r25 |
| 314 0244 8093 0000 sts DebugIn+5,r24 |
| 315 0248 85E5 ldi r24,lo8(85) |
| 316 024a 8093 0000 sts DebugIn,r24 |
| 317 024e 80E0 ldi r24,lo8(__c.2046) |
| 318 0250 90E0 ldi r25,hi8(__c.2046) |
| 319 0252 9F93 push r25 |
| 320 0254 8F93 push r24 |
| 321 0256 1F92 push __zero_reg__ |
| 322 0258 0E94 0000 call _printf_P |
| 323 025c 8091 0000 lds r24,EE_Parameter+8 |
| 324 0260 0F90 pop __tmp_reg__ |
| 325 0262 0F90 pop __tmp_reg__ |
| 326 0264 0F90 pop __tmp_reg__ |
| 327 0266 82FF sbrs r24,2 |
| 328 0268 00C0 rjmp .L20 |
| 329 026a 80E0 ldi r24,lo8(__c.2048) |
| 330 026c 90E0 ldi r25,hi8(__c.2048) |
| 331 026e 00C0 rjmp .L48 |
| 332 .L20: |
| 333 0270 80E0 ldi r24,lo8(__c.2050) |
| 334 0272 90E0 ldi r25,hi8(__c.2050) |
| 335 .L48: |
| 336 0274 9F93 push r25 |
| 337 0276 8F93 push r24 |
| 338 0278 1F92 push __zero_reg__ |
| 339 027a 0E94 0000 call _printf_P |
| 340 027e 0F90 pop __tmp_reg__ |
| 341 0280 0F90 pop __tmp_reg__ |
| 342 0282 0F90 pop __tmp_reg__ |
| 343 0284 80E0 ldi r24,lo8(__c.2052) |
| 344 0286 90E0 ldi r25,hi8(__c.2052) |
| 345 0288 9F93 push r25 |
| 346 028a 8F93 push r24 |
| 347 028c 1F92 push __zero_reg__ |
| 348 028e 0E94 0000 call _printf_P |
| 349 0292 0E94 0000 call LcdClear |
| 350 0296 0F90 pop __tmp_reg__ |
| 351 0298 0F90 pop __tmp_reg__ |
| 352 029a 0F90 pop __tmp_reg__ |
| 353 .L49: |
| 354 029c 8091 0000 lds r24,UpdateMotor |
| 355 02a0 8823 tst r24 |
| 356 02a2 01F0 breq .L24 |
| 357 02a4 1092 0000 sts UpdateMotor,__zero_reg__ |
| 358 02a8 0E94 0000 call MotorRegler |
| 359 02ac 0E94 0000 call SendMotorData |
| 360 02b0 2898 cbi 37-0x20,0 |
| 361 02b2 8091 0000 lds r24,PcZugriff |
| 362 02b6 8823 tst r24 |
| 363 02b8 01F0 breq .L26 |
| 364 02ba 8150 subi r24,lo8(-(-1)) |
| 365 02bc 8093 0000 sts PcZugriff,r24 |
| 366 .L26: |
| 367 02c0 8091 0000 lds r24,SenderOkay |
| 368 02c4 8823 tst r24 |
| 369 02c6 01F0 breq .L28 |
| 370 02c8 8091 0000 lds r24,SenderOkay |
| 371 02cc 8150 subi r24,lo8(-(-1)) |
| 372 02ce 8093 0000 sts SenderOkay,r24 |
| 373 .L28: |
| 374 02d2 2091 0000 lds r18,UBat |
| 375 02d6 3091 0000 lds r19,(UBat)+1 |
| 376 02da 8091 0000 lds r24,EE_Parameter+24 |
| 377 02de 9927 clr r25 |
| 378 02e0 2817 cp r18,r24 |
| 379 02e2 3907 cpc r19,r25 |
| 380 02e4 04F4 brge .L30 |
| 381 02e6 80ED ldi r24,lo8(2000) |
| 382 02e8 97E0 ldi r25,hi8(2000) |
| 383 02ea 9093 0000 sts (beeptime)+1,r25 |
| 384 02ee 8093 0000 sts beeptime,r24 |
| 385 .L30: |
| 386 02f2 8091 0000 lds r24,Timeout |
| 387 02f6 8823 tst r24 |
| 388 02f8 01F4 brne .L32 |
| 389 02fa 0E94 0000 call i2c_init |
| 390 02fe 00C0 rjmp .L24 |
| 391 .L32: |
| 392 0300 2898 cbi 37-0x20,0 |
| 393 .L24: |
| 394 0302 0E94 0000 call DatenUebertragung |
| 395 0306 0E94 0000 call BearbeiteRxDaten |
| 396 030a 80E0 ldi r24,lo8(0) |
| 397 030c 90E0 ldi r25,hi8(0) |
| 398 030e 0E94 0000 call CheckDelay |
| 399 0312 8823 tst r24 |
| 400 0314 01F0 breq .L49 |
| 401 0316 8091 0000 lds r24,MotorenEin |
| 402 031a 8823 tst r24 |
| 403 031c 01F0 breq .L35 |
| 404 031e 88B1 in r24,40-0x20 |
| 405 0320 90E1 ldi r25,lo8(16) |
| 406 0322 8927 eor r24,r25 |
| 407 0324 88B9 out 40-0x20,r24 |
| 408 0326 00C0 rjmp .L37 |
| 409 .L35: |
| 410 0328 4498 cbi 40-0x20,4 |
| 411 .L37: |
| 412 032a 84EF ldi r24,lo8(500) |
| 413 032c 91E0 ldi r25,hi8(500) |
| 414 032e 0E94 0000 call SetDelay |
| 415 0332 00C0 rjmp .L49 |
| 416 /* epilogue: frame size=0 */ |
| 417 /* epilogue: noreturn */ |
| 418 /* epilogue end (size=0) */ |
| 419 /* function main size 363 (359) */ |
| 421 .section .progmem.data,"a",@progbits |
| 424 __c.2052: |
| 425 0000 0A0A 0D00 .string "\n\n\r" |
| 428 __c.2050: |
| 429 0004 4E65 7574 .string "Neutral" |
| 429 7261 6C00 |
| 432 __c.2048: |
| 433 000c 4865 6164 .string "HeadingHold" |
| 433 696E 6748 |
| 433 6F6C 6400 |
| 436 __c.2046: |
| 437 0018 0A0D 5374 .string "\n\rSteuerung: " |
| 437 6575 6572 |
| 437 756E 673A |
| 437 2000 |
| 440 __c.2044: |
| 441 0026 4F4B 0A0D .string "OK\n\r" |
| 441 00 |
| 444 __c.2039: |
| 445 002b 0A0D 4162 .string "\n\rAbgleich Luftdrucksensor.." |
| 445 676C 6569 |
| 445 6368 204C |
| 445 7566 7464 |
| 445 7275 636B |
| 448 __c.2037: |
| 449 0048 0A0D 4265 .string "\n\rBenutze Parametersatz %d" |
| 449 6E75 747A |
| 449 6520 5061 |
| 449 7261 6D65 |
| 449 7465 7273 |
| 452 __c.2031: |
| 453 0063 0A0D 496E .string "\n\rInit. EEPROM: Generiere Default-Parameter..." |
| 453 6974 2E20 |
| 453 4545 5052 |
| 453 4F4D 3A20 |
| 453 4765 6E65 |
| 456 __c.2029: |
| 457 0092 0A0D 3D3D .string "\n\r==============================" |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 460 __c.2027: |
| 461 00b3 0A0D 466C .string "\n\rFlightControl V%d.%d " |
| 461 6967 6874 |
| 461 436F 6E74 |
| 461 726F 6C20 |
| 461 5625 642E |
| 462 .comm DiffNick,2,1 |
| 463 .comm DiffRoll,2,1 |
| 464 .comm SenderOkay,1,1 |
| 465 .comm CosinusNickWinkel,1,1 |
| 466 .comm CosinusRollWinkel,1,1 |
| 467 .global EEPromArray |
| 468 .section .eeprom,"aw",@progbits |
| 471 EEPromArray: |
| 472 0000 0000 0000 .skip 2048,0 |
| 472 0000 0000 |
| 472 0000 0000 |
| 472 0000 0000 |
| 472 0000 0000 |
| 473 .comm durchschnitt_northing,4,1 |
| 474 .comm durchschnitt_easting,4,1 |
| 475 .comm P_GPS_Verstaerkung,2,1 |
| 476 .comm D_GPS_Verstaerkung,2,1 |
| 477 .comm RemoteTasten,1,1 |
| 478 .comm Timeout,1,1 |
| 479 .comm IntegralNick,4,1 |
| 480 .comm IntegralNick2,4,1 |
| 481 .comm IntegralRoll,4,1 |
| 482 .comm IntegralRoll2,4,1 |
| 483 .comm Mess_IntegralNick,4,1 |
| 484 .comm Mess_IntegralNick2,4,1 |
| 485 .comm Mess_IntegralRoll,4,1 |
| 486 .comm Mess_IntegralRoll2,4,1 |
| 487 .comm Integral_Gier,4,1 |
| 488 .comm Mess_Integral_Gier,4,1 |
| 489 .comm h,1,1 |
| 490 .comm m,1,1 |
| 491 .comm s,1,1 |
| 492 .comm Motor_Vorne,1,1 |
| 493 .comm Motor_Hinten,1,1 |
| 494 .comm Motor_Rechts,1,1 |
| 495 .comm Motor_Links,1,1 |
| 496 .comm Count,1,1 |
| 497 .comm MotorWert,5,1 |
| 498 /* File "main.c": code 434 = 0x01b2 ( 423), prologues 6, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:13 .text:00000000 GetActiveParamSetNumber |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:471 .eeprom:00000000 EEPromArray |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:30 .text:0000000e WriteParameterSet |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:47 .text:00000026 .26_start |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:53 .text:00000032 .26_finished |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:68 .text:0000003e ReadParameterSet |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:86 .text:00000058 .44_start |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:92 .text:00000064 .44_finished |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:103 .text:0000006a main |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:460 .progmem.data:000000b3 __c.2027 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:456 .progmem.data:00000092 __c.2029 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:452 .progmem.data:00000063 __c.2031 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:448 .progmem.data:00000048 __c.2037 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:444 .progmem.data:0000002b __c.2039 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:440 .progmem.data:00000026 __c.2044 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:436 .progmem.data:00000018 __c.2046 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:432 .progmem.data:0000000c __c.2048 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:428 .progmem.data:00000004 __c.2050 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccrfGXyQ.s:424 .progmem.data:00000000 __c.2052 |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 Timeout |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 RemoteTasten |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __eeprom_read_byte_1F2021 |
| __eeprom_write_byte_1F2021 |
| beeptime |
| StickGier |
| PPM_in |
| StickRoll |
| StickNick |
| Timer_Init |
| UART_Init |
| rc_sum_init |
| ADC_Init |
| i2c_init |
| VersionInfo |
| _printf_P |
| DefaultKonstanten1 |
| EE_Parameter |
| DefaultKonstanten2 |
| SetDelay |
| SucheLuftruckOffset |
| CheckDelay |
| SetNeutral |
| DebugIn |
| LcdClear |
| UpdateMotor |
| MotorRegler |
| SendMotorData |
| PcZugriff |
| UBat |
| DatenUebertragung |
| BearbeiteRxDaten |
| MotorenEin |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 61 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i 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]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/menu.d |
|---|
| 0,0 → 1,2 |
| menu.o menu.d : menu.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/menu.h |
|---|
| 0,0 → 1,7 |
| void Menu(void); |
| void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/menu.lst |
|---|
| 0,0 → 1,1283 |
| 1 .file "menu.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global LcdClear |
| 13 LcdClear: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 E0E0 ldi r30,lo8(DisplayBuff) |
| 17 0002 F0E0 ldi r31,hi8(DisplayBuff) |
| 18 0004 80E2 ldi r24,lo8(32) |
| 19 .L2: |
| 20 0006 8193 st Z+,r24 |
| 21 0008 90E0 ldi r25,hi8(DisplayBuff+80) |
| 22 000a E030 cpi r30,lo8(DisplayBuff+80) |
| 23 000c F907 cpc r31,r25 |
| 24 000e 01F4 brne .L2 |
| 25 /* epilogue: frame size=0 */ |
| 26 0010 0895 ret |
| 27 /* epilogue end (size=1) */ |
| 28 /* function LcdClear size 9 (8) */ |
| 30 .global Menu |
| 32 Menu: |
| 33 /* prologue: frame size=0 */ |
| 34 0012 FF92 push r15 |
| 35 0014 0F93 push r16 |
| 36 0016 1F93 push r17 |
| 37 /* prologue end (size=3) */ |
| 38 0018 8091 0000 lds r24,RemoteTasten |
| 39 001c 282F mov r18,r24 |
| 40 001e 3327 clr r19 |
| 41 0020 C901 movw r24,r18 |
| 42 0022 8170 andi r24,lo8(1) |
| 43 0024 9070 andi r25,hi8(1) |
| 44 0026 682F mov r22,r24 |
| 45 0028 8823 tst r24 |
| 46 002a 01F0 breq .L8 |
| 47 002c 8091 0000 lds r24,MenuePunkt.2007 |
| 48 0030 8823 tst r24 |
| 49 0032 01F0 breq .L10 |
| 50 0034 8150 subi r24,lo8(-(-1)) |
| 51 0036 00C0 rjmp .L41 |
| 52 .L10: |
| 53 0038 8091 0000 lds r24,MaxMenue.2006 |
| 54 .L41: |
| 55 003c 8093 0000 sts MenuePunkt.2007,r24 |
| 56 0040 E0E0 ldi r30,lo8(DisplayBuff) |
| 57 0042 F0E0 ldi r31,hi8(DisplayBuff) |
| 58 0044 80E2 ldi r24,lo8(32) |
| 59 .L13: |
| 60 0046 8193 st Z+,r24 |
| 61 0048 90E0 ldi r25,hi8(DisplayBuff+80) |
| 62 004a E030 cpi r30,lo8(DisplayBuff+80) |
| 63 004c F907 cpc r31,r25 |
| 64 004e 01F4 brne .L13 |
| 65 .L8: |
| 66 0050 A901 movw r20,r18 |
| 67 0052 4270 andi r20,lo8(2) |
| 68 0054 5070 andi r21,hi8(2) |
| 69 0056 21FF sbrs r18,1 |
| 70 0058 00C0 rjmp .L14 |
| 71 005a 8091 0000 lds r24,MenuePunkt.2007 |
| 72 005e 8F5F subi r24,lo8(-(1)) |
| 73 0060 8093 0000 sts MenuePunkt.2007,r24 |
| 74 0064 E0E0 ldi r30,lo8(DisplayBuff) |
| 75 0066 F0E0 ldi r31,hi8(DisplayBuff) |
| 76 0068 80E2 ldi r24,lo8(32) |
| 77 .L16: |
| 78 006a 8193 st Z+,r24 |
| 79 006c 90E0 ldi r25,hi8(DisplayBuff+80) |
| 80 006e E030 cpi r30,lo8(DisplayBuff+80) |
| 81 0070 F907 cpc r31,r25 |
| 82 0072 01F4 brne .L16 |
| 83 .L14: |
| 84 0074 6623 tst r22 |
| 85 0076 01F0 breq .L17 |
| 86 0078 452B or r20,r21 |
| 87 007a 01F0 breq .L17 |
| 88 007c 1092 0000 sts MenuePunkt.2007,__zero_reg__ |
| 89 .L17: |
| 90 0080 81E1 ldi r24,lo8(17) |
| 91 0082 8093 0000 sts DispPtr,r24 |
| 92 0086 8091 0000 lds r24,MenuePunkt.2007 |
| 93 008a 9927 clr r25 |
| 94 008c 9F93 push r25 |
| 95 008e 8F93 push r24 |
| 96 0090 80E0 ldi r24,lo8(__c.2008) |
| 97 0092 90E0 ldi r25,hi8(__c.2008) |
| 98 0094 9F93 push r25 |
| 99 0096 8F93 push r24 |
| 100 0098 11E0 ldi r17,lo8(1) |
| 101 009a F12E mov r15,r17 |
| 102 009c FF92 push r15 |
| 103 009e 0E94 0000 call _printf_P |
| 104 00a2 0091 0000 lds r16,MenuePunkt.2007 |
| 105 00a6 0F90 pop __tmp_reg__ |
| 106 00a8 0F90 pop __tmp_reg__ |
| 107 00aa 0F90 pop __tmp_reg__ |
| 108 00ac 0F90 pop __tmp_reg__ |
| 109 00ae 0F90 pop __tmp_reg__ |
| 110 00b0 0530 cpi r16,lo8(5) |
| 111 00b2 01F4 brne .+2 |
| 112 00b4 00C0 rjmp .L26 |
| 113 00b6 0630 cpi r16,lo8(6) |
| 114 00b8 00F4 brsh .L32 |
| 115 00ba 0230 cpi r16,lo8(2) |
| 116 00bc 01F4 brne .+2 |
| 117 00be 00C0 rjmp .L23 |
| 118 00c0 0330 cpi r16,lo8(3) |
| 119 00c2 00F4 brsh .L33 |
| 120 00c4 0023 tst r16 |
| 121 00c6 01F0 breq .L21 |
| 122 00c8 0130 cpi r16,lo8(1) |
| 123 00ca 01F0 breq .+2 |
| 124 00cc 00C0 rjmp .L20 |
| 125 00ce 00C0 rjmp .L22 |
| 126 .L33: |
| 127 00d0 0330 cpi r16,lo8(3) |
| 128 00d2 01F4 brne .+2 |
| 129 00d4 00C0 rjmp .L24 |
| 130 00d6 0430 cpi r16,lo8(4) |
| 131 00d8 01F0 breq .+2 |
| 132 00da 00C0 rjmp .L20 |
| 133 00dc 00C0 rjmp .L25 |
| 134 .L32: |
| 135 00de 0830 cpi r16,lo8(8) |
| 136 00e0 01F4 brne .+2 |
| 137 00e2 00C0 rjmp .L29 |
| 138 00e4 0930 cpi r16,lo8(9) |
| 139 00e6 00F4 brsh .L34 |
| 140 00e8 0630 cpi r16,lo8(6) |
| 141 00ea 01F4 brne .+2 |
| 142 00ec 00C0 rjmp .L27 |
| 143 00ee 0730 cpi r16,lo8(7) |
| 144 00f0 01F0 breq .+2 |
| 145 00f2 00C0 rjmp .L20 |
| 146 00f4 00C0 rjmp .L28 |
| 147 .L34: |
| 148 00f6 0930 cpi r16,lo8(9) |
| 149 00f8 01F4 brne .+2 |
| 150 00fa 00C0 rjmp .L30 |
| 151 00fc 0A30 cpi r16,lo8(10) |
| 152 00fe 01F0 breq .+2 |
| 153 0100 00C0 rjmp .L20 |
| 154 0102 00C0 rjmp .L31 |
| 155 .L21: |
| 156 0104 1092 0000 sts DispPtr,__zero_reg__ |
| 157 0108 80E0 ldi r24,lo8(__c.2011) |
| 158 010a 90E0 ldi r25,hi8(__c.2011) |
| 159 010c 9F93 push r25 |
| 160 010e 8F93 push r24 |
| 161 0110 FF92 push r15 |
| 162 0112 0E94 0000 call _printf_P |
| 163 0116 84E1 ldi r24,lo8(20) |
| 164 0118 8093 0000 sts DispPtr,r24 |
| 165 011c 8DE3 ldi r24,lo8(61) |
| 166 011e 90E0 ldi r25,hi8(61) |
| 167 0120 9F93 push r25 |
| 168 0122 8F93 push r24 |
| 169 0124 1F92 push __zero_reg__ |
| 170 0126 1F92 push __zero_reg__ |
| 171 0128 80E0 ldi r24,lo8(__c.2013) |
| 172 012a 90E0 ldi r25,hi8(__c.2013) |
| 173 012c 9F93 push r25 |
| 174 012e 8F93 push r24 |
| 175 0130 FF92 push r15 |
| 176 0132 0E94 0000 call _printf_P |
| 177 0136 88E2 ldi r24,lo8(40) |
| 178 0138 8093 0000 sts DispPtr,r24 |
| 179 013c 0E94 0000 call GetActiveParamSetNumber |
| 180 0140 9927 clr r25 |
| 181 0142 9F93 push r25 |
| 182 0144 8F93 push r24 |
| 183 0146 80E0 ldi r24,lo8(__c.2015) |
| 184 0148 90E0 ldi r25,hi8(__c.2015) |
| 185 014a 9F93 push r25 |
| 186 014c 8F93 push r24 |
| 187 014e FF92 push r15 |
| 188 0150 0E94 0000 call _printf_P |
| 189 0154 8CE3 ldi r24,lo8(60) |
| 190 0156 8093 0000 sts DispPtr,r24 |
| 191 015a 80E0 ldi r24,lo8(__c.2017) |
| 192 015c 90E0 ldi r25,hi8(__c.2017) |
| 193 015e 9F93 push r25 |
| 194 0160 8F93 push r24 |
| 195 0162 FF92 push r15 |
| 196 0164 0E94 0000 call _printf_P |
| 197 0168 00C0 rjmp .L43 |
| 198 .L22: |
| 199 016a 8091 0000 lds r24,EE_Parameter+8 |
| 200 016e 80FF sbrs r24,0 |
| 201 0170 00C0 rjmp .L36 |
| 202 0172 1092 0000 sts DispPtr,__zero_reg__ |
| 203 0176 8091 0000 lds r24,HoehenWert |
| 204 017a 9091 0000 lds r25,(HoehenWert)+1 |
| 205 017e 9F93 push r25 |
| 206 0180 8F93 push r24 |
| 207 0182 80E0 ldi r24,lo8(__c.2021) |
| 208 0184 90E0 ldi r25,hi8(__c.2021) |
| 209 0186 9F93 push r25 |
| 210 0188 8F93 push r24 |
| 211 018a 0F93 push r16 |
| 212 018c 0E94 0000 call _printf_P |
| 213 0190 84E1 ldi r24,lo8(20) |
| 214 0192 8093 0000 sts DispPtr,r24 |
| 215 0196 8091 0000 lds r24,SollHoehe |
| 216 019a 9091 0000 lds r25,(SollHoehe)+1 |
| 217 019e 9F93 push r25 |
| 218 01a0 8F93 push r24 |
| 219 01a2 80E0 ldi r24,lo8(__c.2023) |
| 220 01a4 90E0 ldi r25,hi8(__c.2023) |
| 221 01a6 9F93 push r25 |
| 222 01a8 8F93 push r24 |
| 223 01aa 0F93 push r16 |
| 224 01ac 0E94 0000 call _printf_P |
| 225 01b0 88E2 ldi r24,lo8(40) |
| 226 01b2 8093 0000 sts DispPtr,r24 |
| 227 01b6 8091 0000 lds r24,MessLuftdruck |
| 228 01ba 9091 0000 lds r25,(MessLuftdruck)+1 |
| 229 01be 9F93 push r25 |
| 230 01c0 8F93 push r24 |
| 231 01c2 80E0 ldi r24,lo8(__c.2025) |
| 232 01c4 90E0 ldi r25,hi8(__c.2025) |
| 233 01c6 9F93 push r25 |
| 234 01c8 8F93 push r24 |
| 235 01ca 0F93 push r16 |
| 236 01cc 0E94 0000 call _printf_P |
| 237 01d0 8CE3 ldi r24,lo8(60) |
| 238 01d2 8093 0000 sts DispPtr,r24 |
| 239 01d6 8091 0000 lds r24,DruckOffsetSetting |
| 240 01da 9927 clr r25 |
| 241 01dc 9F93 push r25 |
| 242 01de 8F93 push r24 |
| 243 01e0 80E0 ldi r24,lo8(__c.2027) |
| 244 01e2 90E0 ldi r25,hi8(__c.2027) |
| 245 01e4 9F93 push r25 |
| 246 01e6 8F93 push r24 |
| 247 01e8 0F93 push r16 |
| 248 01ea 0E94 0000 call _printf_P |
| 249 .L44: |
| 250 01ee 8DB7 in r24,__SP_L__ |
| 251 01f0 9EB7 in r25,__SP_H__ |
| 252 01f2 4496 adiw r24,20 |
| 253 .L42: |
| 254 01f4 0FB6 in __tmp_reg__,__SREG__ |
| 255 01f6 F894 cli |
| 256 01f8 9EBF out __SP_H__,r25 |
| 257 01fa 0FBE out __SREG__,__tmp_reg__ |
| 258 01fc 8DBF out __SP_L__,r24 |
| 259 01fe 00C0 rjmp .L35 |
| 260 .L36: |
| 261 0200 84E1 ldi r24,lo8(20) |
| 262 0202 8093 0000 sts DispPtr,r24 |
| 263 0206 80E0 ldi r24,lo8(__c.2029) |
| 264 0208 90E0 ldi r25,hi8(__c.2029) |
| 265 020a 9F93 push r25 |
| 266 020c 8F93 push r24 |
| 267 020e 0F93 push r16 |
| 268 0210 0E94 0000 call _printf_P |
| 269 0214 88E2 ldi r24,lo8(40) |
| 270 0216 8093 0000 sts DispPtr,r24 |
| 271 021a 80E0 ldi r24,lo8(__c.2031) |
| 272 021c 90E0 ldi r25,hi8(__c.2031) |
| 273 021e 9F93 push r25 |
| 274 0220 8F93 push r24 |
| 275 0222 0F93 push r16 |
| 276 0224 0E94 0000 call _printf_P |
| 277 0228 8DB7 in r24,__SP_L__ |
| 278 022a 9EB7 in r25,__SP_H__ |
| 279 022c 0696 adiw r24,6 |
| 280 022e 00C0 rjmp .L42 |
| 281 .L23: |
| 282 0230 1092 0000 sts DispPtr,__zero_reg__ |
| 283 0234 80E0 ldi r24,lo8(__c.2034) |
| 284 0236 90E0 ldi r25,hi8(__c.2034) |
| 285 0238 9F93 push r25 |
| 286 023a 8F93 push r24 |
| 287 023c FF92 push r15 |
| 288 023e 0E94 0000 call _printf_P |
| 289 0242 84E1 ldi r24,lo8(20) |
| 290 0244 8093 0000 sts DispPtr,r24 |
| 291 0248 6091 0000 lds r22,IntegralNick |
| 292 024c 7091 0000 lds r23,(IntegralNick)+1 |
| 293 0250 8091 0000 lds r24,(IntegralNick)+2 |
| 294 0254 9091 0000 lds r25,(IntegralNick)+3 |
| 295 0258 20E0 ldi r18,lo8(1024) |
| 296 025a 34E0 ldi r19,hi8(1024) |
| 297 025c 40E0 ldi r20,hlo8(1024) |
| 298 025e 50E0 ldi r21,hhi8(1024) |
| 299 0260 0E94 0000 call __divmodsi4 |
| 300 0264 5F93 push r21 |
| 301 0266 4F93 push r20 |
| 302 0268 3F93 push r19 |
| 303 026a 2F93 push r18 |
| 304 026c 80E0 ldi r24,lo8(__c.2036) |
| 305 026e 90E0 ldi r25,hi8(__c.2036) |
| 306 0270 9F93 push r25 |
| 307 0272 8F93 push r24 |
| 308 0274 FF92 push r15 |
| 309 0276 0E94 0000 call _printf_P |
| 310 027a 88E2 ldi r24,lo8(40) |
| 311 027c 8093 0000 sts DispPtr,r24 |
| 312 0280 6091 0000 lds r22,IntegralRoll |
| 313 0284 7091 0000 lds r23,(IntegralRoll)+1 |
| 314 0288 8091 0000 lds r24,(IntegralRoll)+2 |
| 315 028c 9091 0000 lds r25,(IntegralRoll)+3 |
| 316 0290 20E0 ldi r18,lo8(1024) |
| 317 0292 34E0 ldi r19,hi8(1024) |
| 318 0294 40E0 ldi r20,hlo8(1024) |
| 319 0296 50E0 ldi r21,hhi8(1024) |
| 320 0298 0E94 0000 call __divmodsi4 |
| 321 029c 5F93 push r21 |
| 322 029e 4F93 push r20 |
| 323 02a0 3F93 push r19 |
| 324 02a2 2F93 push r18 |
| 325 02a4 80E0 ldi r24,lo8(__c.2038) |
| 326 02a6 90E0 ldi r25,hi8(__c.2038) |
| 327 02a8 9F93 push r25 |
| 328 02aa 8F93 push r24 |
| 329 02ac FF92 push r15 |
| 330 02ae 0E94 0000 call _printf_P |
| 331 02b2 8CE3 ldi r24,lo8(60) |
| 332 02b4 8093 0000 sts DispPtr,r24 |
| 333 02b8 8091 0000 lds r24,KompassValue |
| 334 02bc 9091 0000 lds r25,(KompassValue)+1 |
| 335 02c0 9F93 push r25 |
| 336 02c2 8F93 push r24 |
| 337 02c4 80E0 ldi r24,lo8(__c.2040) |
| 338 02c6 90E0 ldi r25,hi8(__c.2040) |
| 339 02c8 9F93 push r25 |
| 340 02ca 8F93 push r24 |
| 341 02cc FF92 push r15 |
| 342 02ce 0E94 0000 call _printf_P |
| 343 02d2 8DB7 in r24,__SP_L__ |
| 344 02d4 9EB7 in r25,__SP_H__ |
| 345 02d6 4696 adiw r24,22 |
| 346 02d8 00C0 rjmp .L42 |
| 347 .L24: |
| 348 02da 1092 0000 sts DispPtr,__zero_reg__ |
| 349 02de 8091 0000 lds r24,PPM_in+4 |
| 350 02e2 9091 0000 lds r25,(PPM_in+4)+1 |
| 351 02e6 2091 0000 lds r18,PPM_in+2 |
| 352 02ea 3091 0000 lds r19,(PPM_in+2)+1 |
| 353 02ee 9F93 push r25 |
| 354 02f0 8F93 push r24 |
| 355 02f2 3F93 push r19 |
| 356 02f4 2F93 push r18 |
| 357 02f6 80E0 ldi r24,lo8(__c.2043) |
| 358 02f8 90E0 ldi r25,hi8(__c.2043) |
| 359 02fa 9F93 push r25 |
| 360 02fc 8F93 push r24 |
| 361 02fe FF92 push r15 |
| 362 0300 0E94 0000 call _printf_P |
| 363 0304 84E1 ldi r24,lo8(20) |
| 364 0306 8093 0000 sts DispPtr,r24 |
| 365 030a 8091 0000 lds r24,PPM_in+8 |
| 366 030e 9091 0000 lds r25,(PPM_in+8)+1 |
| 367 0312 2091 0000 lds r18,PPM_in+6 |
| 368 0316 3091 0000 lds r19,(PPM_in+6)+1 |
| 369 031a 9F93 push r25 |
| 370 031c 8F93 push r24 |
| 371 031e 3F93 push r19 |
| 372 0320 2F93 push r18 |
| 373 0322 80E0 ldi r24,lo8(__c.2045) |
| 374 0324 90E0 ldi r25,hi8(__c.2045) |
| 375 0326 9F93 push r25 |
| 376 0328 8F93 push r24 |
| 377 032a FF92 push r15 |
| 378 032c 0E94 0000 call _printf_P |
| 379 0330 88E2 ldi r24,lo8(40) |
| 380 0332 8093 0000 sts DispPtr,r24 |
| 381 0336 8091 0000 lds r24,PPM_in+12 |
| 382 033a 9091 0000 lds r25,(PPM_in+12)+1 |
| 383 033e 2091 0000 lds r18,PPM_in+10 |
| 384 0342 3091 0000 lds r19,(PPM_in+10)+1 |
| 385 0346 9F93 push r25 |
| 386 0348 8F93 push r24 |
| 387 034a 3F93 push r19 |
| 388 034c 2F93 push r18 |
| 389 034e 80E0 ldi r24,lo8(__c.2047) |
| 390 0350 90E0 ldi r25,hi8(__c.2047) |
| 391 0352 9F93 push r25 |
| 392 0354 8F93 push r24 |
| 393 0356 FF92 push r15 |
| 394 0358 0E94 0000 call _printf_P |
| 395 035c 8CE3 ldi r24,lo8(60) |
| 396 035e 8093 0000 sts DispPtr,r24 |
| 397 0362 8091 0000 lds r24,PPM_in+16 |
| 398 0366 9091 0000 lds r25,(PPM_in+16)+1 |
| 399 036a 2091 0000 lds r18,PPM_in+14 |
| 400 036e 3091 0000 lds r19,(PPM_in+14)+1 |
| 401 0372 9F93 push r25 |
| 402 0374 8F93 push r24 |
| 403 0376 3F93 push r19 |
| 404 0378 2F93 push r18 |
| 405 037a 80E0 ldi r24,lo8(__c.2049) |
| 406 037c 90E0 ldi r25,hi8(__c.2049) |
| 407 037e 00C0 rjmp .L46 |
| 408 .L25: |
| 409 0380 1092 0000 sts DispPtr,__zero_reg__ |
| 410 0384 E091 0000 lds r30,EE_Parameter+1 |
| 411 0388 FF27 clr r31 |
| 412 038a EE0F lsl r30 |
| 413 038c FF1F rol r31 |
| 414 038e E050 subi r30,lo8(-(PPM_in)) |
| 415 0390 F040 sbci r31,hi8(-(PPM_in)) |
| 416 0392 2081 ld r18,Z |
| 417 0394 3181 ldd r19,Z+1 |
| 418 0396 E091 0000 lds r30,EE_Parameter |
| 419 039a FF27 clr r31 |
| 420 039c EE0F lsl r30 |
| 421 039e FF1F rol r31 |
| 422 03a0 E050 subi r30,lo8(-(PPM_in)) |
| 423 03a2 F040 sbci r31,hi8(-(PPM_in)) |
| 424 03a4 8081 ld r24,Z |
| 425 03a6 9181 ldd r25,Z+1 |
| 426 03a8 3F93 push r19 |
| 427 03aa 2F93 push r18 |
| 428 03ac 9F93 push r25 |
| 429 03ae 8F93 push r24 |
| 430 03b0 80E0 ldi r24,lo8(__c.2052) |
| 431 03b2 90E0 ldi r25,hi8(__c.2052) |
| 432 03b4 9F93 push r25 |
| 433 03b6 8F93 push r24 |
| 434 03b8 FF92 push r15 |
| 435 03ba 0E94 0000 call _printf_P |
| 436 03be 84E1 ldi r24,lo8(20) |
| 437 03c0 8093 0000 sts DispPtr,r24 |
| 438 03c4 E091 0000 lds r30,EE_Parameter+3 |
| 439 03c8 FF27 clr r31 |
| 440 03ca EE0F lsl r30 |
| 441 03cc FF1F rol r31 |
| 442 03ce E050 subi r30,lo8(-(PPM_in)) |
| 443 03d0 F040 sbci r31,hi8(-(PPM_in)) |
| 444 03d2 2081 ld r18,Z |
| 445 03d4 3181 ldd r19,Z+1 |
| 446 03d6 E091 0000 lds r30,EE_Parameter+2 |
| 447 03da FF27 clr r31 |
| 448 03dc EE0F lsl r30 |
| 449 03de FF1F rol r31 |
| 450 03e0 E050 subi r30,lo8(-(PPM_in)) |
| 451 03e2 F040 sbci r31,hi8(-(PPM_in)) |
| 452 03e4 8081 ld r24,Z |
| 453 03e6 9181 ldd r25,Z+1 |
| 454 03e8 3F93 push r19 |
| 455 03ea 2F93 push r18 |
| 456 03ec 9F93 push r25 |
| 457 03ee 8F93 push r24 |
| 458 03f0 80E0 ldi r24,lo8(__c.2054) |
| 459 03f2 90E0 ldi r25,hi8(__c.2054) |
| 460 03f4 9F93 push r25 |
| 461 03f6 8F93 push r24 |
| 462 03f8 FF92 push r15 |
| 463 03fa 0E94 0000 call _printf_P |
| 464 03fe 88E2 ldi r24,lo8(40) |
| 465 0400 8093 0000 sts DispPtr,r24 |
| 466 0404 E091 0000 lds r30,EE_Parameter+5 |
| 467 0408 FF27 clr r31 |
| 468 040a EE0F lsl r30 |
| 469 040c FF1F rol r31 |
| 470 040e E050 subi r30,lo8(-(PPM_in)) |
| 471 0410 F040 sbci r31,hi8(-(PPM_in)) |
| 472 0412 2081 ld r18,Z |
| 473 0414 3181 ldd r19,Z+1 |
| 474 0416 E091 0000 lds r30,EE_Parameter+4 |
| 475 041a FF27 clr r31 |
| 476 041c EE0F lsl r30 |
| 477 041e FF1F rol r31 |
| 478 0420 E050 subi r30,lo8(-(PPM_in)) |
| 479 0422 F040 sbci r31,hi8(-(PPM_in)) |
| 480 0424 8081 ld r24,Z |
| 481 0426 9181 ldd r25,Z+1 |
| 482 0428 3F93 push r19 |
| 483 042a 2F93 push r18 |
| 484 042c 9F93 push r25 |
| 485 042e 8F93 push r24 |
| 486 0430 80E0 ldi r24,lo8(__c.2056) |
| 487 0432 90E0 ldi r25,hi8(__c.2056) |
| 488 0434 9F93 push r25 |
| 489 0436 8F93 push r24 |
| 490 0438 FF92 push r15 |
| 491 043a 0E94 0000 call _printf_P |
| 492 043e 8CE3 ldi r24,lo8(60) |
| 493 0440 8093 0000 sts DispPtr,r24 |
| 494 0444 E091 0000 lds r30,EE_Parameter+7 |
| 495 0448 FF27 clr r31 |
| 496 044a EE0F lsl r30 |
| 497 044c FF1F rol r31 |
| 498 044e E050 subi r30,lo8(-(PPM_in)) |
| 499 0450 F040 sbci r31,hi8(-(PPM_in)) |
| 500 0452 2081 ld r18,Z |
| 501 0454 3181 ldd r19,Z+1 |
| 502 0456 E091 0000 lds r30,EE_Parameter+6 |
| 503 045a FF27 clr r31 |
| 504 045c EE0F lsl r30 |
| 505 045e FF1F rol r31 |
| 506 0460 E050 subi r30,lo8(-(PPM_in)) |
| 507 0462 F040 sbci r31,hi8(-(PPM_in)) |
| 508 0464 8081 ld r24,Z |
| 509 0466 9181 ldd r25,Z+1 |
| 510 0468 3F93 push r19 |
| 511 046a 2F93 push r18 |
| 512 046c 9F93 push r25 |
| 513 046e 8F93 push r24 |
| 514 0470 80E0 ldi r24,lo8(__c.2058) |
| 515 0472 90E0 ldi r25,hi8(__c.2058) |
| 516 0474 00C0 rjmp .L46 |
| 517 .L26: |
| 518 0476 1092 0000 sts DispPtr,__zero_reg__ |
| 519 047a 80E0 ldi r24,lo8(__c.2061) |
| 520 047c 90E0 ldi r25,hi8(__c.2061) |
| 521 047e 9F93 push r25 |
| 522 0480 8F93 push r24 |
| 523 0482 FF92 push r15 |
| 524 0484 0E94 0000 call _printf_P |
| 525 0488 84E1 ldi r24,lo8(20) |
| 526 048a 8093 0000 sts DispPtr,r24 |
| 527 048e 2091 0000 lds r18,AdNeutralNick |
| 528 0492 3091 0000 lds r19,(AdNeutralNick)+1 |
| 529 0496 8091 0000 lds r24,AccumulateNick |
| 530 049a 9091 0000 lds r25,(AccumulateNick)+1 |
| 531 049e 6091 0000 lds r22,MessanzahlNick |
| 532 04a2 3F93 push r19 |
| 533 04a4 2F93 push r18 |
| 534 04a6 7727 clr r23 |
| 535 04a8 0E94 0000 call __divmodhi4 |
| 536 04ac 7F93 push r23 |
| 537 04ae 6F93 push r22 |
| 538 04b0 80E0 ldi r24,lo8(__c.2063) |
| 539 04b2 90E0 ldi r25,hi8(__c.2063) |
| 540 04b4 9F93 push r25 |
| 541 04b6 8F93 push r24 |
| 542 04b8 FF92 push r15 |
| 543 04ba 0E94 0000 call _printf_P |
| 544 04be 88E2 ldi r24,lo8(40) |
| 545 04c0 8093 0000 sts DispPtr,r24 |
| 546 04c4 2091 0000 lds r18,AdNeutralRoll |
| 547 04c8 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 548 04cc 8091 0000 lds r24,AccumulateRoll |
| 549 04d0 9091 0000 lds r25,(AccumulateRoll)+1 |
| 550 04d4 6091 0000 lds r22,MessanzahlRoll |
| 551 04d8 3F93 push r19 |
| 552 04da 2F93 push r18 |
| 553 04dc 7727 clr r23 |
| 554 04de 0E94 0000 call __divmodhi4 |
| 555 04e2 7F93 push r23 |
| 556 04e4 6F93 push r22 |
| 557 04e6 80E0 ldi r24,lo8(__c.2065) |
| 558 04e8 90E0 ldi r25,hi8(__c.2065) |
| 559 04ea 9F93 push r25 |
| 560 04ec 8F93 push r24 |
| 561 04ee FF92 push r15 |
| 562 04f0 0E94 0000 call _printf_P |
| 563 04f4 8CE3 ldi r24,lo8(60) |
| 564 04f6 8093 0000 sts DispPtr,r24 |
| 565 04fa 2091 0000 lds r18,AdNeutralGier |
| 566 04fe 3091 0000 lds r19,(AdNeutralGier)+1 |
| 567 0502 8091 0000 lds r24,AccumulateGier |
| 568 0506 9091 0000 lds r25,(AccumulateGier)+1 |
| 569 050a 6091 0000 lds r22,MessanzahlGier |
| 570 050e 3F93 push r19 |
| 571 0510 2F93 push r18 |
| 572 0512 7727 clr r23 |
| 573 0514 0E94 0000 call __divmodhi4 |
| 574 0518 7F93 push r23 |
| 575 051a 6F93 push r22 |
| 576 051c 80E0 ldi r24,lo8(__c.2067) |
| 577 051e 90E0 ldi r25,hi8(__c.2067) |
| 578 0520 00C0 rjmp .L45 |
| 579 .L27: |
| 580 0522 1092 0000 sts DispPtr,__zero_reg__ |
| 581 0526 80E0 ldi r24,lo8(__c.2070) |
| 582 0528 90E0 ldi r25,hi8(__c.2070) |
| 583 052a 9F93 push r25 |
| 584 052c 8F93 push r24 |
| 585 052e FF92 push r15 |
| 586 0530 0E94 0000 call _printf_P |
| 587 0534 84E1 ldi r24,lo8(20) |
| 588 0536 8093 0000 sts DispPtr,r24 |
| 589 053a 2091 0000 lds r18,NeutralAccX |
| 590 053e 3091 0000 lds r19,(NeutralAccX)+1 |
| 591 0542 8091 0000 lds r24,accumulate_AccNick |
| 592 0546 9091 0000 lds r25,(accumulate_AccNick)+1 |
| 593 054a 6091 0000 lds r22,messanzahl_AccNick |
| 594 054e 3F93 push r19 |
| 595 0550 2F93 push r18 |
| 596 0552 7727 clr r23 |
| 597 0554 0E94 0000 call __divmodhi4 |
| 598 0558 7F93 push r23 |
| 599 055a 6F93 push r22 |
| 600 055c 80E0 ldi r24,lo8(__c.2072) |
| 601 055e 90E0 ldi r25,hi8(__c.2072) |
| 602 0560 9F93 push r25 |
| 603 0562 8F93 push r24 |
| 604 0564 FF92 push r15 |
| 605 0566 0E94 0000 call _printf_P |
| 606 056a 88E2 ldi r24,lo8(40) |
| 607 056c 8093 0000 sts DispPtr,r24 |
| 608 0570 2091 0000 lds r18,NeutralAccY |
| 609 0574 3091 0000 lds r19,(NeutralAccY)+1 |
| 610 0578 8091 0000 lds r24,accumulate_AccRoll |
| 611 057c 9091 0000 lds r25,(accumulate_AccRoll)+1 |
| 612 0580 6091 0000 lds r22,messanzahl_AccRoll |
| 613 0584 3F93 push r19 |
| 614 0586 2F93 push r18 |
| 615 0588 7727 clr r23 |
| 616 058a 0E94 0000 call __divmodhi4 |
| 617 058e 7F93 push r23 |
| 618 0590 6F93 push r22 |
| 619 0592 80E0 ldi r24,lo8(__c.2074) |
| 620 0594 90E0 ldi r25,hi8(__c.2074) |
| 621 0596 9F93 push r25 |
| 622 0598 8F93 push r24 |
| 623 059a FF92 push r15 |
| 624 059c 0E94 0000 call _printf_P |
| 625 05a0 8CE3 ldi r24,lo8(60) |
| 626 05a2 8093 0000 sts DispPtr,r24 |
| 627 05a6 6091 0000 lds r22,NeutralAccZ |
| 628 05aa 7091 0000 lds r23,(NeutralAccZ)+1 |
| 629 05ae 8091 0000 lds r24,(NeutralAccZ)+2 |
| 630 05b2 9091 0000 lds r25,(NeutralAccZ)+3 |
| 631 05b6 0091 0000 lds r16,Aktuell_az |
| 632 05ba 1091 0000 lds r17,(Aktuell_az)+1 |
| 633 05be 0E94 0000 call __fixsfsi |
| 634 05c2 7F93 push r23 |
| 635 05c4 6F93 push r22 |
| 636 05c6 1F93 push r17 |
| 637 05c8 0F93 push r16 |
| 638 05ca 80E0 ldi r24,lo8(__c.2076) |
| 639 05cc 90E0 ldi r25,hi8(__c.2076) |
| 640 .L45: |
| 641 05ce 9F93 push r25 |
| 642 05d0 8F93 push r24 |
| 643 05d2 FF92 push r15 |
| 644 05d4 0E94 0000 call _printf_P |
| 645 05d8 8DB7 in r24,__SP_L__ |
| 646 05da 9EB7 in r25,__SP_H__ |
| 647 05dc 4896 adiw r24,24 |
| 648 05de 00C0 rjmp .L42 |
| 649 .L28: |
| 650 05e0 84E1 ldi r24,lo8(20) |
| 651 05e2 8093 0000 sts DispPtr,r24 |
| 652 05e6 8091 0000 lds r24,UBat |
| 653 05ea 9091 0000 lds r25,(UBat)+1 |
| 654 05ee 9F93 push r25 |
| 655 05f0 8F93 push r24 |
| 656 05f2 80E0 ldi r24,lo8(__c.2079) |
| 657 05f4 90E0 ldi r25,hi8(__c.2079) |
| 658 05f6 9F93 push r25 |
| 659 05f8 8F93 push r24 |
| 660 05fa FF92 push r15 |
| 661 05fc 0E94 0000 call _printf_P |
| 662 0600 88E2 ldi r24,lo8(40) |
| 663 0602 8093 0000 sts DispPtr,r24 |
| 664 0606 8091 0000 lds r24,SenderOkay |
| 665 060a 9927 clr r25 |
| 666 060c 9F93 push r25 |
| 667 060e 8F93 push r24 |
| 668 0610 80E0 ldi r24,lo8(__c.2081) |
| 669 0612 90E0 ldi r25,hi8(__c.2081) |
| 670 0614 9F93 push r25 |
| 671 0616 8F93 push r24 |
| 672 0618 FF92 push r15 |
| 673 061a 0E94 0000 call _printf_P |
| 674 061e 8DB7 in r24,__SP_L__ |
| 675 0620 9EB7 in r25,__SP_H__ |
| 676 0622 0A96 adiw r24,10 |
| 677 0624 00C0 rjmp .L42 |
| 678 .L29: |
| 679 0626 1092 0000 sts DispPtr,__zero_reg__ |
| 680 062a 80E0 ldi r24,lo8(__c.2084) |
| 681 062c 90E0 ldi r25,hi8(__c.2084) |
| 682 062e 9F93 push r25 |
| 683 0630 8F93 push r24 |
| 684 0632 FF92 push r15 |
| 685 0634 0E94 0000 call _printf_P |
| 686 0638 84E1 ldi r24,lo8(20) |
| 687 063a 8093 0000 sts DispPtr,r24 |
| 688 063e 8091 0000 lds r24,KompassRichtung |
| 689 0642 9091 0000 lds r25,(KompassRichtung)+1 |
| 690 0646 9F93 push r25 |
| 691 0648 8F93 push r24 |
| 692 064a 80E0 ldi r24,lo8(__c.2086) |
| 693 064c 90E0 ldi r25,hi8(__c.2086) |
| 694 064e 9F93 push r25 |
| 695 0650 8F93 push r24 |
| 696 0652 FF92 push r15 |
| 697 0654 0E94 0000 call _printf_P |
| 698 0658 88E2 ldi r24,lo8(40) |
| 699 065a 8093 0000 sts DispPtr,r24 |
| 700 065e 8091 0000 lds r24,KompassValue |
| 701 0662 9091 0000 lds r25,(KompassValue)+1 |
| 702 0666 9F93 push r25 |
| 703 0668 8F93 push r24 |
| 704 066a 80E0 ldi r24,lo8(__c.2088) |
| 705 066c 90E0 ldi r25,hi8(__c.2088) |
| 706 066e 9F93 push r25 |
| 707 0670 8F93 push r24 |
| 708 0672 FF92 push r15 |
| 709 0674 0E94 0000 call _printf_P |
| 710 0678 8CE3 ldi r24,lo8(60) |
| 711 067a 8093 0000 sts DispPtr,r24 |
| 712 067e 8091 0000 lds r24,KompassStartwert |
| 713 0682 9091 0000 lds r25,(KompassStartwert)+1 |
| 714 0686 9F93 push r25 |
| 715 0688 8F93 push r24 |
| 716 068a 80E0 ldi r24,lo8(__c.2090) |
| 717 068c 90E0 ldi r25,hi8(__c.2090) |
| 718 068e 9F93 push r25 |
| 719 0690 8F93 push r24 |
| 720 0692 FF92 push r15 |
| 721 0694 0E94 0000 call _printf_P |
| 722 .L43: |
| 723 0698 8DB7 in r24,__SP_L__ |
| 724 069a 9EB7 in r25,__SP_H__ |
| 725 069c 4296 adiw r24,18 |
| 726 069e 00C0 rjmp .L42 |
| 727 .L30: |
| 728 06a0 1092 0000 sts DispPtr,__zero_reg__ |
| 729 06a4 8091 0000 lds r24,Poti5 |
| 730 06a8 9091 0000 lds r25,(Poti5)+1 |
| 731 06ac 9F93 push r25 |
| 732 06ae 8F93 push r24 |
| 733 06b0 8091 0000 lds r24,Poti1 |
| 734 06b4 9091 0000 lds r25,(Poti1)+1 |
| 735 06b8 9F93 push r25 |
| 736 06ba 8F93 push r24 |
| 737 06bc 80E0 ldi r24,lo8(__c.2093) |
| 738 06be 90E0 ldi r25,hi8(__c.2093) |
| 739 06c0 9F93 push r25 |
| 740 06c2 8F93 push r24 |
| 741 06c4 FF92 push r15 |
| 742 06c6 0E94 0000 call _printf_P |
| 743 06ca 84E1 ldi r24,lo8(20) |
| 744 06cc 8093 0000 sts DispPtr,r24 |
| 745 06d0 8091 0000 lds r24,Poti6 |
| 746 06d4 9091 0000 lds r25,(Poti6)+1 |
| 747 06d8 9F93 push r25 |
| 748 06da 8F93 push r24 |
| 749 06dc 8091 0000 lds r24,Poti2 |
| 750 06e0 9091 0000 lds r25,(Poti2)+1 |
| 751 06e4 9F93 push r25 |
| 752 06e6 8F93 push r24 |
| 753 06e8 80E0 ldi r24,lo8(__c.2095) |
| 754 06ea 90E0 ldi r25,hi8(__c.2095) |
| 755 06ec 9F93 push r25 |
| 756 06ee 8F93 push r24 |
| 757 06f0 FF92 push r15 |
| 758 06f2 0E94 0000 call _printf_P |
| 759 06f6 88E2 ldi r24,lo8(40) |
| 760 06f8 8093 0000 sts DispPtr,r24 |
| 761 06fc 8091 0000 lds r24,Poti7 |
| 762 0700 9091 0000 lds r25,(Poti7)+1 |
| 763 0704 9F93 push r25 |
| 764 0706 8F93 push r24 |
| 765 0708 8091 0000 lds r24,Poti3 |
| 766 070c 9091 0000 lds r25,(Poti3)+1 |
| 767 0710 9F93 push r25 |
| 768 0712 8F93 push r24 |
| 769 0714 80E0 ldi r24,lo8(__c.2097) |
| 770 0716 90E0 ldi r25,hi8(__c.2097) |
| 771 0718 9F93 push r25 |
| 772 071a 8F93 push r24 |
| 773 071c FF92 push r15 |
| 774 071e 0E94 0000 call _printf_P |
| 775 0722 8CE3 ldi r24,lo8(60) |
| 776 0724 8093 0000 sts DispPtr,r24 |
| 777 0728 8091 0000 lds r24,Poti8 |
| 778 072c 9091 0000 lds r25,(Poti8)+1 |
| 779 0730 9F93 push r25 |
| 780 0732 8F93 push r24 |
| 781 0734 8091 0000 lds r24,Poti4 |
| 782 0738 9091 0000 lds r25,(Poti4)+1 |
| 783 073c 9F93 push r25 |
| 784 073e 8F93 push r24 |
| 785 0740 80E0 ldi r24,lo8(__c.2099) |
| 786 0742 90E0 ldi r25,hi8(__c.2099) |
| 787 .L46: |
| 788 0744 9F93 push r25 |
| 789 0746 8F93 push r24 |
| 790 0748 FF92 push r15 |
| 791 074a 0E94 0000 call _printf_P |
| 792 074e 8DB7 in r24,__SP_L__ |
| 793 0750 9EB7 in r25,__SP_H__ |
| 794 0752 4C96 adiw r24,28 |
| 795 0754 00C0 rjmp .L42 |
| 796 .L31: |
| 797 0756 1092 0000 sts DispPtr,__zero_reg__ |
| 798 075a 80E0 ldi r24,lo8(__c.2102) |
| 799 075c 90E0 ldi r25,hi8(__c.2102) |
| 800 075e 9F93 push r25 |
| 801 0760 8F93 push r24 |
| 802 0762 FF92 push r15 |
| 803 0764 0E94 0000 call _printf_P |
| 804 0768 84E1 ldi r24,lo8(20) |
| 805 076a 8093 0000 sts DispPtr,r24 |
| 806 076e 8091 0000 lds r24,Parameter_ServoNickControl |
| 807 0772 9927 clr r25 |
| 808 0774 9F93 push r25 |
| 809 0776 8F93 push r24 |
| 810 0778 80E0 ldi r24,lo8(__c.2104) |
| 811 077a 90E0 ldi r25,hi8(__c.2104) |
| 812 077c 9F93 push r25 |
| 813 077e 8F93 push r24 |
| 814 0780 FF92 push r15 |
| 815 0782 0E94 0000 call _printf_P |
| 816 0786 88E2 ldi r24,lo8(40) |
| 817 0788 8093 0000 sts DispPtr,r24 |
| 818 078c 8091 0000 lds r24,ServoValue |
| 819 0790 9091 0000 lds r25,(ServoValue)+1 |
| 820 0794 9F93 push r25 |
| 821 0796 8F93 push r24 |
| 822 0798 80E0 ldi r24,lo8(__c.2106) |
| 823 079a 90E0 ldi r25,hi8(__c.2106) |
| 824 079c 9F93 push r25 |
| 825 079e 8F93 push r24 |
| 826 07a0 FF92 push r15 |
| 827 07a2 0E94 0000 call _printf_P |
| 828 07a6 8CE3 ldi r24,lo8(60) |
| 829 07a8 8093 0000 sts DispPtr,r24 |
| 830 07ac 8091 0000 lds r24,EE_Parameter+36 |
| 831 07b0 9927 clr r25 |
| 832 07b2 9F93 push r25 |
| 833 07b4 8F93 push r24 |
| 834 07b6 8091 0000 lds r24,EE_Parameter+35 |
| 835 07ba 9927 clr r25 |
| 836 07bc 9F93 push r25 |
| 837 07be 8F93 push r24 |
| 838 07c0 80E0 ldi r24,lo8(__c.2108) |
| 839 07c2 90E0 ldi r25,hi8(__c.2108) |
| 840 07c4 9F93 push r25 |
| 841 07c6 8F93 push r24 |
| 842 07c8 FF92 push r15 |
| 843 07ca 0E94 0000 call _printf_P |
| 844 07ce 00C0 rjmp .L44 |
| 845 .L20: |
| 846 07d0 0150 subi r16,lo8(-(-1)) |
| 847 07d2 0093 0000 sts MaxMenue.2006,r16 |
| 848 07d6 1092 0000 sts MenuePunkt.2007,__zero_reg__ |
| 849 .L35: |
| 850 07da 1092 0000 sts RemoteTasten,__zero_reg__ |
| 851 /* epilogue: frame size=0 */ |
| 852 07de 1F91 pop r17 |
| 853 07e0 0F91 pop r16 |
| 854 07e2 FF90 pop r15 |
| 855 07e4 0895 ret |
| 856 /* epilogue end (size=4) */ |
| 857 /* function Menu size 1002 (995) */ |
| 859 .global TestInt |
| 860 .global TestInt |
| 861 .section .bss |
| 864 TestInt: |
| 865 0000 0000 .skip 2,0 |
| 866 .global Array |
| 867 .data |
| 870 Array: |
| 871 0000 01 .byte 1 |
| 872 0001 02 .byte 2 |
| 873 0002 03 .byte 3 |
| 874 0003 04 .byte 4 |
| 875 0004 05 .byte 5 |
| 876 0005 06 .byte 6 |
| 877 0006 07 .byte 7 |
| 878 0007 08 .byte 8 |
| 879 0008 09 .byte 9 |
| 880 0009 0A .byte 10 |
| 881 .global DisplayBuff |
| 884 DisplayBuff: |
| 885 000a 4861 6C6C .string "Hallo Welt" |
| 885 6F20 5765 |
| 885 6C74 00 |
| 886 0015 0000 0000 .skip 69,0 |
| 886 0000 0000 |
| 886 0000 0000 |
| 886 0000 0000 |
| 886 0000 0000 |
| 887 .global DispPtr |
| 888 .global DispPtr |
| 889 .section .bss |
| 892 DispPtr: |
| 893 0002 00 .skip 1,0 |
| 894 .global RemoteTasten |
| 895 .global RemoteTasten |
| 898 RemoteTasten: |
| 899 0003 00 .skip 1,0 |
| 900 .section .progmem.data,"a",@progbits |
| 903 __c.2108: |
| 904 0000 5261 6E67 .string "Range:%3i-%3i" |
| 904 653A 2533 |
| 904 692D 2533 |
| 904 6900 |
| 907 __c.2106: |
| 908 000e 5374 656C .string "Stellung: %3i" |
| 908 6C75 6E67 |
| 908 3A20 2533 |
| 908 6900 |
| 911 __c.2104: |
| 912 001c 5365 7470 .string "Setpoint %3i" |
| 912 6F69 6E74 |
| 912 2020 2533 |
| 912 6900 |
| 915 __c.2102: |
| 916 002a 5365 7276 .string "Servo " |
| 916 6F20 2000 |
| 919 __c.2099: |
| 920 0032 506F 343A .string "Po4: %3i Po8: %3i" |
| 920 2025 3369 |
| 920 2050 6F38 |
| 920 3A20 2533 |
| 920 6900 |
| 923 __c.2097: |
| 924 0044 506F 333A .string "Po3: %3i Po7: %3i" |
| 924 2025 3369 |
| 924 2050 6F37 |
| 924 3A20 2533 |
| 924 6900 |
| 927 __c.2095: |
| 928 0056 506F 323A .string "Po2: %3i Po6: %3i" |
| 928 2025 3369 |
| 928 2050 6F36 |
| 928 3A20 2533 |
| 928 6900 |
| 931 __c.2093: |
| 932 0068 506F 313A .string "Po1: %3i Po5: %3i" |
| 932 2025 3369 |
| 932 2050 6F35 |
| 932 3A20 2533 |
| 932 6900 |
| 935 __c.2090: |
| 936 007a 5374 6172 .string "Start: %5i" |
| 936 743A 2020 |
| 936 2020 2025 |
| 936 3569 00 |
| 939 __c.2088: |
| 940 0089 4D65 7373 .string "Messwert: %5i" |
| 940 7765 7274 |
| 940 3A20 2025 |
| 940 3569 00 |
| 943 __c.2086: |
| 944 0098 5269 6368 .string "Richtung: %5i" |
| 944 7475 6E67 |
| 944 3A20 2025 |
| 944 3569 00 |
| 947 __c.2084: |
| 948 00a7 4B6F 6D70 .string "Kompass " |
| 948 6173 7320 |
| 948 2020 2020 |
| 948 2020 00 |
| 951 __c.2081: |
| 952 00b6 456D 7066 .string "Empf.Pegel:%5i" |
| 952 2E50 6567 |
| 952 656C 3A25 |
| 952 3569 00 |
| 955 __c.2079: |
| 956 00c5 5370 616E .string "Spannung: %5i" |
| 956 6E75 6E67 |
| 956 3A20 2025 |
| 956 3569 00 |
| 959 __c.2076: |
| 960 00d4 486F 6368 .string "Hoch %4i (%3i)" |
| 960 2025 3469 |
| 960 2028 2533 |
| 960 6929 00 |
| 963 __c.2074: |
| 964 00e3 526F 6C6C .string "Roll %4i (%3i)" |
| 964 2025 3469 |
| 964 2028 2533 |
| 964 6929 00 |
| 967 __c.2072: |
| 968 00f2 4E69 636B .string "Nick %4i (%3i)" |
| 968 2025 3469 |
| 968 2028 2533 |
| 968 6929 00 |
| 971 __c.2070: |
| 972 0101 4143 4320 .string "ACC - Sensor" |
| 972 2D20 5365 |
| 972 6E73 6F72 |
| 972 00 |
| 975 __c.2067: |
| 976 010e 4769 6572 .string "Gier %4i (%3i)" |
| 976 2025 3469 |
| 976 2028 2533 |
| 976 6929 00 |
| 979 __c.2065: |
| 980 011d 526F 6C6C .string "Roll %4i (%3i)" |
| 980 2025 3469 |
| 980 2028 2533 |
| 980 6929 00 |
| 983 __c.2063: |
| 984 012c 4E69 636B .string "Nick %4i (%3i)" |
| 984 2025 3469 |
| 984 2028 2533 |
| 984 6929 00 |
| 987 __c.2061: |
| 988 013b 4779 726F .string "Gyro - Sensor" |
| 988 202D 2053 |
| 988 656E 736F |
| 988 7200 |
| 991 __c.2058: |
| 992 0149 5033 3A25 .string "P3:%4i P4:%4i " |
| 992 3469 2020 |
| 992 5034 3A25 |
| 992 3469 2000 |
| 995 __c.2056: |
| 996 0159 5031 3A25 .string "P1:%4i P2:%4i " |
| 996 3469 2020 |
| 996 5032 3A25 |
| 996 3469 2000 |
| 999 __c.2054: |
| 1000 0169 4773 3A25 .string "Gs:%4i Gi:%4i " |
| 1000 3469 2020 |
| 1000 4769 3A25 |
| 1000 3469 2000 |
| 1003 __c.2052: |
| 1004 0179 4E69 3A25 .string "Ni:%4i Ro:%4i " |
| 1004 3469 2020 |
| 1004 526F 3A25 |
| 1004 3469 2000 |
| 1007 __c.2049: |
| 1008 0189 4B37 3A25 .string "K7:%4i K8:%4i " |
| 1008 3469 2020 |
| 1008 4B38 3A25 |
| 1008 3469 2000 |
| 1011 __c.2047: |
| 1012 0199 4B35 3A25 .string "K5:%4i K6:%4i " |
| 1012 3469 2020 |
| 1012 4B36 3A25 |
| 1012 3469 2000 |
| 1015 __c.2045: |
| 1016 01a9 4B33 3A25 .string "K3:%4i K4:%4i " |
| 1016 3469 2020 |
| 1016 4B34 3A25 |
| 1016 3469 2000 |
| 1019 __c.2043: |
| 1020 01b9 4B31 3A25 .string "K1:%4i K2:%4i " |
| 1020 3469 2020 |
| 1020 4B32 3A25 |
| 1020 3469 2000 |
| 1023 __c.2040: |
| 1024 01c9 4B6F 6D70 .string "Kompass: %5i" |
| 1024 6173 733A |
| 1024 2020 2025 |
| 1024 3569 00 |
| 1027 __c.2038: |
| 1028 01d8 526F 6C6C .string "Roll: %5i" |
| 1028 3A20 2020 |
| 1028 2020 2025 |
| 1028 3569 00 |
| 1031 __c.2036: |
| 1032 01e7 4E69 636B .string "Nick: %5i" |
| 1032 3A20 2020 |
| 1032 2020 2025 |
| 1032 3569 00 |
| 1035 __c.2034: |
| 1036 01f6 616B 742E .string "akt. Lage" |
| 1036 204C 6167 |
| 1036 6500 |
| 1039 __c.2031: |
| 1040 0200 48F6 6865 .string "H\366henregelung" |
| 1040 6E72 6567 |
| 1040 656C 756E |
| 1040 6700 |
| 1043 __c.2029: |
| 1044 020e 4B65 696E .string "Keine " |
| 1044 6520 00 |
| 1047 __c.2027: |
| 1048 0215 4F66 6620 .string "Off : %5i" |
| 1048 2020 2020 |
| 1048 203A 2025 |
| 1048 3569 00 |
| 1051 __c.2025: |
| 1052 0224 4C75 6674 .string "Luftdruck: %5i" |
| 1052 6472 7563 |
| 1052 6B3A 2025 |
| 1052 3569 00 |
| 1055 __c.2023: |
| 1056 0233 536F 6C6C .string "SollHoehe: %5i" |
| 1056 486F 6568 |
| 1056 653A 2025 |
| 1056 3569 00 |
| 1059 __c.2021: |
| 1060 0242 486F 6568 .string "Hoehe: %5i" |
| 1060 653A 2020 |
| 1060 2020 2025 |
| 1060 3569 00 |
| 1063 __c.2017: |
| 1064 0251 2863 2920 .string "(c) Holger Buss" |
| 1064 486F 6C67 |
| 1064 6572 2042 |
| 1064 7573 7300 |
| 1067 __c.2015: |
| 1068 0261 5365 7474 .string "Setting: %d " |
| 1068 696E 673A |
| 1068 2025 6420 |
| 1068 00 |
| 1071 __c.2013: |
| 1072 026e 5625 642E .string "V%d.%d" |
| 1072 2564 00 |
| 1075 __c.2011: |
| 1076 0275 2B2B 204D .string "++ MikroKopter ++" |
| 1076 696B 726F |
| 1076 4B6F 7074 |
| 1076 6572 202B |
| 1076 2B00 |
| 1079 __c.2008: |
| 1080 0287 5B25 695D .string "[%i]" |
| 1080 00 |
| 1081 .lcomm MenuePunkt.2007,1 |
| 1082 .data |
| 1085 MaxMenue.2006: |
| 1086 005a 0A .byte 10 |
| 1087 .comm DiffNick,2,1 |
| 1088 .comm DiffRoll,2,1 |
| 1089 .comm SenderOkay,1,1 |
| 1090 .comm CosinusNickWinkel,1,1 |
| 1091 .comm CosinusRollWinkel,1,1 |
| 1092 .comm durchschnitt_northing,4,1 |
| 1093 .comm durchschnitt_easting,4,1 |
| 1094 .comm P_GPS_Verstaerkung,2,1 |
| 1095 .comm D_GPS_Verstaerkung,2,1 |
| 1096 .comm Timeout,1,1 |
| 1097 .comm IntegralNick,4,1 |
| 1098 .comm IntegralNick2,4,1 |
| 1099 .comm IntegralRoll,4,1 |
| 1100 .comm IntegralRoll2,4,1 |
| 1101 .comm Mess_IntegralNick,4,1 |
| 1102 .comm Mess_IntegralNick2,4,1 |
| 1103 .comm Mess_IntegralRoll,4,1 |
| 1104 .comm Mess_IntegralRoll2,4,1 |
| 1105 .comm Integral_Gier,4,1 |
| 1106 .comm Mess_Integral_Gier,4,1 |
| 1107 .comm h,1,1 |
| 1108 .comm m,1,1 |
| 1109 .comm s,1,1 |
| 1110 .comm Motor_Vorne,1,1 |
| 1111 .comm Motor_Hinten,1,1 |
| 1112 .comm Motor_Rechts,1,1 |
| 1113 .comm Motor_Links,1,1 |
| 1114 .comm Count,1,1 |
| 1115 .comm MotorWert,5,1 |
| 1116 /* File "menu.c": code 1011 = 0x03f3 (1003), prologues 3, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 menu.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:13 .text:00000000 LcdClear |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:884 .data:0000000a DisplayBuff |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:32 .text:00000012 Menu |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:898 .bss:00000003 RemoteTasten |
| .bss:00000004 MenuePunkt.2007 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1085 .data:0000005a MaxMenue.2006 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:892 .bss:00000002 DispPtr |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1079 .progmem.data:00000287 __c.2008 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1075 .progmem.data:00000275 __c.2011 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1071 .progmem.data:0000026e __c.2013 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1067 .progmem.data:00000261 __c.2015 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1063 .progmem.data:00000251 __c.2017 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1059 .progmem.data:00000242 __c.2021 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1055 .progmem.data:00000233 __c.2023 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1051 .progmem.data:00000224 __c.2025 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1047 .progmem.data:00000215 __c.2027 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1043 .progmem.data:0000020e __c.2029 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1039 .progmem.data:00000200 __c.2031 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1035 .progmem.data:000001f6 __c.2034 |
| *COM*:00000004 IntegralNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1031 .progmem.data:000001e7 __c.2036 |
| *COM*:00000004 IntegralRoll |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1027 .progmem.data:000001d8 __c.2038 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1023 .progmem.data:000001c9 __c.2040 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1019 .progmem.data:000001b9 __c.2043 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1015 .progmem.data:000001a9 __c.2045 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1011 .progmem.data:00000199 __c.2047 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1007 .progmem.data:00000189 __c.2049 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:1003 .progmem.data:00000179 __c.2052 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:999 .progmem.data:00000169 __c.2054 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:995 .progmem.data:00000159 __c.2056 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:991 .progmem.data:00000149 __c.2058 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:987 .progmem.data:0000013b __c.2061 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:983 .progmem.data:0000012c __c.2063 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:979 .progmem.data:0000011d __c.2065 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:975 .progmem.data:0000010e __c.2067 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:971 .progmem.data:00000101 __c.2070 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:967 .progmem.data:000000f2 __c.2072 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:963 .progmem.data:000000e3 __c.2074 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:959 .progmem.data:000000d4 __c.2076 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:955 .progmem.data:000000c5 __c.2079 |
| *COM*:00000001 SenderOkay |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:951 .progmem.data:000000b6 __c.2081 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:947 .progmem.data:000000a7 __c.2084 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:943 .progmem.data:00000098 __c.2086 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:939 .progmem.data:00000089 __c.2088 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:935 .progmem.data:0000007a __c.2090 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:931 .progmem.data:00000068 __c.2093 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:927 .progmem.data:00000056 __c.2095 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:923 .progmem.data:00000044 __c.2097 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:919 .progmem.data:00000032 __c.2099 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:915 .progmem.data:0000002a __c.2102 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:911 .progmem.data:0000001c __c.2104 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:907 .progmem.data:0000000e __c.2106 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:903 .progmem.data:00000000 __c.2108 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:864 .bss:00000000 TestInt |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccCgAEGZ.s:870 .data:00000000 Array |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| _printf_P |
| GetActiveParamSetNumber |
| EE_Parameter |
| HoehenWert |
| SollHoehe |
| MessLuftdruck |
| DruckOffsetSetting |
| __divmodsi4 |
| KompassValue |
| PPM_in |
| AdNeutralNick |
| AccumulateNick |
| MessanzahlNick |
| __divmodhi4 |
| AdNeutralRoll |
| AccumulateRoll |
| MessanzahlRoll |
| AdNeutralGier |
| AccumulateGier |
| MessanzahlGier |
| NeutralAccX |
| accumulate_AccNick |
| messanzahl_AccNick |
| NeutralAccY |
| accumulate_AccRoll |
| messanzahl_AccRoll |
| NeutralAccZ |
| Aktuell_az |
| __fixsfsi |
| UBat |
| KompassRichtung |
| KompassStartwert |
| Poti5 |
| Poti1 |
| Poti6 |
| Poti2 |
| Poti7 |
| Poti3 |
| Poti8 |
| Poti4 |
| Parameter_ServoNickControl |
| ServoValue |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/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/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/printf_P.d |
|---|
| 0,0 → 1,2 |
| printf_P.o printf_P.d : printf_P.c main.h old_macros.h _Settings.h printf_P.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/printf_P.lst |
|---|
| 0,0 → 1,984 |
| 1 .file "printf_P.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global Putchar |
| 13 Putchar: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 982F mov r25,r24 |
| 17 0002 8091 0000 lds r24,PrintZiel |
| 18 0006 8130 cpi r24,lo8(1) |
| 19 0008 01F4 brne .L2 |
| 20 000a 8091 0000 lds r24,DispPtr |
| 21 000e E82F mov r30,r24 |
| 22 0010 FF27 clr r31 |
| 23 0012 E050 subi r30,lo8(-(DisplayBuff)) |
| 24 0014 F040 sbci r31,hi8(-(DisplayBuff)) |
| 25 0016 9083 st Z,r25 |
| 26 0018 8F5F subi r24,lo8(-(1)) |
| 27 001a 8093 0000 sts DispPtr,r24 |
| 28 001e 21E0 ldi r18,lo8(1) |
| 29 0020 30E0 ldi r19,hi8(1) |
| 30 0022 00C0 rjmp .L4 |
| 31 .L2: |
| 32 0024 892F mov r24,r25 |
| 33 0026 0E94 0000 call uart_putchar |
| 34 002a 282F mov r18,r24 |
| 35 002c 3327 clr r19 |
| 36 .L4: |
| 37 002e C901 movw r24,r18 |
| 38 /* epilogue: frame size=0 */ |
| 39 0030 0895 ret |
| 40 /* epilogue end (size=1) */ |
| 41 /* function Putchar size 25 (24) */ |
| 43 .global PAD_0 |
| 45 PAD_0: |
| 46 /* prologue: frame size=0 */ |
| 47 0032 1F93 push r17 |
| 48 /* prologue end (size=1) */ |
| 49 0034 182F mov r17,r24 |
| 50 0036 00C0 rjmp .L7 |
| 51 .L8: |
| 52 0038 80E3 ldi r24,lo8(48) |
| 53 003a 0E94 0000 call Putchar |
| 54 003e 1150 subi r17,lo8(-(-1)) |
| 55 .L7: |
| 56 0040 1116 cp __zero_reg__,r17 |
| 57 0042 04F0 brlt .L8 |
| 58 /* epilogue: frame size=0 */ |
| 59 0044 1F91 pop r17 |
| 60 0046 0895 ret |
| 61 /* epilogue end (size=2) */ |
| 62 /* function PAD_0 size 11 (8) */ |
| 64 .global PAD_SP |
| 66 PAD_SP: |
| 67 /* prologue: frame size=0 */ |
| 68 0048 1F93 push r17 |
| 69 /* prologue end (size=1) */ |
| 70 004a 182F mov r17,r24 |
| 71 004c 00C0 rjmp .L12 |
| 72 .L13: |
| 73 004e 80E2 ldi r24,lo8(32) |
| 74 0050 0E94 0000 call Putchar |
| 75 0054 1150 subi r17,lo8(-(-1)) |
| 76 .L12: |
| 77 0056 1116 cp __zero_reg__,r17 |
| 78 0058 04F0 brlt .L13 |
| 79 /* epilogue: frame size=0 */ |
| 80 005a 1F91 pop r17 |
| 81 005c 0895 ret |
| 82 /* epilogue end (size=2) */ |
| 83 /* function PAD_SP size 11 (8) */ |
| 85 .global PRINTP |
| 87 PRINTP: |
| 88 /* prologue: frame size=0 */ |
| 89 005e 0F93 push r16 |
| 90 0060 1F93 push r17 |
| 91 0062 CF93 push r28 |
| 92 0064 DF93 push r29 |
| 93 /* prologue end (size=4) */ |
| 94 0066 8C01 movw r16,r24 |
| 95 0068 EB01 movw r28,r22 |
| 96 006a 00C0 rjmp .L17 |
| 97 .L18: |
| 98 006c F801 movw r30,r16 |
| 99 006e 0F5F subi r16,lo8(-(1)) |
| 100 0070 1F4F sbci r17,hi8(-(1)) |
| 101 /* #APP */ |
| 102 0072 E491 lpm r30, Z |
| 103 |
| 104 /* #NOAPP */ |
| 105 0074 8E2F mov r24,r30 |
| 106 0076 0E94 0000 call Putchar |
| 107 007a 2197 sbiw r28,1 |
| 108 .L17: |
| 109 007c 2097 sbiw r28,0 |
| 110 007e 01F4 brne .L18 |
| 111 /* epilogue: frame size=0 */ |
| 112 0080 DF91 pop r29 |
| 113 0082 CF91 pop r28 |
| 114 0084 1F91 pop r17 |
| 115 0086 0F91 pop r16 |
| 116 0088 0895 ret |
| 117 /* epilogue end (size=5) */ |
| 118 /* function PRINTP size 25 (16) */ |
| 120 .global PRINT |
| 122 PRINT: |
| 123 /* prologue: frame size=0 */ |
| 124 008a 0F93 push r16 |
| 125 008c 1F93 push r17 |
| 126 008e CF93 push r28 |
| 127 0090 DF93 push r29 |
| 128 /* prologue end (size=4) */ |
| 129 0092 8C01 movw r16,r24 |
| 130 0094 EB01 movw r28,r22 |
| 131 0096 00C0 rjmp .L22 |
| 132 .L23: |
| 133 0098 F801 movw r30,r16 |
| 134 009a 8191 ld r24,Z+ |
| 135 009c 8F01 movw r16,r30 |
| 136 009e 0E94 0000 call Putchar |
| 137 00a2 2197 sbiw r28,1 |
| 138 .L22: |
| 139 00a4 2097 sbiw r28,0 |
| 140 00a6 01F4 brne .L23 |
| 141 /* epilogue: frame size=0 */ |
| 142 00a8 DF91 pop r29 |
| 143 00aa CF91 pop r28 |
| 144 00ac 1F91 pop r17 |
| 145 00ae 0F91 pop r16 |
| 146 00b0 0895 ret |
| 147 /* epilogue end (size=5) */ |
| 148 /* function PRINT size 20 (11) */ |
| 150 .global _printf_P |
| 152 _printf_P: |
| 153 /* prologue: frame size=51 */ |
| 154 00b2 2F92 push r2 |
| 155 00b4 3F92 push r3 |
| 156 00b6 4F92 push r4 |
| 157 00b8 5F92 push r5 |
| 158 00ba 6F92 push r6 |
| 159 00bc 7F92 push r7 |
| 160 00be 8F92 push r8 |
| 161 00c0 9F92 push r9 |
| 162 00c2 AF92 push r10 |
| 163 00c4 BF92 push r11 |
| 164 00c6 CF92 push r12 |
| 165 00c8 DF92 push r13 |
| 166 00ca EF92 push r14 |
| 167 00cc FF92 push r15 |
| 168 00ce 0F93 push r16 |
| 169 00d0 1F93 push r17 |
| 170 00d2 CF93 push r28 |
| 171 00d4 DF93 push r29 |
| 172 00d6 CDB7 in r28,__SP_L__ |
| 173 00d8 DEB7 in r29,__SP_H__ |
| 174 00da E397 sbiw r28,51 |
| 175 00dc 0FB6 in __tmp_reg__,__SREG__ |
| 176 00de F894 cli |
| 177 00e0 DEBF out __SP_H__,r29 |
| 178 00e2 0FBE out __SREG__,__tmp_reg__ |
| 179 00e4 CDBF out __SP_L__,r28 |
| 180 /* prologue end (size=26) */ |
| 181 00e6 2996 adiw r28,72-63 |
| 182 00e8 8FAD ldd r24,Y+63 |
| 183 00ea 2997 sbiw r28,72-63 |
| 184 00ec 8093 0000 sts PrintZiel,r24 |
| 185 00f0 CE01 movw r24,r28 |
| 186 00f2 855B subi r24,lo8(-(75)) |
| 187 00f4 9F4F sbci r25,hi8(-(75)) |
| 188 00f6 9D83 std Y+5,r25 |
| 189 00f8 8C83 std Y+4,r24 |
| 190 00fa 2B96 adiw r28,73-62 |
| 191 00fc 8EAD ldd r24,Y+62 |
| 192 00fe 9FAD ldd r25,Y+63 |
| 193 0100 2B97 sbiw r28,73-62 |
| 194 0102 9FA7 std Y+47,r25 |
| 195 0104 8EA7 std Y+46,r24 |
| 196 0106 2224 clr r2 |
| 197 0108 3324 clr r3 |
| 198 010a 2101 movw r4,r2 |
| 199 010c 00C0 rjmp .L27 |
| 200 .L28: |
| 201 010e 1301 movw r2,r6 |
| 202 0110 2401 movw r4,r8 |
| 203 .L27: |
| 204 0112 0EA5 ldd r16,Y+46 |
| 205 0114 1FA5 ldd r17,Y+47 |
| 206 0116 00C0 rjmp .L29 |
| 207 .L30: |
| 208 0118 0F5F subi r16,lo8(-(1)) |
| 209 011a 1F4F sbci r17,hi8(-(1)) |
| 210 .L29: |
| 211 011c F801 movw r30,r16 |
| 212 /* #APP */ |
| 213 011e F490 lpm r15, Z |
| 214 |
| 215 /* #NOAPP */ |
| 216 0120 FF20 tst r15 |
| 217 0122 01F0 breq .L31 |
| 218 0124 F5E2 ldi r31,lo8(37) |
| 219 0126 FF16 cp r15,r31 |
| 220 0128 01F4 brne .L30 |
| 221 .L31: |
| 222 012a B801 movw r22,r16 |
| 223 012c 8EA5 ldd r24,Y+46 |
| 224 012e 9FA5 ldd r25,Y+47 |
| 225 0130 681B sub r22,r24 |
| 226 0132 790B sbc r23,r25 |
| 227 0134 01F0 breq .L33 |
| 228 0136 0E94 0000 call PRINTP |
| 229 .L33: |
| 230 013a FF20 tst r15 |
| 231 013c 01F4 brne .+2 |
| 232 013e 00C0 rjmp .L152 |
| 233 0140 0F5F subi r16,lo8(-(1)) |
| 234 0142 1F4F sbci r17,hi8(-(1)) |
| 235 0144 1FA7 std Y+47,r17 |
| 236 0146 0EA7 std Y+46,r16 |
| 237 0148 1982 std Y+1,__zero_reg__ |
| 238 014a AC81 ldd r26,Y+4 |
| 239 014c BD81 ldd r27,Y+5 |
| 240 014e 1BAA std Y+51,__zero_reg__ |
| 241 0150 1AAA std Y+50,__zero_reg__ |
| 242 0152 9FEF ldi r25,lo8(-1) |
| 243 0154 99AB std Y+49,r25 |
| 244 .L175: |
| 245 0156 EEA5 ldd r30,Y+46 |
| 246 0158 FFA5 ldd r31,Y+47 |
| 247 015a CF01 movw r24,r30 |
| 248 015c 0196 adiw r24,1 |
| 249 015e 9FA7 std Y+47,r25 |
| 250 0160 8EA7 std Y+46,r24 |
| 251 /* #APP */ |
| 252 0162 B490 lpm r11, Z |
| 253 |
| 254 /* #NOAPP */ |
| 255 .L176: |
| 256 0164 95E7 ldi r25,lo8(117) |
| 257 0166 B916 cp r11,r25 |
| 258 0168 01F0 breq .L39 |
| 259 016a 8B2D mov r24,r11 |
| 260 016c 8062 ori r24,lo8(32) |
| 261 016e 8837 cpi r24,lo8(120) |
| 262 0170 01F4 brne .L41 |
| 263 .L39: |
| 264 0172 EBA9 ldd r30,Y+51 |
| 265 0174 E0FF sbrs r30,0 |
| 266 0176 00C0 rjmp .L42 |
| 267 0178 2D90 ld r2,X+ |
| 268 017a 3D90 ld r3,X+ |
| 269 017c 4D90 ld r4,X+ |
| 270 017e 5C90 ld r5,X |
| 271 0180 1397 sbiw r26,3 |
| 272 0182 1496 adiw r26,4 |
| 273 0184 00C0 rjmp .L41 |
| 274 .L42: |
| 275 0186 8D91 ld r24,X+ |
| 276 0188 9C91 ld r25,X |
| 277 018a 1197 sbiw r26,1 |
| 278 018c 1C01 movw r2,r24 |
| 279 018e 4424 clr r4 |
| 280 0190 5524 clr r5 |
| 281 0192 1296 adiw r26,2 |
| 282 .L41: |
| 283 0194 F0E2 ldi r31,lo8(32) |
| 284 0196 BF16 cp r11,r31 |
| 285 0198 01F4 brne .L44 |
| 286 019a 8981 ldd r24,Y+1 |
| 287 019c 8823 tst r24 |
| 288 019e 01F4 brne .L175 |
| 289 01a0 00C0 rjmp .L156 |
| 290 .L44: |
| 291 01a2 83E2 ldi r24,lo8(35) |
| 292 01a4 B816 cp r11,r24 |
| 293 01a6 01F4 brne .+2 |
| 294 01a8 00C0 rjmp .L155 |
| 295 01aa 9AE2 ldi r25,lo8(42) |
| 296 01ac B916 cp r11,r25 |
| 297 01ae 01F0 breq .L49 |
| 298 01b0 EDE2 ldi r30,lo8(45) |
| 299 01b2 BE16 cp r11,r30 |
| 300 01b4 01F4 brne .L164 |
| 301 01b6 00C0 rjmp .L51 |
| 302 .L49: |
| 303 01b8 FD01 movw r30,r26 |
| 304 01ba 1296 adiw r26,2 |
| 305 01bc E081 ld r30,Z |
| 306 01be EAAB std Y+50,r30 |
| 307 01c0 E7FF sbrs r30,7 |
| 308 01c2 00C0 rjmp .L175 |
| 309 01c4 E195 neg r30 |
| 310 01c6 EAAB std Y+50,r30 |
| 311 .L51: |
| 312 01c8 FBA9 ldd r31,Y+51 |
| 313 01ca F061 ori r31,lo8(16) |
| 314 01cc FF7D andi r31,lo8(-33) |
| 315 01ce 00C0 rjmp .L169 |
| 316 .L164: |
| 317 01d0 8BE2 ldi r24,lo8(43) |
| 318 01d2 B816 cp r11,r24 |
| 319 01d4 01F4 brne .+2 |
| 320 01d6 00C0 rjmp .L156 |
| 321 01d8 9EE2 ldi r25,lo8(46) |
| 322 01da B916 cp r11,r25 |
| 323 01dc 01F4 brne .L56 |
| 324 01de 2EA5 ldd r18,Y+46 |
| 325 01e0 3FA5 ldd r19,Y+47 |
| 326 01e2 2F5F subi r18,lo8(-(1)) |
| 327 01e4 3F4F sbci r19,hi8(-(1)) |
| 328 01e6 EEA5 ldd r30,Y+46 |
| 329 01e8 FFA5 ldd r31,Y+47 |
| 330 /* #APP */ |
| 331 01ea 8491 lpm r24, Z |
| 332 |
| 333 /* #NOAPP */ |
| 334 01ec 8A32 cpi r24,lo8(42) |
| 335 01ee 01F0 breq .L58 |
| 336 01f0 B82E mov r11,r24 |
| 337 01f2 20E0 ldi r18,lo8(0) |
| 338 01f4 30E0 ldi r19,hi8(0) |
| 339 01f6 00C0 rjmp .L60 |
| 340 .L58: |
| 341 01f8 FD01 movw r30,r26 |
| 342 01fa 1296 adiw r26,2 |
| 343 01fc 4081 ld r20,Z |
| 344 01fe 5181 ldd r21,Z+1 |
| 345 0200 57FF sbrs r21,7 |
| 346 0202 00C0 rjmp .L61 |
| 347 0204 4FEF ldi r20,lo8(-1) |
| 348 0206 5FEF ldi r21,hi8(-1) |
| 349 .L61: |
| 350 0208 49AB std Y+49,r20 |
| 351 020a 3FA7 std Y+47,r19 |
| 352 020c 2EA7 std Y+46,r18 |
| 353 020e 00C0 rjmp .L175 |
| 354 .L62: |
| 355 0210 C901 movw r24,r18 |
| 356 0212 03E0 ldi r16,3 |
| 357 0214 880F 1: lsl r24 |
| 358 0216 991F rol r25 |
| 359 0218 0A95 dec r16 |
| 360 021a 01F4 brne 1b |
| 361 021c 220F lsl r18 |
| 362 021e 331F rol r19 |
| 363 0220 280F add r18,r24 |
| 364 0222 391F adc r19,r25 |
| 365 0224 2B0D add r18,r11 |
| 366 0226 311D adc r19,__zero_reg__ |
| 367 0228 2053 subi r18,lo8(-(-48)) |
| 368 022a 3040 sbci r19,hi8(-(-48)) |
| 369 /* #APP */ |
| 370 022c B490 lpm r11, Z |
| 371 |
| 372 /* #NOAPP */ |
| 373 .L60: |
| 374 022e 3196 adiw r30,1 |
| 375 0230 8B2D mov r24,r11 |
| 376 0232 8053 subi r24,lo8(-(-48)) |
| 377 0234 8A30 cpi r24,lo8(10) |
| 378 0236 00F0 brlo .L62 |
| 379 0238 FFA7 std Y+47,r31 |
| 380 023a EEA7 std Y+46,r30 |
| 381 023c A901 movw r20,r18 |
| 382 023e 37FF sbrs r19,7 |
| 383 0240 00C0 rjmp .L64 |
| 384 0242 4FEF ldi r20,lo8(-1) |
| 385 0244 5FEF ldi r21,hi8(-1) |
| 386 .L64: |
| 387 0246 49AB std Y+49,r20 |
| 388 0248 00C0 rjmp .L176 |
| 389 .L56: |
| 390 024a F0E3 ldi r31,lo8(48) |
| 391 024c BF16 cp r11,r31 |
| 392 024e 01F4 brne .L65 |
| 393 0250 8BA9 ldd r24,Y+51 |
| 394 0252 84FD sbrc r24,4 |
| 395 0254 00C0 rjmp .L175 |
| 396 0256 8062 ori r24,lo8(32) |
| 397 0258 8BAB std Y+51,r24 |
| 398 025a 00C0 rjmp .L175 |
| 399 .L65: |
| 400 025c 8B2D mov r24,r11 |
| 401 025e 8153 subi r24,lo8(-(-49)) |
| 402 0260 8930 cpi r24,lo8(9) |
| 403 0262 00F4 brsh .L68 |
| 404 0264 20E0 ldi r18,lo8(0) |
| 405 0266 30E0 ldi r19,hi8(0) |
| 406 .L70: |
| 407 0268 C901 movw r24,r18 |
| 408 026a F3E0 ldi r31,3 |
| 409 026c 880F 1: lsl r24 |
| 410 026e 991F rol r25 |
| 411 0270 FA95 dec r31 |
| 412 0272 01F4 brne 1b |
| 413 0274 220F lsl r18 |
| 414 0276 331F rol r19 |
| 415 0278 280F add r18,r24 |
| 416 027a 391F adc r19,r25 |
| 417 027c 2B0D add r18,r11 |
| 418 027e 311D adc r19,__zero_reg__ |
| 419 0280 2053 subi r18,lo8(-(-48)) |
| 420 0282 3040 sbci r19,hi8(-(-48)) |
| 421 0284 EEA5 ldd r30,Y+46 |
| 422 0286 FFA5 ldd r31,Y+47 |
| 423 0288 CF01 movw r24,r30 |
| 424 028a 0196 adiw r24,1 |
| 425 028c 9FA7 std Y+47,r25 |
| 426 028e 8EA7 std Y+46,r24 |
| 427 /* #APP */ |
| 428 0290 B490 lpm r11, Z |
| 429 |
| 430 /* #NOAPP */ |
| 431 0292 8B2D mov r24,r11 |
| 432 0294 8053 subi r24,lo8(-(-48)) |
| 433 0296 8A30 cpi r24,lo8(10) |
| 434 0298 00F0 brlo .L70 |
| 435 029a 2AAB std Y+50,r18 |
| 436 029c 00C0 rjmp .L176 |
| 437 .L68: |
| 438 029e 98E6 ldi r25,lo8(104) |
| 439 02a0 B916 cp r11,r25 |
| 440 02a2 01F4 brne .L72 |
| 441 02a4 EBA9 ldd r30,Y+51 |
| 442 02a6 E460 ori r30,lo8(4) |
| 443 02a8 EBAB std Y+51,r30 |
| 444 02aa 00C0 rjmp .L175 |
| 445 .L156: |
| 446 02ac B982 std Y+1,r11 |
| 447 02ae 00C0 rjmp .L175 |
| 448 .L155: |
| 449 02b0 FBA9 ldd r31,Y+51 |
| 450 02b2 F860 ori r31,lo8(8) |
| 451 .L169: |
| 452 02b4 FBAB std Y+51,r31 |
| 453 02b6 00C0 rjmp .L175 |
| 454 .L72: |
| 455 02b8 8CE6 ldi r24,lo8(108) |
| 456 02ba B816 cp r11,r24 |
| 457 02bc 01F4 brne .L74 |
| 458 02be 9BA9 ldd r25,Y+51 |
| 459 02c0 9160 ori r25,lo8(1) |
| 460 02c2 9BAB std Y+51,r25 |
| 461 02c4 00C0 rjmp .L175 |
| 462 .L74: |
| 463 02c6 BD83 std Y+5,r27 |
| 464 02c8 AC83 std Y+4,r26 |
| 465 02ca E3E6 ldi r30,lo8(99) |
| 466 02cc BE16 cp r11,r30 |
| 467 02ce 01F4 brne .L76 |
| 468 02d0 1296 adiw r26,2 |
| 469 02d2 BD83 std Y+5,r27 |
| 470 02d4 AC83 std Y+4,r26 |
| 471 02d6 1297 sbiw r26,2 |
| 472 02d8 8C91 ld r24,X |
| 473 02da 8E83 std Y+6,r24 |
| 474 02dc 00C0 rjmp .L174 |
| 475 .L76: |
| 476 02de F4E4 ldi r31,lo8(68) |
| 477 02e0 BF16 cp r11,r31 |
| 478 02e2 01F0 breq .L79 |
| 479 02e4 84E6 ldi r24,lo8(100) |
| 480 02e6 B816 cp r11,r24 |
| 481 02e8 01F0 breq .L81 |
| 482 02ea 99E6 ldi r25,lo8(105) |
| 483 02ec B916 cp r11,r25 |
| 484 02ee 01F4 brne .L166 |
| 485 02f0 00C0 rjmp .L81 |
| 486 .L79: |
| 487 02f2 EBA9 ldd r30,Y+51 |
| 488 02f4 E160 ori r30,lo8(1) |
| 489 02f6 EBAB std Y+51,r30 |
| 490 .L81: |
| 491 02f8 FBA9 ldd r31,Y+51 |
| 492 02fa F0FF sbrs r31,0 |
| 493 02fc 00C0 rjmp .L84 |
| 494 02fe 1496 adiw r26,4 |
| 495 0300 BD83 std Y+5,r27 |
| 496 0302 AC83 std Y+4,r26 |
| 497 0304 5E90 ld r5,-X |
| 498 0306 4E90 ld r4,-X |
| 499 0308 3E90 ld r3,-X |
| 500 030a 2E90 ld r2,-X |
| 501 030c 00C0 rjmp .L86 |
| 502 .L84: |
| 503 030e 1296 adiw r26,2 |
| 504 0310 BD83 std Y+5,r27 |
| 505 0312 AC83 std Y+4,r26 |
| 506 0314 9E91 ld r25,-X |
| 507 0316 8E91 ld r24,-X |
| 508 0318 1C01 movw r2,r24 |
| 509 031a 4424 clr r4 |
| 510 031c 37FC sbrc r3,7 |
| 511 031e 4094 com r4 |
| 512 0320 542C mov r5,r4 |
| 513 .L86: |
| 514 0322 57FC sbrc r5,7 |
| 515 0324 00C0 rjmp .L87 |
| 516 0326 8AE0 ldi r24,lo8(10) |
| 517 0328 88AB std Y+48,r24 |
| 518 032a 00C0 rjmp .L89 |
| 519 .L87: |
| 520 032c 5094 com r5 |
| 521 032e 4094 com r4 |
| 522 0330 3094 com r3 |
| 523 0332 2094 com r2 |
| 524 0334 211C adc r2,__zero_reg__ |
| 525 0336 311C adc r3,__zero_reg__ |
| 526 0338 411C adc r4,__zero_reg__ |
| 527 033a 511C adc r5,__zero_reg__ |
| 528 033c 8DE2 ldi r24,lo8(45) |
| 529 033e 8983 std Y+1,r24 |
| 530 0340 9AE0 ldi r25,lo8(10) |
| 531 0342 98AB std Y+48,r25 |
| 532 0344 00C0 rjmp .L89 |
| 533 .L166: |
| 534 0346 EFE4 ldi r30,lo8(79) |
| 535 0348 BE16 cp r11,r30 |
| 536 034a 01F0 breq .L90 |
| 537 034c FFE6 ldi r31,lo8(111) |
| 538 034e BF16 cp r11,r31 |
| 539 0350 01F4 brne .L92 |
| 540 0352 88E0 ldi r24,lo8(8) |
| 541 0354 00C0 rjmp .L170 |
| 542 .L90: |
| 543 0356 9BA9 ldd r25,Y+51 |
| 544 0358 9160 ori r25,lo8(1) |
| 545 035a 9BAB std Y+51,r25 |
| 546 035c E8E0 ldi r30,lo8(8) |
| 547 035e 00C0 rjmp .L171 |
| 548 .L92: |
| 549 0360 F0E7 ldi r31,lo8(112) |
| 550 0362 BF16 cp r11,r31 |
| 551 0364 01F4 brne .L95 |
| 552 0366 1296 adiw r26,2 |
| 553 0368 BD83 std Y+5,r27 |
| 554 036a AC83 std Y+4,r26 |
| 555 036c 9E91 ld r25,-X |
| 556 036e 8E91 ld r24,-X |
| 557 0370 1C01 movw r2,r24 |
| 558 0372 4424 clr r4 |
| 559 0374 5524 clr r5 |
| 560 0376 8BA9 ldd r24,Y+51 |
| 561 0378 8064 ori r24,lo8(64) |
| 562 037a 8BAB std Y+51,r24 |
| 563 037c 78E7 ldi r23,lo8(120) |
| 564 037e B72E mov r11,r23 |
| 565 0380 00C0 rjmp .L172 |
| 566 .L95: |
| 567 0382 E3E7 ldi r30,lo8(115) |
| 568 0384 BE16 cp r11,r30 |
| 569 0386 01F4 brne .L97 |
| 570 0388 1296 adiw r26,2 |
| 571 038a BD83 std Y+5,r27 |
| 572 038c AC83 std Y+4,r26 |
| 573 038e DE90 ld r13,-X |
| 574 0390 CE90 ld r12,-X |
| 575 0392 C114 cp r12,__zero_reg__ |
| 576 0394 D104 cpc r13,__zero_reg__ |
| 577 0396 01F4 brne .L99 |
| 578 0398 88E2 ldi r24,lo8(40) |
| 579 039a 8E83 std Y+6,r24 |
| 580 039c 8EE6 ldi r24,lo8(110) |
| 581 039e 8F83 std Y+7,r24 |
| 582 03a0 85E7 ldi r24,lo8(117) |
| 583 03a2 8887 std Y+8,r24 |
| 584 03a4 8CE6 ldi r24,lo8(108) |
| 585 03a6 8987 std Y+9,r24 |
| 586 03a8 8A87 std Y+10,r24 |
| 587 03aa 89E2 ldi r24,lo8(41) |
| 588 03ac 8B87 std Y+11,r24 |
| 589 03ae 1C86 std Y+12,__zero_reg__ |
| 590 03b0 66E0 ldi r22,lo8(6) |
| 591 03b2 C62E mov r12,r22 |
| 592 03b4 D12C mov r13,__zero_reg__ |
| 593 03b6 CC0E add r12,r28 |
| 594 03b8 DD1E adc r13,r29 |
| 595 .L99: |
| 596 03ba F9A9 ldd r31,Y+49 |
| 597 03bc F7FD sbrc r31,7 |
| 598 03be 00C0 rjmp .L101 |
| 599 03c0 4F2F mov r20,r31 |
| 600 03c2 5527 clr r21 |
| 601 03c4 47FD sbrc r20,7 |
| 602 03c6 5095 com r21 |
| 603 03c8 60E0 ldi r22,lo8(0) |
| 604 03ca 70E0 ldi r23,hi8(0) |
| 605 03cc C601 movw r24,r12 |
| 606 03ce 0E94 0000 call memchr |
| 607 03d2 0097 sbiw r24,0 |
| 608 03d4 01F4 brne .L103 |
| 609 03d6 19A9 ldd r17,Y+49 |
| 610 03d8 00C0 rjmp .L105 |
| 611 .L103: |
| 612 03da 8C19 sub r24,r12 |
| 613 03dc 19A9 ldd r17,Y+49 |
| 614 03de 8117 cp r24,r17 |
| 615 03e0 04F4 brge .L105 |
| 616 03e2 182F mov r17,r24 |
| 617 03e4 00C0 rjmp .L105 |
| 618 .L101: |
| 619 03e6 F601 movw r30,r12 |
| 620 03e8 0190 ld __tmp_reg__,Z+ |
| 621 03ea 0020 tst __tmp_reg__ |
| 622 03ec 01F4 brne .-6 |
| 623 03ee 3197 sbiw r30,1 |
| 624 03f0 1E2F mov r17,r30 |
| 625 03f2 1C19 sub r17,r12 |
| 626 .L105: |
| 627 03f4 1982 std Y+1,__zero_reg__ |
| 628 03f6 4201 movw r8,r4 |
| 629 03f8 3101 movw r6,r2 |
| 630 03fa 40E0 ldi r20,lo8(0) |
| 631 03fc 00C0 rjmp .L107 |
| 632 .L97: |
| 633 03fe 85E5 ldi r24,lo8(85) |
| 634 0400 B816 cp r11,r24 |
| 635 0402 01F0 breq .L108 |
| 636 0404 95E7 ldi r25,lo8(117) |
| 637 0406 B916 cp r11,r25 |
| 638 0408 01F4 brne .L110 |
| 639 040a EAE0 ldi r30,lo8(10) |
| 640 .L171: |
| 641 040c E8AB std Y+48,r30 |
| 642 040e 00C0 rjmp .L94 |
| 643 .L108: |
| 644 0410 FBA9 ldd r31,Y+51 |
| 645 0412 F160 ori r31,lo8(1) |
| 646 0414 FBAB std Y+51,r31 |
| 647 0416 8AE0 ldi r24,lo8(10) |
| 648 .L170: |
| 649 0418 88AB std Y+48,r24 |
| 650 041a 00C0 rjmp .L94 |
| 651 .L110: |
| 652 041c 98E5 ldi r25,lo8(88) |
| 653 041e B916 cp r11,r25 |
| 654 0420 01F0 breq .L112 |
| 655 0422 E8E7 ldi r30,lo8(120) |
| 656 0424 BE16 cp r11,r30 |
| 657 0426 01F0 breq .+2 |
| 658 0428 00C0 rjmp .L114 |
| 659 .L112: |
| 660 042a FBA9 ldd r31,Y+51 |
| 661 042c F3FD sbrc r31,3 |
| 662 042e 00C0 rjmp .L115 |
| 663 0430 80E1 ldi r24,lo8(16) |
| 664 0432 00C0 rjmp .L170 |
| 665 .L115: |
| 666 0434 2114 cp r2,__zero_reg__ |
| 667 0436 3104 cpc r3,__zero_reg__ |
| 668 0438 4104 cpc r4,__zero_reg__ |
| 669 043a 5104 cpc r5,__zero_reg__ |
| 670 043c 01F4 brne .L117 |
| 671 .L172: |
| 672 043e 90E1 ldi r25,lo8(16) |
| 673 0440 98AB std Y+48,r25 |
| 674 0442 00C0 rjmp .L94 |
| 675 .L117: |
| 676 0444 EBA9 ldd r30,Y+51 |
| 677 0446 E064 ori r30,lo8(64) |
| 678 0448 EBAB std Y+51,r30 |
| 679 044a F0E1 ldi r31,lo8(16) |
| 680 044c F8AB std Y+48,r31 |
| 681 .L94: |
| 682 044e 1982 std Y+1,__zero_reg__ |
| 683 .L89: |
| 684 0450 89A9 ldd r24,Y+49 |
| 685 0452 87FD sbrc r24,7 |
| 686 0454 00C0 rjmp .L119 |
| 687 0456 9BA9 ldd r25,Y+51 |
| 688 0458 9F7D andi r25,lo8(-33) |
| 689 045a 9BAB std Y+51,r25 |
| 690 .L119: |
| 691 045c 2114 cp r2,__zero_reg__ |
| 692 045e 3104 cpc r3,__zero_reg__ |
| 693 0460 4104 cpc r4,__zero_reg__ |
| 694 0462 5104 cpc r5,__zero_reg__ |
| 695 0464 01F4 brne .L121 |
| 696 0466 E9A9 ldd r30,Y+49 |
| 697 0468 EE23 tst r30 |
| 698 046a 01F4 brne .L121 |
| 699 046c 6624 clr r6 |
| 700 046e 7724 clr r7 |
| 701 0470 4301 movw r8,r6 |
| 702 0472 5EE2 ldi r21,lo8(46) |
| 703 0474 C52E mov r12,r21 |
| 704 0476 D12C mov r13,__zero_reg__ |
| 705 0478 CC0E add r12,r28 |
| 706 047a DD1E adc r13,r29 |
| 707 047c 00C0 rjmp .L124 |
| 708 .L121: |
| 709 047e 4EE2 ldi r20,lo8(46) |
| 710 0480 C42E mov r12,r20 |
| 711 0482 D12C mov r13,__zero_reg__ |
| 712 0484 CC0E add r12,r28 |
| 713 0486 DD1E adc r13,r29 |
| 714 0488 F8A9 ldd r31,Y+48 |
| 715 048a EF2E mov r14,r31 |
| 716 048c FF24 clr r15 |
| 717 048e 0027 clr r16 |
| 718 0490 1127 clr r17 |
| 719 .L125: |
| 720 0492 C201 movw r24,r4 |
| 721 0494 B101 movw r22,r2 |
| 722 0496 A801 movw r20,r16 |
| 723 0498 9701 movw r18,r14 |
| 724 049a 0E94 0000 call __udivmodsi4 |
| 725 049e 6A30 cpi r22,lo8(10) |
| 726 04a0 00F4 brsh .L126 |
| 727 04a2 30E3 ldi r19,lo8(48) |
| 728 04a4 A32E mov r10,r19 |
| 729 04a6 A60E add r10,r22 |
| 730 04a8 00C0 rjmp .L128 |
| 731 .L126: |
| 732 04aa 27E5 ldi r18,lo8(87) |
| 733 04ac A22E mov r10,r18 |
| 734 04ae A60E add r10,r22 |
| 735 04b0 88E5 ldi r24,lo8(88) |
| 736 04b2 B816 cp r11,r24 |
| 737 04b4 01F4 brne .L128 |
| 738 04b6 9FED ldi r25,lo8(-33) |
| 739 04b8 A922 and r10,r25 |
| 740 .L128: |
| 741 04ba F601 movw r30,r12 |
| 742 04bc A292 st -Z,r10 |
| 743 04be 6F01 movw r12,r30 |
| 744 04c0 C201 movw r24,r4 |
| 745 04c2 B101 movw r22,r2 |
| 746 04c4 A801 movw r20,r16 |
| 747 04c6 9701 movw r18,r14 |
| 748 04c8 0E94 0000 call __udivmodsi4 |
| 749 04cc 3901 movw r6,r18 |
| 750 04ce 4A01 movw r8,r20 |
| 751 04d0 2E14 cp r2,r14 |
| 752 04d2 3F04 cpc r3,r15 |
| 753 04d4 4006 cpc r4,r16 |
| 754 04d6 5106 cpc r5,r17 |
| 755 04d8 00F0 brlo .L130 |
| 756 04da 1901 movw r2,r18 |
| 757 04dc 2A01 movw r4,r20 |
| 758 04de 00C0 rjmp .L125 |
| 759 .L130: |
| 760 04e0 F8A9 ldd r31,Y+48 |
| 761 04e2 F830 cpi r31,lo8(8) |
| 762 04e4 01F4 brne .L124 |
| 763 04e6 8BA9 ldd r24,Y+51 |
| 764 04e8 83FF sbrs r24,3 |
| 765 04ea 00C0 rjmp .L124 |
| 766 04ec 90E3 ldi r25,lo8(48) |
| 767 04ee A916 cp r10,r25 |
| 768 04f0 01F0 breq .L124 |
| 769 04f2 80E3 ldi r24,lo8(48) |
| 770 04f4 F601 movw r30,r12 |
| 771 04f6 8293 st -Z,r24 |
| 772 04f8 6F01 movw r12,r30 |
| 773 .L124: |
| 774 04fa CE01 movw r24,r28 |
| 775 04fc 8C19 sub r24,r12 |
| 776 04fe 182F mov r17,r24 |
| 777 0500 125D subi r17,lo8(-(46)) |
| 778 0502 49A9 ldd r20,Y+49 |
| 779 0504 00C0 rjmp .L107 |
| 780 .L114: |
| 781 0506 BB20 tst r11 |
| 782 0508 01F4 brne .+2 |
| 783 050a 00C0 rjmp .L152 |
| 784 050c BE82 std Y+6,r11 |
| 785 .L174: |
| 786 050e 1982 std Y+1,__zero_reg__ |
| 787 0510 4201 movw r8,r4 |
| 788 0512 3101 movw r6,r2 |
| 789 0514 00E0 ldi r16,lo8(0) |
| 790 0516 96E0 ldi r25,lo8(6) |
| 791 0518 C92E mov r12,r25 |
| 792 051a D12C mov r13,__zero_reg__ |
| 793 051c CC0E add r12,r28 |
| 794 051e DD1E adc r13,r29 |
| 795 0520 11E0 ldi r17,lo8(1) |
| 796 0522 21E0 ldi r18,lo8(1) |
| 797 0524 00C0 rjmp .L136 |
| 798 .L107: |
| 799 0526 212F mov r18,r17 |
| 800 0528 042F mov r16,r20 |
| 801 052a 011B sub r16,r17 |
| 802 052c 07FD sbrc r16,7 |
| 803 052e 00E0 ldi r16,lo8(0) |
| 804 .L136: |
| 805 0530 8981 ldd r24,Y+1 |
| 806 0532 8823 tst r24 |
| 807 0534 01F0 breq .L138 |
| 808 0536 812F mov r24,r17 |
| 809 0538 8F5F subi r24,lo8(-(1)) |
| 810 053a 00C0 rjmp .L140 |
| 811 .L138: |
| 812 053c 9BA9 ldd r25,Y+51 |
| 813 053e 96FD sbrc r25,6 |
| 814 0540 00C0 rjmp .L141 |
| 815 0542 812F mov r24,r17 |
| 816 0544 00C0 rjmp .L140 |
| 817 .L141: |
| 818 0546 822F mov r24,r18 |
| 819 0548 8E5F subi r24,lo8(-(2)) |
| 820 .L140: |
| 821 054a A82E mov r10,r24 |
| 822 054c A00E add r10,r16 |
| 823 054e EBA9 ldd r30,Y+51 |
| 824 0550 EE2E mov r14,r30 |
| 825 0552 FF24 clr r15 |
| 826 0554 80E3 ldi r24,lo8(48) |
| 827 0556 482E mov r4,r24 |
| 828 0558 512C mov r5,__zero_reg__ |
| 829 055a 4E20 and r4,r14 |
| 830 055c 5F20 and r5,r15 |
| 831 055e 4114 cp r4,__zero_reg__ |
| 832 0560 5104 cpc r5,__zero_reg__ |
| 833 0562 01F4 brne .L143 |
| 834 0564 8AA9 ldd r24,Y+50 |
| 835 0566 8A19 sub r24,r10 |
| 836 0568 0E94 0000 call PAD_SP |
| 837 .L143: |
| 838 056c 8981 ldd r24,Y+1 |
| 839 056e 8823 tst r24 |
| 840 0570 01F0 breq .L145 |
| 841 0572 61E0 ldi r22,lo8(1) |
| 842 0574 70E0 ldi r23,hi8(1) |
| 843 0576 CE01 movw r24,r28 |
| 844 0578 0196 adiw r24,1 |
| 845 057a 00C0 rjmp .L173 |
| 846 .L145: |
| 847 057c E6FE sbrs r14,6 |
| 848 057e 00C0 rjmp .L147 |
| 849 0580 80E3 ldi r24,lo8(48) |
| 850 0582 8A83 std Y+2,r24 |
| 851 0584 BB82 std Y+3,r11 |
| 852 0586 62E0 ldi r22,lo8(2) |
| 853 0588 70E0 ldi r23,hi8(2) |
| 854 058a CE01 movw r24,r28 |
| 855 058c 0296 adiw r24,2 |
| 856 .L173: |
| 857 058e 0E94 0000 call PRINT |
| 858 .L147: |
| 859 0592 F0E2 ldi r31,lo8(32) |
| 860 0594 4F16 cp r4,r31 |
| 861 0596 5104 cpc r5,__zero_reg__ |
| 862 0598 01F4 brne .L149 |
| 863 059a 8AA9 ldd r24,Y+50 |
| 864 059c 8A19 sub r24,r10 |
| 865 059e 0E94 0000 call PAD_0 |
| 866 .L149: |
| 867 05a2 802F mov r24,r16 |
| 868 05a4 0E94 0000 call PAD_0 |
| 869 05a8 612F mov r22,r17 |
| 870 05aa 7727 clr r23 |
| 871 05ac 67FD sbrc r22,7 |
| 872 05ae 7095 com r23 |
| 873 05b0 C601 movw r24,r12 |
| 874 05b2 0E94 0000 call PRINT |
| 875 05b6 E4FE sbrs r14,4 |
| 876 05b8 00C0 rjmp .L28 |
| 877 05ba 8AA9 ldd r24,Y+50 |
| 878 05bc 8A19 sub r24,r10 |
| 879 05be 0E94 0000 call PAD_SP |
| 880 05c2 00C0 rjmp .L28 |
| 881 .L35: |
| 882 .L152: |
| 883 /* epilogue: frame size=51 */ |
| 884 05c4 E396 adiw r28,51 |
| 885 05c6 0FB6 in __tmp_reg__,__SREG__ |
| 886 05c8 F894 cli |
| 887 05ca DEBF out __SP_H__,r29 |
| 888 05cc 0FBE out __SREG__,__tmp_reg__ |
| 889 05ce CDBF out __SP_L__,r28 |
| 890 05d0 DF91 pop r29 |
| 891 05d2 CF91 pop r28 |
| 892 05d4 1F91 pop r17 |
| 893 05d6 0F91 pop r16 |
| 894 05d8 FF90 pop r15 |
| 895 05da EF90 pop r14 |
| 896 05dc DF90 pop r13 |
| 897 05de CF90 pop r12 |
| 898 05e0 BF90 pop r11 |
| 899 05e2 AF90 pop r10 |
| 900 05e4 9F90 pop r9 |
| 901 05e6 8F90 pop r8 |
| 902 05e8 7F90 pop r7 |
| 903 05ea 6F90 pop r6 |
| 904 05ec 5F90 pop r5 |
| 905 05ee 4F90 pop r4 |
| 906 05f0 3F90 pop r3 |
| 907 05f2 2F90 pop r2 |
| 908 05f4 0895 ret |
| 909 /* epilogue end (size=25) */ |
| 910 /* function _printf_P size 692 (641) */ |
| 912 .comm DiffNick,2,1 |
| 913 .comm DiffRoll,2,1 |
| 914 .comm SenderOkay,1,1 |
| 915 .comm CosinusNickWinkel,1,1 |
| 916 .comm CosinusRollWinkel,1,1 |
| 917 .comm durchschnitt_northing,4,1 |
| 918 .comm durchschnitt_easting,4,1 |
| 919 .comm P_GPS_Verstaerkung,2,1 |
| 920 .comm D_GPS_Verstaerkung,2,1 |
| 921 .comm PrintZiel,1,1 |
| 922 .comm RemoteTasten,1,1 |
| 923 .comm Timeout,1,1 |
| 924 .comm IntegralNick,4,1 |
| 925 .comm IntegralNick2,4,1 |
| 926 .comm IntegralRoll,4,1 |
| 927 .comm IntegralRoll2,4,1 |
| 928 .comm Mess_IntegralNick,4,1 |
| 929 .comm Mess_IntegralNick2,4,1 |
| 930 .comm Mess_IntegralRoll,4,1 |
| 931 .comm Mess_IntegralRoll2,4,1 |
| 932 .comm Integral_Gier,4,1 |
| 933 .comm Mess_Integral_Gier,4,1 |
| 934 .comm h,1,1 |
| 935 .comm m,1,1 |
| 936 .comm s,1,1 |
| 937 .comm Motor_Vorne,1,1 |
| 938 .comm Motor_Hinten,1,1 |
| 939 .comm Motor_Rechts,1,1 |
| 940 .comm Motor_Links,1,1 |
| 941 .comm Count,1,1 |
| 942 .comm MotorWert,5,1 |
| 943 /* File "printf_P.c": code 784 = 0x0310 ( 708), prologues 36, epilogues 40 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 printf_P.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:13 .text:00000000 Putchar |
| *COM*:00000001 PrintZiel |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:45 .text:00000032 PAD_0 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:66 .text:00000048 PAD_SP |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:87 .text:0000005e PRINTP |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:122 .text:0000008a PRINT |
| C:\DOKUME~1\none\LOKALE~1\Temp/cckjUW3h.s:152 .text:000000b2 _printf_P |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| DispPtr |
| DisplayBuff |
| uart_putchar |
| memchr |
| __udivmodsi4 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[15]; |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 14) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/rc.d |
|---|
| 0,0 → 1,2 |
| rc.o rc.d : rc.c rc.h main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[15]; |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/rc.lst |
|---|
| 0,0 → 1,274 |
| 1 .file "rc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global rc_sum_init |
| 13 rc_sum_init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 83EC ldi r24,lo8(-61) |
| 17 0002 8093 8100 sts 129,r24 |
| 18 0006 EFE6 ldi r30,lo8(111) |
| 19 0008 F0E0 ldi r31,hi8(111) |
| 20 000a 8081 ld r24,Z |
| 21 000c 8062 ori r24,lo8(32) |
| 22 000e 8083 st Z,r24 |
| 23 0010 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 24 0014 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 25 0018 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 26 001c 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 27 0020 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 28 0024 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 29 /* epilogue: frame size=0 */ |
| 30 0028 0895 ret |
| 31 /* epilogue end (size=1) */ |
| 32 /* function rc_sum_init size 21 (20) */ |
| 34 .global __vector_12 |
| 36 __vector_12: |
| 37 /* prologue: frame size=0 */ |
| 38 002a 1F92 push __zero_reg__ |
| 39 002c 0F92 push __tmp_reg__ |
| 40 002e 0FB6 in __tmp_reg__,__SREG__ |
| 41 0030 0F92 push __tmp_reg__ |
| 42 0032 1124 clr __zero_reg__ |
| 43 0034 0F93 push r16 |
| 44 0036 1F93 push r17 |
| 45 0038 2F93 push r18 |
| 46 003a 3F93 push r19 |
| 47 003c 4F93 push r20 |
| 48 003e 5F93 push r21 |
| 49 0040 6F93 push r22 |
| 50 0042 7F93 push r23 |
| 51 0044 8F93 push r24 |
| 52 0046 9F93 push r25 |
| 53 0048 AF93 push r26 |
| 54 004a BF93 push r27 |
| 55 004c CF93 push r28 |
| 56 004e DF93 push r29 |
| 57 0050 EF93 push r30 |
| 58 0052 FF93 push r31 |
| 59 /* prologue end (size=21) */ |
| 60 0054 2091 8600 lds r18,134 |
| 61 0058 3091 8700 lds r19,(134)+1 |
| 62 005c 8091 0000 lds r24,AltICR.2005 |
| 63 0060 9091 0000 lds r25,(AltICR.2005)+1 |
| 64 0064 281B sub r18,r24 |
| 65 0066 390B sbc r19,r25 |
| 66 0068 8091 8600 lds r24,134 |
| 67 006c 9091 8700 lds r25,(134)+1 |
| 68 0070 9093 0000 sts (AltICR.2005)+1,r25 |
| 69 0074 8093 0000 sts AltICR.2005,r24 |
| 70 0078 C901 movw r24,r18 |
| 71 007a 8D5D subi r24,lo8(-(-1501)) |
| 72 007c 9540 sbci r25,hi8(-(-1501)) |
| 73 007e 8356 subi r24,lo8(6499) |
| 74 0080 9941 sbci r25,hi8(6499) |
| 75 0082 00F4 brsh .L4 |
| 76 0084 81E0 ldi r24,lo8(1) |
| 77 0086 90E0 ldi r25,hi8(1) |
| 78 0088 9093 0000 sts (index.2007)+1,r25 |
| 79 008c 8093 0000 sts index.2007,r24 |
| 80 0090 1092 0000 sts NewPpmData,__zero_reg__ |
| 81 0094 00C0 rjmp .L14 |
| 82 .L4: |
| 83 0096 C091 0000 lds r28,index.2007 |
| 84 009a D091 0000 lds r29,(index.2007)+1 |
| 85 009e CE30 cpi r28,14 |
| 86 00a0 D105 cpc r29,__zero_reg__ |
| 87 00a2 04F0 brlt .+2 |
| 88 00a4 00C0 rjmp .L14 |
| 89 00a6 C901 movw r24,r18 |
| 90 00a8 8B5F subi r24,lo8(-(-251)) |
| 91 00aa 9040 sbci r25,hi8(-(-251)) |
| 92 00ac 845B subi r24,lo8(436) |
| 93 00ae 9140 sbci r25,hi8(436) |
| 94 00b0 00F0 brlo .+2 |
| 95 00b2 00C0 rjmp .L8 |
| 96 00b4 A901 movw r20,r18 |
| 97 00b6 425D subi r20,lo8(-(-466)) |
| 98 00b8 5140 sbci r21,hi8(-(-466)) |
| 99 00ba FE01 movw r30,r28 |
| 100 00bc EE0F lsl r30 |
| 101 00be FF1F rol r31 |
| 102 00c0 E050 subi r30,lo8(-(PPM_in)) |
| 103 00c2 F040 sbci r31,hi8(-(PPM_in)) |
| 104 00c4 8081 ld r24,Z |
| 105 00c6 9181 ldd r25,Z+1 |
| 106 00c8 FA01 movw r30,r20 |
| 107 00ca E81B sub r30,r24 |
| 108 00cc F90B sbc r31,r25 |
| 109 00ce CF01 movw r24,r30 |
| 110 00d0 F7FF sbrs r31,7 |
| 111 00d2 00C0 rjmp .L11 |
| 112 00d4 9095 com r25 |
| 113 00d6 8195 neg r24 |
| 114 00d8 9F4F sbci r25,lo8(-1) |
| 115 .L11: |
| 116 00da 0697 sbiw r24,6 |
| 117 00dc 04F4 brge .L10 |
| 118 00de 8091 0000 lds r24,SenderOkay |
| 119 00e2 883C cpi r24,lo8(-56) |
| 120 00e4 00F4 brsh .L10 |
| 121 00e6 8091 0000 lds r24,SenderOkay |
| 122 00ea 865F subi r24,lo8(-(10)) |
| 123 00ec 8093 0000 sts SenderOkay,r24 |
| 124 .L10: |
| 125 00f0 FE01 movw r30,r28 |
| 126 00f2 EE0F lsl r30 |
| 127 00f4 FF1F rol r31 |
| 128 00f6 8F01 movw r16,r30 |
| 129 00f8 0050 subi r16,lo8(-(PPM_in)) |
| 130 00fa 1040 sbci r17,hi8(-(PPM_in)) |
| 131 00fc D801 movw r26,r16 |
| 132 00fe 2D91 ld r18,X+ |
| 133 0100 3C91 ld r19,X |
| 134 0102 C901 movw r24,r18 |
| 135 0104 880F lsl r24 |
| 136 0106 991F rol r25 |
| 137 0108 820F add r24,r18 |
| 138 010a 931F adc r25,r19 |
| 139 010c 840F add r24,r20 |
| 140 010e 951F adc r25,r21 |
| 141 0110 64E0 ldi r22,lo8(4) |
| 142 0112 70E0 ldi r23,hi8(4) |
| 143 0114 0E94 0000 call __divmodhi4 |
| 144 0118 D801 movw r26,r16 |
| 145 011a 8D91 ld r24,X+ |
| 146 011c 9C91 ld r25,X |
| 147 011e 1197 sbiw r26,1 |
| 148 0120 9B01 movw r18,r22 |
| 149 0122 281B sub r18,r24 |
| 150 0124 390B sbc r19,r25 |
| 151 0126 E050 subi r30,lo8(-(PPM_diff)) |
| 152 0128 F040 sbci r31,hi8(-(PPM_diff)) |
| 153 012a 3183 std Z+1,r19 |
| 154 012c 2083 st Z,r18 |
| 155 012e 1196 adiw r26,1 |
| 156 0130 7C93 st X,r23 |
| 157 0132 6E93 st -X,r22 |
| 158 .L8: |
| 159 0134 2196 adiw r28,1 |
| 160 0136 D093 0000 sts (index.2007)+1,r29 |
| 161 013a C093 0000 sts index.2007,r28 |
| 162 .L14: |
| 163 /* epilogue: frame size=0 */ |
| 164 013e FF91 pop r31 |
| 165 0140 EF91 pop r30 |
| 166 0142 DF91 pop r29 |
| 167 0144 CF91 pop r28 |
| 168 0146 BF91 pop r27 |
| 169 0148 AF91 pop r26 |
| 170 014a 9F91 pop r25 |
| 171 014c 8F91 pop r24 |
| 172 014e 7F91 pop r23 |
| 173 0150 6F91 pop r22 |
| 174 0152 5F91 pop r21 |
| 175 0154 4F91 pop r20 |
| 176 0156 3F91 pop r19 |
| 177 0158 2F91 pop r18 |
| 178 015a 1F91 pop r17 |
| 179 015c 0F91 pop r16 |
| 180 015e 0F90 pop __tmp_reg__ |
| 181 0160 0FBE out __SREG__,__tmp_reg__ |
| 182 0162 0F90 pop __tmp_reg__ |
| 183 0164 1F90 pop __zero_reg__ |
| 184 0166 1895 reti |
| 185 /* epilogue end (size=21) */ |
| 186 /* function __vector_12 size 162 (120) */ |
| 188 .global NewPpmData |
| 189 .data |
| 192 NewPpmData: |
| 193 0000 01 .byte 1 |
| 194 .lcomm index.2007,2 |
| 195 .lcomm AltICR.2005,2 |
| 196 .comm PPM_in,30,1 |
| 197 .comm PPM_diff,30,1 |
| 198 .comm DiffNick,2,1 |
| 199 .comm DiffRoll,2,1 |
| 200 .comm SenderOkay,1,1 |
| 201 .comm CosinusNickWinkel,1,1 |
| 202 .comm CosinusRollWinkel,1,1 |
| 203 .comm durchschnitt_northing,4,1 |
| 204 .comm durchschnitt_easting,4,1 |
| 205 .comm P_GPS_Verstaerkung,2,1 |
| 206 .comm D_GPS_Verstaerkung,2,1 |
| 207 .comm RemoteTasten,1,1 |
| 208 .comm Timeout,1,1 |
| 209 .comm IntegralNick,4,1 |
| 210 .comm IntegralNick2,4,1 |
| 211 .comm IntegralRoll,4,1 |
| 212 .comm IntegralRoll2,4,1 |
| 213 .comm Mess_IntegralNick,4,1 |
| 214 .comm Mess_IntegralNick2,4,1 |
| 215 .comm Mess_IntegralRoll,4,1 |
| 216 .comm Mess_IntegralRoll2,4,1 |
| 217 .comm Integral_Gier,4,1 |
| 218 .comm Mess_Integral_Gier,4,1 |
| 219 .comm h,1,1 |
| 220 .comm m,1,1 |
| 221 .comm s,1,1 |
| 222 .comm Motor_Vorne,1,1 |
| 223 .comm Motor_Hinten,1,1 |
| 224 .comm Motor_Rechts,1,1 |
| 225 .comm Motor_Links,1,1 |
| 226 .comm Count,1,1 |
| 227 .comm MotorWert,5,1 |
| 228 /* File "rc.c": code 183 = 0x00b7 ( 140), prologues 21, epilogues 22 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 rc.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:13 .text:00000000 rc_sum_init |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:36 .text:0000002a __vector_12 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:194 .bss:00000002 AltICR.2005 |
| .bss:00000000 index.2007 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:192 .data:00000000 NewPpmData |
| *COM*:0000001e PPM_in |
| *COM*:00000001 SenderOkay |
| *COM*:0000001e PPM_diff |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| AdNeutralRoll |
| AdNeutralNick |
| __divmodhi4 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/spi.c |
|---|
| 0,0 → 1,623 |
| /* |
| This program (files spi.c and spi.h) 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 3 of the License, or (at your option) any later version. |
| This program 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 program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Patrick Kögel |
| Micromag3 Auswertung beta |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
| //***************************************************************************** |
| // |
| // File Name : 'spi.c' |
| // Title : SPI interface driver |
| // Author : Pascal Stang - Copyright (C) 2000-2002 |
| // Created : 11/22/2000 |
| // Revised : 06/06/2002 |
| // Version : 0.6 |
| // Target MCU : Atmel AVR series |
| // Editor Tabs : 4 |
| // |
| // NOTE: This code is currently below version 1.0, and therefore is considered |
| // to be lacking in some functionality or documentation, or may not be fully |
| // tested. Nonetheless, you can expect most functions to work. |
| // |
| // This code is distributed under the GNU Public License |
| // which can be found at http://www.gnu.org/licenses/gpl.txt |
| // |
| //***************************************************************************** |
| #include "main.h" |
| // Define the SPI_USEINT key if you want SPI bus operation to be |
| // interrupt-driven. The primary reason for not using SPI in |
| // interrupt-driven mode is if the SPI send/transfer commands |
| // will be used from within some other interrupt service routine |
| // or if interrupts might be globally turned off due to of other |
| // aspects of your program |
| // |
| // Comment-out or uncomment this line as necessary |
| //#define SPI_USEINT |
| // global variables |
| volatile unsigned char spiTransferComplete,MessungFertig=0,KompassInUse =0,KompassInUseCal=0,NewX= 0,NewY= 0,NewZ= 0,EEPROMWrite=0; |
| volatile signed char nickgrad=0,rollgrad=0,nickgradkomp=0,rollgradkomp=0; |
| volatile double XE= 0,YE=0,nick=0,roll=0; |
| volatile double richtungorgd=0,richtungorgr=0; |
| volatile int iXsf=0,iYsf=0,iZsf=0; |
| volatile int Xoffset=0, Yoffset=0, Zoffset=0; |
| volatile signed int Xmax=-32768 , Xmin=32767, Ymax=-32768, Ymin=32767, Zmin=32767, Zmax=-32768; // where you store max and min X and Ys |
| volatile int XrawOld=0, YrawOld=0, ZrawOld=0; // save values you get from the ASIC |
| volatile int Xraw=0, Yraw=0, Zraw=0; // values you get from the ASIC |
| volatile double XrawCal=0, YrawCal=0, ZrawCal=0; // values you get from the ASIC |
| double XEx=0,XEy=0,XEz=0,YEy=0,YEz=0; |
| int MagnetG=0; |
| typedef struct |
| { |
| int Xoffsetm; |
| int Yoffsetm; |
| int Zoffsetm; |
| int iXsfm; |
| int iYsfm; |
| int iZsfm; |
| int dummy; |
| } CALPARAKOMPASS ; |
| CALPARAKOMPASS CalParaKompass; |
| volatile int azimuthgrad= 0,azimuthold = 0; |
| // SPI interrupt service handler |
| #ifdef SPI_USEINT |
| SIGNAL(SIG_SPI) |
| { |
| spiTransferComplete = 1; |
| } |
| #endif |
| // access routines |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void spiInit(void) |
| { |
| // setup SPI I/O pins |
| sbi(PORTB, 7); // set SCK hi |
| sbi(DDRB, 7); // set SCK as output |
| cbi(DDRB, 6); // set MISO as input |
| sbi(DDRB, 5); // set MOSI as output |
| sbi(DDRD, 5); // SS must be output for Master mode to work |
| sbi(DDRD, 3); // Reset output |
| cbi(DDRD, 4); // DataReady as input |
| // setup SPI interface : |
| // master mode |
| sbi(SPCR, MSTR); |
| // clock = f/32 -> 20 MHZ /32 |
| sbi(SPCR, SPR0); |
| sbi(SPCR, SPR1); |
| cbi(SPSR,SPI2X); |
| // select clock phase positive-going in middle of data |
| cbi(SPCR, CPOL); |
| // Data order MSB first |
| cbi(SPCR,DORD); |
| // enable SPI |
| sbi(SPCR, SPE); |
| // clear status |
| inb(SPSR); |
| sbi(SPSR,SPI2X); |
| spiTransferComplete = 1; |
| // enable SPI interrupt |
| #ifdef SPI_USEINT |
| sbi(SPCR, SPIE); |
| #endif |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void spiSendByte(unsigned char data) |
| { |
| // send a byte over SPI and ignore reply |
| #ifdef SPI_USEINT |
| while(!spiTransferComplete); |
| spiTransferComplete = FALSE; |
| #else |
| while(!(inb(SPSR) & (1<<SPIF))); |
| #endif |
| outb(SPDR, data); |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| unsigned char spiTransferByte(unsigned char data) |
| { |
| #ifdef SPI_USEINT |
| // send the given data |
| spiTransferComplete = FALSE; |
| outb(SPDR, data); |
| // wait for transfer to complete |
| while(!spiTransferComplete); |
| #else |
| // send the given data |
| outb(SPDR, data); |
| // wait for transfer to complete |
| while(!(inb(SPSR) & (1<<SPIF))); |
| #endif |
| // return the received data |
| return inb(SPDR); |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| unsigned int spiTransferWord(unsigned int data) |
| { |
| unsigned int rxData = 0; |
| // send MS byte of given data |
| rxData = (spiTransferByte((data>>8) & 0x00FF))<<8; |
| // send LS byte of given data |
| rxData |= (spiTransferByte(data & 0x00FF)); |
| // return the received data |
| return rxData; |
| } |
| //------------------------------------------------------------------------------ |
| //---[ compassFilter ]---------------------------------------------------------- |
| //------------------------------------------------------------------------------ |
| /** Digital filter for the compass readings |
| * \n Filter by Vadym Grygorenko |
| * \n fn = (1/4)*(cn + 2*c_(n-1) + c_(n-2)) + (f_(n-1)) - (1/4)*f_(n-2) |
| * |
| * \param axiss The axis this measurement is for |
| * \param reading The latest reading from the compass |
| * \return The newest output from the filter |
| * |
| */ |
| int compassFilter(unsigned char axiss, int reading) |
| { |
| static int input[3][3]={{0,0,0},{0,0,0},{0,0,0}}; //[n, n-1, n-2][axis] |
| static int output[3][3]={{0,0,0},{0,0,0},{0,0,0}}; |
| input[0][axiss] = reading; |
| output[0][axiss] = ((input[0][axiss] + 2*input[1][axiss] + input[2][axiss]) / 4); |
| input[2][axiss] = input[1][axiss]; |
| input[1][axiss] = input[0][axiss]; |
| output[2][axiss] = output[1][axiss]; |
| output[1][axiss] = output[0][axiss]; |
| return output[0][axiss]; |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| int MAG_READ(char axis) |
| { |
| int t; |
| int Data; |
| char dontCare; // For a reading we don't care about |
| if (MessungFertig == 0) |
| { |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD |= (1<<PB3); //Reset auf high |
| for(t=0;t<5;t++); //5 Zyklen warten |
| PORTD &= ~(1<<PB3); //Reset auf low |
| dontCare = (int)spiTransferByte(0x40+axis); // Achse + Mess. Kommando /512 |
| PORTD |= (1<<PB5); //SS auf high |
| MessungFertig = 1; |
| } |
| if (bit_is_set(PIND,PINB4) && MessungFertig == 1) // Warten bis Messung fertig |
| { |
| PORTD &= ~(1<<PB5); //SS auf low |
| Data=spiTransferWord(0x00); |
| PORTD |= (1<<PB5); //SS auf high |
| MessungFertig = 0; |
| return (Data); |
| } |
| else return -32000; |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| int MAG_READ_CAL(char axis) |
| { |
| int t; |
| int Data=0; |
| char dontCare; // For a reading we don't care about |
| PORTD &= ~(1<<PB5); //SS auf low |
| PORTD |= (1<<PB3); //Reset auf high |
| for(t=0;t<5;t++); //5 Zyklen warten |
| PORTD &= ~(1<<PB3); //Reset auf low |
| dontCare = (int)spiTransferByte(0x40+axis); // Achse + Mess. Kommando /512 |
| PORTD |= (1<<PB5); //SS auf high |
| while(!bit_is_set(PIND,PINB4)) // Warten bis Messung fertig |
| PORTD &= ~(1<<PB5); //SS auf low |
| Data=spiTransferWord(0x00); |
| PORTD |= (1<<PB5); //SS auf high |
| return (Data); |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void ReadEepromKompassValues(void) |
| { |
| eeprom_read_block(&CalParaKompass, &EEPromArray[4], sizeof(CALPARAKOMPASS)); |
| Xoffset = CalParaKompass.Xoffsetm; |
| Yoffset = CalParaKompass.Yoffsetm; |
| Zoffset = CalParaKompass.Zoffsetm; |
| iXsf = CalParaKompass.iXsfm; |
| iYsf = CalParaKompass.iYsfm; |
| iZsf = CalParaKompass.iZsfm; |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void KalibrierKompass(void) |
| { |
| // The numbers here will be 16-bit signed values. |
| // Positive = 0x0000 to 0x7FFF |
| // Negative = 0x8000 to 0xFFFF |
| int t = 0; |
| int tempx=0,tempy=0,tempz=0; |
| if(Poti4 > 70 && Poti4 < 100) |
| { |
| LED1_OFF; |
| LED2_OFF; |
| EEPROMWrite = 0; |
| /* |
| Xmax = -32768; |
| Ymax = -32768; // start with lowest possible value |
| Zmax = -32768; |
| Xmin = 32767; |
| Ymin = 32767; // start with highest possible value |
| Zmin = 32767; |
| */ |
| } |
| if(Poti4 > 70) // wenn Schalter ausgeschaltet, dann werden die LED ausgeschaltet und das GPS Steuerkommando gelöscht // (199797Kö) |
| { |
| if(Poti4 > 100 && Poti4 < 150) // X-Y Achse Kalibrieren |
| { |
| LED1_ON; |
| Xraw=MAG_READ_CAL(1); //Kompass x-Achse auslesen |
| Xraw = -Xraw; |
| if(((Xraw > (XrawOld + 200)) || (Xraw < (XrawOld - 200)))) Xraw = XrawOld; //Filter gegen Spikes |
| tempx = Xraw; |
| Xraw = compassFilter(0,tempx); |
| XrawOld = Xraw; |
| Yraw=MAG_READ_CAL(2); //Kompass y-Achse auslesen |
| Yraw =-Yraw; |
| if(((Yraw > (YrawOld + 200)) || (Yraw < (YrawOld - 200)))) Yraw = YrawOld; //Filter gegen Spikes |
| tempy = Yraw; |
| Yraw = compassFilter(1,tempy); |
| YrawOld = Yraw; |
| if( Xraw > Xmax ) Xmax = Xraw; |
| if( Xraw < Xmin ) Xmin = Xraw; |
| if( Yraw > Ymax ) Ymax = Yraw; |
| if( Yraw < Ymin ) Ymin = Yraw; |
| Xoffset = ( abs(Xmax) - abs(Xmin) ) / 2; // calculate offsets |
| Yoffset = ( abs(Ymax) - abs(Ymin) ) / 2; |
| iXsf = ( abs(Xmax) + abs(Xmin)) / 2; // calculate the range |
| iYsf = ( abs(Ymax) + abs(Ymin)) / 2; |
| XrawCal = (double)(Xraw - Xoffset)/(double)iXsf; |
| YrawCal = (double)(Yraw - Yoffset) /(double)iYsf; |
| } |
| if(Poti4 > 150) |
| { |
| LED1_OFF; |
| LED2_ON; |
| Zraw=MAG_READ_CAL(3); //Kompass Z-Achse auslesen |
| Zraw = -Zraw; |
| if(((Zraw > (ZrawOld + 200)) || (Zraw < (ZrawOld - 200)))) Zraw = ZrawOld; //Filter gegen Spikes |
| tempz = Zraw; |
| Zraw = compassFilter(2,tempz); |
| ZrawOld = Zraw; |
| if( Zraw > Zmax ) Zmax = Zraw; |
| if( Zraw < Zmin ) Zmin = Zraw; |
| Zoffset = ( abs(Zmax) - abs(Zmin) ) / 2; |
| iZsf = ( abs(Zmax) + abs(Zmin)) / 2; |
| ZrawCal = (double)(Zraw- Zoffset) / (double)iZsf; |
| } |
| } |
| if(Poti4 > 170) |
| { |
| if (EEPROMWrite == 0) |
| { |
| LED2_ON; |
| LED1_ON; |
| CalParaKompass.Xoffsetm = Xoffset; |
| CalParaKompass.Yoffsetm = Yoffset; |
| CalParaKompass.Zoffsetm = Zoffset; |
| CalParaKompass.iXsfm = iXsf; |
| CalParaKompass.iYsfm = iYsf; |
| CalParaKompass.iZsfm = iZsf; |
| eeprom_write_block(&CalParaKompass, &EEPromArray[4], sizeof(CALPARAKOMPASS)); |
| Xmax = -32768; |
| Ymax = -32768; // start with lowest possible value |
| Zmax = -32768; |
| Xmin = 32767; |
| Ymin = 32767; // start with highest possible value |
| Zmin = 32767; |
| EEPROMWrite = 1; |
| } |
| } |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| int KompassRead(void) |
| { |
| /* |
| Declination = 1,209° changing by 0,118 °/year |
| Inclination = 64,779° changing by 0,004 °/year |
| X component = 20.529,42 changing by 10,87 nT/year |
| Y component = 433,23 changing by 42,54 nT/year |
| Z component = 43.596,06 changing by 32,61 nT/year |
| Horizontal Intensity = 20.533,99 changing by 11,8 nT/year |
| Total Intensity = 48.189,85 changing by 34,53 nT/year |
| */ |
| /* |
| Messung Real Nick |
| 14 10 |
| 30 20 |
| 40 30 |
| 52 40 |
| 61 50 |
| 30 20 roll |
| 39 28 |
| 19 12 |
| 50 35 |
| */ |
| double azimuthrad = 0; |
| double magnet = 68 /180 * M_PI; |
| //Look-Up Tabelle für Korrekturfaktoren |
| //float winkelkorr[5]={0.5,0.6,0.65,0.65,0.7}; |
| int lookup_nick =0,lookup_roll=0; |
| int tempx=0,tempy=0,tempz=0; |
| nickgrad = -(IntegralNick / 1430); //Teiler ermittelt durch Test bestätigung durch Holger |
| rollgrad = -(IntegralRoll / 1430); //Teiler ermittelt durch Test bestätigung durch Holger |
| /* if(nickgrad > 45) nickgradkomp = 45; |
| else nickgradkomp = nickgrad; |
| if(nickgrad < -45) nickgradkomp = -45; |
| else nickgradkomp = nickgrad; |
| if(rollgrad > 45) rollgradkomp = 45; |
| else rollgradkomp = rollgrad; |
| if(rollgrad < -45) rollgradkomp = -45; |
| else rollgradkomp = rollgrad; |
| if(abs(nickgrad) > 5 && abs(nickgrad) <= 15) lookup_nick = 0; |
| if(abs(nickgrad) > 15 && abs(nickgrad) <= 25) lookup_nick = 1; |
| if(abs(nickgrad) > 25 && abs(nickgrad) <= 35) lookup_nick = 2; |
| if(abs(nickgrad) > 35 && abs(nickgrad) <= 45) lookup_nick = 3; |
| if(abs(nickgrad) > 45) lookup_nick = 4; |
| if(abs(rollgrad) > 5 && abs(rollgrad) <= 15) lookup_roll = 0; |
| if(abs(rollgrad) > 15 && abs(rollgrad) <= 25) lookup_roll = 1; |
| if(abs(rollgrad) > 25 && abs(rollgrad) <= 35) lookup_roll = 2; |
| if(abs(rollgrad) > 35 && abs(rollgrad) <= 45) lookup_roll = 3; |
| if(abs(rollgrad) > 45) lookup_roll = 4; |
| */ |
| nick = (float)nickgrad/180 * M_PI;// * (float)winkelkorr[lookup_nick]*(float); |
| roll = (float)rollgrad/180 * M_PI;// * (float)winkelkorr[lookup_roll]*(float); |
| if(Poti4 > 70) // wenn Schalter ausgeschaltet, dann werden die LED ausgeschaltet und das GPS Steuerkommando gelöscht // (199797Kö) |
| { |
| KalibrierKompass(); |
| } |
| else |
| { |
| switch(KompassInUse) |
| { |
| case 0: |
| Xraw=MAG_READ(1); //Kompass x-Achse auslesen |
| Xraw = -Xraw; |
| if (Xraw == 32000) Xraw = XrawOld; |
| else |
| { |
| //if(((Xraw > (XrawOld + 200)) || (Xraw < (XrawOld - 200)))) Xraw = XrawOld; //Filter gegen Spikes |
| XrawOld = Xraw; |
| tempx = Xraw; |
| Xraw = compassFilter(0, tempx); |
| NewX = 1; |
| KompassInUse = 1; |
| } |
| break; |
| case 1: |
| Yraw=MAG_READ(2); //Kompass y-Achse auslesen |
| Yraw = -Yraw; |
| if (Yraw == 32000) Yraw = YrawOld; |
| else |
| { |
| //if(((Yraw > (YrawOld + 200)) || (Yraw < (YrawOld - 200)))) Yraw = YrawOld; //Filter gegen Spikes |
| YrawOld = Yraw; |
| tempy = Yraw; |
| Yraw = compassFilter(1, tempy); |
| NewY = 1; |
| KompassInUse = 2; |
| } |
| break; |
| case 2: |
| Zraw=MAG_READ(3); //Kompass z-Achse auslesen |
| Zraw = -Zraw; |
| if (Zraw == 32000) Zraw = ZrawOld; |
| else |
| { |
| //if(((Zraw > (ZrawOld + 200)) || (Zraw < (ZrawOld - 200)))) Zraw = ZrawOld; //Filter gegen Spikes |
| ZrawOld = Zraw; |
| tempz = Zraw; |
| Zraw = compassFilter(2, tempz); |
| NewZ = 1; |
| KompassInUse = 0; |
| } |
| break; |
| } |
| /* Xoffset =-44; |
| Yoffset =-36; |
| Zoffset =35; |
| iXsf =242; |
| iYsf =256; |
| iZsf =265; |
| */ |
| if(NewX == 1 && NewY == 1 && NewZ == 1) |
| { |
| // Kalibrierung |
| XrawCal = (double)(Xraw - Xoffset)/ (double)iXsf; |
| YrawCal = (double)(Yraw - Yoffset) / (double)iYsf; |
| ZrawCal = (double)(Zraw- Zoffset) / (double)iZsf; |
| // 1.2 Grad Missweisung durch Geographischer und Magnetischer Nordpol |
| //MagnetG = (int)sqrt((long)(XrawCal * XrawCal) + (long)(YrawCal * YrawCal) + (long)(ZrawCal * ZrawCal)); |
| //Kompensationsroutine |
| XEx = XrawCal * (double)cos(nick); |
| XEy = YrawCal * (double)sin(nick) * (double)sin(roll); |
| XEz = ZrawCal * (double)sin(nick) * (double)cos(roll); |
| YEy = YrawCal * (double)cos(roll); |
| YEz = ZrawCal * (double)sin(roll); |
| XE = XEx + XEy - XEz; |
| YE = YEy + YEz; |
| if(XE==0 && YE <0) azimuthgrad = 90; |
| if(XE==0 && YE >0) azimuthgrad = 270; |
| if(XE < 0) azimuthgrad = 180-(atan(YE/XE)*180/M_PI); |
| if(XE > 0 && YE < 0) azimuthgrad = -(atan(YE/XE)*180/M_PI); |
| if(XE > 0 && YE > 0) azimuthgrad = 360 - (atan(YE/XE)*180/M_PI); |
| azimuthold = azimuthgrad; |
| NewX = 0; |
| NewY = 0; |
| NewZ = 0; |
| return azimuthgrad; |
| } |
| else return azimuthold; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/spi.h |
|---|
| 0,0 → 1,66 |
| /*! \file spi.h \brief SPI interface driver. */ |
| //***************************************************************************** |
| // |
| // File Name : 'spi.h' |
| // Title : SPI interface driver |
| // Author : Pascal Stang - Copyright (C) 2000-2002 |
| // Created : 11/22/2000 |
| // Revised : 06/06/2002 |
| // Version : 0.6 |
| // Target MCU : Atmel AVR series |
| // Editor Tabs : 4 |
| // |
| // NOTE: This code is currently below version 1.0, and therefore is considered |
| // to be lacking in some functionality or documentation, or may not be fully |
| // tested. Nonetheless, you can expect most functions to work. |
| // |
| /// \ingroup driver_avr |
| /// \defgroup spi SPI (Serial Peripheral Interface) Function Library (spi.c) |
| /// \code #include "spi.h" \endcode |
| /// \par Overview |
| /// Provides basic byte and word transmitting and receiving via the AVR |
| /// SPI interface. Due to the nature of SPI, every SPI communication operation |
| /// is both a transmit and simultaneous receive. |
| /// |
| /// \note Currently, only MASTER mode is supported. |
| // |
| // This code is distributed under the GNU Public License |
| // which can be found at http://www.gnu.org/licenses/gpl.txt |
| // |
| //***************************************************************************** |
| // function prototypes |
| extern volatile double XE,YE; |
| extern volatile signed char nickgrad,rollgrad,nickgradkomp,rollgradkomp; |
| extern volatile double richtungorgr,richtungorgd,nick,roll; |
| extern volatile int iXsf,iYsf,iZsf; |
| extern volatile signed int Xmax, Xmin, Ymax, Ymin, Zmin, Zmax; |
| extern volatile double XrawCal, YrawCal, ZrawCal; |
| extern volatile int Xraw, Yraw, Zraw; // save values you get from the ASIC |
| extern volatile int Xoffset, Yoffset, Zoffset; |
| extern volatile int azimuthgrad; |
| extern double XEx,XEy,XEz,YEy,YEz; |
| int MagnetG; |
| // SPI interface initializer |
| void spiInit(void); |
| // spiSendByte(u08 data) waits until the SPI interface is ready |
| // and then sends a single byte over the SPI port. This command |
| // does not receive anything. |
| void spiSendByte(unsigned char data); |
| // spiTransferByte(u08 data) waits until the SPI interface is ready |
| // and then sends a single byte over the SPI port. The function also |
| // returns the byte that was received during transmission. |
| unsigned char spiTransferByte(unsigned char data); |
| // spiTransferWord(u08 data) works just like spiTransferByte but |
| // operates on a whole word (16-bits of data). |
| unsigned int spiTransferWord(unsigned int data); |
| extern int KompassRead(void); |
| extern void ReadEepromKompassValues(void); |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| // DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/timer0.d |
|---|
| 0,0 → 1,2 |
| timer0.o timer0.d : timer0.c main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/timer0.lst |
|---|
| 0,0 → 1,494 |
| 1 .file "timer0.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global __vector_18 |
| 13 __vector_18: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 1F92 push __zero_reg__ |
| 16 0002 0F92 push __tmp_reg__ |
| 17 0004 0FB6 in __tmp_reg__,__SREG__ |
| 18 0006 0F92 push __tmp_reg__ |
| 19 0008 1124 clr __zero_reg__ |
| 20 000a 2F93 push r18 |
| 21 000c 3F93 push r19 |
| 22 000e 5F93 push r21 |
| 23 0010 6F93 push r22 |
| 24 0012 7F93 push r23 |
| 25 0014 8F93 push r24 |
| 26 0016 9F93 push r25 |
| 27 0018 AF93 push r26 |
| 28 001a BF93 push r27 |
| 29 /* prologue end (size=14) */ |
| 30 001c 8091 0000 lds r24,cnt.2011 |
| 31 0020 8150 subi r24,lo8(-(-1)) |
| 32 0022 8093 0000 sts cnt.2011,r24 |
| 33 0026 8F3F cpi r24,lo8(-1) |
| 34 0028 01F4 brne .L2 |
| 35 002a 89E0 ldi r24,lo8(9) |
| 36 002c 8093 0000 sts cnt.2011,r24 |
| 37 0030 8091 0000 lds r24,cnt_1ms.2010 |
| 38 0034 8F5F subi r24,lo8(-(1)) |
| 39 0036 8170 andi r24,lo8(1) |
| 40 0038 8093 0000 sts cnt_1ms.2010,r24 |
| 41 003c 8823 tst r24 |
| 42 003e 01F4 brne .L4 |
| 43 0040 81E0 ldi r24,lo8(1) |
| 44 0042 8093 0000 sts UpdateMotor,r24 |
| 45 .L4: |
| 46 0046 8091 0000 lds r24,CountMilliseconds |
| 47 004a 9091 0000 lds r25,(CountMilliseconds)+1 |
| 48 004e 0196 adiw r24,1 |
| 49 0050 9093 0000 sts (CountMilliseconds)+1,r25 |
| 50 0054 8093 0000 sts CountMilliseconds,r24 |
| 51 0058 8091 0000 lds r24,Timeout |
| 52 005c 8823 tst r24 |
| 53 005e 01F0 breq .L2 |
| 54 0060 8091 0000 lds r24,Timeout |
| 55 0064 8150 subi r24,lo8(-(-1)) |
| 56 0066 8093 0000 sts Timeout,r24 |
| 57 .L2: |
| 58 006a 8091 0000 lds r24,beeptime |
| 59 006e 9091 0000 lds r25,(beeptime)+1 |
| 60 0072 0297 sbiw r24,2 |
| 61 0074 00F0 brlo .L7 |
| 62 0076 8091 0000 lds r24,beeptime |
| 63 007a 9091 0000 lds r25,(beeptime)+1 |
| 64 007e 0197 sbiw r24,1 |
| 65 0080 9093 0000 sts (beeptime)+1,r25 |
| 66 0084 8093 0000 sts beeptime,r24 |
| 67 0088 5A9A sbi 43-0x20,2 |
| 68 008a 00C0 rjmp .L9 |
| 69 .L7: |
| 70 008c 5A98 cbi 43-0x20,2 |
| 71 .L9: |
| 72 008e 8091 0000 lds r24,EE_Parameter+8 |
| 73 0092 9927 clr r25 |
| 74 0094 83FD sbrc r24,3 |
| 75 0096 00C0 rjmp .L10 |
| 76 0098 85FF sbrs r24,5 |
| 77 009a 00C0 rjmp .L18 |
| 78 .L10: |
| 79 009c 349B sbis 38-0x20,4 |
| 80 009e 00C0 rjmp .L13 |
| 81 00a0 8091 0000 lds r24,cntKompass |
| 82 00a4 9091 0000 lds r25,(cntKompass)+1 |
| 83 00a8 0196 adiw r24,1 |
| 84 00aa 9093 0000 sts (cntKompass)+1,r25 |
| 85 00ae 8093 0000 sts cntKompass,r24 |
| 86 00b2 00C0 rjmp .L18 |
| 87 .L13: |
| 88 00b4 8091 0000 lds r24,cntKompass |
| 89 00b8 9091 0000 lds r25,(cntKompass)+1 |
| 90 00bc 892B or r24,r25 |
| 91 00be 01F0 breq .L15 |
| 92 00c0 8091 0000 lds r24,cntKompass |
| 93 00c4 9091 0000 lds r25,(cntKompass)+1 |
| 94 00c8 805A subi r24,lo8(4000) |
| 95 00ca 9F40 sbci r25,hi8(4000) |
| 96 00cc 00F4 brsh .L15 |
| 97 00ce 8091 0000 lds r24,cntKompass |
| 98 00d2 9091 0000 lds r25,(cntKompass)+1 |
| 99 00d6 9093 0000 sts (KompassValue)+1,r25 |
| 100 00da 8093 0000 sts KompassValue,r24 |
| 101 .L15: |
| 102 00de 8091 0000 lds r24,KompassValue |
| 103 00e2 9091 0000 lds r25,(KompassValue)+1 |
| 104 00e6 2091 0000 lds r18,KompassStartwert |
| 105 00ea 3091 0000 lds r19,(KompassStartwert)+1 |
| 106 00ee 821B sub r24,r18 |
| 107 00f0 930B sbc r25,r19 |
| 108 00f2 845E subi r24,lo8(-(540)) |
| 109 00f4 9D4F sbci r25,hi8(-(540)) |
| 110 00f6 68E6 ldi r22,lo8(360) |
| 111 00f8 71E0 ldi r23,hi8(360) |
| 112 00fa 0E94 0000 call __divmodhi4 |
| 113 00fe 845B subi r24,lo8(-(-180)) |
| 114 0100 9040 sbci r25,hi8(-(-180)) |
| 115 0102 9093 0000 sts (KompassRichtung)+1,r25 |
| 116 0106 8093 0000 sts KompassRichtung,r24 |
| 117 010a 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 118 010e 1092 0000 sts cntKompass,__zero_reg__ |
| 119 .L18: |
| 120 /* epilogue: frame size=0 */ |
| 121 0112 BF91 pop r27 |
| 122 0114 AF91 pop r26 |
| 123 0116 9F91 pop r25 |
| 124 0118 8F91 pop r24 |
| 125 011a 7F91 pop r23 |
| 126 011c 6F91 pop r22 |
| 127 011e 5F91 pop r21 |
| 128 0120 3F91 pop r19 |
| 129 0122 2F91 pop r18 |
| 130 0124 0F90 pop __tmp_reg__ |
| 131 0126 0FBE out __SREG__,__tmp_reg__ |
| 132 0128 0F90 pop __tmp_reg__ |
| 133 012a 1F90 pop __zero_reg__ |
| 134 012c 1895 reti |
| 135 /* epilogue end (size=14) */ |
| 136 /* function __vector_18 size 153 (125) */ |
| 138 .global SetDelay |
| 140 SetDelay: |
| 141 /* prologue: frame size=0 */ |
| 142 /* prologue end (size=0) */ |
| 143 012e 2091 0000 lds r18,CountMilliseconds |
| 144 0132 3091 0000 lds r19,(CountMilliseconds)+1 |
| 145 0136 2F5F subi r18,lo8(-(1)) |
| 146 0138 3F4F sbci r19,hi8(-(1)) |
| 147 013a 820F add r24,r18 |
| 148 013c 931F adc r25,r19 |
| 149 /* epilogue: frame size=0 */ |
| 150 013e 0895 ret |
| 151 /* epilogue end (size=1) */ |
| 152 /* function SetDelay size 9 (8) */ |
| 154 .global CheckDelay |
| 156 CheckDelay: |
| 157 /* prologue: frame size=0 */ |
| 158 /* prologue end (size=0) */ |
| 159 0140 2091 0000 lds r18,CountMilliseconds |
| 160 0144 3091 0000 lds r19,(CountMilliseconds)+1 |
| 161 0148 821B sub r24,r18 |
| 162 014a 930B sbc r25,r19 |
| 163 014c 892F mov r24,r25 |
| 164 014e 9927 clr r25 |
| 165 0150 8695 lsr r24 |
| 166 0152 8074 andi r24,lo8(64) |
| 167 0154 9927 clr r25 |
| 168 /* epilogue: frame size=0 */ |
| 169 0156 0895 ret |
| 170 /* epilogue end (size=1) */ |
| 171 /* function CheckDelay size 12 (11) */ |
| 173 .global __vector_9 |
| 175 __vector_9: |
| 176 /* prologue: frame size=0 */ |
| 177 0158 1F92 push __zero_reg__ |
| 178 015a 0F92 push __tmp_reg__ |
| 179 015c 0FB6 in __tmp_reg__,__SREG__ |
| 180 015e 0F92 push __tmp_reg__ |
| 181 0160 1124 clr __zero_reg__ |
| 182 0162 EF92 push r14 |
| 183 0164 FF92 push r15 |
| 184 0166 0F93 push r16 |
| 185 0168 1F93 push r17 |
| 186 016a 2F93 push r18 |
| 187 016c 3F93 push r19 |
| 188 016e 4F93 push r20 |
| 189 0170 5F93 push r21 |
| 190 0172 6F93 push r22 |
| 191 0174 7F93 push r23 |
| 192 0176 8F93 push r24 |
| 193 0178 9F93 push r25 |
| 194 017a AF93 push r26 |
| 195 017c BF93 push r27 |
| 196 017e CF93 push r28 |
| 197 0180 DF93 push r29 |
| 198 0182 EF93 push r30 |
| 199 0184 FF93 push r31 |
| 200 /* prologue end (size=23) */ |
| 201 0186 8091 0000 lds r24,timer.2100 |
| 202 018a 8150 subi r24,lo8(-(-1)) |
| 203 018c 8093 0000 sts timer.2100,r24 |
| 204 0190 8F3F cpi r24,lo8(-1) |
| 205 0192 01F0 breq .+2 |
| 206 0194 00C0 rjmp .L24 |
| 207 0196 83E8 ldi r24,lo8(-125) |
| 208 0198 8093 B000 sts 176,r24 |
| 209 019c 8091 0000 lds r24,Parameter_ServoNickControl |
| 210 01a0 C82F mov r28,r24 |
| 211 01a2 DD27 clr r29 |
| 212 01a4 D093 0000 sts (ServoValue)+1,r29 |
| 213 01a8 C093 0000 sts ServoValue,r28 |
| 214 01ac 8091 0000 lds r24,EE_Parameter+38 |
| 215 01b0 E090 0000 lds r14,EE_Parameter+34 |
| 216 01b4 80FF sbrs r24,0 |
| 217 01b6 00C0 rjmp .L26 |
| 218 01b8 6091 0000 lds r22,IntegralNick |
| 219 01bc 7091 0000 lds r23,(IntegralNick)+1 |
| 220 01c0 8091 0000 lds r24,(IntegralNick)+2 |
| 221 01c4 9091 0000 lds r25,(IntegralNick)+3 |
| 222 01c8 FF24 clr r15 |
| 223 01ca 0027 clr r16 |
| 224 01cc 1127 clr r17 |
| 225 01ce 20E8 ldi r18,lo8(128) |
| 226 01d0 30E0 ldi r19,hi8(128) |
| 227 01d2 40E0 ldi r20,hlo8(128) |
| 228 01d4 50E0 ldi r21,hhi8(128) |
| 229 01d6 0E94 0000 call __divmodsi4 |
| 230 01da C801 movw r24,r16 |
| 231 01dc B701 movw r22,r14 |
| 232 01de 0E94 0000 call __mulsi3 |
| 233 01e2 20E0 ldi r18,lo8(512) |
| 234 01e4 32E0 ldi r19,hi8(512) |
| 235 01e6 40E0 ldi r20,hlo8(512) |
| 236 01e8 50E0 ldi r21,hhi8(512) |
| 237 01ea 0E94 0000 call __divmodsi4 |
| 238 01ee C20F add r28,r18 |
| 239 01f0 D31F adc r29,r19 |
| 240 01f2 00C0 rjmp .L35 |
| 241 .L26: |
| 242 01f4 6091 0000 lds r22,IntegralNick |
| 243 01f8 7091 0000 lds r23,(IntegralNick)+1 |
| 244 01fc 8091 0000 lds r24,(IntegralNick)+2 |
| 245 0200 9091 0000 lds r25,(IntegralNick)+3 |
| 246 0204 FF24 clr r15 |
| 247 0206 0027 clr r16 |
| 248 0208 1127 clr r17 |
| 249 020a 20E8 ldi r18,lo8(128) |
| 250 020c 30E0 ldi r19,hi8(128) |
| 251 020e 40E0 ldi r20,hlo8(128) |
| 252 0210 50E0 ldi r21,hhi8(128) |
| 253 0212 0E94 0000 call __divmodsi4 |
| 254 0216 C801 movw r24,r16 |
| 255 0218 B701 movw r22,r14 |
| 256 021a 0E94 0000 call __mulsi3 |
| 257 021e 20E0 ldi r18,lo8(512) |
| 258 0220 32E0 ldi r19,hi8(512) |
| 259 0222 40E0 ldi r20,hlo8(512) |
| 260 0224 50E0 ldi r21,hhi8(512) |
| 261 0226 0E94 0000 call __divmodsi4 |
| 262 022a C21B sub r28,r18 |
| 263 022c D30B sbc r29,r19 |
| 264 .L35: |
| 265 022e D093 0000 sts (ServoValue)+1,r29 |
| 266 0232 C093 0000 sts ServoValue,r28 |
| 267 0236 2091 0000 lds r18,ServoValue |
| 268 023a 3091 0000 lds r19,(ServoValue)+1 |
| 269 023e 8091 0000 lds r24,EE_Parameter+35 |
| 270 0242 9927 clr r25 |
| 271 0244 2817 cp r18,r24 |
| 272 0246 3907 cpc r19,r25 |
| 273 0248 04F0 brlt .L36 |
| 274 024a 8091 0000 lds r24,EE_Parameter+36 |
| 275 024e 9927 clr r25 |
| 276 0250 8217 cp r24,r18 |
| 277 0252 9307 cpc r25,r19 |
| 278 0254 04F4 brge .L31 |
| 279 .L36: |
| 280 0256 9093 0000 sts (ServoValue)+1,r25 |
| 281 025a 8093 0000 sts ServoValue,r24 |
| 282 .L31: |
| 283 025e 8091 0000 lds r24,ServoValue |
| 284 0262 8093 B300 sts 179,r24 |
| 285 0266 8091 0000 lds r24,EE_Parameter+37 |
| 286 026a 8093 0000 sts timer.2100,r24 |
| 287 026e 00C0 rjmp .L34 |
| 288 .L24: |
| 289 0270 83E0 ldi r24,lo8(3) |
| 290 0272 8093 B000 sts 176,r24 |
| 291 0276 5F98 cbi 43-0x20,7 |
| 292 .L34: |
| 293 /* epilogue: frame size=0 */ |
| 294 0278 FF91 pop r31 |
| 295 027a EF91 pop r30 |
| 296 027c DF91 pop r29 |
| 297 027e CF91 pop r28 |
| 298 0280 BF91 pop r27 |
| 299 0282 AF91 pop r26 |
| 300 0284 9F91 pop r25 |
| 301 0286 8F91 pop r24 |
| 302 0288 7F91 pop r23 |
| 303 028a 6F91 pop r22 |
| 304 028c 5F91 pop r21 |
| 305 028e 4F91 pop r20 |
| 306 0290 3F91 pop r19 |
| 307 0292 2F91 pop r18 |
| 308 0294 1F91 pop r17 |
| 309 0296 0F91 pop r16 |
| 310 0298 FF90 pop r15 |
| 311 029a EF90 pop r14 |
| 312 029c 0F90 pop __tmp_reg__ |
| 313 029e 0FBE out __SREG__,__tmp_reg__ |
| 314 02a0 0F90 pop __tmp_reg__ |
| 315 02a2 1F90 pop __zero_reg__ |
| 316 02a4 1895 reti |
| 317 /* epilogue end (size=23) */ |
| 318 /* function __vector_9 size 167 (121) */ |
| 320 .global Timer_Init |
| 322 Timer_Init: |
| 323 /* prologue: frame size=0 */ |
| 324 /* prologue end (size=0) */ |
| 325 02a6 8091 0000 lds r24,CountMilliseconds |
| 326 02aa 9091 0000 lds r25,(CountMilliseconds)+1 |
| 327 02ae 0B96 adiw r24,11 |
| 328 02b0 9093 0000 sts (tim_main)+1,r25 |
| 329 02b4 8093 0000 sts tim_main,r24 |
| 330 02b8 82E0 ldi r24,lo8(2) |
| 331 02ba 85BD out 69-0x20,r24 |
| 332 02bc 83EA ldi r24,lo8(-93) |
| 333 02be 84BD out 68-0x20,r24 |
| 334 02c0 17BC out 71-0x20,__zero_reg__ |
| 335 02c2 88E7 ldi r24,lo8(120) |
| 336 02c4 88BD out 72-0x20,r24 |
| 337 02c6 96E0 ldi r25,lo8(6) |
| 338 02c8 96BD out 70-0x20,r25 |
| 339 02ca 83EC ldi r24,lo8(-61) |
| 340 02cc 8093 B000 sts 176,r24 |
| 341 02d0 9093 B100 sts 177,r25 |
| 342 02d4 E0E7 ldi r30,lo8(112) |
| 343 02d6 F0E0 ldi r31,hi8(112) |
| 344 02d8 8081 ld r24,Z |
| 345 02da 8260 ori r24,lo8(2) |
| 346 02dc 8083 st Z,r24 |
| 347 02de EEE6 ldi r30,lo8(110) |
| 348 02e0 F0E0 ldi r31,hi8(110) |
| 349 02e2 8081 ld r24,Z |
| 350 02e4 8160 ori r24,lo8(1) |
| 351 02e6 8083 st Z,r24 |
| 352 02e8 8AE0 ldi r24,lo8(10) |
| 353 02ea 8093 B300 sts 179,r24 |
| 354 02ee 1092 B200 sts 178,__zero_reg__ |
| 355 /* epilogue: frame size=0 */ |
| 356 02f2 0895 ret |
| 357 /* epilogue end (size=1) */ |
| 358 /* function Timer_Init size 39 (38) */ |
| 360 .global Delay_ms |
| 362 Delay_ms: |
| 363 /* prologue: frame size=0 */ |
| 364 /* prologue end (size=0) */ |
| 365 02f4 2091 0000 lds r18,CountMilliseconds |
| 366 02f8 3091 0000 lds r19,(CountMilliseconds)+1 |
| 367 02fc 2F5F subi r18,lo8(-(1)) |
| 368 02fe 3F4F sbci r19,hi8(-(1)) |
| 369 0300 280F add r18,r24 |
| 370 0302 391F adc r19,r25 |
| 371 .L40: |
| 372 0304 8091 0000 lds r24,CountMilliseconds |
| 373 0308 9091 0000 lds r25,(CountMilliseconds)+1 |
| 374 030c A901 movw r20,r18 |
| 375 030e 481B sub r20,r24 |
| 376 0310 590B sbc r21,r25 |
| 377 0312 57FF sbrs r21,7 |
| 378 0314 00C0 rjmp .L40 |
| 379 /* epilogue: frame size=0 */ |
| 380 0316 0895 ret |
| 381 /* epilogue end (size=1) */ |
| 382 /* function Delay_ms size 18 (17) */ |
| 384 .global CountMilliseconds |
| 385 .global CountMilliseconds |
| 386 .section .bss |
| 389 CountMilliseconds: |
| 390 0000 0000 .skip 2,0 |
| 391 .global UpdateMotor |
| 392 .global UpdateMotor |
| 395 UpdateMotor: |
| 396 0002 00 .skip 1,0 |
| 397 .global cntKompass |
| 398 .global cntKompass |
| 401 cntKompass: |
| 402 0003 0000 .skip 2,0 |
| 403 .global beeptime |
| 404 .global beeptime |
| 407 beeptime: |
| 408 0005 0000 .skip 2,0 |
| 409 .global ServoValue |
| 410 .global ServoValue |
| 413 ServoValue: |
| 414 0007 0000 .skip 2,0 |
| 415 .data |
| 418 timer.2100: |
| 419 0000 0A .byte 10 |
| 420 .lcomm cnt.2011,1 |
| 423 cnt_1ms.2010: |
| 424 0001 01 .byte 1 |
| 425 .lcomm tim_main,2 |
| 426 .comm DiffNick,2,1 |
| 427 .comm DiffRoll,2,1 |
| 428 .comm SenderOkay,1,1 |
| 429 .comm CosinusNickWinkel,1,1 |
| 430 .comm CosinusRollWinkel,1,1 |
| 431 .comm durchschnitt_northing,4,1 |
| 432 .comm durchschnitt_easting,4,1 |
| 433 .comm P_GPS_Verstaerkung,2,1 |
| 434 .comm D_GPS_Verstaerkung,2,1 |
| 435 .comm RemoteTasten,1,1 |
| 436 .comm Timeout,1,1 |
| 437 .comm IntegralNick,4,1 |
| 438 .comm IntegralNick2,4,1 |
| 439 .comm IntegralRoll,4,1 |
| 440 .comm IntegralRoll2,4,1 |
| 441 .comm Mess_IntegralNick,4,1 |
| 442 .comm Mess_IntegralNick2,4,1 |
| 443 .comm Mess_IntegralRoll,4,1 |
| 444 .comm Mess_IntegralRoll2,4,1 |
| 445 .comm Integral_Gier,4,1 |
| 446 .comm Mess_Integral_Gier,4,1 |
| 447 .comm h,1,1 |
| 448 .comm m,1,1 |
| 449 .comm s,1,1 |
| 450 .comm Motor_Vorne,1,1 |
| 451 .comm Motor_Hinten,1,1 |
| 452 .comm Motor_Rechts,1,1 |
| 453 .comm Motor_Links,1,1 |
| 454 .comm Count,1,1 |
| 455 .comm MotorWert,5,1 |
| 456 /* File "timer0.c": code 398 = 0x018e ( 320), prologues 37, epilogues 41 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:13 .text:00000000 __vector_18 |
| .bss:00000009 cnt.2011 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:423 .data:00000001 cnt_1ms.2010 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:395 .bss:00000002 UpdateMotor |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:389 .bss:00000000 CountMilliseconds |
| *COM*:00000001 Timeout |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:407 .bss:00000005 beeptime |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:401 .bss:00000003 cntKompass |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:140 .text:0000012e SetDelay |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:156 .text:00000140 CheckDelay |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:175 .text:00000158 __vector_9 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:418 .data:00000000 timer.2100 |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:413 .bss:00000007 ServoValue |
| *COM*:00000004 IntegralNick |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:322 .text:000002a6 Timer_Init |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:420 .bss:0000000a tim_main |
| C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:362 .text:000002f4 Delay_ms |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 RemoteTasten |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| Parameter_ServoNickControl |
| __divmodsi4 |
| __mulsi3 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/twimaster.d |
|---|
| 0,0 → 1,2 |
| twimaster.o twimaster.d : twimaster.c main.h old_macros.h _Settings.h printf_P.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/twimaster.lst |
|---|
| 0,0 → 1,309 |
| 1 .file "twimaster.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global i2c_init |
| 13 i2c_init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 1092 B900 sts 185,__zero_reg__ |
| 17 0004 8AE2 ldi r24,lo8(42) |
| 18 0006 8093 B800 sts 184,r24 |
| 19 /* epilogue: frame size=0 */ |
| 20 000a 0895 ret |
| 21 /* epilogue end (size=1) */ |
| 22 /* function i2c_init size 6 (5) */ |
| 24 .global i2c_start |
| 26 i2c_start: |
| 27 /* prologue: frame size=0 */ |
| 28 /* prologue end (size=0) */ |
| 29 000c 85EA ldi r24,lo8(-91) |
| 30 000e 8093 BC00 sts 188,r24 |
| 31 0012 80E0 ldi r24,lo8(0) |
| 32 0014 90E0 ldi r25,hi8(0) |
| 33 /* epilogue: frame size=0 */ |
| 34 0016 0895 ret |
| 35 /* epilogue end (size=1) */ |
| 36 /* function i2c_start size 6 (5) */ |
| 38 .global i2c_stop |
| 40 i2c_stop: |
| 41 /* prologue: frame size=0 */ |
| 42 /* prologue end (size=0) */ |
| 43 0018 84E9 ldi r24,lo8(-108) |
| 44 001a 8093 BC00 sts 188,r24 |
| 45 /* epilogue: frame size=0 */ |
| 46 001e 0895 ret |
| 47 /* epilogue end (size=1) */ |
| 48 /* function i2c_stop size 4 (3) */ |
| 50 .global i2c_write_byte |
| 52 i2c_write_byte: |
| 53 /* prologue: frame size=0 */ |
| 54 /* prologue end (size=0) */ |
| 55 0020 1092 B900 sts 185,__zero_reg__ |
| 56 0024 8093 BB00 sts 187,r24 |
| 57 0028 85E8 ldi r24,lo8(-123) |
| 58 002a 8093 BC00 sts 188,r24 |
| 59 002e 80E0 ldi r24,lo8(0) |
| 60 0030 90E0 ldi r25,hi8(0) |
| 61 /* epilogue: frame size=0 */ |
| 62 0032 0895 ret |
| 63 /* epilogue end (size=1) */ |
| 64 /* function i2c_write_byte size 10 (9) */ |
| 66 .global __vector_26 |
| 68 __vector_26: |
| 69 /* prologue: frame size=0 */ |
| 70 0034 1F92 push __zero_reg__ |
| 71 0036 0F92 push __tmp_reg__ |
| 72 0038 0FB6 in __tmp_reg__,__SREG__ |
| 73 003a 0F92 push __tmp_reg__ |
| 74 003c 1124 clr __zero_reg__ |
| 75 003e 8F93 push r24 |
| 76 0040 9F93 push r25 |
| 77 0042 EF93 push r30 |
| 78 0044 FF93 push r31 |
| 79 /* prologue end (size=9) */ |
| 80 0046 8091 0000 lds r24,twi_state |
| 81 004a 8F5F subi r24,lo8(-(1)) |
| 82 004c 8093 0000 sts twi_state,r24 |
| 83 0050 8150 subi r24,lo8(-(-1)) |
| 84 0052 8330 cpi r24,lo8(3) |
| 85 0054 01F4 brne .+2 |
| 86 0056 00C0 rjmp .L14 |
| 87 0058 8430 cpi r24,lo8(4) |
| 88 005a 00F4 brsh .L19 |
| 89 005c 8130 cpi r24,lo8(1) |
| 90 005e 01F0 breq .L12 |
| 91 0060 8230 cpi r24,lo8(2) |
| 92 0062 00F4 brsh .L13 |
| 93 0064 00C0 rjmp .L38 |
| 94 .L19: |
| 95 0066 8530 cpi r24,lo8(5) |
| 96 0068 01F4 brne .+2 |
| 97 006a 00C0 rjmp .L16 |
| 98 006c 8530 cpi r24,lo8(5) |
| 99 006e 00F0 brlo .L15 |
| 100 0070 8630 cpi r24,lo8(6) |
| 101 0072 01F4 brne .+2 |
| 102 0074 00C0 rjmp .L17 |
| 103 0076 8730 cpi r24,lo8(7) |
| 104 0078 01F0 breq .+2 |
| 105 007a 00C0 rjmp .L37 |
| 106 007c 00C0 rjmp .L18 |
| 107 .L38: |
| 108 007e 8091 0000 lds r24,motor |
| 109 0082 880F lsl r24 |
| 110 0084 8E5A subi r24,lo8(-(82)) |
| 111 0086 00C0 rjmp .L39 |
| 112 .L12: |
| 113 0088 8091 0000 lds r24,motor |
| 114 008c 8F5F subi r24,lo8(-(1)) |
| 115 008e 8093 0000 sts motor,r24 |
| 116 0092 8150 subi r24,lo8(-(-1)) |
| 117 0094 8130 cpi r24,lo8(1) |
| 118 0096 01F4 brne .+2 |
| 119 0098 00C0 rjmp .L32 |
| 120 009a 8130 cpi r24,lo8(1) |
| 121 009c 00F0 brlo .L20 |
| 122 009e 8230 cpi r24,lo8(2) |
| 123 00a0 01F4 brne .+2 |
| 124 00a2 00C0 rjmp .L33 |
| 125 00a4 8330 cpi r24,lo8(3) |
| 126 00a6 01F0 breq .+2 |
| 127 00a8 00C0 rjmp .L37 |
| 128 00aa 00C0 rjmp .L34 |
| 129 .L20: |
| 130 00ac 8091 0000 lds r24,Motor_Vorne |
| 131 .L39: |
| 132 00b0 1092 B900 sts 185,__zero_reg__ |
| 133 00b4 8093 BB00 sts 187,r24 |
| 134 00b8 85E8 ldi r24,lo8(-123) |
| 135 .L40: |
| 136 00ba 8093 BC00 sts 188,r24 |
| 137 00be 00C0 rjmp .L37 |
| 138 .L13: |
| 139 00c0 84E9 ldi r24,lo8(-108) |
| 140 00c2 8093 BC00 sts 188,r24 |
| 141 00c6 8091 0000 lds r24,motor |
| 142 00ca 8430 cpi r24,lo8(4) |
| 143 00cc 00F4 brsh .L24 |
| 144 00ce 1092 0000 sts twi_state,__zero_reg__ |
| 145 00d2 00C0 rjmp .L26 |
| 146 .L24: |
| 147 00d4 1092 0000 sts motor,__zero_reg__ |
| 148 .L26: |
| 149 00d8 85EA ldi r24,lo8(-91) |
| 150 00da 00C0 rjmp .L40 |
| 151 .L14: |
| 152 00dc 8091 0000 lds r24,motorread |
| 153 00e0 880F lsl r24 |
| 154 00e2 8D5A subi r24,lo8(-(83)) |
| 155 00e4 00C0 rjmp .L39 |
| 156 .L15: |
| 157 00e6 8091 0000 lds r24,motorread |
| 158 00ea 8130 cpi r24,lo8(1) |
| 159 00ec 01F0 breq .L32 |
| 160 00ee 8130 cpi r24,lo8(1) |
| 161 00f0 00F0 brlo .L20 |
| 162 00f2 8230 cpi r24,lo8(2) |
| 163 00f4 01F0 breq .L33 |
| 164 00f6 8330 cpi r24,lo8(3) |
| 165 00f8 01F4 brne .L37 |
| 166 00fa 00C0 rjmp .L34 |
| 167 .L16: |
| 168 00fc 8091 BB00 lds r24,187 |
| 169 0100 E091 0000 lds r30,motorread |
| 170 0104 FF27 clr r31 |
| 171 0106 E050 subi r30,lo8(-(motor_rx)) |
| 172 0108 F040 sbci r31,hi8(-(motor_rx)) |
| 173 010a 8083 st Z,r24 |
| 174 .L17: |
| 175 010c 8091 0000 lds r24,motorread |
| 176 0110 8130 cpi r24,lo8(1) |
| 177 0112 01F0 breq .L32 |
| 178 0114 8130 cpi r24,lo8(1) |
| 179 0116 00F0 brlo .L20 |
| 180 0118 8230 cpi r24,lo8(2) |
| 181 011a 01F0 breq .L33 |
| 182 011c 8330 cpi r24,lo8(3) |
| 183 011e 01F4 brne .L37 |
| 184 0120 00C0 rjmp .L34 |
| 185 .L32: |
| 186 0122 8091 0000 lds r24,Motor_Hinten |
| 187 0126 00C0 rjmp .L39 |
| 188 .L33: |
| 189 0128 8091 0000 lds r24,Motor_Rechts |
| 190 012c 00C0 rjmp .L39 |
| 191 .L34: |
| 192 012e 8091 0000 lds r24,Motor_Links |
| 193 0132 00C0 rjmp .L39 |
| 194 .L18: |
| 195 0134 8091 0000 lds r24,motorread |
| 196 0138 9091 BB00 lds r25,187 |
| 197 013c E82F mov r30,r24 |
| 198 013e FF27 clr r31 |
| 199 0140 E050 subi r30,lo8(-(motor_rx)) |
| 200 0142 F040 sbci r31,hi8(-(motor_rx)) |
| 201 0144 9483 std Z+4,r25 |
| 202 0146 8F5F subi r24,lo8(-(1)) |
| 203 0148 8093 0000 sts motorread,r24 |
| 204 014c 8430 cpi r24,lo8(4) |
| 205 014e 00F0 brlo .L35 |
| 206 0150 1092 0000 sts motorread,__zero_reg__ |
| 207 .L35: |
| 208 0154 84E9 ldi r24,lo8(-108) |
| 209 0156 8093 BC00 sts 188,r24 |
| 210 015a 1092 0000 sts twi_state,__zero_reg__ |
| 211 .L37: |
| 212 /* epilogue: frame size=0 */ |
| 213 015e FF91 pop r31 |
| 214 0160 EF91 pop r30 |
| 215 0162 9F91 pop r25 |
| 216 0164 8F91 pop r24 |
| 217 0166 0F90 pop __tmp_reg__ |
| 218 0168 0FBE out __SREG__,__tmp_reg__ |
| 219 016a 0F90 pop __tmp_reg__ |
| 220 016c 1F90 pop __zero_reg__ |
| 221 016e 1895 reti |
| 222 /* epilogue end (size=9) */ |
| 223 /* function __vector_26 size 158 (140) */ |
| 225 .global twi_state |
| 226 .global twi_state |
| 227 .section .bss |
| 230 twi_state: |
| 231 0000 00 .skip 1,0 |
| 232 .global motor |
| 233 .global motor |
| 236 motor: |
| 237 0001 00 .skip 1,0 |
| 238 .global motorread |
| 239 .global motorread |
| 242 motorread: |
| 243 0002 00 .skip 1,0 |
| 244 .comm DiffNick,2,1 |
| 245 .comm DiffRoll,2,1 |
| 246 .comm SenderOkay,1,1 |
| 247 .comm CosinusNickWinkel,1,1 |
| 248 .comm CosinusRollWinkel,1,1 |
| 249 .comm durchschnitt_northing,4,1 |
| 250 .comm durchschnitt_easting,4,1 |
| 251 .comm P_GPS_Verstaerkung,2,1 |
| 252 .comm D_GPS_Verstaerkung,2,1 |
| 253 .comm motor_rx,8,1 |
| 254 .comm RemoteTasten,1,1 |
| 255 .comm Timeout,1,1 |
| 256 .comm IntegralNick,4,1 |
| 257 .comm IntegralNick2,4,1 |
| 258 .comm IntegralRoll,4,1 |
| 259 .comm IntegralRoll2,4,1 |
| 260 .comm Mess_IntegralNick,4,1 |
| 261 .comm Mess_IntegralNick2,4,1 |
| 262 .comm Mess_IntegralRoll,4,1 |
| 263 .comm Mess_IntegralRoll2,4,1 |
| 264 .comm Integral_Gier,4,1 |
| 265 .comm Mess_Integral_Gier,4,1 |
| 266 .comm h,1,1 |
| 267 .comm m,1,1 |
| 268 .comm s,1,1 |
| 269 .comm Motor_Vorne,1,1 |
| 270 .comm Motor_Hinten,1,1 |
| 271 .comm Motor_Rechts,1,1 |
| 272 .comm Motor_Links,1,1 |
| 273 .comm Count,1,1 |
| 274 .comm MotorWert,5,1 |
| 275 /* File "twimaster.c": code 184 = 0x00b8 ( 162), prologues 9, epilogues 13 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:13 .text:00000000 i2c_init |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:26 .text:0000000c i2c_start |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:40 .text:00000018 i2c_stop |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:52 .text:00000020 i2c_write_byte |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:68 .text:00000034 __vector_26 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:230 .bss:00000000 twi_state |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:236 .bss:00000001 motor |
| *COM*:00000001 Motor_Vorne |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccoxlKXd.s:242 .bss:00000002 motorread |
| *COM*:00000008 motor_rx |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/uart.c |
|---|
| 0,0 → 1,641 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| //gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported) |
| //gpsInfo_t *gpsTarget; // points to one of the targets |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| #define MSGID_VELECEF 0x11 |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navVelNed.packetStatus == 1) |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0; |
| } |
| if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,(unsigned char *)&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/uart.d |
|---|
| 0,0 → 1,2 |
| uart.o uart.d : uart.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/uart.h |
|---|
| 0,0 → 1,124 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct |
| { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| long northing; |
| long easting; |
| long altitude; |
| long velNorth; |
| long velEast; |
| uint8_t newData; // status of data: 0 = invlid; 1 = valid |
| uint8_t GPSFix; |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/uart.lst |
|---|
| 0,0 → 1,1454 |
| 1 .file "uart.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global __vector_22 |
| 13 __vector_22: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 1F92 push __zero_reg__ |
| 16 0002 0F92 push __tmp_reg__ |
| 17 0004 0FB6 in __tmp_reg__,__SREG__ |
| 18 0006 0F92 push __tmp_reg__ |
| 19 0008 1124 clr __zero_reg__ |
| 20 000a 8F93 push r24 |
| 21 000c 9F93 push r25 |
| 22 000e EF93 push r30 |
| 23 0010 FF93 push r31 |
| 24 /* prologue end (size=9) */ |
| 25 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
| 26 0016 8823 tst r24 |
| 27 0018 01F4 brne .L2 |
| 28 001a 8091 0000 lds r24,ptr.2090 |
| 29 001e 9091 0000 lds r25,(ptr.2090)+1 |
| 30 0022 0196 adiw r24,1 |
| 31 0024 9093 0000 sts (ptr.2090)+1,r25 |
| 32 0028 8093 0000 sts ptr.2090,r24 |
| 33 002c FC01 movw r30,r24 |
| 34 002e E050 subi r30,lo8(-(SendeBuffer)) |
| 35 0030 F040 sbci r31,hi8(-(SendeBuffer)) |
| 36 0032 E081 ld r30,Z |
| 37 0034 ED30 cpi r30,lo8(13) |
| 38 0036 01F0 breq .L4 |
| 39 0038 8639 cpi r24,150 |
| 40 003a 9105 cpc r25,__zero_reg__ |
| 41 003c 01F4 brne .L6 |
| 42 .L4: |
| 43 003e 1092 0000 sts (ptr.2090)+1,__zero_reg__ |
| 44 0042 1092 0000 sts ptr.2090,__zero_reg__ |
| 45 0046 81E0 ldi r24,lo8(1) |
| 46 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
| 47 .L6: |
| 48 004c E093 C600 sts 198,r30 |
| 49 0050 00C0 rjmp .L8 |
| 50 .L2: |
| 51 0052 1092 0000 sts (ptr.2090)+1,__zero_reg__ |
| 52 0056 1092 0000 sts ptr.2090,__zero_reg__ |
| 53 .L8: |
| 54 /* epilogue: frame size=0 */ |
| 55 005a FF91 pop r31 |
| 56 005c EF91 pop r30 |
| 57 005e 9F91 pop r25 |
| 58 0060 8F91 pop r24 |
| 59 0062 0F90 pop __tmp_reg__ |
| 60 0064 0FBE out __SREG__,__tmp_reg__ |
| 61 0066 0F90 pop __tmp_reg__ |
| 62 0068 1F90 pop __zero_reg__ |
| 63 006a 1895 reti |
| 64 /* epilogue end (size=9) */ |
| 65 /* function __vector_22 size 54 (36) */ |
| 67 .global GPSscanData |
| 69 GPSscanData: |
| 70 /* prologue: frame size=0 */ |
| 71 /* prologue end (size=0) */ |
| 72 006c 8091 0000 lds r24,navPosECEF+20 |
| 73 0070 8130 cpi r24,lo8(1) |
| 74 0072 01F4 brne .L10 |
| 75 0074 8091 0000 lds r24,navPosECEF+4 |
| 76 0078 9091 0000 lds r25,(navPosECEF+4)+1 |
| 77 007c A091 0000 lds r26,(navPosECEF+4)+2 |
| 78 0080 B091 0000 lds r27,(navPosECEF+4)+3 |
| 79 0084 8093 0000 sts actualPos,r24 |
| 80 0088 9093 0000 sts (actualPos)+1,r25 |
| 81 008c A093 0000 sts (actualPos)+2,r26 |
| 82 0090 B093 0000 sts (actualPos)+3,r27 |
| 83 0094 8091 0000 lds r24,navPosECEF+8 |
| 84 0098 9091 0000 lds r25,(navPosECEF+8)+1 |
| 85 009c A091 0000 lds r26,(navPosECEF+8)+2 |
| 86 00a0 B091 0000 lds r27,(navPosECEF+8)+3 |
| 87 00a4 8093 0000 sts actualPos+4,r24 |
| 88 00a8 9093 0000 sts (actualPos+4)+1,r25 |
| 89 00ac A093 0000 sts (actualPos+4)+2,r26 |
| 90 00b0 B093 0000 sts (actualPos+4)+3,r27 |
| 91 00b4 8091 0000 lds r24,navPosECEF+12 |
| 92 00b8 9091 0000 lds r25,(navPosECEF+12)+1 |
| 93 00bc A091 0000 lds r26,(navPosECEF+12)+2 |
| 94 00c0 B091 0000 lds r27,(navPosECEF+12)+3 |
| 95 00c4 8093 0000 sts actualPos+8,r24 |
| 96 00c8 9093 0000 sts (actualPos+8)+1,r25 |
| 97 00cc A093 0000 sts (actualPos+8)+2,r26 |
| 98 00d0 B093 0000 sts (actualPos+8)+3,r27 |
| 99 00d4 1092 0000 sts navPosECEF+20,__zero_reg__ |
| 100 .L10: |
| 101 00d8 9091 0000 lds r25,navStatus+16 |
| 102 00dc 9130 cpi r25,lo8(1) |
| 103 00de 01F4 brne .L12 |
| 104 00e0 8091 0000 lds r24,navStatus+4 |
| 105 00e4 8093 0000 sts actualPos+45,r24 |
| 106 00e8 9093 0000 sts actualPos+44,r25 |
| 107 00ec 1092 0000 sts navStatus+16,__zero_reg__ |
| 108 .L12: |
| 109 00f0 8091 0000 lds r24,navVelECEF+20 |
| 110 00f4 8130 cpi r24,lo8(1) |
| 111 00f6 01F4 brne .L14 |
| 112 00f8 8091 0000 lds r24,navVelECEF+4 |
| 113 00fc 9091 0000 lds r25,(navVelECEF+4)+1 |
| 114 0100 A091 0000 lds r26,(navVelECEF+4)+2 |
| 115 0104 B091 0000 lds r27,(navVelECEF+4)+3 |
| 116 0108 8093 0000 sts actualPos+12,r24 |
| 117 010c 9093 0000 sts (actualPos+12)+1,r25 |
| 118 0110 A093 0000 sts (actualPos+12)+2,r26 |
| 119 0114 B093 0000 sts (actualPos+12)+3,r27 |
| 120 0118 8091 0000 lds r24,navVelECEF+8 |
| 121 011c 9091 0000 lds r25,(navVelECEF+8)+1 |
| 122 0120 A091 0000 lds r26,(navVelECEF+8)+2 |
| 123 0124 B091 0000 lds r27,(navVelECEF+8)+3 |
| 124 0128 8093 0000 sts actualPos+16,r24 |
| 125 012c 9093 0000 sts (actualPos+16)+1,r25 |
| 126 0130 A093 0000 sts (actualPos+16)+2,r26 |
| 127 0134 B093 0000 sts (actualPos+16)+3,r27 |
| 128 0138 8091 0000 lds r24,navVelECEF+12 |
| 129 013c 9091 0000 lds r25,(navVelECEF+12)+1 |
| 130 0140 A091 0000 lds r26,(navVelECEF+12)+2 |
| 131 0144 B091 0000 lds r27,(navVelECEF+12)+3 |
| 132 0148 8093 0000 sts actualPos+20,r24 |
| 133 014c 9093 0000 sts (actualPos+20)+1,r25 |
| 134 0150 A093 0000 sts (actualPos+20)+2,r26 |
| 135 0154 B093 0000 sts (actualPos+20)+3,r27 |
| 136 0158 1092 0000 sts navVelECEF+20,__zero_reg__ |
| 137 .L14: |
| 138 015c 8091 0000 lds r24,navPosUtm+18 |
| 139 0160 8130 cpi r24,lo8(1) |
| 140 0162 01F4 brne .L16 |
| 141 0164 8091 0000 lds r24,navPosUtm+8 |
| 142 0168 9091 0000 lds r25,(navPosUtm+8)+1 |
| 143 016c A091 0000 lds r26,(navPosUtm+8)+2 |
| 144 0170 B091 0000 lds r27,(navPosUtm+8)+3 |
| 145 0174 8093 0000 sts actualPos+24,r24 |
| 146 0178 9093 0000 sts (actualPos+24)+1,r25 |
| 147 017c A093 0000 sts (actualPos+24)+2,r26 |
| 148 0180 B093 0000 sts (actualPos+24)+3,r27 |
| 149 0184 8091 0000 lds r24,navPosUtm+4 |
| 150 0188 9091 0000 lds r25,(navPosUtm+4)+1 |
| 151 018c A091 0000 lds r26,(navPosUtm+4)+2 |
| 152 0190 B091 0000 lds r27,(navPosUtm+4)+3 |
| 153 0194 8093 0000 sts actualPos+28,r24 |
| 154 0198 9093 0000 sts (actualPos+28)+1,r25 |
| 155 019c A093 0000 sts (actualPos+28)+2,r26 |
| 156 01a0 B093 0000 sts (actualPos+28)+3,r27 |
| 157 01a4 8091 0000 lds r24,navPosUtm+12 |
| 158 01a8 9091 0000 lds r25,(navPosUtm+12)+1 |
| 159 01ac A091 0000 lds r26,(navPosUtm+12)+2 |
| 160 01b0 B091 0000 lds r27,(navPosUtm+12)+3 |
| 161 01b4 8093 0000 sts actualPos+32,r24 |
| 162 01b8 9093 0000 sts (actualPos+32)+1,r25 |
| 163 01bc A093 0000 sts (actualPos+32)+2,r26 |
| 164 01c0 B093 0000 sts (actualPos+32)+3,r27 |
| 165 01c4 1092 0000 sts navPosUtm+18,__zero_reg__ |
| 166 .L16: |
| 167 01c8 8091 0000 lds r24,navVelNed+36 |
| 168 01cc 8130 cpi r24,lo8(1) |
| 169 01ce 01F4 brne .L18 |
| 170 01d0 8091 0000 lds r24,navVelNed+4 |
| 171 01d4 9091 0000 lds r25,(navVelNed+4)+1 |
| 172 01d8 A091 0000 lds r26,(navVelNed+4)+2 |
| 173 01dc B091 0000 lds r27,(navVelNed+4)+3 |
| 174 01e0 8093 0000 sts actualPos+36,r24 |
| 175 01e4 9093 0000 sts (actualPos+36)+1,r25 |
| 176 01e8 A093 0000 sts (actualPos+36)+2,r26 |
| 177 01ec B093 0000 sts (actualPos+36)+3,r27 |
| 178 01f0 8091 0000 lds r24,navVelNed+8 |
| 179 01f4 9091 0000 lds r25,(navVelNed+8)+1 |
| 180 01f8 A091 0000 lds r26,(navVelNed+8)+2 |
| 181 01fc B091 0000 lds r27,(navVelNed+8)+3 |
| 182 0200 8093 0000 sts actualPos+40,r24 |
| 183 0204 9093 0000 sts (actualPos+40)+1,r25 |
| 184 0208 A093 0000 sts (actualPos+40)+2,r26 |
| 185 020c B093 0000 sts (actualPos+40)+3,r27 |
| 186 0210 1092 0000 sts navVelNed+36,__zero_reg__ |
| 187 .L18: |
| 188 0214 8091 0000 lds r24,actualPos+44 |
| 189 0218 8111 cpse r24,__zero_reg__ |
| 190 021a 289A sbi 37-0x20,0 |
| 191 .L22: |
| 192 021c 0895 ret |
| 193 /* epilogue: frame size=0 */ |
| 194 /* epilogue: noreturn */ |
| 195 /* epilogue end (size=0) */ |
| 196 /* function GPSscanData size 218 (218) */ |
| 198 .global __vector_20 |
| 200 __vector_20: |
| 201 /* prologue: frame size=0 */ |
| 202 021e 1F92 push __zero_reg__ |
| 203 0220 0F92 push __tmp_reg__ |
| 204 0222 0FB6 in __tmp_reg__,__SREG__ |
| 205 0224 0F92 push __tmp_reg__ |
| 206 0226 1124 clr __zero_reg__ |
| 207 0228 2F93 push r18 |
| 208 022a 3F93 push r19 |
| 209 022c 4F93 push r20 |
| 210 022e 5F93 push r21 |
| 211 0230 6F93 push r22 |
| 212 0232 7F93 push r23 |
| 213 0234 8F93 push r24 |
| 214 0236 9F93 push r25 |
| 215 0238 AF93 push r26 |
| 216 023a BF93 push r27 |
| 217 023c CF93 push r28 |
| 218 023e DF93 push r29 |
| 219 0240 EF93 push r30 |
| 220 0242 FF93 push r31 |
| 221 /* prologue end (size=19) */ |
| 222 0244 8091 C600 lds r24,198 |
| 223 0248 8093 0000 sts SioTmp,r24 |
| 224 024c 8091 C000 lds r24,192 |
| 225 0250 4091 0000 lds r20,SioTmp |
| 226 0254 8871 andi r24,lo8(24) |
| 227 0256 01F0 breq .+2 |
| 228 0258 00C0 rjmp .L24 |
| 229 025a 8091 0000 lds r24,gpsState |
| 230 025e 8430 cpi r24,lo8(4) |
| 231 0260 01F4 brne .+2 |
| 232 0262 00C0 rjmp .L31 |
| 233 0264 8530 cpi r24,lo8(5) |
| 234 0266 00F4 brsh .L36 |
| 235 0268 8130 cpi r24,lo8(1) |
| 236 026a 01F0 breq .L28 |
| 237 026c 8130 cpi r24,lo8(1) |
| 238 026e 00F0 brlo .L27 |
| 239 0270 8230 cpi r24,lo8(2) |
| 240 0272 01F0 breq .L29 |
| 241 0274 8330 cpi r24,lo8(3) |
| 242 0276 01F0 breq .+2 |
| 243 0278 00C0 rjmp .L26 |
| 244 027a 00C0 rjmp .L30 |
| 245 .L36: |
| 246 027c 8630 cpi r24,lo8(6) |
| 247 027e 01F4 brne .+2 |
| 248 0280 00C0 rjmp .L33 |
| 249 0282 8630 cpi r24,lo8(6) |
| 250 0284 00F4 brsh .+2 |
| 251 0286 00C0 rjmp .L32 |
| 252 0288 8730 cpi r24,lo8(7) |
| 253 028a 01F4 brne .+2 |
| 254 028c 00C0 rjmp .L34 |
| 255 028e 8830 cpi r24,lo8(8) |
| 256 0290 01F0 breq .+2 |
| 257 0292 00C0 rjmp .L26 |
| 258 0294 00C0 rjmp .L35 |
| 259 .L27: |
| 260 0296 453B cpi r20,lo8(-75) |
| 261 0298 01F0 breq .+2 |
| 262 029a 00C0 rjmp .L37 |
| 263 029c 81E0 ldi r24,lo8(1) |
| 264 029e 00C0 rjmp .L85 |
| 265 .L28: |
| 266 02a0 4236 cpi r20,lo8(98) |
| 267 02a2 01F4 brne .L39 |
| 268 02a4 82E0 ldi r24,lo8(2) |
| 269 .L85: |
| 270 02a6 8093 0000 sts gpsState,r24 |
| 271 02aa 00C0 rjmp .L37 |
| 272 .L39: |
| 273 02ac 453B cpi r20,lo8(-75) |
| 274 02ae 01F4 brne .+2 |
| 275 02b0 00C0 rjmp .L37 |
| 276 02b2 00C0 rjmp .L26 |
| 277 .L29: |
| 278 02b4 4130 cpi r20,lo8(1) |
| 279 02b6 01F0 breq .+2 |
| 280 02b8 00C0 rjmp .L26 |
| 281 02ba 83E0 ldi r24,lo8(3) |
| 282 02bc 00C0 rjmp .L85 |
| 283 .L30: |
| 284 02be 4093 0000 sts msgID,r20 |
| 285 02c2 4F5F subi r20,lo8(-(1)) |
| 286 02c4 4093 0000 sts CK_A,r20 |
| 287 02c8 8091 0000 lds r24,CK_A |
| 288 02cc 8F5F subi r24,lo8(-(1)) |
| 289 02ce 8093 0000 sts CK_B,r24 |
| 290 02d2 84E0 ldi r24,lo8(4) |
| 291 02d4 8093 0000 sts gpsState,r24 |
| 292 02d8 8091 0000 lds r24,msgID |
| 293 02dc 8830 cpi r24,lo8(8) |
| 294 02de 01F4 brne .+2 |
| 295 02e0 00C0 rjmp .L47 |
| 296 02e2 8930 cpi r24,lo8(9) |
| 297 02e4 00F4 brsh .L50 |
| 298 02e6 8130 cpi r24,lo8(1) |
| 299 02e8 01F0 breq .L45 |
| 300 02ea 8330 cpi r24,lo8(3) |
| 301 02ec 01F0 breq .+2 |
| 302 02ee 00C0 rjmp .L44 |
| 303 02f0 00C0 rjmp .L46 |
| 304 .L50: |
| 305 02f2 8131 cpi r24,lo8(17) |
| 306 02f4 01F0 breq .L48 |
| 307 02f6 8231 cpi r24,lo8(18) |
| 308 02f8 01F0 breq .+2 |
| 309 02fa 00C0 rjmp .L44 |
| 310 02fc 00C0 rjmp .L49 |
| 311 .L46: |
| 312 02fe 80E0 ldi r24,lo8(navStatus) |
| 313 0300 90E0 ldi r25,hi8(navStatus) |
| 314 0302 9093 0000 sts (ubxP)+1,r25 |
| 315 0306 8093 0000 sts ubxP,r24 |
| 316 030a 20E0 ldi r18,lo8(navStatus+289) |
| 317 030c 30E0 ldi r19,hi8(navStatus+289) |
| 318 030e 3093 0000 sts (ubxEp)+1,r19 |
| 319 0312 2093 0000 sts ubxEp,r18 |
| 320 0316 4096 adiw r24,16 |
| 321 0318 9093 0000 sts (ubxSp)+1,r25 |
| 322 031c 8093 0000 sts ubxSp,r24 |
| 323 0320 8091 0000 lds r24,navStatus+16 |
| 324 0324 00C0 rjmp .L86 |
| 325 .L45: |
| 326 0326 80E0 ldi r24,lo8(navPosECEF) |
| 327 0328 90E0 ldi r25,hi8(navPosECEF) |
| 328 032a 9093 0000 sts (ubxP)+1,r25 |
| 329 032e 8093 0000 sts ubxP,r24 |
| 330 0332 20E0 ldi r18,lo8(navPosECEF+441) |
| 331 0334 30E0 ldi r19,hi8(navPosECEF+441) |
| 332 0336 3093 0000 sts (ubxEp)+1,r19 |
| 333 033a 2093 0000 sts ubxEp,r18 |
| 334 033e 4496 adiw r24,20 |
| 335 0340 9093 0000 sts (ubxSp)+1,r25 |
| 336 0344 8093 0000 sts ubxSp,r24 |
| 337 0348 8091 0000 lds r24,navPosECEF+20 |
| 338 034c 00C0 rjmp .L86 |
| 339 .L48: |
| 340 034e 80E0 ldi r24,lo8(navVelECEF) |
| 341 0350 90E0 ldi r25,hi8(navVelECEF) |
| 342 0352 9093 0000 sts (ubxP)+1,r25 |
| 343 0356 8093 0000 sts ubxP,r24 |
| 344 035a 20E0 ldi r18,lo8(navVelECEF+441) |
| 345 035c 30E0 ldi r19,hi8(navVelECEF+441) |
| 346 035e 3093 0000 sts (ubxEp)+1,r19 |
| 347 0362 2093 0000 sts ubxEp,r18 |
| 348 0366 4496 adiw r24,20 |
| 349 0368 9093 0000 sts (ubxSp)+1,r25 |
| 350 036c 8093 0000 sts ubxSp,r24 |
| 351 0370 8091 0000 lds r24,navVelECEF+20 |
| 352 0374 00C0 rjmp .L86 |
| 353 .L47: |
| 354 0376 80E0 ldi r24,lo8(navPosUtm) |
| 355 0378 90E0 ldi r25,hi8(navPosUtm) |
| 356 037a 9093 0000 sts (ubxP)+1,r25 |
| 357 037e 8093 0000 sts ubxP,r24 |
| 358 0382 20E0 ldi r18,lo8(navPosUtm+361) |
| 359 0384 30E0 ldi r19,hi8(navPosUtm+361) |
| 360 0386 3093 0000 sts (ubxEp)+1,r19 |
| 361 038a 2093 0000 sts ubxEp,r18 |
| 362 038e 4296 adiw r24,18 |
| 363 0390 9093 0000 sts (ubxSp)+1,r25 |
| 364 0394 8093 0000 sts ubxSp,r24 |
| 365 0398 8091 0000 lds r24,navPosUtm+18 |
| 366 039c 00C0 rjmp .L86 |
| 367 .L49: |
| 368 039e 80E0 ldi r24,lo8(navVelNed) |
| 369 03a0 90E0 ldi r25,hi8(navVelNed) |
| 370 03a2 9093 0000 sts (ubxP)+1,r25 |
| 371 03a6 8093 0000 sts ubxP,r24 |
| 372 03aa 20E0 ldi r18,lo8(navVelNed+1369) |
| 373 03ac 30E0 ldi r19,hi8(navVelNed+1369) |
| 374 03ae 3093 0000 sts (ubxEp)+1,r19 |
| 375 03b2 2093 0000 sts ubxEp,r18 |
| 376 03b6 8496 adiw r24,36 |
| 377 03b8 9093 0000 sts (ubxSp)+1,r25 |
| 378 03bc 8093 0000 sts ubxSp,r24 |
| 379 03c0 8091 0000 lds r24,navVelNed+36 |
| 380 .L86: |
| 381 03c4 8093 0000 sts ignorePacket,r24 |
| 382 03c8 00C0 rjmp .L37 |
| 383 .L44: |
| 384 03ca 81E0 ldi r24,lo8(1) |
| 385 03cc 8093 0000 sts ignorePacket,r24 |
| 386 03d0 1092 0000 sts (ubxSp)+1,__zero_reg__ |
| 387 03d4 1092 0000 sts ubxSp,__zero_reg__ |
| 388 03d8 00C0 rjmp .L37 |
| 389 .L31: |
| 390 03da 842F mov r24,r20 |
| 391 03dc 9927 clr r25 |
| 392 03de 9093 0000 sts (msgLen)+1,r25 |
| 393 03e2 8093 0000 sts msgLen,r24 |
| 394 03e6 8091 0000 lds r24,CK_A |
| 395 03ea 840F add r24,r20 |
| 396 03ec 8093 0000 sts CK_A,r24 |
| 397 03f0 8091 0000 lds r24,CK_B |
| 398 03f4 9091 0000 lds r25,CK_A |
| 399 03f8 890F add r24,r25 |
| 400 03fa 8093 0000 sts CK_B,r24 |
| 401 03fe 85E0 ldi r24,lo8(5) |
| 402 0400 00C0 rjmp .L85 |
| 403 .L32: |
| 404 0402 2091 0000 lds r18,msgLen |
| 405 0406 3091 0000 lds r19,(msgLen)+1 |
| 406 040a 842F mov r24,r20 |
| 407 040c 9927 clr r25 |
| 408 040e 982F mov r25,r24 |
| 409 0410 8827 clr r24 |
| 410 0412 280F add r18,r24 |
| 411 0414 391F adc r19,r25 |
| 412 0416 3093 0000 sts (msgLen)+1,r19 |
| 413 041a 2093 0000 sts msgLen,r18 |
| 414 041e 8091 0000 lds r24,CK_A |
| 415 0422 840F add r24,r20 |
| 416 0424 8093 0000 sts CK_A,r24 |
| 417 0428 8091 0000 lds r24,CK_B |
| 418 042c 9091 0000 lds r25,CK_A |
| 419 0430 890F add r24,r25 |
| 420 0432 8093 0000 sts CK_B,r24 |
| 421 0436 86E0 ldi r24,lo8(6) |
| 422 0438 00C0 rjmp .L85 |
| 423 .L33: |
| 424 043a 8091 0000 lds r24,CK_A |
| 425 043e 840F add r24,r20 |
| 426 0440 8093 0000 sts CK_A,r24 |
| 427 0444 8091 0000 lds r24,CK_B |
| 428 0448 9091 0000 lds r25,CK_A |
| 429 044c 890F add r24,r25 |
| 430 044e 8093 0000 sts CK_B,r24 |
| 431 0452 8091 0000 lds r24,ignorePacket |
| 432 0456 8823 tst r24 |
| 433 0458 01F4 brne .L51 |
| 434 045a E091 0000 lds r30,ubxP |
| 435 045e F091 0000 lds r31,(ubxP)+1 |
| 436 0462 8091 0000 lds r24,ubxEp |
| 437 0466 9091 0000 lds r25,(ubxEp)+1 |
| 438 046a E817 cp r30,r24 |
| 439 046c F907 cpc r31,r25 |
| 440 046e 00F4 brsh .L51 |
| 441 0470 4193 st Z+,r20 |
| 442 0472 F093 0000 sts (ubxP)+1,r31 |
| 443 0476 E093 0000 sts ubxP,r30 |
| 444 .L51: |
| 445 047a 8091 0000 lds r24,msgLen |
| 446 047e 9091 0000 lds r25,(msgLen)+1 |
| 447 0482 0197 sbiw r24,1 |
| 448 0484 9093 0000 sts (msgLen)+1,r25 |
| 449 0488 8093 0000 sts msgLen,r24 |
| 450 048c 8091 0000 lds r24,msgLen |
| 451 0490 9091 0000 lds r25,(msgLen)+1 |
| 452 0494 892B or r24,r25 |
| 453 0496 01F4 brne .L37 |
| 454 0498 87E0 ldi r24,lo8(7) |
| 455 049a 00C0 rjmp .L85 |
| 456 .L34: |
| 457 049c 8091 0000 lds r24,CK_A |
| 458 04a0 4817 cp r20,r24 |
| 459 04a2 01F4 brne .L26 |
| 460 04a4 88E0 ldi r24,lo8(8) |
| 461 04a6 00C0 rjmp .L85 |
| 462 .L35: |
| 463 04a8 8091 0000 lds r24,CK_B |
| 464 04ac 4817 cp r20,r24 |
| 465 04ae 01F4 brne .L26 |
| 466 04b0 E091 0000 lds r30,ubxSp |
| 467 04b4 F091 0000 lds r31,(ubxSp)+1 |
| 468 04b8 3097 sbiw r30,0 |
| 469 04ba 01F0 breq .L26 |
| 470 04bc 81E0 ldi r24,lo8(1) |
| 471 04be 8083 st Z,r24 |
| 472 .L26: |
| 473 04c0 1092 0000 sts gpsState,__zero_reg__ |
| 474 04c4 00C0 rjmp .L37 |
| 475 .L24: |
| 476 04c6 1092 0000 sts gpsState,__zero_reg__ |
| 477 04ca 0E94 0000 call GPSscanData |
| 478 .L37: |
| 479 04ce 0E94 0000 call GPSscanData |
| 480 04d2 4091 0000 lds r20,buf_ptr.2130 |
| 481 04d6 4639 cpi r20,lo8(-106) |
| 482 04d8 00F0 brlo .L60 |
| 483 04da 1092 0000 sts UartState.2131,__zero_reg__ |
| 484 .L60: |
| 485 04de 8091 0000 lds r24,SioTmp |
| 486 04e2 8D30 cpi r24,lo8(13) |
| 487 04e4 01F0 breq .+2 |
| 488 04e6 00C0 rjmp .L62 |
| 489 04e8 8091 0000 lds r24,UartState.2131 |
| 490 04ec 8230 cpi r24,lo8(2) |
| 491 04ee 01F0 breq .+2 |
| 492 04f0 00C0 rjmp .L62 |
| 493 04f2 1092 0000 sts UartState.2131,__zero_reg__ |
| 494 04f6 A42F mov r26,r20 |
| 495 04f8 BB27 clr r27 |
| 496 04fa FD01 movw r30,r26 |
| 497 04fc E050 subi r30,lo8(-(RxdBuffer-2)) |
| 498 04fe F040 sbci r31,hi8(-(RxdBuffer-2)) |
| 499 0500 3081 ld r19,Z |
| 500 0502 ED01 movw r28,r26 |
| 501 0504 C050 subi r28,lo8(-(RxdBuffer-1)) |
| 502 0506 D040 sbci r29,hi8(-(RxdBuffer-1)) |
| 503 0508 2881 ld r18,Y |
| 504 050a 8091 0000 lds r24,crc.2127 |
| 505 050e 9091 0000 lds r25,(crc.2127)+1 |
| 506 0512 831B sub r24,r19 |
| 507 0514 9109 sbc r25,__zero_reg__ |
| 508 0516 821B sub r24,r18 |
| 509 0518 9109 sbc r25,__zero_reg__ |
| 510 051a 9F70 andi r25,hi8(4095) |
| 511 051c 9093 0000 sts (crc.2127)+1,r25 |
| 512 0520 8093 0000 sts crc.2127,r24 |
| 513 0524 9C01 movw r18,r24 |
| 514 0526 96E0 ldi r25,6 |
| 515 0528 3695 1: lsr r19 |
| 516 052a 2795 ror r18 |
| 517 052c 9A95 dec r25 |
| 518 052e 01F4 brne 1b |
| 519 0530 235C subi r18,lo8(-(61)) |
| 520 0532 2093 0000 sts crc1.2128,r18 |
| 521 0536 982F mov r25,r24 |
| 522 0538 9F73 andi r25,lo8(63) |
| 523 053a 935C subi r25,lo8(-(61)) |
| 524 053c 9093 0000 sts crc2.2129,r25 |
| 525 0540 8081 ld r24,Z |
| 526 0542 2817 cp r18,r24 |
| 527 0544 01F4 brne .L65 |
| 528 0546 8881 ld r24,Y |
| 529 0548 9817 cp r25,r24 |
| 530 054a 01F4 brne .L65 |
| 531 054c 91E0 ldi r25,lo8(1) |
| 532 054e 00C0 rjmp .L68 |
| 533 .L65: |
| 534 0550 8091 0000 lds r24,CntCrcError |
| 535 0554 8F5F subi r24,lo8(-(1)) |
| 536 0556 8093 0000 sts CntCrcError,r24 |
| 537 055a 90E0 ldi r25,lo8(0) |
| 538 .L68: |
| 539 055c 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 540 0560 8823 tst r24 |
| 541 0562 01F0 breq .+2 |
| 542 0564 00C0 rjmp .L83 |
| 543 0566 9923 tst r25 |
| 544 0568 01F4 brne .+2 |
| 545 056a 00C0 rjmp .L83 |
| 546 056c 81E0 ldi r24,lo8(1) |
| 547 056e 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
| 548 0572 4093 0000 sts AnzahlEmpfangsBytes,r20 |
| 549 0576 A050 subi r26,lo8(-(RxdBuffer)) |
| 550 0578 B040 sbci r27,hi8(-(RxdBuffer)) |
| 551 057a 8DE0 ldi r24,lo8(13) |
| 552 057c 8C93 st X,r24 |
| 553 057e 8091 0000 lds r24,RxdBuffer+2 |
| 554 0582 8235 cpi r24,lo8(82) |
| 555 0584 01F0 breq .+2 |
| 556 0586 00C0 rjmp .L83 |
| 557 0588 88E1 ldi r24,lo8(24) |
| 558 058a 90E0 ldi r25,hi8(24) |
| 559 058c 2CE0 ldi r18,lo8(12) |
| 560 /* #APP */ |
| 561 058e 0FB6 in __tmp_reg__,__SREG__ |
| 562 0590 F894 cli |
| 563 0592 A895 wdr |
| 564 0594 8093 6000 sts 96,r24 |
| 565 0598 0FBE out __SREG__,__tmp_reg__ |
| 566 059a 2093 6000 sts 96,r18 |
| 567 /* #NOAPP */ |
| 568 059e 00C0 rjmp .L83 |
| 569 .L62: |
| 570 05a0 8091 0000 lds r24,UartState.2131 |
| 571 05a4 8130 cpi r24,lo8(1) |
| 572 05a6 01F0 breq .L75 |
| 573 05a8 8130 cpi r24,lo8(1) |
| 574 05aa 00F0 brlo .L74 |
| 575 05ac 8230 cpi r24,lo8(2) |
| 576 05ae 01F4 brne .L84 |
| 577 05b0 00C0 rjmp .L76 |
| 578 .L74: |
| 579 05b2 8091 0000 lds r24,SioTmp |
| 580 05b6 8332 cpi r24,lo8(35) |
| 581 05b8 01F4 brne .L77 |
| 582 05ba 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 583 05be 8823 tst r24 |
| 584 05c0 01F4 brne .L77 |
| 585 05c2 81E0 ldi r24,lo8(1) |
| 586 05c4 8093 0000 sts UartState.2131,r24 |
| 587 .L77: |
| 588 05c8 8091 0000 lds r24,SioTmp |
| 589 05cc 8093 0000 sts RxdBuffer,r24 |
| 590 05d0 81E0 ldi r24,lo8(1) |
| 591 05d2 8093 0000 sts buf_ptr.2130,r24 |
| 592 05d6 8091 0000 lds r24,SioTmp |
| 593 05da 9927 clr r25 |
| 594 05dc 00C0 rjmp .L87 |
| 595 .L75: |
| 596 05de 82E0 ldi r24,lo8(2) |
| 597 05e0 8093 0000 sts UartState.2131,r24 |
| 598 05e4 E42F mov r30,r20 |
| 599 05e6 FF27 clr r31 |
| 600 05e8 8091 0000 lds r24,SioTmp |
| 601 05ec E050 subi r30,lo8(-(RxdBuffer)) |
| 602 05ee F040 sbci r31,hi8(-(RxdBuffer)) |
| 603 05f0 8083 st Z,r24 |
| 604 .L89: |
| 605 05f2 4F5F subi r20,lo8(-(1)) |
| 606 05f4 4093 0000 sts buf_ptr.2130,r20 |
| 607 .L88: |
| 608 05f8 2091 0000 lds r18,SioTmp |
| 609 05fc 8091 0000 lds r24,crc.2127 |
| 610 0600 9091 0000 lds r25,(crc.2127)+1 |
| 611 0604 820F add r24,r18 |
| 612 0606 911D adc r25,__zero_reg__ |
| 613 .L87: |
| 614 0608 9093 0000 sts (crc.2127)+1,r25 |
| 615 060c 8093 0000 sts crc.2127,r24 |
| 616 0610 00C0 rjmp .L83 |
| 617 .L76: |
| 618 0612 E42F mov r30,r20 |
| 619 0614 FF27 clr r31 |
| 620 0616 8091 0000 lds r24,SioTmp |
| 621 061a E050 subi r30,lo8(-(RxdBuffer)) |
| 622 061c F040 sbci r31,hi8(-(RxdBuffer)) |
| 623 061e 8083 st Z,r24 |
| 624 0620 4639 cpi r20,lo8(-106) |
| 625 0622 00F0 brlo .L89 |
| 626 0624 1092 0000 sts UartState.2131,__zero_reg__ |
| 627 0628 00C0 rjmp .L88 |
| 628 .L84: |
| 629 062a 1092 0000 sts UartState.2131,__zero_reg__ |
| 630 .L83: |
| 631 /* epilogue: frame size=0 */ |
| 632 062e FF91 pop r31 |
| 633 0630 EF91 pop r30 |
| 634 0632 DF91 pop r29 |
| 635 0634 CF91 pop r28 |
| 636 0636 BF91 pop r27 |
| 637 0638 AF91 pop r26 |
| 638 063a 9F91 pop r25 |
| 639 063c 8F91 pop r24 |
| 640 063e 7F91 pop r23 |
| 641 0640 6F91 pop r22 |
| 642 0642 5F91 pop r21 |
| 643 0644 4F91 pop r20 |
| 644 0646 3F91 pop r19 |
| 645 0648 2F91 pop r18 |
| 646 064a 0F90 pop __tmp_reg__ |
| 647 064c 0FBE out __SREG__,__tmp_reg__ |
| 648 064e 0F90 pop __tmp_reg__ |
| 649 0650 1F90 pop __zero_reg__ |
| 650 0652 1895 reti |
| 651 /* epilogue end (size=19) */ |
| 652 /* function __vector_20 size 545 (507) */ |
| 654 .global AddCRC |
| 656 AddCRC: |
| 657 /* prologue: frame size=0 */ |
| 658 /* prologue end (size=0) */ |
| 659 0654 DC01 movw r26,r24 |
| 660 0656 20E0 ldi r18,lo8(0) |
| 661 0658 30E0 ldi r19,hi8(0) |
| 662 065a 40E0 ldi r20,lo8(0) |
| 663 065c 50E0 ldi r21,hi8(0) |
| 664 065e E0E0 ldi r30,lo8(SendeBuffer) |
| 665 0660 F0E0 ldi r31,hi8(SendeBuffer) |
| 666 0662 00C0 rjmp .L91 |
| 667 .L92: |
| 668 0664 8191 ld r24,Z+ |
| 669 0666 280F add r18,r24 |
| 670 0668 311D adc r19,__zero_reg__ |
| 671 066a 4F5F subi r20,lo8(-(1)) |
| 672 066c 5F4F sbci r21,hi8(-(1)) |
| 673 .L91: |
| 674 066e 4A17 cp r20,r26 |
| 675 0670 5B07 cpc r21,r27 |
| 676 0672 01F4 brne .L92 |
| 677 0674 3F70 andi r19,hi8(4095) |
| 678 0676 C901 movw r24,r18 |
| 679 0678 66E0 ldi r22,6 |
| 680 067a 9695 1: lsr r25 |
| 681 067c 8795 ror r24 |
| 682 067e 6A95 dec r22 |
| 683 0680 01F4 brne 1b |
| 684 0682 835C subi r24,lo8(-(61)) |
| 685 0684 FD01 movw r30,r26 |
| 686 0686 E050 subi r30,lo8(-(SendeBuffer)) |
| 687 0688 F040 sbci r31,hi8(-(SendeBuffer)) |
| 688 068a 8083 st Z,r24 |
| 689 068c 1196 adiw r26,1 |
| 690 068e 2F73 andi r18,lo8(63) |
| 691 0690 235C subi r18,lo8(-(61)) |
| 692 0692 FD01 movw r30,r26 |
| 693 0694 E050 subi r30,lo8(-(SendeBuffer)) |
| 694 0696 F040 sbci r31,hi8(-(SendeBuffer)) |
| 695 0698 2083 st Z,r18 |
| 696 069a A050 subi r26,lo8(-(SendeBuffer+1)) |
| 697 069c B040 sbci r27,hi8(-(SendeBuffer+1)) |
| 698 069e 8DE0 ldi r24,lo8(13) |
| 699 06a0 8C93 st X,r24 |
| 700 06a2 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
| 701 06a6 8091 0000 lds r24,SendeBuffer |
| 702 06aa 8093 C600 sts 198,r24 |
| 703 /* epilogue: frame size=0 */ |
| 704 06ae 0895 ret |
| 705 /* epilogue end (size=1) */ |
| 706 /* function AddCRC size 47 (46) */ |
| 708 .global SendOutData |
| 710 SendOutData: |
| 711 /* prologue: frame size=0 */ |
| 712 06b0 EF92 push r14 |
| 713 06b2 FF92 push r15 |
| 714 06b4 0F93 push r16 |
| 715 06b6 1F93 push r17 |
| 716 06b8 CF93 push r28 |
| 717 06ba DF93 push r29 |
| 718 /* prologue end (size=6) */ |
| 719 06bc 7A01 movw r14,r20 |
| 720 06be 722F mov r23,r18 |
| 721 06c0 93E2 ldi r25,lo8(35) |
| 722 06c2 9093 0000 sts SendeBuffer,r25 |
| 723 06c6 6093 0000 sts SendeBuffer+1,r22 |
| 724 06ca 8093 0000 sts SendeBuffer+2,r24 |
| 725 06ce 03E0 ldi r16,lo8(3) |
| 726 06d0 10E0 ldi r17,hi8(3) |
| 727 06d2 60E0 ldi r22,lo8(0) |
| 728 06d4 A0E0 ldi r26,lo8(SendeBuffer+3) |
| 729 06d6 B0E0 ldi r27,hi8(SendeBuffer+3) |
| 730 06d8 00C0 rjmp .L96 |
| 731 .L97: |
| 732 06da F701 movw r30,r14 |
| 733 06dc E60F add r30,r22 |
| 734 06de F11D adc r31,__zero_reg__ |
| 735 06e0 9081 ld r25,Z |
| 736 06e2 6F5F subi r22,lo8(-(1)) |
| 737 06e4 7150 subi r23,lo8(-(-1)) |
| 738 06e6 01F4 brne .L98 |
| 739 06e8 E0E0 ldi r30,lo8(0) |
| 740 06ea 40E0 ldi r20,lo8(0) |
| 741 06ec 00C0 rjmp .L100 |
| 742 .L98: |
| 743 06ee F701 movw r30,r14 |
| 744 06f0 E60F add r30,r22 |
| 745 06f2 F11D adc r31,__zero_reg__ |
| 746 06f4 4081 ld r20,Z |
| 747 06f6 6F5F subi r22,lo8(-(1)) |
| 748 06f8 7150 subi r23,lo8(-(-1)) |
| 749 06fa 01F4 brne .L101 |
| 750 06fc E0E0 ldi r30,lo8(0) |
| 751 06fe 00C0 rjmp .L100 |
| 752 .L101: |
| 753 0700 F701 movw r30,r14 |
| 754 0702 E60F add r30,r22 |
| 755 0704 F11D adc r31,__zero_reg__ |
| 756 0706 E081 ld r30,Z |
| 757 0708 6F5F subi r22,lo8(-(1)) |
| 758 070a 7150 subi r23,lo8(-(-1)) |
| 759 .L100: |
| 760 070c 892F mov r24,r25 |
| 761 070e 8695 lsr r24 |
| 762 0710 8695 lsr r24 |
| 763 0712 835C subi r24,lo8(-(61)) |
| 764 0714 8C93 st X,r24 |
| 765 0716 5527 clr r21 |
| 766 0718 892F mov r24,r25 |
| 767 071a 9927 clr r25 |
| 768 071c 8370 andi r24,lo8(3) |
| 769 071e 9070 andi r25,hi8(3) |
| 770 0720 24E0 ldi r18,4 |
| 771 0722 880F 1: lsl r24 |
| 772 0724 991F rol r25 |
| 773 0726 2A95 dec r18 |
| 774 0728 01F4 brne 1b |
| 775 072a 9A01 movw r18,r20 |
| 776 072c 94E0 ldi r25,4 |
| 777 072e 3695 1: lsr r19 |
| 778 0730 2795 ror r18 |
| 779 0732 9A95 dec r25 |
| 780 0734 01F4 brne 1b |
| 781 0736 822B or r24,r18 |
| 782 0738 835C subi r24,lo8(-(61)) |
| 783 073a ED01 movw r28,r26 |
| 784 073c 8983 std Y+1,r24 |
| 785 073e 4F70 andi r20,lo8(15) |
| 786 0740 5070 andi r21,hi8(15) |
| 787 0742 440F lsl r20 |
| 788 0744 551F rol r21 |
| 789 0746 440F lsl r20 |
| 790 0748 551F rol r21 |
| 791 074a 8E2F mov r24,r30 |
| 792 074c 8295 swap r24 |
| 793 074e 8695 lsr r24 |
| 794 0750 8695 lsr r24 |
| 795 0752 8370 andi r24,0x3 |
| 796 0754 842B or r24,r20 |
| 797 0756 835C subi r24,lo8(-(61)) |
| 798 0758 8A83 std Y+2,r24 |
| 799 075a EF73 andi r30,lo8(63) |
| 800 075c E35C subi r30,lo8(-(61)) |
| 801 075e EB83 std Y+3,r30 |
| 802 0760 0C5F subi r16,lo8(-(4)) |
| 803 0762 1F4F sbci r17,hi8(-(4)) |
| 804 0764 1496 adiw r26,4 |
| 805 .L96: |
| 806 0766 7723 tst r23 |
| 807 0768 01F0 breq .+2 |
| 808 076a 00C0 rjmp .L97 |
| 809 076c C801 movw r24,r16 |
| 810 076e 0E94 0000 call AddCRC |
| 811 /* epilogue: frame size=0 */ |
| 812 0772 DF91 pop r29 |
| 813 0774 CF91 pop r28 |
| 814 0776 1F91 pop r17 |
| 815 0778 0F91 pop r16 |
| 816 077a FF90 pop r15 |
| 817 077c EF90 pop r14 |
| 818 077e 0895 ret |
| 819 /* epilogue end (size=7) */ |
| 820 /* function SendOutData size 106 (93) */ |
| 822 .global Decode64 |
| 824 Decode64: |
| 825 /* prologue: frame size=0 */ |
| 826 0780 1F93 push r17 |
| 827 0782 CF93 push r28 |
| 828 0784 DF93 push r29 |
| 829 /* prologue end (size=3) */ |
| 830 0786 EC01 movw r28,r24 |
| 831 0788 70E0 ldi r23,lo8(0) |
| 832 078a A22F mov r26,r18 |
| 833 078c BB27 clr r27 |
| 834 078e 1297 sbiw r26,2 |
| 835 0790 00C0 rjmp .L106 |
| 836 .L107: |
| 837 0792 E42F mov r30,r20 |
| 838 0794 FF27 clr r31 |
| 839 0796 E050 subi r30,lo8(-(RxdBuffer)) |
| 840 0798 F040 sbci r31,hi8(-(RxdBuffer)) |
| 841 079a 3081 ld r19,Z |
| 842 079c 4F5F subi r20,lo8(-(1)) |
| 843 079e E42F mov r30,r20 |
| 844 07a0 FF27 clr r31 |
| 845 07a2 E050 subi r30,lo8(-(RxdBuffer)) |
| 846 07a4 F040 sbci r31,hi8(-(RxdBuffer)) |
| 847 07a6 5081 ld r21,Z |
| 848 07a8 4F5F subi r20,lo8(-(1)) |
| 849 07aa E42F mov r30,r20 |
| 850 07ac FF27 clr r31 |
| 851 07ae E050 subi r30,lo8(-(RxdBuffer)) |
| 852 07b0 F040 sbci r31,hi8(-(RxdBuffer)) |
| 853 07b2 1081 ld r17,Z |
| 854 07b4 4F5F subi r20,lo8(-(1)) |
| 855 07b6 E42F mov r30,r20 |
| 856 07b8 FF27 clr r31 |
| 857 07ba E050 subi r30,lo8(-(RxdBuffer)) |
| 858 07bc F040 sbci r31,hi8(-(RxdBuffer)) |
| 859 07be 2081 ld r18,Z |
| 860 07c0 4F5F subi r20,lo8(-(1)) |
| 861 07c2 842F mov r24,r20 |
| 862 07c4 9927 clr r25 |
| 863 07c6 A817 cp r26,r24 |
| 864 07c8 B907 cpc r27,r25 |
| 865 07ca 04F0 brlt .L112 |
| 866 07cc 5D53 subi r21,lo8(-(-61)) |
| 867 07ce FE01 movw r30,r28 |
| 868 07d0 E70F add r30,r23 |
| 869 07d2 F11D adc r31,__zero_reg__ |
| 870 07d4 3D53 subi r19,lo8(-(-61)) |
| 871 07d6 330F lsl r19 |
| 872 07d8 330F lsl r19 |
| 873 07da 852F mov r24,r21 |
| 874 07dc 8295 swap r24 |
| 875 07de 8F70 andi r24,0x0f |
| 876 07e0 382B or r19,r24 |
| 877 07e2 3083 st Z,r19 |
| 878 07e4 6130 cpi r22,lo8(1) |
| 879 07e6 01F0 breq .L112 |
| 880 07e8 912F mov r25,r17 |
| 881 07ea 9D53 subi r25,lo8(-(-61)) |
| 882 07ec 7F5F subi r23,lo8(-(1)) |
| 883 07ee FE01 movw r30,r28 |
| 884 07f0 E70F add r30,r23 |
| 885 07f2 F11D adc r31,__zero_reg__ |
| 886 07f4 7150 subi r23,lo8(-(-1)) |
| 887 07f6 5295 swap r21 |
| 888 07f8 507F andi r21,0xf0 |
| 889 07fa 892F mov r24,r25 |
| 890 07fc 8695 lsr r24 |
| 891 07fe 8695 lsr r24 |
| 892 0800 582B or r21,r24 |
| 893 0802 5083 st Z,r21 |
| 894 0804 6350 subi r22,lo8(-(-3)) |
| 895 0806 6F3F cpi r22,lo8(-1) |
| 896 0808 01F0 breq .L112 |
| 897 080a 7E5F subi r23,lo8(-(2)) |
| 898 080c FE01 movw r30,r28 |
| 899 080e E70F add r30,r23 |
| 900 0810 F11D adc r31,__zero_reg__ |
| 901 0812 9295 swap r25 |
| 902 0814 990F lsl r25 |
| 903 0816 990F lsl r25 |
| 904 0818 907C andi r25,0xc0 |
| 905 081a 2D53 subi r18,lo8(-(-61)) |
| 906 081c 922B or r25,r18 |
| 907 081e 9083 st Z,r25 |
| 908 0820 7F5F subi r23,lo8(-(1)) |
| 909 .L106: |
| 910 0822 6623 tst r22 |
| 911 0824 01F0 breq .+2 |
| 912 0826 00C0 rjmp .L107 |
| 913 .L112: |
| 914 /* epilogue: frame size=0 */ |
| 915 0828 DF91 pop r29 |
| 916 082a CF91 pop r28 |
| 917 082c 1F91 pop r17 |
| 918 082e 0895 ret |
| 919 /* epilogue end (size=4) */ |
| 920 /* function Decode64 size 88 (81) */ |
| 922 .global uart_putchar |
| 924 uart_putchar: |
| 925 /* prologue: frame size=0 */ |
| 926 0830 1F93 push r17 |
| 927 /* prologue end (size=1) */ |
| 928 0832 182F mov r17,r24 |
| 929 0834 8A30 cpi r24,lo8(10) |
| 930 0836 01F4 brne .L118 |
| 931 0838 8DE0 ldi r24,lo8(13) |
| 932 083a 0E94 0000 call uart_putchar |
| 933 .L118: |
| 934 083e 8091 C000 lds r24,192 |
| 935 0842 85FF sbrs r24,5 |
| 936 0844 00C0 rjmp .L118 |
| 937 0846 1093 C600 sts 198,r17 |
| 938 084a 80E0 ldi r24,lo8(0) |
| 939 084c 90E0 ldi r25,hi8(0) |
| 940 /* epilogue: frame size=0 */ |
| 941 084e 1F91 pop r17 |
| 942 0850 0895 ret |
| 943 /* epilogue end (size=2) */ |
| 944 /* function uart_putchar size 17 (14) */ |
| 946 .global WriteProgramData |
| 948 WriteProgramData: |
| 949 /* prologue: frame size=0 */ |
| 950 /* prologue end (size=0) */ |
| 951 /* epilogue: frame size=0 */ |
| 952 0852 0895 ret |
| 953 /* epilogue end (size=1) */ |
| 954 /* function WriteProgramData size 1 (0) */ |
| 956 .global UART_Init |
| 958 UART_Init: |
| 959 /* prologue: frame size=0 */ |
| 960 /* prologue end (size=0) */ |
| 961 0854 E1EC ldi r30,lo8(193) |
| 962 0856 F0E0 ldi r31,hi8(193) |
| 963 0858 88E1 ldi r24,lo8(24) |
| 964 085a 8083 st Z,r24 |
| 965 085c A0EC ldi r26,lo8(192) |
| 966 085e B0E0 ldi r27,hi8(192) |
| 967 0860 8C91 ld r24,X |
| 968 0862 8260 ori r24,lo8(2) |
| 969 0864 8C93 st X,r24 |
| 970 0866 8081 ld r24,Z |
| 971 0868 8068 ori r24,lo8(-128) |
| 972 086a 8083 st Z,r24 |
| 973 086c 8081 ld r24,Z |
| 974 086e 8064 ori r24,lo8(64) |
| 975 0870 8083 st Z,r24 |
| 976 0872 8AE2 ldi r24,lo8(42) |
| 977 0874 8093 C400 sts 196,r24 |
| 978 0878 88EC ldi r24,lo8(200) |
| 979 087a 90E0 ldi r25,hi8(200) |
| 980 087c 0E94 0000 call SetDelay |
| 981 0880 9093 0000 sts (Debug_Timer)+1,r25 |
| 982 0884 8093 0000 sts Debug_Timer,r24 |
| 983 0888 1092 0000 sts gpsState,__zero_reg__ |
| 984 /* epilogue: frame size=0 */ |
| 985 088c 0895 ret |
| 986 /* epilogue end (size=1) */ |
| 987 /* function UART_Init size 29 (28) */ |
| 989 .global DatenUebertragung |
| 991 DatenUebertragung: |
| 992 /* prologue: frame size=0 */ |
| 993 /* prologue end (size=0) */ |
| 994 088e 8091 0000 lds r24,UebertragungAbgeschlossen |
| 995 0892 8823 tst r24 |
| 996 0894 01F4 brne .+2 |
| 997 0896 00C0 rjmp .L142 |
| 998 0898 8091 0000 lds r24,DebugGetAnforderung |
| 999 089c 8823 tst r24 |
| 1000 089e 01F0 breq .L128 |
| 1001 08a0 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1002 08a4 8823 tst r24 |
| 1003 08a6 01F0 breq .L128 |
| 1004 08a8 2BE0 ldi r18,lo8(11) |
| 1005 08aa 40E0 ldi r20,lo8(DebugIn) |
| 1006 08ac 50E0 ldi r21,hi8(DebugIn) |
| 1007 08ae 6091 0000 lds r22,MeineSlaveAdresse |
| 1008 08b2 87E4 ldi r24,lo8(71) |
| 1009 08b4 0E94 0000 call SendOutData |
| 1010 08b8 1092 0000 sts DebugGetAnforderung,__zero_reg__ |
| 1011 .L128: |
| 1012 08bc 8091 0000 lds r24,Debug_Timer |
| 1013 08c0 9091 0000 lds r25,(Debug_Timer)+1 |
| 1014 08c4 0E94 0000 call CheckDelay |
| 1015 08c8 8823 tst r24 |
| 1016 08ca 01F4 brne .L131 |
| 1017 08cc 8091 0000 lds r24,DebugDataAnforderung |
| 1018 08d0 8823 tst r24 |
| 1019 08d2 01F0 breq .L133 |
| 1020 .L131: |
| 1021 08d4 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1022 08d8 8823 tst r24 |
| 1023 08da 01F0 breq .L133 |
| 1024 08dc 22E3 ldi r18,lo8(50) |
| 1025 08de 40E0 ldi r20,lo8(DebugOut) |
| 1026 08e0 50E0 ldi r21,hi8(DebugOut) |
| 1027 08e2 6091 0000 lds r22,MeineSlaveAdresse |
| 1028 08e6 84E4 ldi r24,lo8(68) |
| 1029 08e8 0E94 0000 call SendOutData |
| 1030 08ec 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
| 1031 08f0 8AEF ldi r24,lo8(250) |
| 1032 08f2 90E0 ldi r25,hi8(250) |
| 1033 08f4 0E94 0000 call SetDelay |
| 1034 08f8 9093 0000 sts (Debug_Timer)+1,r25 |
| 1035 08fc 8093 0000 sts Debug_Timer,r24 |
| 1036 .L133: |
| 1037 0900 8091 0000 lds r24,DebugDisplayAnforderung |
| 1038 0904 8823 tst r24 |
| 1039 0906 01F0 breq .L135 |
| 1040 0908 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1041 090c 8823 tst r24 |
| 1042 090e 01F0 breq .L135 |
| 1043 0910 0E94 0000 call Menu |
| 1044 0914 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 1045 0918 8091 0000 lds r24,dis_zeile.2453 |
| 1046 091c 8F5F subi r24,lo8(-(1)) |
| 1047 091e 8093 0000 sts dis_zeile.2453,r24 |
| 1048 0922 8430 cpi r24,lo8(4) |
| 1049 0924 01F4 brne .L138 |
| 1050 0926 1092 0000 sts dis_zeile.2453,__zero_reg__ |
| 1051 .L138: |
| 1052 092a 8091 0000 lds r24,dis_zeile.2453 |
| 1053 092e 44E1 ldi r20,lo8(20) |
| 1054 0930 849F mul r24,r20 |
| 1055 0932 A001 movw r20,r0 |
| 1056 0934 1124 clr r1 |
| 1057 0936 4050 subi r20,lo8(-(DisplayBuff)) |
| 1058 0938 5040 sbci r21,hi8(-(DisplayBuff)) |
| 1059 093a 24E1 ldi r18,lo8(20) |
| 1060 093c 60E0 ldi r22,lo8(0) |
| 1061 093e 805D subi r24,lo8(-(48)) |
| 1062 0940 0E94 0000 call SendOutData |
| 1063 .L135: |
| 1064 0944 8091 0000 lds r24,GetVersionAnforderung |
| 1065 0948 8823 tst r24 |
| 1066 094a 01F0 breq .L142 |
| 1067 094c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1068 0950 8823 tst r24 |
| 1069 0952 01F0 breq .L142 |
| 1070 0954 2AE0 ldi r18,lo8(10) |
| 1071 0956 40E0 ldi r20,lo8(VersionInfo) |
| 1072 0958 50E0 ldi r21,hi8(VersionInfo) |
| 1073 095a 6091 0000 lds r22,MeineSlaveAdresse |
| 1074 095e 86E5 ldi r24,lo8(86) |
| 1075 0960 0E94 0000 call SendOutData |
| 1076 0964 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
| 1077 .L142: |
| 1078 0968 0895 ret |
| 1079 /* epilogue: frame size=0 */ |
| 1080 /* epilogue: noreturn */ |
| 1081 /* epilogue end (size=0) */ |
| 1082 /* function DatenUebertragung size 110 (110) */ |
| 1084 .global BearbeiteRxDaten |
| 1086 BearbeiteRxDaten: |
| 1087 /* prologue: frame size=2 */ |
| 1088 096a 1F93 push r17 |
| 1089 096c CF93 push r28 |
| 1090 096e DF93 push r29 |
| 1091 0970 CDB7 in r28,__SP_L__ |
| 1092 0972 DEB7 in r29,__SP_H__ |
| 1093 0974 2297 sbiw r28,2 |
| 1094 0976 0FB6 in __tmp_reg__,__SREG__ |
| 1095 0978 F894 cli |
| 1096 097a DEBF out __SP_H__,r29 |
| 1097 097c 0FBE out __SREG__,__tmp_reg__ |
| 1098 097e CDBF out __SP_L__,r28 |
| 1099 /* prologue end (size=11) */ |
| 1100 0980 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 1101 0984 8823 tst r24 |
| 1102 0986 01F4 brne .+2 |
| 1103 0988 00C0 rjmp .L159 |
| 1104 098a 8FEF ldi r24,lo8(-1) |
| 1105 098c 8093 0000 sts PcZugriff,r24 |
| 1106 0990 8091 0000 lds r24,RxdBuffer+2 |
| 1107 0994 8137 cpi r24,lo8(113) |
| 1108 0996 00F4 brsh .L154 |
| 1109 0998 8C36 cpi r24,lo8(108) |
| 1110 099a 00F0 brlo .+2 |
| 1111 099c 00C0 rjmp .L150 |
| 1112 099e 8736 cpi r24,lo8(103) |
| 1113 09a0 01F4 brne .+2 |
| 1114 09a2 00C0 rjmp .L148 |
| 1115 09a4 8836 cpi r24,lo8(104) |
| 1116 09a6 01F0 breq .L149 |
| 1117 09a8 8336 cpi r24,lo8(99) |
| 1118 09aa 01F0 breq .+2 |
| 1119 09ac 00C0 rjmp .L146 |
| 1120 09ae 00C0 rjmp .L147 |
| 1121 .L154: |
| 1122 09b0 8437 cpi r24,lo8(116) |
| 1123 09b2 01F0 breq .L152 |
| 1124 09b4 8637 cpi r24,lo8(118) |
| 1125 09b6 01F0 breq .L153 |
| 1126 09b8 8137 cpi r24,lo8(113) |
| 1127 09ba 01F0 breq .+2 |
| 1128 09bc 00C0 rjmp .L146 |
| 1129 09be 00C0 rjmp .L151 |
| 1130 .L147: |
| 1131 09c0 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1132 09c4 43E0 ldi r20,lo8(3) |
| 1133 09c6 6BE0 ldi r22,lo8(11) |
| 1134 09c8 80E0 ldi r24,lo8(DebugIn) |
| 1135 09ca 90E0 ldi r25,hi8(DebugIn) |
| 1136 09cc 0E94 0000 call Decode64 |
| 1137 09d0 8091 0000 lds r24,RemoteTasten |
| 1138 09d4 9091 0000 lds r25,DebugIn+2 |
| 1139 09d8 892B or r24,r25 |
| 1140 09da 8093 0000 sts RemoteTasten,r24 |
| 1141 09de 81E0 ldi r24,lo8(1) |
| 1142 09e0 8093 0000 sts DebugDataAnforderung,r24 |
| 1143 09e4 00C0 rjmp .L146 |
| 1144 .L149: |
| 1145 09e6 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1146 09ea 43E0 ldi r20,lo8(3) |
| 1147 09ec 62E0 ldi r22,lo8(2) |
| 1148 09ee CE01 movw r24,r28 |
| 1149 09f0 0196 adiw r24,1 |
| 1150 09f2 0E94 0000 call Decode64 |
| 1151 09f6 8091 0000 lds r24,RemoteTasten |
| 1152 09fa 9981 ldd r25,Y+1 |
| 1153 09fc 892B or r24,r25 |
| 1154 09fe 8093 0000 sts RemoteTasten,r24 |
| 1155 0a02 81E0 ldi r24,lo8(1) |
| 1156 0a04 8093 0000 sts DebugDisplayAnforderung,r24 |
| 1157 0a08 00C0 rjmp .L146 |
| 1158 .L152: |
| 1159 0a0a 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1160 0a0e 43E0 ldi r20,lo8(3) |
| 1161 0a10 64E0 ldi r22,lo8(4) |
| 1162 0a12 80E0 ldi r24,lo8(MotorTest) |
| 1163 0a14 90E0 ldi r25,hi8(MotorTest) |
| 1164 0a16 0E94 0000 call Decode64 |
| 1165 0a1a 00C0 rjmp .L146 |
| 1166 .L153: |
| 1167 0a1c 81E0 ldi r24,lo8(1) |
| 1168 0a1e 8093 0000 sts GetVersionAnforderung,r24 |
| 1169 0a22 00C0 rjmp .L146 |
| 1170 .L148: |
| 1171 0a24 81E0 ldi r24,lo8(1) |
| 1172 0a26 8093 0000 sts DebugGetAnforderung,r24 |
| 1173 0a2a 00C0 rjmp .L146 |
| 1174 .L151: |
| 1175 0a2c 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1176 0a30 43E0 ldi r20,lo8(3) |
| 1177 0a32 62E0 ldi r22,lo8(2) |
| 1178 0a34 CE01 movw r24,r28 |
| 1179 0a36 0196 adiw r24,1 |
| 1180 0a38 0E94 0000 call Decode64 |
| 1181 0a3c 8981 ldd r24,Y+1 |
| 1182 0a3e 8F3F cpi r24,lo8(-1) |
| 1183 0a40 01F0 breq .L155 |
| 1184 0a42 8630 cpi r24,lo8(6) |
| 1185 0a44 00F0 brlo .L157 |
| 1186 0a46 85E0 ldi r24,lo8(5) |
| 1187 0a48 8983 std Y+1,r24 |
| 1188 .L157: |
| 1189 0a4a 4AE3 ldi r20,lo8(58) |
| 1190 0a4c 60E0 ldi r22,lo8(EE_Parameter) |
| 1191 0a4e 70E0 ldi r23,hi8(EE_Parameter) |
| 1192 0a50 8981 ldd r24,Y+1 |
| 1193 0a52 0E94 0000 call ReadParameterSet |
| 1194 0a56 8981 ldd r24,Y+1 |
| 1195 0a58 2AE3 ldi r18,lo8(58) |
| 1196 0a5a 40E0 ldi r20,lo8(EE_Parameter) |
| 1197 0a5c 50E0 ldi r21,hi8(EE_Parameter) |
| 1198 0a5e 6091 0000 lds r22,MeineSlaveAdresse |
| 1199 0a62 00C0 rjmp .L160 |
| 1200 .L155: |
| 1201 0a64 1091 0000 lds r17,MeineSlaveAdresse |
| 1202 0a68 0E94 0000 call GetActiveParamSetNumber |
| 1203 0a6c 2AE3 ldi r18,lo8(58) |
| 1204 0a6e 40E0 ldi r20,lo8(EE_Parameter) |
| 1205 0a70 50E0 ldi r21,hi8(EE_Parameter) |
| 1206 0a72 612F mov r22,r17 |
| 1207 .L160: |
| 1208 0a74 855B subi r24,lo8(-(75)) |
| 1209 0a76 0E94 0000 call SendOutData |
| 1210 0a7a 00C0 rjmp .L146 |
| 1211 .L150: |
| 1212 0a7c 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1213 0a80 43E0 ldi r20,lo8(3) |
| 1214 0a82 6AE3 ldi r22,lo8(58) |
| 1215 0a84 80E0 ldi r24,lo8(EE_Parameter) |
| 1216 0a86 90E0 ldi r25,hi8(EE_Parameter) |
| 1217 0a88 0E94 0000 call Decode64 |
| 1218 0a8c 8091 0000 lds r24,RxdBuffer+2 |
| 1219 0a90 4AE3 ldi r20,lo8(58) |
| 1220 0a92 60E0 ldi r22,lo8(EE_Parameter) |
| 1221 0a94 70E0 ldi r23,hi8(EE_Parameter) |
| 1222 0a96 8B56 subi r24,lo8(-(-107)) |
| 1223 0a98 0E94 0000 call WriteParameterSet |
| 1224 0a9c 8091 0000 lds r24,RxdBuffer+2 |
| 1225 0aa0 8B56 subi r24,lo8(-(-107)) |
| 1226 0aa2 A0E0 ldi r26,lo8(EEPromArray+2) |
| 1227 0aa4 B0E0 ldi r27,hi8(EEPromArray+2) |
| 1228 /* #APP */ |
| 1229 0aa6 082E mov __tmp_reg__,r24 |
| 1230 0aa8 0E94 0000 call __eeprom_write_byte_1F2021 |
| 1231 /* #NOAPP */ |
| 1232 0aac 0E94 0000 call GetActiveParamSetNumber |
| 1233 0ab0 0E94 0000 call Piep |
| 1234 .L146: |
| 1235 0ab4 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
| 1236 .L159: |
| 1237 /* epilogue: frame size=2 */ |
| 1238 0ab8 2296 adiw r28,2 |
| 1239 0aba 0FB6 in __tmp_reg__,__SREG__ |
| 1240 0abc F894 cli |
| 1241 0abe DEBF out __SP_H__,r29 |
| 1242 0ac0 0FBE out __SREG__,__tmp_reg__ |
| 1243 0ac2 CDBF out __SP_L__,r28 |
| 1244 0ac4 DF91 pop r29 |
| 1245 0ac6 CF91 pop r28 |
| 1246 0ac8 1F91 pop r17 |
| 1247 0aca 0895 ret |
| 1248 /* epilogue end (size=10) */ |
| 1249 /* function BearbeiteRxDaten size 178 (157) */ |
| 1251 .global DebugGetAnforderung |
| 1252 .global DebugGetAnforderung |
| 1253 .section .bss |
| 1256 DebugGetAnforderung: |
| 1257 0000 00 .skip 1,0 |
| 1258 .global DebugDisplayAnforderung |
| 1259 .global DebugDisplayAnforderung |
| 1262 DebugDisplayAnforderung: |
| 1263 0001 00 .skip 1,0 |
| 1264 .global DebugDataAnforderung |
| 1265 .global DebugDataAnforderung |
| 1268 DebugDataAnforderung: |
| 1269 0002 00 .skip 1,0 |
| 1270 .global GetVersionAnforderung |
| 1271 .global GetVersionAnforderung |
| 1274 GetVersionAnforderung: |
| 1275 0003 00 .skip 1,0 |
| 1276 .global SioTmp |
| 1277 .global SioTmp |
| 1280 SioTmp: |
| 1281 0004 00 .skip 1,0 |
| 1282 .global NeuerDatensatzEmpfangen |
| 1283 .global NeuerDatensatzEmpfangen |
| 1286 NeuerDatensatzEmpfangen: |
| 1287 0005 00 .skip 1,0 |
| 1288 .global NeueKoordinateEmpfangen |
| 1289 .global NeueKoordinateEmpfangen |
| 1292 NeueKoordinateEmpfangen: |
| 1293 0006 00 .skip 1,0 |
| 1294 .global UebertragungAbgeschlossen |
| 1295 .data |
| 1298 UebertragungAbgeschlossen: |
| 1299 0000 01 .byte 1 |
| 1300 .global CntCrcError |
| 1301 .global CntCrcError |
| 1302 .section .bss |
| 1305 CntCrcError: |
| 1306 0007 00 .skip 1,0 |
| 1307 .global AnzahlEmpfangsBytes |
| 1308 .global AnzahlEmpfangsBytes |
| 1311 AnzahlEmpfangsBytes: |
| 1312 0008 00 .skip 1,0 |
| 1313 .global PC_DebugTimeout |
| 1314 .global PC_DebugTimeout |
| 1317 PC_DebugTimeout: |
| 1318 0009 00 .skip 1,0 |
| 1319 .global PcZugriff |
| 1320 .data |
| 1323 PcZugriff: |
| 1324 0001 64 .byte 100 |
| 1325 .global MotorTest |
| 1326 .global MotorTest |
| 1327 .section .bss |
| 1330 MotorTest: |
| 1331 000a 0000 0000 .skip 4,0 |
| 1332 .lcomm dis_zeile.2453,1 |
| 1333 .lcomm UartState.2131,1 |
| 1334 .lcomm buf_ptr.2130,1 |
| 1335 .lcomm crc2.2129,1 |
| 1336 .lcomm crc1.2128,1 |
| 1337 .lcomm crc.2127,2 |
| 1338 .lcomm ptr.2090,2 |
| 1339 .lcomm gpsState,1 |
| 1340 .comm DiffNick,2,1 |
| 1341 .comm DiffRoll,2,1 |
| 1342 .comm SenderOkay,1,1 |
| 1343 .comm CosinusNickWinkel,1,1 |
| 1344 .comm CosinusRollWinkel,1,1 |
| 1345 .comm durchschnitt_northing,4,1 |
| 1346 .comm durchschnitt_easting,4,1 |
| 1347 .comm P_GPS_Verstaerkung,2,1 |
| 1348 .comm D_GPS_Verstaerkung,2,1 |
| 1349 .comm SendeBuffer,150,1 |
| 1350 .comm RxdBuffer,150,1 |
| 1351 .comm MeineSlaveAdresse,1,1 |
| 1352 .comm Debug_Timer,2,1 |
| 1353 .comm DebugOut,50,1 |
| 1354 .comm actualPos,47,1 |
| 1355 .comm DebugIn,11,1 |
| 1356 .comm VersionInfo,10,1 |
| 1357 .comm RemoteTasten,1,1 |
| 1358 .comm Timeout,1,1 |
| 1359 .comm IntegralNick,4,1 |
| 1360 .comm IntegralNick2,4,1 |
| 1361 .comm IntegralRoll,4,1 |
| 1362 .comm IntegralRoll2,4,1 |
| 1363 .comm Mess_IntegralNick,4,1 |
| 1364 .comm Mess_IntegralNick2,4,1 |
| 1365 .comm Mess_IntegralRoll,4,1 |
| 1366 .comm Mess_IntegralRoll2,4,1 |
| 1367 .comm Integral_Gier,4,1 |
| 1368 .comm Mess_Integral_Gier,4,1 |
| 1369 .comm h,1,1 |
| 1370 .comm m,1,1 |
| 1371 .comm s,1,1 |
| 1372 .comm Motor_Vorne,1,1 |
| 1373 .comm Motor_Hinten,1,1 |
| 1374 .comm Motor_Rechts,1,1 |
| 1375 .comm Motor_Links,1,1 |
| 1376 .comm Count,1,1 |
| 1377 .comm MotorWert,5,1 |
| 1378 .comm NMEABuffer,150,1 |
| 1379 .comm navStatus,17,1 |
| 1380 .comm navPosECEF,21,1 |
| 1381 .comm navVelECEF,21,1 |
| 1382 .comm navPosUtm,19,1 |
| 1383 .comm navVelNed,37,1 |
| 1384 .comm ubxP,2,1 |
| 1385 .comm ubxEp,2,1 |
| 1386 .comm ubxSp,2,1 |
| 1387 .comm CK_A,1,1 |
| 1388 .comm CK_B,1,1 |
| 1389 .comm msgLen,2,1 |
| 1390 .comm msgID,1,1 |
| 1391 .comm ignorePacket,1,1 |
| 1392 .comm rollOffset,4,1 |
| 1393 .comm nickOffset,4,1 |
| 1394 /* File "uart.c": code 1393 = 0x0571 (1290), prologues 49, epilogues 54 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 uart.c |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:13 .text:00000000 __vector_22 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1298 .data:00000000 UebertragungAbgeschlossen |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1337 .bss:00000015 ptr.2090 |
| *COM*:00000096 SendeBuffer |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:69 .text:0000006c GPSscanData |
| *COM*:00000015 navPosECEF |
| *COM*:0000002f actualPos |
| *COM*:00000011 navStatus |
| *COM*:00000015 navVelECEF |
| *COM*:00000013 navPosUtm |
| *COM*:00000025 navVelNed |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:200 .text:0000021e __vector_20 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1280 .bss:00000004 SioTmp |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1338 .bss:00000017 gpsState |
| *COM*:00000001 msgID |
| *COM*:00000001 CK_A |
| *COM*:00000001 CK_B |
| *COM*:00000002 ubxP |
| *COM*:00000002 ubxEp |
| *COM*:00000002 ubxSp |
| *COM*:00000001 ignorePacket |
| *COM*:00000002 msgLen |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1333 .bss:00000010 buf_ptr.2130 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1332 .bss:0000000f UartState.2131 |
| *COM*:00000096 RxdBuffer |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1336 .bss:00000013 crc.2127 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1335 .bss:00000012 crc1.2128 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1334 .bss:00000011 crc2.2129 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1305 .bss:00000007 CntCrcError |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1286 .bss:00000005 NeuerDatensatzEmpfangen |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1311 .bss:00000008 AnzahlEmpfangsBytes |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:656 .text:00000654 AddCRC |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:710 .text:000006b0 SendOutData |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:824 .text:00000780 Decode64 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:924 .text:00000830 uart_putchar |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:948 .text:00000852 WriteProgramData |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:958 .text:00000854 UART_Init |
| *COM*:00000002 Debug_Timer |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:991 .text:0000088e DatenUebertragung |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1256 .bss:00000000 DebugGetAnforderung |
| *COM*:0000000b DebugIn |
| *COM*:00000001 MeineSlaveAdresse |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1268 .bss:00000002 DebugDataAnforderung |
| *COM*:00000032 DebugOut |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1262 .bss:00000001 DebugDisplayAnforderung |
| .bss:0000000e dis_zeile.2453 |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1274 .bss:00000003 GetVersionAnforderung |
| *COM*:0000000a VersionInfo |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1086 .text:0000096a BearbeiteRxDaten |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1323 .data:00000001 PcZugriff |
| *COM*:00000001 RemoteTasten |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1330 .bss:0000000a MotorTest |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1292 .bss:00000006 NeueKoordinateEmpfangen |
| C:\DOKUME~1\none\LOKALE~1\Temp/ccDJkC34.s:1317 .bss:00000009 PC_DebugTimeout |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 P_GPS_Verstaerkung |
| *COM*:00000002 D_GPS_Verstaerkung |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000096 NMEABuffer |
| *COM*:00000004 rollOffset |
| *COM*:00000004 nickOffset |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SetDelay |
| CheckDelay |
| Menu |
| DisplayBuff |
| EE_Parameter |
| ReadParameterSet |
| GetActiveParamSetNumber |
| WriteParameterSet |
| EEPromArray |
| __eeprom_write_byte_1F2021 |
| Piep |
| /branches/MergedVersionsByOsiair/alpha/v060JokoGPSpakoxdaMM3/version.txt |
|---|
| 0,0 → 1,79 |
| ------- |
| 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 (in Arbeit) |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| MODDS: |
| - Höhenreglerabsenkung von -20 auf -40 (fc.c) |
| - LED1 und LED2 Ansteuerung (fc.c) und (main.h) |
| - geänderte Kanalbelegung K1-K8, Unterspannungsschwelle (9,5V) und StickD (fc.c) |
| - P,D Anteil seperat in Variable geschrieben und auf das Analog Display Ausgegeben (Kopter Tool) |
| - GPS_Nick und GPS_Roll werden nach Deaktivierung von Position-Hold auf Null gesetzt, um ein Einfrieren der GPS Steuerwerte auf den letzten Wert zu verhindern |
| - Funktionsaufruf der GPS-Funktion von Chris/Hallo2 |
| - UART.C für die GPS Signale im UTM Format auf Pitschu basierend |
| - unsere GPS.c-Routine |
| - Mircos variable Filterung (funktioniert nur wenn 250ms Aufruf aktiv ist) |
| - GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden |
| - Statusanzeige auf eine LED reduziert (aus, blinkend, an) |
| - blinkender LED_1 Ausgang für Positionsleuchten (einstellbar über Userparam.4) |
| - Homing-Fkt. eingebaut |
| - Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...) |
| - Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert |
| - dyn. Position Hold -> normaler Rundflug möglich |
| - Limit_D_Anteil = Userparam3 um im Homing- bzw. Waypointmodus die Sollposition gleichmäßiger anzufliegen |
| - Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert |
| - 12 Kanal Erweiterung |
| - Poti5 und Poti6 wird für die GPS-Funktion genutzt |
| - ... |
| (- Regelung wird nur noch alle 250 ms aufgerufen) |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/COPYING |
|---|
| 0,0 → 1,674 |
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| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/COPYING.LESSER |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
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| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/Flight-Ctrl_MEGA644_V0_60.aps |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/GPS.c |
|---|
| 0,0 → 1,263 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by THE BOSCH TEAM |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/GPS.c.bak |
|---|
| 0,0 → 1,306 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by THE BOSCH TEAM |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| <<<<<<< GPS.c |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| ======= |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| >>>>>>> 1.1.14.1 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/GPS_WAYPOINTS.c |
|---|
| 0,0 → 1,357 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by THE BOSCH TEAM |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //*********************************************************************** |
| // Waypoints |
| volatile char gotwaypoint = 0; //Flag für das Einlernen eines neuen Waypoints //(120907Kr) |
| unsigned char waypointindex = 0; //wird beim Lernen der Waypoints als Index zum Durchzählen verwendet |
| unsigned char waypointnummer = 0; //zählt im "Waypoint-Abflug-Modus" durch die gespeicherten Waypoints durch |
| #define waypointanzahl 5 // Maximal mögliche Anzahl der lernbaren Waypoints wird festgelegt |
| long waypoints_north[waypointanzahl]; // Definition für die Waypoints in Nordrichtung |
| long waypoints_east[waypointanzahl]; // Definition für die Waypoints in Ostrichtung |
| //*********************************************************************** |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //******************************* WAYPOINTS EINLERNEN ANFANG |
| //einlernen der Waypoints wenn 3D-Fix und Poti5 in MIN-Stellung |
| if(actualPos.GPSFix == 3 && Poti5 < 70 && gotwaypoint == 0) |
| { |
| waypoints_north[waypointindex] = actualPos.northing; |
| waypoints_east[waypointindex] = actualPos.easting; |
| gotwaypoint = 1; |
| beeptime = 50; // kurzes Piepen um das Waypointlernen zu quittieren |
| if(waypointindex < 100) // verhindert ein Überlaufen von waypoints_north bzw. _east |
| { |
| waypointindex++; |
| } |
| } |
| if(Poti5 > 70 && Poti5 < 150) |
| { |
| gotwaypoint = 0; //ermöglicht ein erneutes Lernen eines Waypoints für die nächste Minstellung von Poti5 |
| } |
| //******************************* WAYPOINTS EINLERNEN ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti6 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti6 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| waypointindex = 0; //Zähler für die Waypoints wird beim Motorausschalten zurück gesetzt |
| waypointnummer = 0; // Zähler fürs Abfliegen der Waypoints muss auch zurückgesetzt werden |
| for (int i=0; i<100; i++) //zusätzlich werden alle gelernten Waypoints hier gelöscht |
| { |
| waypoints_north[i] = 0; |
| waypoints_east[i] = 0; |
| } |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti6 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti6 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti6 > 70 && Poti6 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti6 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD, WAYPOINT oder HOMING) |
| //DYNAMISCHES GPS-HOLD oder WAYPOINTS, je nach Kombination aus Poti6 (Mitte) und Poti5 |
| if(Poti6 < 150) |
| { |
| // wenn Poti5 in Mittel-Stellung ODER noch gar keine Waypoints gelernt wird GPS-HOLD aktiviert |
| if(Poti5 < 150 || (waypoints_north[0] == 0 && waypoints_east[0] == 0)) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| // wenn Poti5 in Max-Stellung und mindestens ein Waypoint eingelernt wurde wird WAYPOINTS aktiviert |
| if (Poti5 >= 150 && waypoints_north[0] != 0 && waypoints_east[0] != 0) |
| { |
| GPS_Positionsabweichung_North = (waypoints_north[waypointnummer] - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (waypoints_east[waypointnummer] - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während WAYPOINTS wird erreicht, dass der MK nach dem Umschalten |
| // von WAYPOINTS zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| //wenn die Positionsabweichung kleiner als 150cm und noch ein weiterer eingelernter Waypoint vorhanden ist, wird dieser angeflogen |
| if (GPS_Positionsabweichung_North < 150 && GPS_Positionsabweichung_East < 150 && waypointnummer <= waypointindex) |
| { |
| waypointnummer++; |
| beeptime = 50; |
| } |
| } |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti6 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti6 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Einflusses für positive und negative Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/MIKROKOPTER_TO_DO.txt |
|---|
| 0,0 → 1,11 |
| . Patricks neigungskompensierten Kompass |
| . Aufruf der GPS.c innerhalb der fc.c nur wenn neue Daten vorliegen |
| . innerhalb der GPS.c den PD-Regler nicht mit "NeuerMittelwert", sondern mit "actualpos.newdata" alle 250ms aufrufen |
| . GPS-Empfänger auf 5Hz einstellen |
| . Begrenzung von 35 auf 50 anheben, damit auch bei stärkerem Wind geflogen werden kann |
| . Waypoints |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/P_ und D_Faktoren.txt |
|---|
| 0,0 → 1,3 |
| P: 120 |
| D: 90 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/Settings.h |
|---|
| --- alpha/v060JokoKompassNick666MM3Acc/_Settings.h (nonexistent) |
| +++ alpha/v060JokoKompassNick666MM3Acc/_Settings.h (revision 308) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/compass.c |
|---|
| 0,0 → 1,150 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| MM3_struct MM3; |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| } |
| } |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| MM3.y_axis -= OFF_Y; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| MM3.z_axis -= OFF_Z; |
| MM3.STATE = MM3_TILT; |
| } |
| return; |
| } |
| } |
| signed int MM3_heading(void) |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr; |
| signed int heading; |
| // Berechung von sinus und cosinus |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/compass.h |
|---|
| 0,0 → 1,41 |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int y_axis; |
| signed int z_axis; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| extern MM3_struct MM3; |
| void init_spi(void); |
| void MM3_timer0(void); |
| signed int MM3_heading(void); |
| #define Int2Grad_Faktor 1024 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X -11 |
| #define OFF_Y 30 |
| #define OFF_Z 18 |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/eeprom.c |
|---|
| --- alpha/v060JokoKompassNick666MM3Acc/fc.c (nonexistent) |
| +++ alpha/v060JokoKompassNick666MM3Acc/fc.c (revision 308) |
| @@ -0,0 +1,925 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| +unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| +unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + // DebugOut.Analog[12] = Motor_Vorne; |
| + // DebugOut.Analog[13] = Motor_Hinten; |
| + // DebugOut.Analog[14] = Motor_Links; |
| + // DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| + // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| + // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| + // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| + // DebugOut.Analog[14] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3])/4; //Mittelwert aller Motorenströme |
| + // DebugOut.Analog[15] = motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]; //Gesamtstrom aller Motoren |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 // (160607Kr) |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 // (160607Kr) |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// LED Stuff |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +LED1_OFF; |
| + |
| + if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| + { |
| + LED1_FLASH; |
| + blinkcount_LED1 = 0; |
| + } |
| + |
| + blinkcount_LED1++; |
| + |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + if(NeueKompassRichtungMerken) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + P_GPS_Verstaerkung = Parameter_UserParam1; |
| + D_GPS_Verstaerkung = Parameter_UserParam2; |
| + Limit_D_Anteil = Parameter_UserParam3; |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + |
| + TimerWerteausgabe = 49; |
| + |
| + //++++++++ANFANG_Legende++++++++ |
| +/* |
| + DebugOut.Analog[0] = actualPos.GPSFix; |
| + DebugOut.Analog[1] = GPS_Nick; |
| + DebugOut.Analog[2] = GPS_Roll; |
| + DebugOut.Analog[3] = actualPos.northing; |
| + DebugOut.Analog[4] = actualPos.easting; |
| + DebugOut.Analog[5] = NORTH_MITTEL; |
| + DebugOut.Analog[6] = EAST_MITTEL; |
| + DebugOut.Analog[7] = Soll_Position_North; |
| + DebugOut.Analog[8] = Soll_Position_East; |
| + DebugOut.Analog[9] = GPS_Home_North; |
| + DebugOut.Analog[10] = GPS_Home_East; |
| + DebugOut.Analog[11] = GPS_Positionsabweichung_North; |
| + DebugOut.Analog[12] = GPS_Positionsabweichung_East; |
| + DebugOut.Analog[13] = Poti1; |
| + DebugOut.Analog[14] = Poti2; |
| + DebugOut.Analog[15] = KompassValue; |
| + |
| + //++++++++ENDE_Legende++++++++ |
| + |
| + |
| + //++++++++ANFANG_Legende_1++++++++ |
| + |
| + DebugOut.Analog[0] = GPS_Roll; |
| + DebugOut.Analog[1] = GPS_Nick; |
| + DebugOut.Analog[2] = GPS_Positionsabweichung_North; |
| + DebugOut.Analog[3] = GPS_Positionsabweichung_East; |
| + DebugOut.Analog[4] = P_Einfluss_East; |
| + DebugOut.Analog[5] = D_Einfluss_East; |
| + DebugOut.Analog[6] = P_Einfluss_North; |
| + DebugOut.Analog[7] = D_Einfluss_North; |
| + DebugOut.Analog[8] = GPS_Geschwindigkeit_North; |
| + DebugOut.Analog[9] = GPS_Geschwindigkeit_East; |
| + DebugOut.Analog[10] = Parameter_UserParam1; |
| + DebugOut.Analog[11] = Parameter_UserParam2; |
| + DebugOut.Analog[12] = Soll_Position_North; |
| + DebugOut.Analog[13] = Soll_Position_East; |
| + DebugOut.Analog[14] = Poti6; |
| + DebugOut.Analog[15] = KompassValue; |
| +*/ |
| + //++++++++ENDE_Legende_1++++++++ |
| + |
| +// DebugOut.Analog[xx] = actualPos.velNorth; |
| +// DebugOut.Analog[xx] = actualPos.velEast; |
| +// DebugOut.Analog[xx] = UBat; |
| +// DebugOut.Analog[xx] = 0; |
| + |
| + |
| + |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| +// DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| +// DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + |
| + DebugOut.Analog[0] = MM3.NickGrad; |
| + DebugOut.Analog[1] = MM3.RollGrad; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| + |
| +//DebugOut.Analog[8] = MM3_heading(); |
| +DebugOut.Analog[9] = MM3.x_axis; |
| +DebugOut.Analog[10] = MM3.y_axis; |
| +DebugOut.Analog[11] = MM3.z_axis; |
| + |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/fc.c.bak |
|---|
| 0,0 → 1,925 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char h,m,s; |
| volatile unsigned char Timeout = 0; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| volatile long IntegralNick = 0,IntegralNick2 = 0; |
| volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile long Integral_Gier = 0; |
| volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| float Kp = FAKTOR_P; |
| float Ki = FAKTOR_I; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| struct mk_param_struct EE_Parameter; |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| CalibrierMittelwert(); |
| timer = SetDelay(5); |
| while (!CheckDelay(timer)); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= abs(MesswertNick); |
| AdNeutralRoll= abs(MesswertRoll); |
| AdNeutralGier= abs(MesswertGier); |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| beeptime = 50; |
| } |
| //############################################################################ |
| // Bildet den Mittelwert aus den Messwerten |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| Integral_Gier = Mess_Integral_Gier; |
| // Integral_Gier2 = Mess_Integral_Gier2; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| // ADC einschalten |
| ANALOG_ON; |
| //------------------------------------------------------------------------------ |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else |
| if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else |
| if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| //------------------------------------------------------------------------------ |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| // DebugOut.Analog[12] = Motor_Vorne; |
| // DebugOut.Analog[13] = Motor_Hinten; |
| // DebugOut.Analog[14] = Motor_Links; |
| // DebugOut.Analog[15] = Motor_Rechts; |
| // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| // DebugOut.Analog[14] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3])/4; //Mittelwert aller Motorenströme |
| // DebugOut.Analog[15] = motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]; //Gesamtstrom aller Motoren |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 // (160607Kr) |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr) |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static int IntegralFehlerNick = 0; |
| static int IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) beeptime = 500; |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| /* Poti1 = 65; |
| Poti2 = 48; |
| Poti3 = 0; |
| */ } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| ParameterZuordnung(); |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // LED Stuff |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_OFF; |
| if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| { |
| LED1_FLASH; |
| blinkcount_LED1 = 0; |
| } |
| blinkcount_LED1++; |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift kompensieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define DRIFT_FAKTOR 3 |
| if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| { |
| IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| ZaehlMessungen = 0; |
| if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier2 = Integral_Gier; |
| ANALOG_ON; // ADC einschalten |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| #define AUSGLEICH 500 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| sollGier = StickGier; |
| if(abs(StickGier) > 35) |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| ANALOG_ON; // ADC einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| if(NeueKompassRichtungMerken) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| ANALOG_ON; // ADC einschalten |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| { |
| P_GPS_Verstaerkung = Parameter_UserParam1; |
| D_GPS_Verstaerkung = Parameter_UserParam2; |
| Limit_D_Anteil = Parameter_UserParam3; |
| gps_main(); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Sekunden++; |
| if(!TimerWerteausgabe--) |
| { |
| <<<<<<< fc.c |
| TimerWerteausgabe = 49; |
| //++++++++ANFANG_Legende++++++++ |
| /* |
| DebugOut.Analog[0] = actualPos.GPSFix; |
| DebugOut.Analog[1] = GPS_Nick; |
| DebugOut.Analog[2] = GPS_Roll; |
| DebugOut.Analog[3] = actualPos.northing; |
| DebugOut.Analog[4] = actualPos.easting; |
| DebugOut.Analog[5] = NORTH_MITTEL; |
| DebugOut.Analog[6] = EAST_MITTEL; |
| DebugOut.Analog[7] = Soll_Position_North; |
| DebugOut.Analog[8] = Soll_Position_East; |
| DebugOut.Analog[9] = GPS_Home_North; |
| DebugOut.Analog[10] = GPS_Home_East; |
| DebugOut.Analog[11] = GPS_Positionsabweichung_North; |
| DebugOut.Analog[12] = GPS_Positionsabweichung_East; |
| DebugOut.Analog[13] = Poti1; |
| DebugOut.Analog[14] = Poti2; |
| DebugOut.Analog[15] = KompassValue; |
| */ |
| //++++++++ENDE_Legende++++++++ |
| //++++++++ANFANG_Legende_1++++++++ |
| DebugOut.Analog[0] = GPS_Roll; |
| DebugOut.Analog[1] = GPS_Nick; |
| DebugOut.Analog[2] = GPS_Positionsabweichung_North; |
| DebugOut.Analog[3] = GPS_Positionsabweichung_East; |
| DebugOut.Analog[4] = P_Einfluss_East; |
| DebugOut.Analog[5] = D_Einfluss_East; |
| DebugOut.Analog[6] = P_Einfluss_North; |
| DebugOut.Analog[7] = D_Einfluss_North; |
| DebugOut.Analog[8] = GPS_Geschwindigkeit_North; |
| DebugOut.Analog[9] = GPS_Geschwindigkeit_East; |
| DebugOut.Analog[10] = Parameter_UserParam1; |
| DebugOut.Analog[11] = Parameter_UserParam2; |
| DebugOut.Analog[12] = Soll_Position_North; |
| DebugOut.Analog[13] = Soll_Position_East; |
| DebugOut.Analog[14] = Poti6; |
| DebugOut.Analog[15] = KompassValue; |
| //++++++++ENDE_Legende_1++++++++ |
| // DebugOut.Analog[xx] = actualPos.velNorth; |
| // DebugOut.Analog[xx] = actualPos.velEast; |
| // DebugOut.Analog[xx] = UBat; |
| // DebugOut.Analog[xx] = 0; |
| ======= |
| TimerWerteausgabe = 49; |
| // DebugOut.Analog[0] = MesswertNick; |
| // DebugOut.Analog[1] = MesswertRoll; |
| // DebugOut.Analog[2] = MesswertGier; |
| // DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| // DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[0] = MM3.NickGrad; |
| DebugOut.Analog[1] = MM3.RollGrad; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[7] = GasMischanteil; |
| DebugOut.Analog[8] = KompassValue; |
| //DebugOut.Analog[8] = MM3_heading(); |
| DebugOut.Analog[9] = MM3.x_axis; |
| DebugOut.Analog[10] = MM3.y_axis; |
| DebugOut.Analog[11] = MM3.z_axis; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| >>>>>>> 1.1.14.1 |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| if(GierMischanteil > 100) GierMischanteil = 100; |
| if(GierMischanteil < -100) GierMischanteil = -100; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| SummeNick += DiffNick; // I-Anteil |
| if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| SummeRoll += DiffRoll; // I-Anteil |
| if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/fc.h |
|---|
| 0,0 → 1,111 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| extern unsigned char Limit_D_Anteil;//(210907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/flight-ctrl_mega644_v0_60.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\main.c" Position="330 71 1042 624" LineCol="17 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\compass.c" Position="324 63 1036 616" LineCol="17 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\makefile" Position="327 65 1039 618" LineCol="6 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\GPS.c" Position="400 156 950 528" LineCol="6 0" State="Maximized"/><File00004 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\gps.h" Position="422 178 972 550" LineCol="20 0" State="Maximized"/><File00005 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\compass.h" Position="444 200 994 572" LineCol="0 0" State="Maximized"/><File00006 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\math.c" Position="466 222 1016 594" LineCol="155 0" State="Maximized"/><File00007 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\math.h" Position="330 67 1042 620" LineCol="12 0" State="Maximized"/><File00008 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v060JokoKompassAcc\main.h" Position="336 71 1182 830" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="math.c"></File><File path="math.h"></File><File path="compass.c"></File><File path="compass.h"></File></Project> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/gps.h |
|---|
| 0,0 → 1,29 |
| extern long P_Einfluss_North; |
| extern long D_Einfluss_North; |
| extern long P_Einfluss_East; |
| extern long D_Einfluss_East; |
| extern long GPS_Positionsabweichung_North; |
| extern long GPS_Positionsabweichung_East; |
| extern long GPS_Geschwindigkeit_North; |
| extern long GPS_Geschwindigkeit_East; |
| extern long GPS_Home_North; |
| extern long GPS_Home_East; |
| extern long Soll_Position_North; |
| extern long Soll_Position_East; |
| extern volatile long EAST_MITTEL; |
| extern volatile long NORTH_MITTEL; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/license_buss.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/main.c |
|---|
| 0,0 → 1,213 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB |= (1<<PB0); // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |= (1<<PD7); // J7 |
| PORTD = 0xF7; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| init_spi(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/main.h |
|---|
| 0,0 → 1,100 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 //ACHTUNG: HIER SCHIEN NOCH EIN FEHLER IM AUSGEWÄHLTEN PORT ZU BESTEHEN. URSPRÜNGLICH WAR PORTD UND NICHT PORTB DEFINIERT // (280807Kr) |
| #define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
| volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "compass.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 "math.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/makefile |
|---|
| 0,0 → 1,392 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c compass.c math.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -mtiny-stack -mcall-prologues \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/math.c |
|---|
| 0,0 → 1,182 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18, |
| 19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41, |
| 41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54, |
| 55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63, |
| 63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68, |
| 68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72, |
| 72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74, |
| 74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76, |
| 76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78, |
| 78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79, |
| 79,79,79,79,79,79,79,79,79,79}; |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| { |
| int i,angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
| if (y < 0) m=-1; |
| else m=1; |
| if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105, |
| 0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326, |
| 0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530, |
| 0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707, |
| 0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848, |
| 0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946, |
| 0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995, |
| 0.996,0.998,0.999,0.999,1.000,1.000}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) |
| {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) |
| {winkel = winkel - 180; n = -1;} |
| else if ((winkel > 270) && (winkel <= 360)) |
| {winkel = 360 - winkel; n = -1;} |
| else |
| n = 1; //0 - 90 Grad |
| sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| return (sinus*m*n); |
| } |
| const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6, |
| 6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15, |
| 15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23, |
| 23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32, |
| 32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41, |
| 42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53, |
| 53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68, |
| 69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
| // Akurssinusfunktion im Gradmaß |
| int8_t asin_i(signed int i) |
| { |
| signed char m; |
| if (i < 0) {m=-1;i=abs(i);} |
| else m=1; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/math.h |
|---|
| 0,0 → 1,14 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |
| extern const int c_sin[]; |
| extern const int c_cos[]; |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i 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]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/menu.h |
|---|
| 0,0 → 1,7 |
| void LcdClear(void); |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/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/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[15]; |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 14) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[15]; |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.c |
|---|
| 0,0 → 1,134 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned int cntKompass = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<PD2); |
| } |
| else |
| PORTD &= ~(1<<PD2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 320; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| //DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/uart.c |
|---|
| 0,0 → 1,641 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| //gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported) |
| //gpsInfo_t *gpsTarget; // points to one of the targets |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| #define MSGID_VELECEF 0x11 |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navVelNed.packetStatus == 1) |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0; |
| } |
| if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| //unsigned int tmp_int_arr1[1]; |
| //unsigned int tmp_int_arr2[2]; |
| //unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| //unsigned char tmp_char_arr3[3]; |
| //unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/uart.h |
|---|
| 0,0 → 1,124 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct |
| { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| long northing; |
| long easting; |
| long altitude; |
| long velNorth; |
| long velEast; |
| uint8_t newData; // status of data: 0 = invlid; 1 = valid |
| uint8_t GPSFix; |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/MergedVersionsByOsiair/alpha/v060JokoKompassNick666MM3Acc/version.txt |
|---|
| 0,0 → 1,79 |
| ------- |
| 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 (in Arbeit) |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| MODDS: |
| - Höhenreglerabsenkung von -20 auf -40 (fc.c) |
| - LED1 und LED2 Ansteuerung (fc.c) und (main.h) |
| - geänderte Kanalbelegung K1-K8, Unterspannungsschwelle (9,5V) und StickD (fc.c) |
| - P,D Anteil seperat in Variable geschrieben und auf das Analog Display Ausgegeben (Kopter Tool) |
| - GPS_Nick und GPS_Roll werden nach Deaktivierung von Position-Hold auf Null gesetzt, um ein Einfrieren der GPS Steuerwerte auf den letzten Wert zu verhindern |
| - Funktionsaufruf der GPS-Funktion von Chris/Hallo2 |
| - UART.C für die GPS Signale im UTM Format auf Pitschu basierend |
| - unsere GPS.c-Routine |
| - Mircos variable Filterung (funktioniert nur wenn 250ms Aufruf aktiv ist) |
| - GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden |
| - Statusanzeige auf eine LED reduziert (aus, blinkend, an) |
| - blinkender LED_1 Ausgang für Positionsleuchten (einstellbar über Userparam.4) |
| - Homing-Fkt. eingebaut |
| - Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...) |
| - Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert |
| - dyn. Position Hold -> normaler Rundflug möglich |
| - Limit_D_Anteil = Userparam3 um im Homing- bzw. Waypointmodus die Sollposition gleichmäßiger anzufliegen |
| - Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert |
| - 12 Kanal Erweiterung |
| - Poti5 und Poti6 wird für die GPS-Funktion genutzt |
| - ... |
| (- Regelung wird nur noch alle 250 ms aufgerufen) |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/COPYING |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| Preamble |
| The GNU General Public License is a free, copyleft license for |
| software and other kinds of works. |
| The licenses for most software and other practical works are designed |
| to take away your freedom to share and change the works. By contrast, |
| the GNU General Public License is intended to guarantee your freedom to |
| share and change all versions of a program--to make sure it remains free |
| software for all its users. We, the Free Software Foundation, use the |
| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
| your programs, too. |
| When we speak of free software, we are referring to freedom, not |
| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
| free programs, and that you know you can do these things. |
| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
| freedoms that you received. You must make sure that they, too, receive |
| or can get the source code. And you must show them these terms so they |
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| Developers that use the GNU GPL protect your rights with two steps: |
| (1) assert copyright on the software, and (2) offer you this License |
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| If the Program specifies that a proxy can decide which future |
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| 15. Disclaimer of Warranty. |
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| 17. Interpretation of Sections 15 and 16. |
| If the disclaimer of warranty and limitation of liability provided |
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| END OF TERMS AND CONDITIONS |
| How to Apply These Terms to Your New Programs |
| If you develop a new program, and you want it to be of the greatest |
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| To do so, attach the following notices to the program. It is safest |
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| Copyright (C) <year> <name of author> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
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| (at your option) any later version. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Also add information on how to contact you by electronic and paper mail. |
| If the program does terminal interaction, make it output a short |
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| <program> Copyright (C) <year> <name of author> |
| This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
| This is free software, and you are welcome to redistribute it |
| under certain conditions; type `show c' for details. |
| The hypothetical commands `show w' and `show c' should show the appropriate |
| parts of the General Public License. Of course, your program's commands |
| might be different; for a GUI interface, you would use an "about box". |
| You should also get your employer (if you work as a programmer) or school, |
| if any, to sign a "copyright disclaimer" for the program, if necessary. |
| For more information on this, and how to apply and follow the GNU GPL, see |
| <http://www.gnu.org/licenses/>. |
| The GNU General Public License does not permit incorporating your program |
| into proprietary programs. If your program is a subroutine library, you |
| may consider it more useful to permit linking proprietary applications with |
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| Public License instead of this License. But first, please read |
| <http://www.gnu.org/philosophy/why-not-lgpl.html>. |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/COPYING.LESSER |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| This version of the GNU Lesser General Public License incorporates |
| the terms and conditions of version 3 of the GNU General Public |
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| 0. Additional Definitions. |
| As used herein, "this License" refers to version 3 of the GNU Lesser |
| General Public License, and the "GNU GPL" refers to version 3 of the GNU |
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| "The Library" refers to a covered work governed by this License, |
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| 1. Exception to Section 3 of the GNU GPL. |
| You may convey a covered work under sections 3 and 4 of this License |
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| 2. Conveying Modified Versions. |
| If you modify a copy of the Library, and, in your modifications, a |
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| You may convey a Combined Work under terms of your choice that, |
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| 5. Combined Libraries. |
| You may place library facilities that are a work based on the |
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| a) Accompany the combined library with a copy of the same work based |
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| conveyed under the terms of this License. |
| b) Give prominent notice with the combined library that part of it |
| is a work based on the Library, and explaining where to find the |
| accompanying uncombined form of the same work. |
| 6. Revised Versions of the GNU Lesser General Public License. |
| The Free Software Foundation may publish revised and/or new versions |
| of the GNU Lesser General Public License from time to time. Such new |
| versions will be similar in spirit to the present version, but may |
| differ in detail to address new problems or concerns. |
| Each version is given a distinguishing version number. If the |
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| of the GNU Lesser General Public License "or any later version" |
| applies to it, you have the option of following the terms and |
| conditions either of that published version or of any later version |
| published by the Free Software Foundation. If the Library as you |
| received it does not specify a version number of the GNU Lesser |
| General Public License, you may choose any version of the GNU Lesser |
| General Public License ever published by the Free Software Foundation. |
| If the Library as you received it specifies that a proxy can decide |
| whether future versions of the GNU Lesser General Public License shall |
| apply, that proxy's public statement of acceptance of any version is |
| permanent authorization for you to choose that version for the |
| Library. |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/Flight-Ctrl_MEGA644_V0_60.aps |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/GPS.c |
|---|
| 0,0 → 1,638 |
| /* |
| This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Auswertung der Daten vom GPS im ublox Format |
| Hold Modus mit PID Regler |
| Rückstuerz zur Basis Funktion |
| Stand 13.10.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| //#include "gps.h" |
| // Defines fuer ublox Messageformat um Auswertung zu steuern |
| #define UBLOX_IDLE 0 |
| #define UBLOX_SYNC1 1 |
| #define UBLOX_SYNC2 2 |
| #define UBLOX_CLASS 3 |
| #define UBLOX_ID 4 |
| #define UBLOX_LEN1 5 |
| #define UBLOX_LEN2 6 |
| #define UBLOX_CKA 7 |
| #define UBLOX_CKB 8 |
| #define UBLOX_PAYLOAD 9 |
| // ublox Protokoll Identifier |
| #define UBLOX_NAV_POSUTM 0x08 |
| #define UBLOX_NAV_STATUS 0x03 |
| #define UBLOX_NAV_VELED 0x12 |
| #define UBLOX_NAV_CLASS 0x01 |
| #define UBLOX_SYNCH1_CHAR 0xB5 |
| #define UBLOX_SYNCH2_CHAR 0x62 |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| short int ublox_msg_state = UBLOX_IDLE; |
| static uint8_t chk_a =0; //Checksum |
| static uint8_t chk_b =0; |
| short int gps_state,gps_sub_state; //Zustaende der Statemachine |
| short int gps_updte_flag; |
| signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
| signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
| signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
| signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| static unsigned int rx_len; |
| static unsigned int ptr_payload_data_end; |
| unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
| signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
| static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
| static uint8_t *ptr_payload_data; |
| static uint8_t *ptr_pac_status; |
| long int dist_flown; |
| short int Get_GPS_data(void); |
| NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| NAV_STATUS_t actual_status; // Aktueller Nav Status |
| NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| // Initialisierung |
| void GPS_Neutral(void) |
| { |
| ublox_msg_state = UBLOX_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| gps_sub_state = GPS_CRTL_IDLE; |
| actual_pos.status = 0; |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| gps_home_position.status = 0; // Noch keine gueltige Home Position |
| gps_act_position.status = 0; |
| gps_rel_act_position.status = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_updte_flag = 0; |
| gps_int_x = 0; |
| gps_int_y = 0; |
| gps_alive_cnt = 0; |
| } |
| // Home Position sichern falls Daten verfuegbar sind. |
| void GPS_Save_Home(void) |
| { |
| short int n; |
| n = Get_GPS_data(); |
| if (n == 0) // Gueltige und aktuelle Daten ? |
| { |
| // Neue GPS Daten liegen vor |
| gps_home_position.utm_east = gps_act_position.utm_east; |
| gps_home_position.utm_north = gps_act_position.utm_north; |
| gps_home_position.utm_alt = gps_act_position.utm_alt; |
| gps_home_position.status = 1; // Home Position gueltig |
| } |
| } |
| // Relative Position zur Home Position bestimmen |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_Rel_Position(void) |
| { |
| short int n = 0; |
| n = Get_GPS_data(); |
| if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| { |
| gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| n = 0; |
| gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| } |
| else |
| { |
| n = 2; //keine gueltigen Daten vorhanden |
| gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| } |
| return (n); |
| } |
| // Daten aus aktuellen ublox Messages extrahieren |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_GPS_data(void) |
| { |
| short int n = 1; |
| if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| { |
| if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| { |
| gps_act_position.utm_east = actual_pos.utm_east/10; |
| gps_act_position.utm_north = actual_pos.utm_north/10; |
| gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.heading = actual_speed.heading/100000; |
| gps_act_position.status = 1; |
| n = 0; //Daten gueltig |
| } |
| else |
| { |
| gps_act_position.status = 0; //Keine gueltigen Daten |
| n = 2; |
| } |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| actual_status.status = 0; |
| actual_speed.status = 0; |
| } |
| return (n); |
| } |
| /* |
| Daten vom GPS im ublox MSG Format auswerten |
| Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| */ |
| void Get_Ublox_Msg(uint8_t rx) |
| { |
| switch (ublox_msg_state) |
| { |
| case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_SYNC1: |
| if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| else ublox_msg_state = UBLOX_IDLE; |
| chk_a = 0,chk_b = 0; |
| break; |
| case UBLOX_SYNC2: |
| if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| switch (rx) |
| { |
| case UBLOX_NAV_POSUTM: |
| ptr_pac_status = &actual_pos.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| else |
| { |
| ptr_payload_data = &actual_pos; |
| ptr_payload_data_end = &actual_pos.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_STATUS: |
| ptr_pac_status = &actual_status.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_status; |
| ptr_payload_data_end = &actual_status.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_VELED: |
| ptr_pac_status = &actual_speed.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_speed; |
| ptr_payload_data_end = &actual_speed.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| chk_a = UBLOX_NAV_CLASS + rx; |
| chk_b = UBLOX_NAV_CLASS + chk_a; |
| break; |
| case UBLOX_LEN1: // Laenge auswerten |
| rx_len = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_LEN2; |
| break; |
| case UBLOX_LEN2: // Laenge auswerten |
| rx_len = rx_len + (rx *256); // Laenge ermitteln |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| break; |
| case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| if (rx_len > 0) |
| { |
| *ptr_payload_data = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| --rx_len; |
| if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| { |
| ptr_payload_data++; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| } |
| else ublox_msg_state = UBLOX_CKA; |
| } |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKA: // Checksum pruefen |
| if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKB: // Checksum pruefen |
| if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| } |
| //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| short int GPS_CRTL(short int cmd) |
| { |
| static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| static signed int int_east,int_north; //Integrierer |
| static signed int dist_north,dist_east; |
| static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
| signed int n,diff_v; |
| static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
| long signed int dev,n_l; |
| signed int dist_frm_start_east,dist_frm_start_north; |
| switch (cmd) |
| { |
| case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| { |
| // Erst mal initialisieren |
| cnt = 0; |
| gps_tick = 0; |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| dist_east = 0, dist_north = 0; |
| diff_east_f = 0, diff_north_f= 0; |
| diff_east = 0, diff_north = 0; |
| dist_flown = 0; |
| gps_g2t_act_v = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
| gps_rel_start_position.status = 1; // gueltige Positionsdaten |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| //Richtung zur Home Position bezogen auf Nordpol bestimmen |
| hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
| // in Winkel 0...360 Grad umrechnen |
| if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
| else hdng_2home = (270 - hdng_2home); |
| dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
| gps_state = GPS_CRTL_HOME_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| // ****************************** |
| case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| { |
| cnt = 0; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| dist_east = 0, dist_north = 0; |
| diff_east_f = 0, diff_north_f= 0; |
| diff_east = 0, diff_north = 0; |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| gps_state = GPS_CRTL_HOLD_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| case GPS_CMD_STOP: // Lageregelung beenden |
| cnt = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_int_x = 0; |
| gps_int_y = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_OK); |
| break; |
| default: |
| return (GPS_STST_ERR); |
| break; |
| } |
| switch (gps_state) |
| { |
| case GPS_CRTL_IDLE: |
| cnt = 0; |
| return (GPS_STST_OK); |
| break; |
| case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
| //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
| if (gps_rel_start_position.status >0) |
| { |
| if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
| { |
| gps_tick++; |
| int d1,d2,d3; |
| d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
| d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
| d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
| if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
| { |
| if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| { |
| if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
| dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_FAST_IN_TOL; |
| } |
| else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
| { |
| if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
| dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
| } |
| hold_fast = 1; // Regler fuer schnellen Flug |
| hold_reset_int = 1; // Integrator ausschalten |
| dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
| { |
| dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
| } |
| else |
| { |
| dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
| } |
| hold_fast = 0; // Wieder normal regeln |
| hold_reset_int = 1; // Integrator ausschalten |
| dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
| { |
| gps_sub_state = GPS_HOME_IN_TOL; |
| hold_fast = 0; // Wieder normal regeln |
| hold_reset_int = 0; // Integrator wieder aktivieren |
| if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
| if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
| if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
| { |
| gps_rel_hold_position.utm_east = 0; |
| gps_rel_hold_position.utm_north = 0; |
| gps_sub_state = GPS_HOME_FINISHED; |
| } |
| } |
| else gps_sub_state = GPS_HOME_OUTOF_TOL; |
| } |
| } |
| gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
| return (GPS_STST_OK); |
| } |
| else // Keine GPS Daten verfuegbar, deswegen Abbruch |
| { |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| } |
| break; |
| case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
| { |
| gps_updte_flag = 0; |
| // ab hier wird geregelt |
| diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
| diff_north = -dist_north; |
| dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| int_east += dist_east; |
| int_north += dist_north; |
| diff_east += dist_east; // Differenz zur vorhergehenden East Position |
| diff_north += dist_north; // Differenz zur vorhergehenden North Position |
| if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
| { |
| diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
| diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
| } |
| else // schwache Filterung |
| { |
| diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
| diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
| } |
| #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
| if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| { |
| int_east -= dist_east; |
| int_north -= dist_north; |
| } |
| if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
| { |
| int_east = 0; |
| int_north = 0; |
| } |
| // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
| // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
| signed long dist,int_east1,int_north1; |
| int phi; |
| phi = arctan_i(abs(dist_north),abs(dist_east)); |
| dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
| if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
| { |
| diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
| if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
| } |
| else |
| { |
| diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
| if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
| } |
| int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
| if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
| else diff_p = GPS_PROP_NRML_V; |
| //I Werte begrenzen |
| #define INT1_MAX (20 * GPS_V) |
| int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
| int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
| if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
| else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
| //PID Regler Werte aufsummieren |
| gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
| gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
| //Ziel-Richtung bezogen auf Nordpol bestimmen |
| GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
| // in Winkel 0...360 Grad umrechnen |
| if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| //n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| n= KompassValue; |
| GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
| if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
| else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
| else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
| if (abs(gps_reg_x) > abs(gps_reg_y) ) |
| { |
| dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
| } |
| else |
| { |
| dev = (long)gps_reg_y; |
| dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
| } |
| GPS_dist_2trgt = (int) dev; |
| // Winkel und Distanz in Nick und Rollgroessen umrechnen |
| GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
| GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
| if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
| else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
| if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
| else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
| //Kleine Werte verstaerken, Grosse abschwaechen |
| n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| GPS_Roll = (int) n_l; |
| n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| GPS_Nick = (int) n_l; |
| if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| { |
| GPS_Roll = 0; |
| GPS_Nick = 0; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| else |
| { |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| } |
| else |
| { |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| break; |
| default: |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| return (GPS_STST_ERR); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/License_GPL.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| Preamble |
| The GNU General Public License is a free, copyleft license for |
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| The licenses for most software and other practical works are designed |
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| the GNU General Public License is intended to guarantee your freedom to |
| share and change all versions of a program--to make sure it remains free |
| software for all its users. We, the Free Software Foundation, use the |
| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
| your programs, too. |
| When we speak of free software, we are referring to freedom, not |
| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
| free programs, and that you know you can do these things. |
| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
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| Developers that use the GNU GPL protect your rights with two steps: |
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| This is free software, and you are welcome to redistribute it |
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| The hypothetical commands `show w' and `show c' should show the appropriate |
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| For more information on this, and how to apply and follow the GNU GPL, see |
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| The GNU General Public License does not permit incorporating your program |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/License_LPGL.txt |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
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| This version of the GNU Lesser General Public License incorporates |
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| As used herein, "this License" refers to version 3 of the GNU Lesser |
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| License, and convey such a combined library under terms of your |
| choice, if you do both of the following: |
| a) Accompany the combined library with a copy of the same work based |
| on the Library, uncombined with any other library facilities, |
| conveyed under the terms of this License. |
| b) Give prominent notice with the combined library that part of it |
| is a work based on the Library, and explaining where to find the |
| accompanying uncombined form of the same work. |
| 6. Revised Versions of the GNU Lesser General Public License. |
| The Free Software Foundation may publish revised and/or new versions |
| of the GNU Lesser General Public License from time to time. Such new |
| versions will be similar in spirit to the present version, but may |
| differ in detail to address new problems or concerns. |
| Each version is given a distinguishing version number. If the |
| Library as you received it specifies that a certain numbered version |
| of the GNU Lesser General Public License "or any later version" |
| applies to it, you have the option of following the terms and |
| conditions either of that published version or of any later version |
| published by the Free Software Foundation. If the Library as you |
| received it does not specify a version number of the GNU Lesser |
| General Public License, you may choose any version of the GNU Lesser |
| General Public License ever published by the Free Software Foundation. |
| If the Library as you received it specifies that a proxy can decide |
| whether future versions of the GNU Lesser General Public License shall |
| apply, that proxy's public statement of acceptance of any version is |
| permanent authorization for you to choose that version for the |
| Library. |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/README_Gps.txt |
|---|
| 0,0 → 1,82 |
| ********************************************************************* |
| GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl |
| Stand 14.10.2007 |
| Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt |
| ********************************************************************* |
| Hardware-Voraussetzungen: |
| Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut |
| GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED" |
| mussen mit 4 HZ Updaterate aktiviert sein. Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool. |
| Software-Voraussetzungen: |
| in fc.h müsen die Neutralwerte ACC_NICK_NEUTRAL und ACC_ROLL_NEUTRAL |
| eingetragen werden. Hierzu den Kopter waagrecht ausrichten (Wasserwaage) und mit dem Mikrokoptertool |
| die Neutralwerte (Fenster ACC Sensor, jeweils die dargestellten Werte ohne Klammern) ermitteln. |
| Alternativ kann die Variable ACC_NEUTRAL_FIXED auf 0 gesetzt werden, dann wird die Lage beim Kalibrieren als Neutrallage |
| genommen (wie bei Holgers SW). |
| In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters |
| eingetragen sein. KOMPASS_OFFSET legt diesen Wert fest. |
| Hexfiles: |
| Ich habe bewußt keinen Hexfile generiert, da die Neutralwerte spezifisch je Kopter sind. |
| Die SW muß also individuell compiliert werden und der Hexfile in die FlightCrtl eingebaut werden. |
| Der Lohn für die Muehe ist eine sehr driftarme Fluglageregelung sowie eine von der Startausrichtung |
| unabhängige waagrechte Lage in der Luft. |
| Alle Einstellungen beziehen sich auf AVR Studio von Atmel und den WIN_AVR Compiler. |
| Parametrierung: |
| Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird. |
| UserParameter1 beschreibt den P-Anteil, UserParameter2 den I-Anteil und UserParameter3 den D-Anteil. |
| Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden. |
| Standardwerte bei kaum Wind sind 8 für den P-Anteil, 1 für den I-Anteil und 12 für den D-Anteil. |
| Standardwerte bei leichtem verhältnissen sind 12 für den P-Anteil, 2 für den I-Anteil und 18 für den D-Anteil. |
| Standardwerte bei rauheren verhältnissen sind 16 für den P-Anteil, 2 für den I-Anteil und 20 für den D-Anteil. |
| Je größer die Werte des "ruckeliger" reagiert die Regelung aber desto schneller und stärker greift sie auch. |
| Wenn alle 0 sind, ist der Regler deaktiviert. |
| Voraussetzungen für GPS_Hold: |
| Neben den genannten HW und SW Voraussetzungen muß beim Kalibrieren das GPS MOdul bereits Positionsdaten liefern. |
| Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert. |
| Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren. |
| Das GPS Aktiv Flag im Setting muss aktiviert sein. |
| Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich. |
| Aktivierung GPS_Hold im Flug: |
| Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick |
| fürca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der |
| Kompass aus wird GPS_Hold sofort deaktiviert. |
| Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden. |
| GPS_Hold regelt nur horizontale Abweichungen, keine Hoehe. |
| Der Magnetkompass wird nur in waagrechter Lage dazu benutzt einen internen aus dem Giergyro ermittelten "Ersatz"kompasswert |
| nach zu kalibrieren. Daher funktioniert die Bstimmung der Kopterausrichtung in jeder Lebenslage, sofern nur ab und zu |
| der Magnetkompass in die waagrechte Lage kommt. |
| Ein 3D Kompass ist damit überflüssig. |
| GPS Rücksturz zur Basis (GPS Home) Funktion |
| Voraussetzungen wie bei GPS Hold. |
| Die Funktion kann im Flug aktiviert werden durch Setzen des Hoehenreglerschalters. |
| Holgers Code habe ich so abgeändert daß der Höhenregler mit "Parameter_MaxHoehe" ab 50 aktiviert wird. |
| Mit einem Schalter mit Neutrallage können damit die Funktionen |
| Alles aus - Hoehenregler ein, GPS Home Aus - Hoehenregler Ein UND GPS Home ein |
| aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen |
| Weitere Änderungen: |
| Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter |
| runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen |
| Bekannte Schwächen: |
| Bei längerer Neigung weicht der Ersatzkompass ab, was zu Lageregelungsfehlern bis zum Ausbrechen führen kann. |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/Settings.h |
|---|
| --- alpha/v060SalvoKompassNick666MM3ACC/_Settings.h (nonexistent) |
| +++ alpha/v060SalvoKompassNick666MM3ACC/_Settings.h (revision 308) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/analog.c |
|---|
| 0,0 → 1,156 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| // GyroKomp_Int += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/compass.c |
|---|
| 0,0 → 1,150 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| MM3_struct MM3; |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| } |
| } |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| MM3.y_axis -= OFF_Y; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| MM3.z_axis -= OFF_Z; |
| MM3.STATE = MM3_TILT; |
| } |
| return; |
| } |
| } |
| signed int MM3_heading(void) |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr; |
| signed int heading; |
| // Berechung von sinus und cosinus |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/compass.h |
|---|
| 0,0 → 1,41 |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int y_axis; |
| signed int z_axis; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| extern MM3_struct MM3; |
| void init_spi(void); |
| void MM3_timer0(void); |
| signed int MM3_heading(void); |
| #define Int2Grad_Faktor 1024 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X -11 |
| #define OFF_Y 30 |
| #define OFF_Z 18 |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/eeprom.c |
|---|
| --- alpha/v060SalvoKompassNick666MM3ACC/fc.c (nonexistent) |
| +++ alpha/v060SalvoKompassNick666MM3ACC/fc.c (revision 308) |
| @@ -0,0 +1,838 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 6.10.2007 |
| +/* |
| +Driftkompensation fuer Gyros verbessert |
| +Linearsensor mit fixem Neutralwert |
| +Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
| +*/ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +uint8_t gps_cmd = GPS_CMD_STOP; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| +int w,v; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + GPS_Neutral(); |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 16; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 100; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 16; //zur freien Verwendung, derzeit P-Anteil GPS |
| + EE_Parameter.UserParam2 = 2; //zur freien Verwendung, derzeit I-Anteil GPS |
| + EE_Parameter.UserParam3 = 12; //zur freien Verwendung, derzeit D-Anteil GPS |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 64; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 12; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 2; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 16; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| +//****** GPS Daten holen *************** |
| + short int n; |
| + if (gps_alive_cnt > 0) gps_alive_cnt--; //Dekrementieren. Wenn 0 kommen keine ausreichenden GPS Meldungen (Timeout) |
| + n = Get_Rel_Position(); |
| + if (n == 0) |
| + { |
| + ROT_ON; //led blitzen lassen |
| + } |
| +//******PROVISORISCH*************** |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Empfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar |
| + if (gps_home_position.status > 0 ) |
| + { |
| + Delay_ms(1000); //akustisch verkuenden dass GPS Home Daten da sind |
| + beeptime = 2000; |
| + Delay_ms(500); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + //if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + //if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 30) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| + |
| + |
| +// Salvo 6.10.2007 |
| + // GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist |
| + //GPS Hold Aktiveren wenn Knueppel in Ruhelage sind |
| + if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(StickRoll) < GPS_STICK_HOLDOFF) && (abs(StickNick) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
| + { |
| + if (Parameter_MaxHoehe > 200) |
| + { |
| + if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| + else gps_cmd = GPS_CMD_REQ_HOME; |
| + n = GPS_CRTL(gps_cmd); |
| + } |
| + else |
| + { |
| + if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| + else gps_cmd = GPS_CMD_REQ_HOLD; |
| + n= GPS_CRTL(gps_cmd); |
| + } |
| + } |
| + else (n= GPS_CRTL(GPS_CMD_STOP)); //GPS Lageregelung beenden |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + if(NeueKompassRichtungMerken) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| + |
| + DebugOut.Analog[0] = MM3.NickGrad; |
| + DebugOut.Analog[1] = MM3.RollGrad; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassRichtung; |
| + DebugOut.Analog[9] = KompassValue; |
| + DebugOut.Analog[10] = MM3_heading(); |
| + |
| + |
| + |
| +//DebugOut.Analog[9] = MM3.x_axis; |
| +//DebugOut.Analog[10] = MM3.y_axis; |
| +//DebugOut.Analog[11] = MM3.z_axis; |
| +//DebugOut.Analog[13] = KompassRichtung; |
| + |
| + |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| +//Salvo 10.10.2007 Um Absacken beim Einschalten zu verhindern |
| +// SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + SollHoehe = HoehenWert - 0; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| +// Salvo End |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/fc.h |
|---|
| 0,0 → 1,119 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern unsigned char Parameter_UserParam1 ; |
| extern unsigned char Parameter_UserParam2 ; |
| extern unsigned char Parameter_UserParam3 ; |
| // Salvo End |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| /*Salvo 2.9.2007 Ersatzkompass |
| extern volatile long GyroKomp_Int; |
| extern volatile int GyroKomp_Inc_Grad; |
| extern volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| Salvo End*/ |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/flight-ctrl_mega644_v0_60.aws |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/flight.pnproj |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/flight_ctrl.aps |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/gps.h |
|---|
| 0,0 → 1,132 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock ("Salvo") |
| // Definitionen fuer Modul GPS |
| // Stand 12.10.007 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| //extern short int Get_GPS_data(void); |
| extern short int Get_Rel_Position(void); |
| extern void GPS_Save_Home(void); |
| extern short int GPS_CRTL(short int cmd); |
| typedef struct { |
| unsigned long utm_itow; // time of week |
| long utm_east; // UTM Ost in cm |
| long utm_north; // UTM Nord in cm |
| long utm_alt; // hoehe in cm |
| uint8_t utm_zone; // |
| uint8_t utm_hem; // Hemisphere Indicator |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long itow; // time of week |
| uint8_t gpsfix_type;// 3=3D Fix |
| uint8_t nav_status_flag; |
| uint8_t nav_diff_status; |
| uint8_t nav_resevd; |
| long nav_tff; // Time to First Fix in ms |
| long nav_msss; // ms since startup |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long itow; |
| long speed_n; // in cm/s |
| long speed_e; // in cm/s |
| long speed_alt; // in cm/s |
| unsigned long speed_3d; // in cm/s |
| unsigned long speed_gnd; // V ueber Grund in cm/s |
| long heading; // Richtung in deg/10000 |
| unsigned long sacc; // Speed Genauigkeit in cm/s |
| unsigned long cacc; // Richtungsgenauigkeit in deg |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_VELNED_t; |
| typedef struct { |
| long utm_east; // UTM Ost in 10 cm |
| long utm_north; // UTM Nord in 10 cm |
| long utm_alt; // hoehe in 10 cm |
| unsigned long speed_gnd; // V ueber Grund in 10cm/s |
| unsigned heading; // Richtung in Grad |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_ABS_POSITION_t; |
| typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| int utm_east; // UTM Ost in m |
| int utm_north; // UTM Nord in m |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_REL_POSITION_t; |
| extern GPS_ABS_POSITION_t gps_act_position; |
| extern GPS_ABS_POSITION_t gps_home_position; |
| extern GPS_REL_POSITION_t gps_rel_act_position; |
| extern GPS_REL_POSITION_t gps_rel_hold_position; |
| extern short int gps_state,gps_sub_state; |
| extern signed int GPS_hdng_abs_2trgt; |
| extern signed int GPS_hdng_rel_2trgt; |
| extern signed int GPS_dist_2trgt; |
| extern signed int gps_reg_x,gps_reg_y; |
| extern signed int GPS_dist_2trgt; |
| extern unsigned int gps_alive_cnt; |
| //nur provisorisch fuer Debugausgaben |
| extern signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| extern long int dist_flown; |
| // Zustaende der zentralen GPS statemachine |
| #define GPS_CRTL_IDLE 0 // |
| #define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
| #define GPS_CRTL_HOME_ACTIVE 2 // Rueckflug zur Basis Aktiv |
| #define GPS_HOME_FAST_IN_TOL 3 // Rueckflug: Aktuelle Position innerhalb der Toleranz |
| #define GPS_HOME_FAST_OUTOF_TOL 4 // Rueckflug: Aktuelle Position ausserhalb der Toleranz |
| #define GPS_HOME_RMPDWN_IN_TOL 5 // Rueckflug: beim Abbremsen Position innerhalb der Toleranz |
| #define GPS_HOME_RMPDWN_OUTOF_TOL 6 // Rueckflug: beim Abbremsen Position ausserhalb der Toleranz |
| #define GPS_HOME_IN_TOL 7 // Rueckflug: Nahe am Ziel innerhalb der Toleranz |
| #define GPS_HOME_OUTOF_TOL 8 // Rueckflug: Nahe am Ziel ausserhalb der Toleranz |
| #define GPS_HOME_FINISHED 9 // Rueckflug zur Basis abgeschlossen |
| // Kommandokonstanten fuer die zentrale GPS Statemachine |
| #define GPS_CMD_REQ_INIT 0 // Initialisierung |
| #define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden |
| #define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
| #define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
| // Statusmeldungen der zentralen GPS statemachine |
| #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
| #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
| #define GPS_STST_ERR 2 // Fehler |
| // GPS Lageregler |
| #define GPS_NICKROLL_MAX 40 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| #define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
| #define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert |
| #define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert |
| // Differenzierer Kennwerte fuer von Distanz abhaengige Verstaerkung, abhaengig vom Modus. |
| #define GPS_DIFF_NRML_MAX_V 20 //maximale Verstaerkung * 10 |
| #define GPS_DIFF_NRML_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
| #define GPS_DIFF_FAST_MAX_V 15 //maximale Verstaerkung * 10 im Fast mode |
| #define GPS_DIFF_FAST_MAX_D 50 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm im Fast mode |
| // P-Regler Verstaerkung |
| #define GPS_PROP_NRML_V 2 //maximale Verstaerkung * 2 |
| #define GPS_PROP_FAST_V 2 //maximale Verstaerkung * 2 im Fast mode |
| // GPS G2T /Go to Target Regler |
| #define GPS_G2T_DIST_MAX_STOP 50 // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm) |
| #define GPS_G2T_DIST_HOLD 30 // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt |
| #define GPS_G2T_V_MAX 12 // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird. |
| #define GPS_G2T_V_RAMP_DWN 6 // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen |
| #define GPS_G2T_V_MIN 3 // Minimale (in 10cm/0.25 Sekunden) ganz nahe an Homeposition. |
| #define GPS_G2T_FAST_TOL 60 // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| #define GPS_G2T_NRML_TOL 40 // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/license_buss.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/main.c |
|---|
| 0,0 → 1,215 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB |= (1<<PB0); // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |= (1<<PD7); // J7 |
| PORTD = 0xF7; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| init_spi(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/main.h |
|---|
| 0,0 → 1,95 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "compass.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "math.h" |
| #include "gps.h" |
| #include "math.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/makefile |
|---|
| 0,0 → 1,392 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c compass.c math.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -mtiny-stack -mcall-prologues \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/math.c |
|---|
| 0,0 → 1,229 |
| /* |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Winkelfunktionen sin, cos und arctan in |
| brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
| get_dist Funktion fuer Entfernungsermittlung |
| Stand 12.10.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
| int arctan_i( signed int x, signed int y) |
| { |
| short int change_xy = 0; |
| signed int i; |
| long signed int wert; |
| int return_value; |
| if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
| { |
| change_xy = 1; |
| i = x; |
| x = y; |
| y = i; |
| } |
| // Quadranten ermitteln |
| // Wert durch lineare Interpolation ermitteln |
| if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
| else wert= abs(((long)x*1000)/((long)y)); |
| if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
| { |
| return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
| } |
| else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
| { |
| return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
| } |
| else //0,568...1 entsprechend 30..45 Grad |
| { |
| return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
| } |
| if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
| if ((x >= 0) && (y <0)) return_value = - return_value; |
| else if ((x < 0) && (y >= 0)) return_value = - return_value; |
| return return_value; |
| } |
| // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
| signed int cos_i(signed int winkel) |
| { |
| winkel = sin_i(90-winkel); |
| return winkel; |
| } |
| const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000}; |
| //von Nick666, Stand 28.9.2007 |
| // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
| signed int sin_i(signed int winkel) |
| { |
| short int m,n; |
| if (abs(winkel) >=360) winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| n =1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
| else if ((winkel > 180 ) && (winkel <= 270)) |
| { |
| winkel = winkel -180; |
| n = -1; |
| } |
| else if ((winkel > 270) && (winkel <= 360)) |
| { |
| winkel = 360 - winkel; |
| n = -1; |
| } |
| // else //0 - 90 Grad |
| winkel = pgm_read_word(&pgm_sinus[winkel]); |
| return (winkel*m*n); |
| } |
| // Aus x,y und Winkel Distanz ermitteln |
| long get_dist(signed int x, signed int y, signed int phi) |
| { |
| long dist; |
| if (abs(x) > abs(y) ) |
| { |
| dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| dist = abs((dist *1000) / (long) sin_i(phi)); |
| } |
| else |
| { |
| dist = (long) y; |
| dist = abs((dist *1000) / (long) cos_i(phi)); |
| } |
| return dist; |
| } |
| // noch mehr von Nick666 |
| const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| { |
| int i,angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
| if (y < 0) m=-1; |
| else m=1; |
| if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
| else n = 1; //0 - 90 Grad |
| sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| return (sinus*m*n); |
| } |
| const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
| // Akurssinusfunktion im Gradmaß |
| int8_t asin_i(signed int i) |
| { |
| signed char m; |
| if (i < 0) {m=-1;i=abs(i);} |
| else m=1; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/math.h |
|---|
| 0,0 → 1,15 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int sin_i(signed int winkel); |
| extern signed int cos_i(signed int winkel); |
| extern signed int arctan_i(signed int x, signed int y); |
| extern long get_dist(signed int x, signed int y, signed int phi); |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| // LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/menu.h |
|---|
| 0,0 → 1,7 |
| void LcdClear(void); |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/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/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/timer0.c |
|---|
| 0,0 → 1,149 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned int cntKompass = 0; |
| int ServoValue = 0; |
| /*Salvo 8.9.2007 |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| //Salvo 21.9.2007 |
| short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
| // Salvo End */ |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
| /* |
| Driftkompensation fuer Gyros verbessert |
| Linearsensor mit fixem Neutralwert |
| Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
| */ |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| // if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<PD2); |
| } |
| else |
| PORTD &= ~(1<<PD2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| // KompassValue += 180; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| //DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/timer0.h |
|---|
| 0,0 → 1,19 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| // Salvo Kompassoffset 31.8.2007 *********** |
| //#define KOMPASS_OFFSET 135 // Winkel zwischen Nordachse Kopter und Nordachse Kompass |
| // Salvo End |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/uart.c |
|---|
| 0,0 → 1,330 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| //Salvo 11.9.2007 GPS Daten holen |
| Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
| // Salvo End |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| //unsigned int tmp_int_arr1[1]; |
| //unsigned int tmp_int_arr2[2]; |
| //unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| //unsigned char tmp_char_arr3[3]; |
| //unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/uart.h |
|---|
| 0,0 → 1,95 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3ACC/version.txt |
|---|
| 0,0 → 1,49 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/COPYING |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/COPYING.LESSER |
|---|
| 0,0 → 1,165 |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/Flight-Ctrl_MEGA644_V0_60.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>Flight-Ctrl_MEGA644_V0_60</ProjectName><Created>19-Aug-2007 14:38:13</Created><LastEdit>17-Oct-2007 19:33:50</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>19-Aug-2007 14:38:13</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>Flight-Ctrl_MEGA644_V0_60.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\v60SalvoKompassACC\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><SOURCEFILE>math.c</SOURCEFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Flight-Ctrl_MEGA644_V0_60.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -O0 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20070525\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>compass.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>math.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>analog.c</FileName><Status>1</Status></File00003></Files><Workspace><File00000><Position>323 71 1035 624</Position><LineCol>17 0</LineCol></File00000><File00001><Position>336 71 1048 624</Position><LineCol>51 31</LineCol><State>Maximized</State></File00001><File00002><Position>384 138 934 510</Position><LineCol>229 0</LineCol></File00002><File00003><Position>406 160 956 532</Position><LineCol>0 0</LineCol></File00003></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/GPS.c |
|---|
| 0,0 → 1,638 |
| /* |
| This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Auswertung der Daten vom GPS im ublox Format |
| Hold Modus mit PID Regler |
| Rückstuerz zur Basis Funktion |
| Stand 13.10.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| //#include "gps.h" |
| // Defines fuer ublox Messageformat um Auswertung zu steuern |
| #define UBLOX_IDLE 0 |
| #define UBLOX_SYNC1 1 |
| #define UBLOX_SYNC2 2 |
| #define UBLOX_CLASS 3 |
| #define UBLOX_ID 4 |
| #define UBLOX_LEN1 5 |
| #define UBLOX_LEN2 6 |
| #define UBLOX_CKA 7 |
| #define UBLOX_CKB 8 |
| #define UBLOX_PAYLOAD 9 |
| // ublox Protokoll Identifier |
| #define UBLOX_NAV_POSUTM 0x08 |
| #define UBLOX_NAV_STATUS 0x03 |
| #define UBLOX_NAV_VELED 0x12 |
| #define UBLOX_NAV_CLASS 0x01 |
| #define UBLOX_SYNCH1_CHAR 0xB5 |
| #define UBLOX_SYNCH2_CHAR 0x62 |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| short int ublox_msg_state = UBLOX_IDLE; |
| static uint8_t chk_a =0; //Checksum |
| static uint8_t chk_b =0; |
| short int gps_state,gps_sub_state; //Zustaende der Statemachine |
| short int gps_updte_flag; |
| signed int GPS_hdng_abs_2trgt; //Winkel zum Ziel bezogen auf Nordpol |
| signed int GPS_hdng_rel_2trgt; //Winkel zum Ziel bezogen auf Nordachse des Kopters |
| signed int GPS_dist_2trgt; //vorzeichenlose Distanz zum Ziel |
| signed int gps_int_x,gps_int_y,gps_reg_x,gps_reg_y; |
| static unsigned int rx_len; |
| static unsigned int ptr_payload_data_end; |
| unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
| signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
| static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
| static uint8_t *ptr_payload_data; |
| static uint8_t *ptr_pac_status; |
| long int dist_flown; |
| short int Get_GPS_data(void); |
| NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| NAV_STATUS_t actual_status; // Aktueller Nav Status |
| NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| // Initialisierung |
| void GPS_Neutral(void) |
| { |
| ublox_msg_state = UBLOX_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| gps_sub_state = GPS_CRTL_IDLE; |
| actual_pos.status = 0; |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| gps_home_position.status = 0; // Noch keine gueltige Home Position |
| gps_act_position.status = 0; |
| gps_rel_act_position.status = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_updte_flag = 0; |
| gps_int_x = 0; |
| gps_int_y = 0; |
| gps_alive_cnt = 0; |
| } |
| // Home Position sichern falls Daten verfuegbar sind. |
| void GPS_Save_Home(void) |
| { |
| short int n; |
| n = Get_GPS_data(); |
| if (n == 0) // Gueltige und aktuelle Daten ? |
| { |
| // Neue GPS Daten liegen vor |
| gps_home_position.utm_east = gps_act_position.utm_east; |
| gps_home_position.utm_north = gps_act_position.utm_north; |
| gps_home_position.utm_alt = gps_act_position.utm_alt; |
| gps_home_position.status = 1; // Home Position gueltig |
| } |
| } |
| // Relative Position zur Home Position bestimmen |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_Rel_Position(void) |
| { |
| short int n = 0; |
| n = Get_GPS_data(); |
| if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| if (gps_alive_cnt < 400) gps_alive_cnt += 300; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| { |
| gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| n = 0; |
| gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| } |
| else |
| { |
| n = 2; //keine gueltigen Daten vorhanden |
| gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| } |
| return (n); |
| } |
| // Daten aus aktuellen ublox Messages extrahieren |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_GPS_data(void) |
| { |
| short int n = 1; |
| if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| { |
| if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| { |
| gps_act_position.utm_east = actual_pos.utm_east/10; |
| gps_act_position.utm_north = actual_pos.utm_north/10; |
| gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.heading = actual_speed.heading/100000; |
| gps_act_position.status = 1; |
| n = 0; //Daten gueltig |
| } |
| else |
| { |
| gps_act_position.status = 0; //Keine gueltigen Daten |
| n = 2; |
| } |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| actual_status.status = 0; |
| actual_speed.status = 0; |
| } |
| return (n); |
| } |
| /* |
| Daten vom GPS im ublox MSG Format auswerten |
| Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| */ |
| void Get_Ublox_Msg(uint8_t rx) |
| { |
| switch (ublox_msg_state) |
| { |
| case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_SYNC1: |
| if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| else ublox_msg_state = UBLOX_IDLE; |
| chk_a = 0,chk_b = 0; |
| break; |
| case UBLOX_SYNC2: |
| if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| switch (rx) |
| { |
| case UBLOX_NAV_POSUTM: |
| ptr_pac_status = &actual_pos.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| else |
| { |
| ptr_payload_data = &actual_pos; |
| ptr_payload_data_end = &actual_pos.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_STATUS: |
| ptr_pac_status = &actual_status.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_status; |
| ptr_payload_data_end = &actual_status.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_VELED: |
| ptr_pac_status = &actual_speed.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_speed; |
| ptr_payload_data_end = &actual_speed.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| chk_a = UBLOX_NAV_CLASS + rx; |
| chk_b = UBLOX_NAV_CLASS + chk_a; |
| break; |
| case UBLOX_LEN1: // Laenge auswerten |
| rx_len = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_LEN2; |
| break; |
| case UBLOX_LEN2: // Laenge auswerten |
| rx_len = rx_len + (rx *256); // Laenge ermitteln |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| break; |
| case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| if (rx_len > 0) |
| { |
| *ptr_payload_data = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| --rx_len; |
| if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| { |
| ptr_payload_data++; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| } |
| else ublox_msg_state = UBLOX_CKA; |
| } |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKA: // Checksum pruefen |
| if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKB: // Checksum pruefen |
| if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| } |
| //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| short int GPS_CRTL(short int cmd) |
| { |
| static unsigned int cnt; //Zaehler fuer diverse Verzoegerungen |
| static signed int int_east,int_north; //Integrierer |
| static signed int dist_north,dist_east; |
| static signed int diff_east,diff_north; // Differenzierer (Differenz zum vorhergehenden x bzw. y Wert) |
| static signed int diff_east_f,diff_north_f; // Differenzierer, gefiltert |
| signed int n,diff_v; |
| static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
| long signed int dev,n_l; |
| signed int dist_frm_start_east,dist_frm_start_north; |
| switch (cmd) |
| { |
| case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| { |
| // Erst mal initialisieren |
| cnt = 0; |
| gps_tick = 0; |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| dist_east = 0, dist_north = 0; |
| diff_east_f = 0, diff_north_f= 0; |
| diff_east = 0, diff_north = 0; |
| dist_flown = 0; |
| gps_g2t_act_v = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
| gps_rel_start_position.status = 1; // gueltige Positionsdaten |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| //Richtung zur Home Position bezogen auf Nordpol bestimmen |
| hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
| // in Winkel 0...360 Grad umrechnen |
| if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
| else hdng_2home = (270 - hdng_2home); |
| dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
| gps_state = GPS_CRTL_HOME_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| // ****************************** |
| case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| { |
| cnt++; |
| if (cnt > 500) // erst nach Verzoegerung |
| { |
| cnt = 0; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| dist_east = 0, dist_north = 0; |
| diff_east_f = 0, diff_north_f= 0; |
| diff_east = 0, diff_north = 0; |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| gps_state = GPS_CRTL_HOLD_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| case GPS_CMD_STOP: // Lageregelung beenden |
| cnt = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_int_x = 0; |
| gps_int_y = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_OK); |
| break; |
| default: |
| return (GPS_STST_ERR); |
| break; |
| } |
| switch (gps_state) |
| { |
| case GPS_CRTL_IDLE: |
| cnt = 0; |
| return (GPS_STST_OK); |
| break; |
| case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
| //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
| if (gps_rel_start_position.status >0) |
| { |
| if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
| { |
| gps_tick++; |
| int d1,d2,d3; |
| d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
| d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
| d3 = (dist_2home - (int)dist_flown); // Restdistanz zum Ziel |
| if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
| { |
| if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| { |
| if (gps_g2t_act_v < GPS_G2T_V_MAX) gps_g2t_act_v++; //Geschwindigkeit langsam erhoehen |
| dist_flown +=(long)gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_FAST_IN_TOL; |
| } |
| else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
| { |
| if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
| dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
| } |
| hold_fast = 1; // Regler fuer schnellen Flug |
| hold_reset_int = 1; // Integrator ausschalten |
| dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
| { |
| dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
| } |
| else |
| { |
| dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
| } |
| hold_fast = 0; // Wieder normal regeln |
| hold_reset_int = 1; // Integrator ausschalten |
| dist_frm_start_east = (int)((dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)((dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
| { |
| gps_sub_state = GPS_HOME_IN_TOL; |
| hold_fast = 0; // Wieder normal regeln |
| hold_reset_int = 0; // Integrator wieder aktivieren |
| if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
| if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
| if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
| { |
| gps_rel_hold_position.utm_east = 0; |
| gps_rel_hold_position.utm_north = 0; |
| gps_sub_state = GPS_HOME_FINISHED; |
| } |
| } |
| else gps_sub_state = GPS_HOME_OUTOF_TOL; |
| } |
| } |
| gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
| return (GPS_STST_OK); |
| } |
| else // Keine GPS Daten verfuegbar, deswegen Abbruch |
| { |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| } |
| break; |
| case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
| { |
| gps_updte_flag = 0; |
| // ab hier wird geregelt |
| diff_east = -dist_east; //Alten Wert fuer Differenzier schon mal abziehen |
| diff_north = -dist_north; |
| dist_east = gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east; |
| dist_north = gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north; |
| int_east += dist_east; |
| int_north += dist_north; |
| diff_east += dist_east; // Differenz zur vorhergehenden East Position |
| diff_north += dist_north; // Differenz zur vorhergehenden North Position |
| if (hold_fast > 0) // wegen Sollpositionsspruengen im Fast Mode Differenzierer daempfen |
| { |
| diff_east_f = ((diff_east_f *2)/3) + (diff_east *1/3); //Differenzierer filtern |
| diff_north_f = ((diff_north_f *2)/3) + (diff_north*1/3); //Differenzierer filtern |
| } |
| else // schwache Filterung |
| { |
| diff_east_f = ((diff_east_f * 1)/4) + ((diff_east *3)/4); //Differenzierer filtern |
| diff_north_f = ((diff_north_f * 1)/4) + ((diff_north*3)/4); //Differenzierer filtern |
| } |
| #define GPSINT_MAX 30000 //neuer Wert ab 7.10.2007 Begrenzung |
| if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) //Bei zu hohem Wert Integrator auf Wert halten |
| { |
| int_east -= dist_east; |
| int_north -= dist_north; |
| } |
| if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
| { |
| int_east = 0; |
| int_north = 0; |
| } |
| // Variable Verstarkung fuer Differenzierer ermitteln. Je weiter vom Ziel wir entfernt sind |
| // desto groesser wird der Faktor. Es gibt aber einen Maximalwert. Bei 0 ist die Verstaerkung immer 1 |
| signed long dist,int_east1,int_north1; |
| int phi; |
| phi = arctan_i(abs(dist_north),abs(dist_east)); |
| dist = get_dist(dist_east,dist_north,phi); //Zunaechst Entfernung zum Ziel ermitteln |
| if (hold_fast == 0) // je Nach Modus andere Verstaerkungskurve fuer Differenzierer |
| { |
| diff_v = (int)((dist * (GPS_DIFF_NRML_MAX_V - 10)) / GPS_DIFF_NRML_MAX_D) +10; //Verstaerkung * 10 |
| if (diff_v > GPS_DIFF_NRML_MAX_V) diff_v = GPS_DIFF_NRML_MAX_V; //begrenzen |
| } |
| else |
| { |
| diff_v = (int)((dist * (GPS_DIFF_FAST_MAX_V - 10)) / GPS_DIFF_FAST_MAX_D) +10; //Verstaerkung * 10 |
| if (diff_v > GPS_DIFF_FAST_MAX_V) diff_v = GPS_DIFF_FAST_MAX_V; //begrenzen |
| } |
| int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
| if (hold_fast > 0) diff_p = GPS_PROP_FAST_V; |
| else diff_p = GPS_PROP_NRML_V; |
| //I Werte begrenzen |
| #define INT1_MAX (20 * GPS_V) |
| int_east1 = ((((long)int_east) * Parameter_UserParam2)/32); |
| int_north = ((((long)int_north) * Parameter_UserParam2)/32); |
| if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
| else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
| //PID Regler Werte aufsummieren |
| gps_reg_x = ((int)int_east1 + ((dist_east * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_east_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil X Achse |
| gps_reg_y = ((int)int_north1 + ((dist_north * Parameter_UserParam1 * diff_p)/(8*2))+ ((diff_north_f * diff_v * Parameter_UserParam3)/10)); // I + P +D Anteil Y Achse |
| //Ziel-Richtung bezogen auf Nordpol bestimmen |
| GPS_hdng_abs_2trgt = arctan_i(gps_reg_x,gps_reg_y); |
| // in Winkel 0...360 Grad umrechnen |
| if ((gps_reg_x >= 0)) GPS_hdng_abs_2trgt = ( 90-GPS_hdng_abs_2trgt); |
| else GPS_hdng_abs_2trgt = (270 - GPS_hdng_abs_2trgt); |
| // Relative Richtung in bezug auf Nordachse des Kopters errechen |
| //n= GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| n= KompassValue; |
| GPS_hdng_rel_2trgt = GPS_hdng_abs_2trgt - n; |
| if ((GPS_hdng_rel_2trgt >180) && (GPS_hdng_abs_2trgt >=180)) GPS_hdng_rel_2trgt = GPS_hdng_rel_2trgt-360; |
| else if (GPS_hdng_rel_2trgt >180) GPS_hdng_rel_2trgt = 360 - GPS_hdng_rel_2trgt; |
| else if (GPS_hdng_rel_2trgt <-180) GPS_hdng_rel_2trgt = 360 + GPS_hdng_rel_2trgt; |
| // Regelabweichung aus x,y zu Ziel in Distanz umrechnen |
| if (abs(gps_reg_x) > abs(gps_reg_y) ) |
| { |
| dev = (long)gps_reg_x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| dev = abs((dev *1000) / (long) sin_i(GPS_hdng_abs_2trgt)); |
| } |
| else |
| { |
| dev = (long)gps_reg_y; |
| dev = abs((dev *1000) / (long) cos_i(GPS_hdng_abs_2trgt)); |
| } |
| GPS_dist_2trgt = (int) dev; |
| // Winkel und Distanz in Nick und Rollgroessen umrechnen |
| GPS_Roll = (int) +( (dev * (long) sin_i(GPS_hdng_rel_2trgt))/1000); |
| GPS_Nick = (int) -( (dev * (long) cos_i(GPS_hdng_rel_2trgt))/1000); |
| if (GPS_Roll > (GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = (GPS_NICKROLL_MAX * GPS_V); |
| else if (GPS_Roll < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Roll = -(GPS_NICKROLL_MAX * GPS_V); |
| if (GPS_Nick > (GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = (GPS_NICKROLL_MAX * GPS_V); |
| else if (GPS_Nick < -(GPS_NICKROLL_MAX * GPS_V)) GPS_Nick = -(GPS_NICKROLL_MAX * GPS_V); |
| //Kleine Werte verstaerken, Grosse abschwaechen |
| n = sin_i((GPS_Roll*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| GPS_Roll = (int) n_l; |
| n = sin_i((GPS_Nick*90)/(GPS_NICKROLL_MAX * GPS_V)); |
| n_l = ((long) GPS_NICKROLL_MAX * (long) n)/1000; |
| GPS_Nick = (int) n_l; |
| if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| { |
| GPS_Roll = 0; |
| GPS_Nick = 0; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| else |
| { |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| } |
| else |
| { |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| break; |
| default: |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| return (GPS_STST_ERR); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License_GPL.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
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| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
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| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
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| This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
| This is free software, and you are welcome to redistribute it |
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| The hypothetical commands `show w' and `show c' should show the appropriate |
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| You should also get your employer (if you work as a programmer) or school, |
| if any, to sign a "copyright disclaimer" for the program, if necessary. |
| For more information on this, and how to apply and follow the GNU GPL, see |
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| The GNU General Public License does not permit incorporating your program |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/License_LPGL.txt |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| This version of the GNU Lesser General Public License incorporates |
| the terms and conditions of version 3 of the GNU General Public |
| License, supplemented by the additional permissions listed below. |
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| As used herein, "this License" refers to version 3 of the GNU Lesser |
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| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/README_Gps.txt |
|---|
| 0,0 → 1,82 |
| ********************************************************************* |
| GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl |
| Stand 14.10.2007 |
| Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt |
| ********************************************************************* |
| Hardware-Voraussetzungen: |
| Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut |
| GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED" |
| mussen mit 4 HZ Updaterate aktiviert sein. Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool. |
| Software-Voraussetzungen: |
| in fc.h müsen die Neutralwerte ACC_NICK_NEUTRAL und ACC_ROLL_NEUTRAL |
| eingetragen werden. Hierzu den Kopter waagrecht ausrichten (Wasserwaage) und mit dem Mikrokoptertool |
| die Neutralwerte (Fenster ACC Sensor, jeweils die dargestellten Werte ohne Klammern) ermitteln. |
| Alternativ kann die Variable ACC_NEUTRAL_FIXED auf 0 gesetzt werden, dann wird die Lage beim Kalibrieren als Neutrallage |
| genommen (wie bei Holgers SW). |
| In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters |
| eingetragen sein. KOMPASS_OFFSET legt diesen Wert fest. |
| Hexfiles: |
| Ich habe bewußt keinen Hexfile generiert, da die Neutralwerte spezifisch je Kopter sind. |
| Die SW muß also individuell compiliert werden und der Hexfile in die FlightCrtl eingebaut werden. |
| Der Lohn für die Muehe ist eine sehr driftarme Fluglageregelung sowie eine von der Startausrichtung |
| unabhängige waagrechte Lage in der Luft. |
| Alle Einstellungen beziehen sich auf AVR Studio von Atmel und den WIN_AVR Compiler. |
| Parametrierung: |
| Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird. |
| UserParameter1 beschreibt den P-Anteil, UserParameter2 den I-Anteil und UserParameter3 den D-Anteil. |
| Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden. |
| Standardwerte bei kaum Wind sind 8 für den P-Anteil, 1 für den I-Anteil und 12 für den D-Anteil. |
| Standardwerte bei leichtem verhältnissen sind 12 für den P-Anteil, 2 für den I-Anteil und 18 für den D-Anteil. |
| Standardwerte bei rauheren verhältnissen sind 16 für den P-Anteil, 2 für den I-Anteil und 20 für den D-Anteil. |
| Je größer die Werte des "ruckeliger" reagiert die Regelung aber desto schneller und stärker greift sie auch. |
| Wenn alle 0 sind, ist der Regler deaktiviert. |
| Voraussetzungen für GPS_Hold: |
| Neben den genannten HW und SW Voraussetzungen muß beim Kalibrieren das GPS MOdul bereits Positionsdaten liefern. |
| Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert. |
| Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren. |
| Das GPS Aktiv Flag im Setting muss aktiviert sein. |
| Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich. |
| Aktivierung GPS_Hold im Flug: |
| Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick |
| fürca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der |
| Kompass aus wird GPS_Hold sofort deaktiviert. |
| Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden. |
| GPS_Hold regelt nur horizontale Abweichungen, keine Hoehe. |
| Der Magnetkompass wird nur in waagrechter Lage dazu benutzt einen internen aus dem Giergyro ermittelten "Ersatz"kompasswert |
| nach zu kalibrieren. Daher funktioniert die Bstimmung der Kopterausrichtung in jeder Lebenslage, sofern nur ab und zu |
| der Magnetkompass in die waagrechte Lage kommt. |
| Ein 3D Kompass ist damit überflüssig. |
| GPS Rücksturz zur Basis (GPS Home) Funktion |
| Voraussetzungen wie bei GPS Hold. |
| Die Funktion kann im Flug aktiviert werden durch Setzen des Hoehenreglerschalters. |
| Holgers Code habe ich so abgeändert daß der Höhenregler mit "Parameter_MaxHoehe" ab 50 aktiviert wird. |
| Mit einem Schalter mit Neutrallage können damit die Funktionen |
| Alles aus - Hoehenregler ein, GPS Home Aus - Hoehenregler Ein UND GPS Home ein |
| aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen |
| Weitere Änderungen: |
| Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter |
| runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen |
| Bekannte Schwächen: |
| Bei längerer Neigung weicht der Ersatzkompass ab, was zu Lageregelungsfehlern bis zum Ausbrechen führen kann. |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/Settings.h |
|---|
| --- alpha/v060SalvoKompassNick666MM3Gyro/_Settings.h (nonexistent) |
| +++ alpha/v060SalvoKompassNick666MM3Gyro/_Settings.h (revision 308) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/analog.c |
|---|
| 0,0 → 1,156 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| // GyroKomp_Int += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/compass.c |
|---|
| 0,0 → 1,150 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| MM3_struct MM3; |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| } |
| } |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| MM3.y_axis -= OFF_Y; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| MM3.z_axis -= OFF_Z; |
| MM3.STATE = MM3_TILT; |
| } |
| return; |
| } |
| } |
| signed int MM3_heading(void) |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr; |
| signed int heading; |
| // Berechung von sinus und cosinus |
| sin_nick = sin_i(MM3.NickGrad); |
| cos_nick = cos_i(MM3.NickGrad); |
| sin_roll = sin_i(MM3.RollGrad); |
| cos_roll = cos_i(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/compass.h |
|---|
| 0,0 → 1,41 |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int y_axis; |
| signed int z_axis; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| extern MM3_struct MM3; |
| void init_spi(void); |
| void MM3_timer0(void); |
| signed int MM3_heading(void); |
| #define Int2Grad_Faktor 1024 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X -11 |
| #define OFF_Y 30 |
| #define OFF_Z 18 |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/eeprom.c |
|---|
| --- alpha/v060SalvoKompassNick666MM3Gyro/fc.c (nonexistent) |
| +++ alpha/v060SalvoKompassNick666MM3Gyro/fc.c (revision 308) |
| @@ -0,0 +1,833 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 6.10.2007 |
| +/* |
| +Driftkompensation fuer Gyros verbessert |
| +Linearsensor mit fixem Neutralwert |
| +Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
| +*/ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +uint8_t gps_cmd = GPS_CMD_STOP; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| +int w,v; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + GPS_Neutral(); |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 16; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 100; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 16; //zur freien Verwendung, derzeit P-Anteil GPS |
| + EE_Parameter.UserParam2 = 2; //zur freien Verwendung, derzeit I-Anteil GPS |
| + EE_Parameter.UserParam3 = 12; //zur freien Verwendung, derzeit D-Anteil GPS |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 64; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 12; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 2; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 16; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| +//****** GPS Daten holen *************** |
| + short int n; |
| + if (gps_alive_cnt > 0) gps_alive_cnt--; //Dekrementieren. Wenn 0 kommen keine ausreichenden GPS Meldungen (Timeout) |
| + n = Get_Rel_Position(); |
| + if (n == 0) |
| + { |
| + ROT_ON; //led blitzen lassen |
| + } |
| +//******PROVISORISCH*************** |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Empfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar |
| + if (gps_home_position.status > 0 ) |
| + { |
| + Delay_ms(1000); //akustisch verkuenden dass GPS Home Daten da sind |
| + beeptime = 2000; |
| + Delay_ms(500); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + //if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + //if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 30) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| + |
| + |
| +// Salvo 6.10.2007 |
| + // GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist |
| + //GPS Hold Aktiveren wenn Knueppel in Ruhelage sind |
| + if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(StickRoll) < GPS_STICK_HOLDOFF) && (abs(StickNick) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
| + { |
| + if (Parameter_MaxHoehe > 200) |
| + { |
| + if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| + else gps_cmd = GPS_CMD_REQ_HOME; |
| + n = GPS_CRTL(gps_cmd); |
| + } |
| + else |
| + { |
| + if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| + else gps_cmd = GPS_CMD_REQ_HOLD; |
| + n= GPS_CRTL(gps_cmd); |
| + } |
| + } |
| + else (n= GPS_CRTL(GPS_CMD_STOP)); //GPS Lageregelung beenden |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + if(NeueKompassRichtungMerken) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| + |
| + DebugOut.Analog[0] = MM3.NickGrad; |
| + DebugOut.Analog[1] = MM3.RollGrad; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +DebugOut.Analog[12] = MM3_heading(); |
| +DebugOut.Analog[9] = MM3.x_axis; |
| +DebugOut.Analog[10] = MM3.y_axis; |
| +DebugOut.Analog[11] = MM3.z_axis; |
| + |
| + |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| +//Salvo 10.10.2007 Um Absacken beim Einschalten zu verhindern |
| +// SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + SollHoehe = HoehenWert - 0; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| +// Salvo End |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/fc.h |
|---|
| 0,0 → 1,119 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern unsigned char Parameter_UserParam1 ; |
| extern unsigned char Parameter_UserParam2 ; |
| extern unsigned char Parameter_UserParam3 ; |
| // Salvo End |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| /*Salvo 2.9.2007 Ersatzkompass |
| extern volatile long GyroKomp_Int; |
| extern volatile int GyroKomp_Inc_Grad; |
| extern volatile int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| Salvo End*/ |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight-ctrl_mega644_v0_60.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\main.c" Position="322 71 1034 624" LineCol="17 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\compass.c" Position="333 69 1045 622" LineCol="51 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\math.c" Position="381 136 931 508" LineCol="229 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v60SalvoKompassGyro\analog.c" Position="336 71 1182 830" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="math.c"></File><File path="math.h"></File><File path="compass.c"></File><File path="compass.h"></File></Project> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/gps.h |
|---|
| 0,0 → 1,132 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock ("Salvo") |
| // Definitionen fuer Modul GPS |
| // Stand 12.10.007 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| //extern short int Get_GPS_data(void); |
| extern short int Get_Rel_Position(void); |
| extern void GPS_Save_Home(void); |
| extern short int GPS_CRTL(short int cmd); |
| typedef struct { |
| unsigned long utm_itow; // time of week |
| long utm_east; // UTM Ost in cm |
| long utm_north; // UTM Nord in cm |
| long utm_alt; // hoehe in cm |
| uint8_t utm_zone; // |
| uint8_t utm_hem; // Hemisphere Indicator |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long itow; // time of week |
| uint8_t gpsfix_type;// 3=3D Fix |
| uint8_t nav_status_flag; |
| uint8_t nav_diff_status; |
| uint8_t nav_resevd; |
| long nav_tff; // Time to First Fix in ms |
| long nav_msss; // ms since startup |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long itow; |
| long speed_n; // in cm/s |
| long speed_e; // in cm/s |
| long speed_alt; // in cm/s |
| unsigned long speed_3d; // in cm/s |
| unsigned long speed_gnd; // V ueber Grund in cm/s |
| long heading; // Richtung in deg/10000 |
| unsigned long sacc; // Speed Genauigkeit in cm/s |
| unsigned long cacc; // Richtungsgenauigkeit in deg |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_VELNED_t; |
| typedef struct { |
| long utm_east; // UTM Ost in 10 cm |
| long utm_north; // UTM Nord in 10 cm |
| long utm_alt; // hoehe in 10 cm |
| unsigned long speed_gnd; // V ueber Grund in 10cm/s |
| unsigned heading; // Richtung in Grad |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_ABS_POSITION_t; |
| typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| int utm_east; // UTM Ost in m |
| int utm_north; // UTM Nord in m |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_REL_POSITION_t; |
| extern GPS_ABS_POSITION_t gps_act_position; |
| extern GPS_ABS_POSITION_t gps_home_position; |
| extern GPS_REL_POSITION_t gps_rel_act_position; |
| extern GPS_REL_POSITION_t gps_rel_hold_position; |
| extern short int gps_state,gps_sub_state; |
| extern signed int GPS_hdng_abs_2trgt; |
| extern signed int GPS_hdng_rel_2trgt; |
| extern signed int GPS_dist_2trgt; |
| extern signed int gps_reg_x,gps_reg_y; |
| extern signed int GPS_dist_2trgt; |
| extern unsigned int gps_alive_cnt; |
| //nur provisorisch fuer Debugausgaben |
| extern signed hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| extern long int dist_flown; |
| // Zustaende der zentralen GPS statemachine |
| #define GPS_CRTL_IDLE 0 // |
| #define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
| #define GPS_CRTL_HOME_ACTIVE 2 // Rueckflug zur Basis Aktiv |
| #define GPS_HOME_FAST_IN_TOL 3 // Rueckflug: Aktuelle Position innerhalb der Toleranz |
| #define GPS_HOME_FAST_OUTOF_TOL 4 // Rueckflug: Aktuelle Position ausserhalb der Toleranz |
| #define GPS_HOME_RMPDWN_IN_TOL 5 // Rueckflug: beim Abbremsen Position innerhalb der Toleranz |
| #define GPS_HOME_RMPDWN_OUTOF_TOL 6 // Rueckflug: beim Abbremsen Position ausserhalb der Toleranz |
| #define GPS_HOME_IN_TOL 7 // Rueckflug: Nahe am Ziel innerhalb der Toleranz |
| #define GPS_HOME_OUTOF_TOL 8 // Rueckflug: Nahe am Ziel ausserhalb der Toleranz |
| #define GPS_HOME_FINISHED 9 // Rueckflug zur Basis abgeschlossen |
| // Kommandokonstanten fuer die zentrale GPS Statemachine |
| #define GPS_CMD_REQ_INIT 0 // Initialisierung |
| #define GPS_CMD_STOP 1 // Lageregelung soll deaktiviert werden |
| #define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
| #define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
| // Statusmeldungen der zentralen GPS statemachine |
| #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
| #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
| #define GPS_STST_ERR 2 // Fehler |
| // GPS Lageregler |
| #define GPS_NICKROLL_MAX 40 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| #define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
| #define GPS_STICK_HOLDOFF 25 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert |
| #define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert |
| // Differenzierer Kennwerte fuer von Distanz abhaengige Verstaerkung, abhaengig vom Modus. |
| #define GPS_DIFF_NRML_MAX_V 20 //maximale Verstaerkung * 10 |
| #define GPS_DIFF_NRML_MAX_D 30 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm |
| #define GPS_DIFF_FAST_MAX_V 15 //maximale Verstaerkung * 10 im Fast mode |
| #define GPS_DIFF_FAST_MAX_D 50 //Entfernung bei der maximale Verstaerkung erreicht wird in 10cm im Fast mode |
| // P-Regler Verstaerkung |
| #define GPS_PROP_NRML_V 2 //maximale Verstaerkung * 2 |
| #define GPS_PROP_FAST_V 2 //maximale Verstaerkung * 2 im Fast mode |
| // GPS G2T /Go to Target Regler |
| #define GPS_G2T_DIST_MAX_STOP 50 // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm) |
| #define GPS_G2T_DIST_HOLD 30 // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt |
| #define GPS_G2T_V_MAX 12 // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird. |
| #define GPS_G2T_V_RAMP_DWN 6 // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen |
| #define GPS_G2T_V_MIN 3 // Minimale (in 10cm/0.25 Sekunden) ganz nahe an Homeposition. |
| #define GPS_G2T_FAST_TOL 60 // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| #define GPS_G2T_NRML_TOL 40 // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/license_buss.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/main.c |
|---|
| 0,0 → 1,215 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB |= (1<<PB0); // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |= (1<<PD7); // J7 |
| PORTD = 0xF7; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| init_spi(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/main.h |
|---|
| 0,0 → 1,95 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "compass.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "math.h" |
| #include "gps.h" |
| #include "math.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/makefile |
|---|
| 0,0 → 1,392 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c compass.c math.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -mtiny-stack -mcall-prologues \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/math.c |
|---|
| 0,0 → 1,232 |
| /* |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Winkelfunktionen sin, cos und arctan in |
| brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
| get_dist Funktion fuer Entfernungsermittlung |
| Stand 12.10.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
| int arctan_i( signed int x, signed int y) |
| { |
| short int change_xy = 0; |
| signed int i; |
| long signed int wert; |
| int return_value; |
| if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
| { |
| change_xy = 1; |
| i = x; |
| x = y; |
| y = i; |
| } |
| // Quadranten ermitteln |
| // Wert durch lineare Interpolation ermitteln |
| if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
| else wert= abs(((long)x*1000)/((long)y)); |
| if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
| { |
| return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
| } |
| else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
| { |
| return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
| } |
| else //0,568...1 entsprechend 30..45 Grad |
| { |
| return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
| } |
| if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
| if ((x >= 0) && (y <0)) return_value = - return_value; |
| else if ((x < 0) && (y >= 0)) return_value = - return_value; |
| return return_value; |
| } |
| // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
| signed int cos_i(signed int winkel) |
| { |
| winkel = sin_i(90-winkel); |
| return winkel; |
| } |
| const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000}; |
| //von Nick666, Stand 28.9.2007 |
| // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
| signed int sin_i(signed int winkel) |
| { |
| short int m,n; |
| if (abs(winkel) >=360) winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| n =1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
| else if ((winkel > 180 ) && (winkel <= 270)) |
| { |
| winkel = winkel -180; |
| n = -1; |
| } |
| else if ((winkel > 270) && (winkel <= 360)) |
| { |
| winkel = 360 - winkel; |
| n = -1; |
| } |
| // else //0 - 90 Grad |
| winkel = pgm_read_word(&pgm_sinus[winkel]); |
| return (winkel*m*n); |
| } |
| // Aus x,y und Winkel Distanz ermitteln |
| long get_dist(signed int x, signed int y, signed int phi) |
| { |
| long dist; |
| if (abs(x) > abs(y) ) |
| { |
| dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| dist = abs((dist *1000) / (long) sin_i(phi)); |
| } |
| else |
| { |
| dist = (long) y; |
| dist = abs((dist *1000) / (long) cos_i(phi)); |
| } |
| return dist; |
| } |
| // noch mehr von Nick666 |
| const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| { |
| int i,angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
| if (y < 0) m=-1; |
| else m=1; |
| if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
| else n = 1; //0 - 90 Grad |
| sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| return (sinus*m*n); |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
| // Akurssinusfunktion im Gradmaß |
| int8_t asin_i(signed int i) |
| { |
| signed char m; |
| if (i < 0) {m=-1;i=abs(i);} |
| else m=1; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/math.h |
|---|
| 0,0 → 1,15 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int sin_i(signed int winkel); |
| extern signed int cos_i(signed int winkel); |
| extern signed int arctan_i(signed int x, signed int y); |
| extern long get_dist(signed int x, signed int y, signed int phi); |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| // LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/menu.h |
|---|
| 0,0 → 1,7 |
| void LcdClear(void); |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/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/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.c |
|---|
| 0,0 → 1,146 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned int cntKompass = 0; |
| int ServoValue = 0; |
| /*Salvo 8.9.2007 |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| //Salvo 21.9.2007 |
| short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
| // Salvo End */ |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 21.9.2007 |
| /* |
| Driftkompensation fuer Gyros verbessert |
| Linearsensor mit fixem Neutralwert |
| Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
| */ |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| // if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<PD2); |
| } |
| else |
| PORTD &= ~(1<<PD2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 320; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| //DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/timer0.h |
|---|
| 0,0 → 1,18 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| // Salvo Kompassoffset 31.8.2007 *********** |
| //#define KOMPASS_OFFSET 135 // Winkel zwischen Nordachse Kopter und Nordachse Kompass |
| // Salvo End |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/uart.c |
|---|
| 0,0 → 1,330 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| //Salvo 11.9.2007 GPS Daten holen |
| Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
| // Salvo End |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| //unsigned int tmp_int_arr1[1]; |
| //unsigned int tmp_int_arr2[2]; |
| //unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| //unsigned char tmp_char_arr3[3]; |
| //unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/uart.h |
|---|
| 0,0 → 1,95 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/MergedVersionsByOsiair/alpha/v060SalvoKompassNick666MM3Gyro/version.txt |
|---|
| 0,0 → 1,49 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/Flight-Ctrl_MEGA644_V0_64.aps |
|---|
| 0,0 → 1,0 |
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| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/GPS.c |
|---|
| 0,0 → 1,300 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 10.2007 by Jochen Kromayer |
| // + es handelt sich um eine Beta-Software, die zu nichtkommerziellen Zwecken frei veröffentlich und weitergegeben werden darf. Für evtl. |
| // + Personen- und/der Sachschäden ist jegliche Haftung ausgeschlossen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/MIKROKOPTER_TO_DO.txt |
|---|
| 0,0 → 1,11 |
| . Patricks neigungskompensierten Kompass |
| . Aufruf der GPS.c innerhalb der fc.c nur wenn neue Daten vorliegen |
| . innerhalb der GPS.c den PD-Regler nicht mit "NeuerMittelwert", sondern mit "actualpos.newdata" alle 250ms aufrufen |
| . GPS-Empfänger auf 5Hz einstellen |
| . Begrenzung von 35 auf 50 anheben, damit auch bei stärkerem Wind geflogen werden kann |
| . Waypoints |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/Parameter.txt |
|---|
| 0,0 → 1,15 |
| bei leichtem, konstantem Wind |
| P-Faktor(Userparam_1): 120 |
| D-Faktor(Userparam_2): 90 |
| D-Anteil_Limit(Userparam_3): 45 |
| bei stärkerem, böhigem Wind: |
| P-Faktor(Userparam_1): 150 |
| D-Faktor(Userparam_2): 95 |
| D-Anteil_Limit(Userparam_3): 45 |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/Setting_1.mkp |
|---|
| 0,0 → 1,51 |
| [Setup] |
| Name=GPS |
| GlobalConfig=43 |
| [Channels] |
| Gas=7 |
| Gier=6 |
| Nick=5 |
| Roll=8 |
| Poti_1=1 |
| Poti_2=2 |
| Poti_3=3 |
| Poti_4=4 |
| [Stick] |
| Nick_Roll-P=4 |
| Nick_Roll-D=0 |
| Gier-P=16 |
| [Altitude] |
| Setpoint=254 |
| MinGas=30 |
| P=10 |
| Barometric-D=50 |
| Z-ACC-Effect=50 |
| Gain=2 |
| [Gyro] |
| P=120 |
| I=150 |
| ACC_Gyro-Factor=26 |
| Main-I=0 |
| [Others] |
| MinGas=5 |
| MaxGas=250 |
| Compass-Effect=64 |
| UnderVoltage=95 |
| NotGas=66 |
| NotGasTime=60 |
| [User] |
| Parameter_1=251 |
| Parameter_2=252 |
| Parameter_3=35 |
| Parameter_4=60 |
| [Camera] |
| ServoNickControl=100 |
| ServoNickCompensation=40 |
| ServoNickInvert=0 |
| ServoNickMin=50 |
| ServoNickMax=150 |
| ServoNickRefreshRate=5 |
| [Loop] |
| Config=0 |
| GasLimit=50 |
| StickThreshold=90 |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/Settings.h |
|---|
| --- alpha/v064JokoGPSNick666MM3Acc/_Settings.h (nonexistent) |
| +++ alpha/v064JokoGPSNick666MM3Acc/_Settings.h (revision 308) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 500 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/analog.c |
|---|
| 0,0 → 1,172 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| if(PlatinenVersion != 10) wert *= 2; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| if(PlatinenVersion != 10) wert *= 2; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(Mess_IntegralRoll > 310000L) Mess_IntegralRoll = -290000L; |
| if(Mess_IntegralRoll <-310000L) Mess_IntegralRoll = 290000L; |
| if(ADC < 15) wert = -1000; |
| if(ADC < 7) wert = -2000; |
| if(ADC > 1010) wert = +1000; |
| if(ADC > 1017) wert = +2000; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| if(PlatinenVersion != 10) wert *= 2; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(Mess_IntegralNick > 310000L) Mess_IntegralNick = -290000L; |
| if(Mess_IntegralNick <-310000L) Mess_IntegralNick = 290000L; |
| if(ADC < 15) wert = -1000; |
| if(ADC < 7) wert = -2000; |
| if(ADC > 1010) wert = +1000; |
| if(ADC > 1017) wert = +2000; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/compass.c |
|---|
| 0,0 → 1,150 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| MM3_struct MM3; |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/EE_Parameter.UserParam1*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/EE_Parameter.UserParam2*200); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| } |
| } |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| MM3.y_axis -= OFF_Y; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| MM3.z_axis -= OFF_Z; |
| MM3.STATE = MM3_TILT; |
| } |
| return; |
| } |
| } |
| signed int MM3_heading(void) |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr; |
| signed int heading; |
| // Berechung von sinus und cosinus |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/compass.h |
|---|
| 0,0 → 1,40 |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int y_axis; |
| signed int z_axis; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| extern MM3_struct MM3; |
| void init_spi(void); |
| void MM3_timer0(void); |
| signed int MM3_heading(void); |
| #define Int2Grad_Faktor 1024 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X 0 |
| #define OFF_Y 0 |
| #define OFF_Z 0 |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/eeprom.c |
|---|
| --- alpha/v064JokoGPSNick666MM3Acc/fc.c (nonexistent) |
| +++ alpha/v064JokoGPSNick666MM3Acc/fc.c (revision 308) |
| @@ -0,0 +1,1034 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned int I2CTimeout = 100; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| +unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| +unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; //PPM24-Erweiterung (121007Kr) |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| +unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +unsigned char Parameter_LoopGasLimit = 70; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + |
| + if(PlatinenVersion == 10) |
| + { |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + } |
| + else |
| + { |
| + AdNeutralNick= abs(MesswertNick) / 2; |
| + AdNeutralRoll= abs(MesswertRoll) / 2; |
| + AdNeutralGier= abs(MesswertGier) / 2; |
| + } |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +/* |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| +*/ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + //PPM24-Erweiterung (121007Kr) |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + //PPM24-Erweiterung (121007Kr) |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + //PPM24-Erweiterung (121007Kr) |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + //PPM24-Erweiterung (121007Kr) |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + // DebugOut.Analog[12] = Motor_Vorne; |
| + // DebugOut.Analog[13] = Motor_Hinten; |
| + // DebugOut.Analog[14] = Motor_Links; |
| + // DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| + // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| + // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| + // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| + |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr) |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 0; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + EE_Parameter.LoopGasLimit = 50; |
| + EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| + EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| + memcpy(EE_Parameter.Name, "Sport\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr) |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 0; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + EE_Parameter.LoopGasLimit = 50; |
| + EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| + EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + long IntegralFehlerNick = 0; |
| + long IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) |
| + { |
| + if(BeepMuster == 0xffff) |
| + { |
| + beeptime = 15000; |
| + BeepMuster = 0x0c00; |
| + } |
| + } |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| + } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + SetNeutral(); |
| + Piep(GetActiveParamSetNumber()); |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + // greift in den Stick ein, um ungewolltes überschlagen zu verhindern |
| + if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
| + { |
| + if(IntegralNick > 60000) |
| + { |
| + StickNick -= 8 * EE_Parameter.Stick_P; |
| + if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| + } |
| + else |
| + if(IntegralNick < -60000) |
| + { |
| + StickNick += 8 * EE_Parameter.Stick_P; |
| + if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| + } |
| + if(IntegralRoll > 60000) |
| + { |
| + StickRoll -= 8 * EE_Parameter.Stick_P; |
| + if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| + } |
| + else |
| + if(IntegralRoll < -60000) |
| + { |
| + StickRoll += 8 * EE_Parameter.Stick_P; |
| + if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// LED Stuff |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +LED1_OFF; |
| + |
| + if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| + { |
| + LED1_FLASH; |
| + blinkcount_LED1 = 0; |
| + } |
| + |
| + blinkcount_LED1++; |
| + |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Looping? |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) || |
| + ((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
| + { |
| + Looping_Roll = 1; |
| + if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| + } |
| + else Looping_Roll = 0; |
| + |
| + if(((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) || |
| + ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN)) |
| + { |
| + Looping_Nick = 1; |
| + Looping_Roll = 0; |
| + if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| + } |
| + else Looping_Nick = 0; |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + Looping_Roll = 0; |
| + Looping_Nick = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| +// if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; // macht nur mit Referenz (Kompass Sinn) |
| +// if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; // macht nur mit Referenz (Kompass Sinn) |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| + { |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| + #define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| + } |
| + |
| + else |
| + { |
| + if(IntegralFaktor && !Looping_Nick && !Looping_Roll) |
| + { |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| + if(labs(Mittelwert_AccNick) < 200) tmp_long /= 8; |
| + else tmp_long /= 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| + if(labs(Mittelwert_AccRoll) < 200) tmp_long2 /= 8; |
| + else tmp_long2 /= 16; |
| + |
| + #define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + } |
| + |
| + else |
| + { |
| + tmp_long = 0; |
| + tmp_long2 = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(abs(StickGier) > 20) // war 35 |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (StickGier * abs(StickGier)) / 512; // expo y = ax + bx² |
| + tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| + sollGier = tmp_int; |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 25000) Mess_Integral_Gier = 25000; // begrenzen |
| + if(Mess_Integral_Gier <-25000) Mess_Integral_Gier =-25000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + if(NeueKompassRichtungMerken) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + } |
| + |
| + |
| +// if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| +// { |
| +// int w,v; |
| +// static int SignalSchlecht = 0; |
| +// w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| +// v = abs(IntegralRoll /512); |
| +// if(v > w) w = v; // grösste Neigung ermitteln |
| +// if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| +// { |
| +// KompassStartwert = KompassValue; |
| +// NeueKompassRichtungMerken = 0; |
| +// } |
| +// w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| +// w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| +// if(w > 0) |
| +// { |
| +// ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| +// if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| +// ANALOG_ON; // ADC einschalten |
| +// if(SignalSchlecht) SignalSchlecht--; |
| +// } |
| +// else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| +// } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + P_GPS_Verstaerkung = Parameter_UserParam1; |
| + D_GPS_Verstaerkung = Parameter_UserParam2; |
| + Limit_D_Anteil = Parameter_UserParam3; |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| + DebugOut.Analog[0] = MM3.NickGrad; |
| + DebugOut.Analog[1] = MM3.RollGrad; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| + |
| +//DebugOut.Analog[8] = MM3_heading(); |
| +DebugOut.Analog[9] = MM3.x_axis; |
| +DebugOut.Analog[10] = MM3.y_axis; |
| +DebugOut.Analog[11] = MM3.z_axis; |
| + |
| + |
| +// DebugOut.Analog[0] = actualPos.GPSFix; |
| +// DebugOut.Analog[1] = GPS_Roll; |
| +// DebugOut.Analog[2] = GPS_Nick; |
| +// DebugOut.Analog[3] = GPS_Positionsabweichung_North; |
| +// DebugOut.Analog[4] = GPS_Positionsabweichung_East; |
| +// DebugOut.Analog[5] = P_Einfluss_East; |
| +// DebugOut.Analog[6] = D_Einfluss_East; |
| +// DebugOut.Analog[7] = P_Einfluss_North; |
| +// DebugOut.Analog[8] = D_Einfluss_North; |
| +// DebugOut.Analog[9] = Soll_Position_North; |
| +// DebugOut.Analog[10] = Soll_Position_East; |
| +// DebugOut.Analog[11] = Parameter_UserParam1; |
| + DebugOut.Analog[12] = Parameter_UserParam2; |
| + DebugOut.Analog[13] = Poti3; |
| + DebugOut.Analog[14] = KompassValue; |
| + DebugOut.Analog[15] = GPS_Home_North; |
| + DebugOut.Analog[16] = GPS_Home_East; |
| + DebugOut.Analog[17] = NORTH_MITTEL; |
| + DebugOut.Analog[18] = EAST_MITTEL; |
| + DebugOut.Analog[19] = actualPos.northing; |
| + DebugOut.Analog[20] = actualPos.easting; |
| + DebugOut.Analog[21] = actualPos.velNorth; |
| + DebugOut.Analog[22] = actualPos.velEast; |
| + DebugOut.Analog[23] = UBat; |
| + DebugOut.Analog[24] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]); //Gesamtstrom |
| + DebugOut.Analog[25] = StickRoll; |
| + DebugOut.Analog[26] = HoehenWert; |
| + DebugOut.Analog[27] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[28] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[29] = Mittelwert_AccNick; |
| + DebugOut.Analog[30] = Mittelwert_AccRoll; |
| + DebugOut.Analog[31] = StickNick; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| + else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
| + else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + // MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + // DebugOut.Analog[7] = GasMischanteil; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MUL_G 1.0 |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| +//GierMischanteil = 0; |
| + if(GierMischanteil > (MUL_G * GasMischanteil)) GierMischanteil = MUL_G * GasMischanteil; |
| + if(GierMischanteil < -(MUL_G * GasMischanteil)) GierMischanteil = -(MUL_G * GasMischanteil); |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| + |
| + if(GasMischanteil < 20) GierMischanteil = 0; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick;// + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| +#define MUL 2 |
| + if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil)); |
| + if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil)); |
| + |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll;// + Ki * SummeRoll; // PI-Regler für Roll |
| + if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil)); |
| + if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil)); |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| +} |
| + |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/fc.h |
|---|
| 0,0 → 1,121 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| extern unsigned char Limit_D_Anteil;//(210907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; //PPM24-Erweiterung (121007Kr) |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| */ |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/flight-ctrl_mega644_v0_64.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\main.c" Position="343 108 875 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.c" Position="333 69 1045 622" LineCol="25 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.h" Position="368 130 914 498" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\fc.c" Position="336 71 1182 830" LineCol="834 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/gps.h |
|---|
| 0,0 → 1,26 |
| extern long P_Einfluss_North; |
| extern long D_Einfluss_North; |
| extern long P_Einfluss_East; |
| extern long D_Einfluss_East; |
| extern long GPS_Positionsabweichung_North; |
| extern long GPS_Positionsabweichung_East; |
| extern long GPS_Geschwindigkeit_North; |
| extern long GPS_Geschwindigkeit_East; |
| extern long GPS_Home_North; |
| extern long GPS_Home_East; |
| extern long Soll_Position_North; |
| extern long Soll_Position_East; |
| extern volatile long EAST_MITTEL; |
| extern volatile long NORTH_MITTEL; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/main.c |
|---|
| 0,0 → 1,229 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if(set > 5) |
| { |
| set = 2; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| DDRC = 0x81; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| init_spi(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 62 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 2); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/main.h |
|---|
| 0,0 → 1,111 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
| volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "compass.h" |
| #include "math.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 64 |
| VERSION_KOMPATIBEL = 5 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c compass.c math.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/math.c |
|---|
| 0,0 → 1,118 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| { |
| int i,angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
| if (y < 0) m=-1; |
| else m=1; |
| if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
| else n = 1; //0 - 90 Grad |
| sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| return (sinus*m*n); |
| } |
| const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
| // Akurssinusfunktion im Gradmaß |
| int8_t asin_i(signed int i) |
| { |
| signed char m; |
| if (i < 0) {m=-1;i=abs(i);} |
| else m=1; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/math.h |
|---|
| 0,0 → 1,11 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i 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]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Erweiterung (121007Kr) |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/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/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 14) //PPM24-Erweiterung (121007Kr) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // 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++; |
| PPM_diff[index] = tmp - PPM_in[index]; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/timer0.c |
|---|
| 0,0 → 1,173 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| 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(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| { |
| // if(PINC & 0x10) |
| // { |
| // cntKompass++; |
| // } |
| // else |
| // { |
| // if((cntKompass) && (cntKompass < 4000)) |
| // { |
| // KompassValue = cntKompass; |
| // } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| // KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| // cntKompass = 0; |
| // } |
| // } |
| // |
| // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| // { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 320; |
| } |
| } |
| } |
| //} |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/timer0.h |
|---|
| 0,0 → 1,15 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| extern unsigned int BeepMuster; |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/twimaster.c |
|---|
| 0,0 → 1,152 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| } |
| TWCR |= 0x80; |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/uart.c |
|---|
| 0,0 → 1,642 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| #define MSGID_VELECEF 0x11 |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navVelNed.packetStatus == 1) |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0; |
| } |
| if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| //RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) |
| { |
| SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| dis_zeile = -1; |
| } |
| else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/uart.h |
|---|
| 0,0 → 1,119 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct |
| { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| long northing; |
| long easting; |
| long altitude; |
| long velNorth; |
| long velEast; |
| uint8_t newData; // status of data: 0 = invlid; 1 = valid |
| uint8_t GPSFix; |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/version.txt |
|---|
| 0,0 → 1,104 |
| ------- |
| 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 |
| - Höhenreglerabsenkung von -20 auf -40 (fc.c) |
| - LED1 und LED2 Ansteuerung (fc.c) und (main.h) |
| - geänderte Kanalbelegung K1-K8, Unterspannungsschwelle (9,5V) und StickD (fc.c) |
| - P,D Anteil seperat in Variable geschrieben und auf das Analog Display Ausgegeben (Kopter Tool) |
| - GPS_Nick und GPS_Roll werden nach Deaktivierung von Position-Hold auf Null gesetzt, um ein Einfrieren der GPS Steuerwerte auf den letzten Wert zu verhindern |
| - Funktionsaufruf der GPS-Funktion von Chris/Hallo2 |
| - UART.C für die GPS Signale im UTM Format auf Pitschu basierend |
| - meine GPS.c-Routine |
| - Mircos variable Filterung (funktioniert nur wenn 250ms Aufruf aktiv ist) |
| - GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden |
| - Statusanzeige auf eine LED reduziert (aus, blinkend, an) |
| - blinkender LED_1 Ausgang für Positionsleuchten (einstellbar über Userparam.4) |
| - Homing-Fkt. eingebaut |
| - Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...) |
| - Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert |
| - dyn. Position Hold -> normaler Rundflug möglich |
| - Limit_D_Anteil = Userparam3 um im Homing- bzw. Waypointmodus die Sollposition gleichmäßiger anzufliegen |
| - Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert |
| - 12 Kanal Erweiterung (rc.c; rc.h; fc.c; fc.h; menu.c) |
| - D-Anteil_Limit wegen HOMING ->> Radius von 700 cm -> 250 cm |
| - ... |
| (- Regelung wird nur noch alle 250 ms aufgerufen) |