| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/COPYING |
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| 0,0 → 1,674 |
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| EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
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| 17. Interpretation of Sections 15 and 16. |
| If the disclaimer of warranty and limitation of liability provided |
| above cannot be given local legal effect according to their terms, |
| reviewing courts shall apply local law that most closely approximates |
| an absolute waiver of all civil liability in connection with the |
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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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| This program is free software: you can redistribute it and/or modify |
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| Also add information on how to contact you by electronic and paper mail. |
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| 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 |
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| 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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 |
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| 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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| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/Flight-Ctrl_MEGA644_V0_67g.hex |
|---|
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| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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|
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/GPS.c |
|---|
| 0,0 → 1,30 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/Readme.pdf |
|---|
| 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/Settings.h |
|---|
| --- v0.60_MicroMag3_Nick666/Festkomma/V0.67g/_Settings.h (nonexistent) |
| +++ v0.60_MicroMag3_Nick666/Festkomma/V0.67g/_Settings.h (revision 561) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 12 |
| +#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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/analog.c |
|---|
| 0,0 → 1,147 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 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_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static unsigned int gier1, roll1, nick1; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = 2; |
| break; |
| case 2: |
| nick1 = ADC; |
| 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; |
| AdWertAccRoll = Aktuell_ay; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = Aktuell_ax; |
| kanal = 0; |
| break; |
| case 6: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| else AdWertGier = ADC + gier1; |
| kanal = 1; |
| break; |
| case 7: |
| if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
| else AdWertRoll = ADC + roll1; |
| kanal = 2; |
| break; |
| case 8: |
| if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
| else AdWertNick = ADC + nick1; |
| //AdWertNick = 0; |
| //AdWertNick += Poti2; |
| kanal = 5; |
| break; |
| case 9: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = 3; |
| break; |
| case 10: |
| 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; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/analog.h |
|---|
| 0,0 → 1,24 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| 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 volatile char MessanzahlNick; |
| 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/compass.c |
|---|
| 0,0 → 1,243 |
| /* |
| 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" |
| struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
| struct MM3_working_struct MM3; |
| struct MM3_calib_struct MM3_calib; |
| //############################################################################ |
| // Initialisierung |
| void init_MM3(void) |
| //############################################################################ |
| { |
| // SPI-Schnittstelle initialisieren |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| if(PlatinenVersion == 10) |
| { |
| DDRD |= (1<<PD3); // PD3 als Ausgang |
| PORTD &= ~(1<<PD3); // J5 permanent auf Low |
| } |
| else |
| { |
| DDRC |= (1<<PC6); // PC6 als Ausgang |
| PORTC &= ~(1<<PC6); // J9 permanent auf Low |
| } |
| // Init Statemachine |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| // Kalibrierung aus dem EEprom lesen |
| eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void timer0_MM3(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 = 0x31; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
| else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
| 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) |
| } |
| } |
| //############################################################################ |
| // SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| static char tmp; |
| int wert; |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
| tmp = SPDR; |
| SPDR = 0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE = MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| wert = tmp; |
| wert <<= 8; // 1. Byte an MSB-Stelle rücken |
| wert |= SPDR; // 2. Byte dranpappen |
| if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
| switch (MM3.AXIS) |
| { |
| case MM3_X: |
| MM3.x_axis = wert; |
| MM3.AXIS = MM3_Y; |
| break; |
| case MM3_Y: |
| MM3.y_axis = wert; |
| MM3.AXIS = MM3_Z; |
| break; |
| default: //case MM3_Z: |
| MM3.z_axis = wert; |
| MM3.AXIS = MM3_X; |
| } |
| MM3.STATE = MM3_RESET; |
| } |
| } |
| //############################################################################ |
| // Kompass kalibrieren |
| void calib_MM3(void) |
| //############################################################################ |
| { |
| signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
| uint8_t measurement=50,beeper=0; |
| unsigned int timer; |
| GRN_ON; |
| ROT_OFF; |
| while (measurement) |
| { |
| //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| beeptime = 50; |
| beeper = 50; |
| } |
| beeper--; |
| // Schleife mit 100 Hz |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
| if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| } |
| // Wertebereich der Achsen |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // Offset der Achsen |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // und im EEProm abspeichern |
| eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Neigungskompensierung und Berechnung der Ausrichtung |
| int heading_MM3(void) |
| //############################################################################ |
| { |
| signed int sin_nick, cos_nick, sin_roll, cos_roll; |
| long x_axis, y_axis, z_axis; |
| long x_corr, y_corr; |
| signed int heading; |
| int8_t nicktilt,rolltilt; |
| unsigned int div_faktor; |
| div_faktor = (uint16_t)EE_Parameter.UserParam3 * 8; |
| // Berechung von sinus und cosinus |
| nicktilt = (IntegralNick/div_faktor); |
| sin_nick = sin_i(nicktilt); |
| cos_nick = cos_i(nicktilt); |
| rolltilt = (IntegralRoll/div_faktor); |
| sin_roll = sin_i(rolltilt); |
| cos_roll = cos_i(rolltilt); |
| // Offset |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |
| y_axis = (MM3.y_axis - MM3_calib.Y_off); |
| z_axis = (MM3.z_axis - MM3_calib.Z_off); |
| /* |
| // Normierung Wertebereich |
| if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
| { |
| y_axis = (y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
| z_axis = (z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
| } |
| else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
| { |
| x_axis = (x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
| z_axis = (z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
| } |
| else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
| { |
| x_axis = (x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
| y_axis = (y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
| } |
| */ |
| // Neigungskompensierung |
| x_corr = x_axis * cos_nick; |
| x_corr += (y_axis * sin_roll * sin_nick) /1024; |
| x_corr -= (z_axis * cos_roll * sin_nick) /1024; |
| x_corr /= 1024; |
| y_corr = y_axis * cos_roll; |
| y_corr += z_axis * sin_roll; |
| y_corr /= 1024; |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| return (heading); |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/compass.h |
|---|
| 0,0 → 1,44 |
| struct MM3_working_struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| volatile signed int x_axis; |
| volatile signed int y_axis; |
| volatile signed int z_axis; |
| }; |
| struct MM3_calib_struct |
| { |
| int8_t X_off; |
| int8_t Y_off; |
| int8_t Z_off; |
| uint16_t X_range; |
| uint16_t Y_range; |
| uint16_t Z_range; |
| }; |
| extern struct MM3_working_struct MM3; |
| extern struct MM3_calib_struct MM3_calib; |
| void init_MM3(void); |
| void timer0_MM3(void); |
| void calib_MM3(void); |
| int heading_MM3(void); |
| #define Max_Axis_Value 500 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 3 |
| #define MM3_BYTE2 4 |
| #define MM3_X 5 |
| #define MM3_Y 6 |
| #define MM3_Z 7 |
| #define MM3_TILT 8 |
| #define MM3_IDLE 9 |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/eeprom.c |
|---|
| 0,0 → 1,182 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> 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 = 14; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // 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 = 32; |
| EE_Parameter.UserParam1 = 32 * 4; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 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.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 100; |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 50; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 100; |
| 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 = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> 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 = 10; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // 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 = 32; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 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.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten3(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 = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> 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 = 3; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 8; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 200; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // 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 = 10; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 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.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 50; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/fc.c |
|---|
| 0,0 → 1,1149 |
| /*####################################################################################### |
| 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" |
| #include "eeprom.c" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| int MesswertNick,MesswertRoll,MesswertGier; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| volatile int NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| uint8_t updKompass = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_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_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| /* |
| //############################################################################ |
| // Neutrallage kalibrieren und fest im EEPROM abspeichern |
| void calib_acc(void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| acc_neutral.X = 0; |
| acc_neutral.Y = 0; |
| acc_neutral.Z = 0; |
| CalibrierMittelwert(); |
| timer = SetDelay(5); |
| while (!CheckDelay(timer)); |
| CalibrierMittelwert(); |
| acc_neutral.X = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| acc_neutral.Y = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| acc_neutral.Z = Aktuell_az; |
| eeprom_write_block(&acc_neutral,&ee_acc_neutral,sizeof(struct acc_neutral_struct)); |
| } |
| */ |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= AdWertNick; |
| AdNeutralRoll= AdWertRoll; |
| AdNeutralGier= AdWertGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| } |
| else |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| } |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| ExternHoehenValue = 0; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = Mess_IntegralNick / 4096L; |
| tmpl *= MesswertGier; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 2048L; |
| tmpl2 = Mess_IntegralRoll / 4096L; |
| tmpl2 *= MesswertGier; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| 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; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = AdWertAccHoch; |
| // 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; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| } |
| //############################################################################ |
| // 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(); |
| } |
| //############################################################################ |
| // 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_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,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 long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
| 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++; |
| } |
| 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 |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| 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], sizeof(struct mk_param_struct)); |
| SetNeutral(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| 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) |
| { |
| int tmp_int; |
| 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; |
| #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) beeptime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| StickNick += ExternStickNick / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickGier += ExternStickGier; |
| 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; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll) beeptime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long /= 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long2 /= 16; |
| #define AUSGLEICH 32 //(Parameter_UserParam1 / 2) |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| // Mess_IntegralNick -= ausgleichNick; |
| // Mess_IntegralRoll -= ausgleichRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| // tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick); |
| // tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll); |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| DebugOut.Analog[21] = MittelIntegralNick / 26; |
| DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| //DebugOut.Analog[28] = ausgleichNick; |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } else cnt = 0; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| } |
| DebugOut.Analog[27] = ausgleichRoll; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| //if(cnt > 1) beeptime = 50; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } |
| //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| int w,v; |
| if (!updKompass--) // Aufruf mit ~10 Hz |
| { |
| KompassValue = heading_MM3(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| updKompass = 50; |
| } |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| if(w < 35 && NeueKompassRichtungMerken) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| } |
| else beeptime = 10; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[16] = Mittelwert_AccHoch; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // 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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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; |
| DebugOut.Analog[28] = MesswertRoll; |
| DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| //GierMischanteil = 0; |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
| if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
| if(GasMischanteil < 20) GierMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = ((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| 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 = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = ((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/fc.h |
|---|
| 0,0 → 1,153 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long Mess_Integral_Hoch; |
| extern long Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll,IntegralAccZ; |
| extern long Integral_Gier; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| extern volatile int NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| struct acc_neutral_struct |
| { |
| volatile int X; |
| volatile int Y; |
| volatile float Z; |
| }; |
| extern struct acc_neutral_struct acc_neutral; |
| extern void calib_acc(void); |
| 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 LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //------------------------------------------------ |
| 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; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| #endif //_FC_H |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></File></Project> |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/gps.h |
|---|
| 0,0 → 1,14 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/main.c |
|---|
| 0,0 → 1,263 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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" |
| // Reservierung im EEPROM |
| unsigned char EEPromArray[10] EEMEM; |
| struct mk_param_struct EEParameterArray[5] 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; |
| number--; // Auf Index 0 bis 4 anpassen |
| eeprom_read_block(buffer, &EEParameterArray[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; |
| number--; // Auf Index 0 bis 4 anpassen |
| eeprom_write_block(buffer, &EEParameterArray[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_MM3(); |
| 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%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 68 // 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(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| //Kompass kalibrieren? |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
| { |
| printf("\n\rKalibriere Kompass"); |
| calib_MM3(); |
| } |
| 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 |
| { |
| // SPI_TransmitByte(); |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| 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; |
| } |
| } |
| // SPI_StartTransmitPacket(); |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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 {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 F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char PlatinenVersion; |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "compass.h" |
| #include "mymath.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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/makefile |
|---|
| 0,0 → 1,419 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 67 |
| VERSION_INDEX = 6 |
| VERSION_KOMPATIBEL = 7 # 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). |
| ifeq ($(VERSION_INDEX), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
| endif |
| ifeq ($(VERSION_INDEX), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)g |
| endif |
| ifeq ($(VERSION_INDEX), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)h |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # 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 |
| SRC += compass.c mymath.c |
| #spi.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$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -mtiny-stack -mcall-prologues \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.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=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
| # 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/menu.c |
|---|
| 0,0 → 1,139 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 = 12,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
| 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%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| 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"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"MM3 Off"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/menu.h |
|---|
| 0,0 → 1,6 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/mymath.c |
|---|
| 0,0 → 1,110 |
| /* |
| 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 int8_t pgm_atan[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| //############################################################################ |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(long x, long 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) return (90*m); // atan2 = 90° für x = 0 |
| i = abs((y*64) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0,015625 -> y *64) |
| if (i<346) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>7334) angle = 90; // Grenzwert ist 90° |
| else if (i>2444) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>1465) angle = 88; |
| else if (i>1046) angle = 87; |
| else if (i>813) angle = 86; |
| else if (i>664) angle = 85; |
| else if (i>561) angle = 84; |
| else if (i>486) angle = 83; |
| else if (i>428) angle = 82; |
| else if (i>382) angle = 81; |
| else angle = 80; // (i>345) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const int pgm_sinus_i[91] PROGMEM = {0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299,316,333,350,367,384,400,416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672,685,698,711,724,737,749,761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928,935,943,949,956,962,968,974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024,1024}; |
| //############################################################################ |
| // Kosinusfunktion im Gradmaß |
| signed int cos_i(signed int winkel) |
| //############################################################################ |
| { |
| return (sin_i(90-winkel)); |
| } |
| //############################################################################ |
| // Sinusfunktion im Gradmaß |
| signed int sin_i(signed int winkel) |
| //############################################################################ |
| { |
| short int m,n; |
| signed int sinus; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if (winkel <= 90) n=1; |
| else if ((winkel > 90) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
| sinus = pgm_read_word(&pgm_sinus_i[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; |
| i %= 200; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| */ |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/mymath.h |
|---|
| 0,0 → 1,8 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern int atan2_i(long x, long y); |
| extern signed int cos_i(signed int winkel); |
| extern signed int sin_i(signed int winkel); |
| //extern int8_t asin_i(signed int i); |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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 |
| 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/rc.c |
|---|
| 0,0 → 1,84 |
| /*####################################################################################### |
| 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,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| 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;} |
| 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/timer0.c |
|---|
| 0,0 → 1,145 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned char UpdateMotor = 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) // 9,8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 10; |
| 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) timer0_MM3(); // Kompass auslesen |
| } |
| void Timer_Init(void) |
| { |
| 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)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/timer0.h |
|---|
| 0,0 → 1,15 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(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 int ServoValue; |
| extern unsigned int BeepMuster; |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #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_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern char i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern char i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| #endif |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/uart.c |
|---|
| 0,0 → 1,388 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[3] = {0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Spannung ", |
| "Empfang ", //10 |
| "Analog11 ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| "Acc_Z ", |
| "MittelAccNick ", |
| "MittelAccRoll ", |
| "IntegralErrNick ", |
| "IntegralErrRoll ", //20 |
| "MittelIntNick ", |
| "MittelIntRoll ", |
| "NeutralNick ", |
| "RollOffset ", |
| "IntRoll*Faktor ", //25 |
| "Analog26 ", |
| "DirektAusglRoll ", |
| "MesswertRoll ", |
| "AusgleichRoll ", |
| "I-LageRoll ", //30 |
| "StickRoll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[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 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| 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]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),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], sizeof(struct mk_param_struct)); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct),3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 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) |
| { |
| 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(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/uart.h |
|---|
| 0,0 → 1,100 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| 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 unsigned char RemotePollDisplayLine; |
| 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 void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[4]; |
| extern unsigned char DubWiseKeys[3]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // 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/v0.60_MicroMag3_Nick666/Festkomma/V0.67g/version.txt |
|---|
| 0,0 → 1,107 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Giersteuerwert im Mischer auf Gas/2 begrenzt |
| - Die Analogwerte des ACC-Sensors können dauerhaft im EEPROM gespeichert werden |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/COPYING |
|---|
| 0,0 → 1,674 |
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| PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), |
| EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
| SUCH DAMAGES. |
| 17. Interpretation of Sections 15 and 16. |
| If the disclaimer of warranty and limitation of liability provided |
| above cannot be given local legal effect according to their terms, |
| reviewing courts shall apply local law that most closely approximates |
| an absolute waiver of all civil liability in connection with the |
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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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| <one line to give the program's name and a brief idea of what it does.> |
| 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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| 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". |
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| 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 |
| into proprietary programs. If your program is a subroutine library, you |
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| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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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| As used herein, "this License" refers to version 3 of the GNU Lesser |
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| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.hex |
|---|
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| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/GPS.c |
|---|
| 0,0 → 1,26 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/Settings.h |
|---|
| --- v0.60_MicroMag3_Nick666/Festkomma/v0.60/_Settings.h (nonexistent) |
| +++ v0.60_MicroMag3_Nick666/Festkomma/v0.60/_Settings.h (revision 561) |
| @@ -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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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<<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(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 = acc_neutral.Y - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - acc_neutral.X; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - acc_neutral.Z; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(acc_neutral.Z < 800) acc_neutral.Z+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(acc_neutral.Z > 600) acc_neutral.Z-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämpfen |
| 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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/compass.c |
|---|
| 0,0 → 1,234 |
| /* |
| 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" |
| struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
| struct MM3_working_struct MM3; |
| struct MM3_calib_struct MM3_calib; |
| //############################################################################ |
| // Initialisierung |
| void init_MM3(void) |
| //############################################################################ |
| { |
| // SPI-Schnittstelle initialisieren |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 permanent auf Low |
| // Init Statemachine |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| // Kalibrierung aus dem EEprom lesen |
| eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void timer0_MM3(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 = 0x31; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
| else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
| 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) |
| } |
| } |
| //############################################################################ |
| // SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| static char tmp; |
| int wert; |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
| tmp = SPDR; |
| SPDR = 0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE = MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| wert = tmp; |
| wert <<= 8; // 1. Byte an MSB-Stelle rücken |
| wert |= SPDR; // 2. Byte dranpappen |
| if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
| switch (MM3.AXIS) |
| { |
| case MM3_X: |
| MM3.x_axis = wert; |
| MM3.AXIS = MM3_Y; |
| break; |
| case MM3_Y: |
| MM3.y_axis = wert; |
| MM3.AXIS = MM3_Z; |
| break; |
| default: //case MM3_Z: |
| MM3.z_axis = wert; |
| MM3.AXIS = MM3_X; |
| } |
| MM3.STATE = MM3_RESET; |
| } |
| } |
| //############################################################################ |
| // Kompass kalibrieren |
| void calib_MM3(void) |
| //############################################################################ |
| { |
| signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
| uint8_t measurement=50,beeper=0; |
| unsigned int timer; |
| GRN_ON; |
| ROT_OFF; |
| while (measurement) |
| { |
| //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| beeptime = 50; |
| beeper = 50; |
| } |
| beeper--; |
| // Schleife mit 100 Hz |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
| if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| } |
| // Wertebereich der Achsen |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // Offset der Achsen |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // und im EEProm abspeichern |
| eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Neigungskompensierung und Berechnung der Ausrichtung |
| int heading_MM3(void) |
| //############################################################################ |
| { |
| signed int sin_nick, cos_nick, sin_roll, cos_roll; |
| long x_axis, y_axis, z_axis; |
| long x_corr, y_corr; |
| signed int heading; |
| int8_t nicktilt,rolltilt; |
| unsigned int div_faktor; |
| div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
| // Berechung von sinus und cosinus |
| nicktilt = (IntegralNick/div_faktor); |
| sin_nick = sin_i(nicktilt); |
| cos_nick = cos_i(nicktilt); |
| rolltilt = (IntegralRoll/div_faktor); |
| sin_roll = sin_i(rolltilt); |
| cos_roll = cos_i(rolltilt); |
| // Offset |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |
| y_axis = (MM3.y_axis - MM3_calib.Y_off); |
| z_axis = (MM3.z_axis - MM3_calib.Z_off); |
| /* |
| // Normierung Wertebereich |
| if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
| { |
| y_axis = (y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
| z_axis = (z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
| } |
| else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
| { |
| x_axis = (x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
| z_axis = (z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
| } |
| else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
| { |
| x_axis = (x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
| y_axis = (y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
| } |
| */ |
| // Neigungskompensierung |
| x_corr = x_axis * cos_nick; |
| x_corr += (y_axis * sin_roll * sin_nick) /1024; |
| x_corr -= (z_axis * cos_roll * sin_nick) /1024; |
| x_corr /= 1024; |
| y_corr = y_axis * cos_roll; |
| y_corr += z_axis * sin_roll; |
| y_corr /= 1024; |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| return (heading); |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/compass.h |
|---|
| 0,0 → 1,44 |
| struct MM3_working_struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| volatile signed int x_axis; |
| volatile signed int y_axis; |
| volatile signed int z_axis; |
| }; |
| struct MM3_calib_struct |
| { |
| int8_t X_off; |
| int8_t Y_off; |
| int8_t Z_off; |
| uint16_t X_range; |
| uint16_t Y_range; |
| uint16_t Z_range; |
| }; |
| extern struct MM3_working_struct MM3; |
| extern struct MM3_calib_struct MM3_calib; |
| void init_MM3(void); |
| void timer0_MM3(void); |
| void calib_MM3(void); |
| int heading_MM3(void); |
| #define Max_Axis_Value 500 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 3 |
| #define MM3_BYTE2 4 |
| #define MM3_X 5 |
| #define MM3_Y 6 |
| #define MM3_Z 7 |
| #define MM3_TILT 8 |
| #define MM3_IDLE 9 |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/fc.c |
|---|
| 0,0 → 1,846 |
| /*####################################################################################### |
| 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; |
| int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| 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; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| uint8_t updKompass = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| float GyroFaktor; |
| float IntegralFaktor; |
| int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links; |
| 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; |
| struct acc_neutral_struct ee_acc_neutral EEMEM; // Reservierung im EEPROM |
| struct acc_neutral_struct acc_neutral; |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| //############################################################################ |
| // Neutrallage kalibrieren und fest im EEPROM abspeichern |
| void calib_acc(void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| acc_neutral.X = 0; |
| acc_neutral.Y = 0; |
| acc_neutral.Z = 0; |
| CalibrierMittelwert(); |
| timer = SetDelay(5); |
| while (!CheckDelay(timer)); |
| CalibrierMittelwert(); |
| acc_neutral.X = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| acc_neutral.Y = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| acc_neutral.Z = Aktuell_az; |
| eeprom_write_block(&acc_neutral,&ee_acc_neutral,sizeof(struct acc_neutral_struct)); |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| acc_neutral.X = 0; |
| acc_neutral.Y = 0; |
| acc_neutral.Z = 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); |
| eeprom_read_block(&acc_neutral,&ee_acc_neutral,sizeof(struct acc_neutral_struct)); |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| } |
| //############################################################################ |
| // Bildet den Mittelwert aus den Messwerten |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| Integral_Gier = Mess_Integral_Gier; |
| // Integral_Gier2 = Mess_Integral_Gier2; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| // ADC einschalten |
| ANALOG_ON; |
| /* |
| //------------------------------------------------------------------------------ |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else |
| if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else |
| if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| //------------------------------------------------------------------------------ |
| */ |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = accumulate_AccHoch / messanzahl_AccHoch; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 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 = 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 = 178; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 16; // 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 = 178; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| 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 = 1; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) beeptime = 500; |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| /* Poti1 = 65; |
| Poti2 = 48; |
| Poti3 = 0; |
| */ } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| ParameterZuordnung(); |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift kompensieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define DRIFT_FAKTOR 3 |
| if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| { |
| IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| ZaehlMessungen = 0; |
| if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| //if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| //if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier2 = Integral_Gier; |
| ANALOG_ON; // ADC einschalten |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| #define AUSGLEICH 500 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren wie in .66c |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long)EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| ANALOG_ON; // ADC einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| int w,v; |
| if (!updKompass--) // Aufruf mit ~10 Hz |
| { |
| KompassValue = heading_MM3(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| updKompass = 50; |
| } |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| if(w < 35 && NeueKompassRichtungMerken) |
| { |
| 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 |
| Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| ANALOG_ON; // ADC einschalten |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Sekunden++; |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 49; |
| // DebugOut.Analog[0] = MesswertNick; |
| // DebugOut.Analog[1] = MesswertRoll; |
| // DebugOut.Analog[2] = MesswertGier; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[7] = GasMischanteil; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = 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 - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| if(GierMischanteil > 100) GierMischanteil = 100; |
| if(GierMischanteil < -100) GierMischanteil = -100; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| SummeNick += DiffNick; // I-Anteil |
| if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| SummeRoll += DiffRoll; // I-Anteil |
| if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/fc.h |
|---|
| 0,0 → 1,113 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| extern long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier; |
| 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; |
| int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| 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]; |
| }; |
| struct acc_neutral_struct |
| { |
| volatile int X; |
| volatile int Y; |
| volatile float Z; |
| }; |
| extern struct acc_neutral_struct acc_neutral; |
| extern void calib_acc(void); |
| 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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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_buss.txt"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="compass.c"></File><File path="compass.h"></File><File path="COPYING"></File><File path="COPYING.LESSER"></File></Project> |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/gps.h |
|---|
| 0,0 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/main.c |
|---|
| 0,0 → 1,236 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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" |
| // Reservierung im EEPROM |
| unsigned char EEPromArray[10] EEMEM; |
| struct mk_param_struct EEParameterArray[5] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| number--; // Auf Index 0 bis 4 anpassen |
| eeprom_read_block(buffer, &EEParameterArray[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; |
| number--; // Auf Index 0 bis 4 anpassen |
| eeprom_write_block(buffer, &EEParameterArray[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 = 1000; |
| 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_MM3(); |
| 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]) != 10) // 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], sizeof(struct mk_param_struct)); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 10); |
| calib_acc(); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| //Kompass kalibrieren? |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
| { |
| printf("\n\rKalibriere Kompass"); |
| calib_MM3(); |
| } |
| //Neutrallage kalibrieren? |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
| { |
| printf("\n\rKalibriere Neutrallage"); |
| calib_acc(); |
| } |
| 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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/main.h |
|---|
| 0,0 → 1,87 |
| #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 &=~(1<<PB0) |
| #define ROT_ON PORTB |= (1<<PB0) |
| #define ROT_FLASH PORTB ^= (1<<PB0) |
| #define GRN_OFF PORTB &=~(1<<PB1) |
| #define GRN_ON PORTB |= (1<<PB1) |
| #define GRN_FLASH PORTB ^= (1<<PB1) |
| //#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 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 |
| 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 "gps.h" |
| #include "mymath.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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/makefile |
|---|
| 0,0 → 1,393 |
| #-------------------------------------------------------------------- |
| # 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)_MM3 |
| # 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 |
| SRC += compass.c mymath.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$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -mtiny-stack -mcall-prologues \ |
| #-Wno-pointer-sign \ |
| -Wa,-adhlns=$(<:.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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/math.d |
|---|
| 0,0 → 1,2 |
| math.o math.d : math.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/menu.c |
|---|
| 0,0 → 1,129 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 = 12,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,acc_neutral.X); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,acc_neutral.Y); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)acc_neutral.Z); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"MM3 Off"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/mymath.c |
|---|
| 0,0 → 1,110 |
| /* |
| 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 int8_t pgm_atan[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| //############################################################################ |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(long x, long 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) return (90*m); // atan2 = 90° für x = 0 |
| i = abs((y*64) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0,015625 -> y *64) |
| if (i<346) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>7334) angle = 90; // Grenzwert ist 90° |
| else if (i>2444) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>1465) angle = 88; |
| else if (i>1046) angle = 87; |
| else if (i>813) angle = 86; |
| else if (i>664) angle = 85; |
| else if (i>561) angle = 84; |
| else if (i>486) angle = 83; |
| else if (i>428) angle = 82; |
| else if (i>382) angle = 81; |
| else angle = 80; // (i>345) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const int pgm_sinus_i[91] PROGMEM = {0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299,316,333,350,367,384,400,416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672,685,698,711,724,737,749,761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928,935,943,949,956,962,968,974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024,1024}; |
| //############################################################################ |
| // Kosinusfunktion im Gradmaß |
| signed int cos_i(signed int winkel) |
| //############################################################################ |
| { |
| return (sin_i(90-winkel)); |
| } |
| //############################################################################ |
| // Sinusfunktion im Gradmaß |
| signed int sin_i(signed int winkel) |
| //############################################################################ |
| { |
| short int m,n; |
| signed int sinus; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if (winkel <= 90) n=1; |
| else if ((winkel > 90) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
| sinus = pgm_read_word(&pgm_sinus_i[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; |
| i %= 200; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| */ |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/mymath.h |
|---|
| 0,0 → 1,8 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern int atan2_i(long x, long y); |
| extern signed int cos_i(signed int winkel); |
| extern signed int sin_i(signed int winkel); |
| //extern int8_t asin_i(signed int i); |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/timer0.c |
|---|
| 0,0 → 1,118 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned char UpdateMotor = 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) // 9,8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 10; |
| 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) timer0_MM3(); // Kompass auslesen |
| } |
| void Timer_Init(void) |
| { |
| 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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/timer0.h |
|---|
| 0,0 → 1,13 |
| #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 int ServoValue; |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/twimaster.c |
|---|
| 0,0 → 1,115 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| volatile unsigned char twi_state = 0; |
| volatile unsigned char motor = 0; |
| volatile unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| } |
| //############################################################################ |
| //Stop I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Write to I2C |
| void i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //############################################################################ |
| // I2C receive byte and send ACK |
| void i2c_receive_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| //############################################################################ |
| // I2C receive last byte and send NOT ACK |
| void i2c_receive_last_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| static unsigned char motorread = 0; |
| switch (twi_state++) // First i2c_start from SendMotorData() |
| { |
| // Master Transmit |
| case 0: // Address Slave SL+W |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: // Send Data |
| 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: // Repeat case 0+1 for all Slaves |
| if (motor < 4) twi_state = 0; |
| i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive |
| case 3: // Address Slave SL+R |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: //1. Byte vom Motor übertragen |
| i2c_receive_byte(); |
| break; |
| case 5: // 1. Byte lesen und 2. Byte übertragen |
| motor_rx[motorread] = TWDR; |
| i2c_receive_last_byte(); |
| break; |
| case 6: //2. Byte lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread > 3) motorread=0; |
| default: |
| i2c_stop(); |
| twi_state = 0; |
| motor = 0; |
| } |
| } |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #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 volatile unsigned char twi_state; |
| extern volatile unsigned char motor; |
| extern volatile unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| void i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| void i2c_write_byte (char byte); // 1 Byte schreiben |
| void i2c_receive_byte(void); // 1 Byte empfangen |
| void i2c_receive_last_byte(void); // letztes Byte empfangen |
| #endif |
| /branches/v0.60_MicroMag3_Nick666/Festkomma/v0.60/uart.c |
|---|
| 0,0 → 1,328 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| //unsigned int tmp_int_arr1[1]; |
| //unsigned int tmp_int_arr2[2]; |
| //unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| //unsigned char tmp_char_arr3[3]; |
| //unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct),3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
| 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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/Festkomma/v0.60/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/v0.60_MicroMag3_Nick666/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.eep |
|---|
| 0,0 → 1,21 |
| :1000000000000000000000000000000000000000F0 |
| :1000100000000000000000000000000000000000E0 |
| :1000200000000000000000000000000000000000D0 |
| :1000300000000000000000000000000000000000C0 |
| :1000400000000000000000000000000000000000B0 |
| :1000500000000000000000000000000000000000A0 |
| :100060000000000000000000000000000000000090 |
| :100070000000000000000000000000000000000080 |
| :100080000000000000000000000000000000000070 |
| :100090000000000000000000000000000000000060 |
| :1000A0000000000000000000000000000000000050 |
| :1000B0000000000000000000000000000000000040 |
| :1000C0000000000000000000000000000000000030 |
| :1000D0000000000000000000000000000000000020 |
| :1000E0000000000000000000000000000000000010 |
| :1000F0000000000000000000000000000000000000 |
| :1001000000000000000000000000000000000000EF |
| :1001100000000000000000000000000000000000DF |
| :1001200000000000000000000000000000000000CF |
| :0D01300000000000000000000000000000C2 |
| :00000001FF |
| /branches/v0.60_MicroMag3_Nick666/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.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/v0.60_MicroMag3_Nick666/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.lss |
|---|
| 0,0 → 1,9405 |
| Flight-Ctrl_MEGA644_V0_60_MM3.elf: file format elf32-avr |
| Sections: |
| Idx Name Size VMA LMA File off Algn |
| 0 .data 0000008c 00800100 00005e7c 00005f30 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 1 .text 00005e7c 00000000 00000000 000000b4 2**1 |
| CONTENTS, ALLOC, LOAD, READONLY, CODE |
| 2 .bss 000003a6 0080018c 0080018c 00005fbc 2**0 |
| ALLOC |
| 3 .eeprom 0000013d 00810000 00810000 00005fbc 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 4 .stab 00000378 00000000 00000000 000060fc 2**2 |
| CONTENTS, READONLY, DEBUGGING |
| 5 .stabstr 00000071 00000000 00000000 00006474 2**0 |
| CONTENTS, READONLY, DEBUGGING |
| Disassembly of section .text: |
| 00000000 <__vectors>: |
| 0: 0c 94 92 03 jmp 0x724 ; 0x724 <__ctors_end> |
| 4: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 8: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 10: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 14: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 18: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 1c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 20: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 24: 0c 94 b2 0b jmp 0x1764 ; 0x1764 <__vector_9> |
| 28: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 2c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 30: 0c 94 07 19 jmp 0x320e ; 0x320e <__vector_12> |
| 34: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 38: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 3c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 40: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 44: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 48: 0c 94 59 0c jmp 0x18b2 ; 0x18b2 <__vector_18> |
| 4c: 0c 94 76 14 jmp 0x28ec ; 0x28ec <__vector_19> |
| 50: 0c 94 d4 05 jmp 0xba8 ; 0xba8 <__vector_20> |
| 54: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 58: 0c 94 9e 05 jmp 0xb3c ; 0xb3c <__vector_22> |
| 5c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 60: 0c 94 f8 0c jmp 0x19f0 ; 0x19f0 <__vector_24> |
| 64: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 68: 0c 94 60 18 jmp 0x30c0 ; 0x30c0 <__vector_26> |
| 6c: 0c 94 af 03 jmp 0x75e ; 0x75e <__bad_interrupt> |
| 70: 4b 08 sbc r4, r11 |
| 72: c5 08 sbc r12, r5 |
| 74: c5 08 sbc r12, r5 |
| 76: c5 08 sbc r12, r5 |
| 78: 7d 08 sbc r7, r13 |
| 7a: 5e 08 sbc r5, r14 |
| 7c: c5 08 sbc r12, r5 |
| 7e: c5 08 sbc r12, r5 |
| 80: c5 08 sbc r12, r5 |
| 82: a9 08 sbc r10, r9 |
| 84: a9 08 sbc r10, r9 |
| 86: a9 08 sbc r10, r9 |
| 88: a9 08 sbc r10, r9 |
| 8a: a9 08 sbc r10, r9 |
| 8c: 81 08 sbc r8, r1 |
| 8e: c5 08 sbc r12, r5 |
| 90: c5 08 sbc r12, r5 |
| 92: 70 08 sbc r7, r0 |
| 94: c5 08 sbc r12, r5 |
| 96: 79 08 sbc r7, r9 |
| 98: 21 0d add r18, r1 |
| 9a: 73 0d add r23, r3 |
| 9c: cc 0d add r28, r12 |
| 9e: 27 0e add r2, r23 |
| a0: 44 0e add r4, r20 |
| a2: 67 0e add r6, r23 |
| a4: 8d 0e add r8, r29 |
| a6: 74 0f add r23, r20 |
| a8: b3 10 cpse r11, r3 |
| aa: e7 10 cpse r14, r7 |
| ac: 48 11 cpse r20, r8 |
| ae: 9e 11 cpse r25, r14 |
| b0: ec 11 cpse r30, r12 |
| b2: 65 12 cpse r6, r21 |
| b4: bf 12 cpse r11, r31 |
| b6: 20 13 cpse r18, r16 |
| b8: 44 13 cpse r20, r20 |
| ba: 7a 13 cpse r23, r26 |
| bc: b6 13 cpse r27, r22 |
| be: f4 13 cpse r31, r20 |
| c0: 2d 14 cp r2, r13 |
| c2: 79 18 sub r7, r9 |
| c4: 7e 18 sub r7, r14 |
| c6: 9a 18 sub r9, r10 |
| c8: a8 18 sub r10, r8 |
| ca: ad 18 sub r10, r13 |
| cc: b8 18 sub r11, r8 |
| ce: c0 18 sub r12, r0 |
| d0: d4 18 sub r13, r4 |
| 000000d2 <__c.2043>: |
| d2: 0a 0a 0d 00 .... |
| 000000d6 <__c.2041>: |
| d6: 4e 65 75 74 72 61 6c 00 Neutral. |
| 000000de <__c.2039>: |
| de: 48 65 61 64 69 6e 67 48 6f 6c 64 00 HeadingHold. |
| 000000ea <__c.2037>: |
| ea: 0a 0d 53 74 65 75 65 72 75 6e 67 3a 20 00 ..Steuerung: . |
| 000000f8 <__c.2035>: |
| f8: 4f 4b 0a 0d 00 OK... |
| 000000fd <__c.2030>: |
| fd: 0a 0d 41 62 67 6c 65 69 63 68 20 4c 75 66 74 64 ..Abgleich Luftd |
| 10d: 72 75 63 6b 73 65 6e 73 6f 72 2e 2e 00 rucksensor... |
| 0000011a <__c.2028>: |
| 11a: 0a 0d 4b 61 6c 69 62 72 69 65 72 65 20 4e 65 75 ..Kalibriere Neu |
| 12a: 74 72 61 6c 6c 61 67 65 00 trallage. |
| 00000133 <__c.2026>: |
| 133: 0a 0d 4b 61 6c 69 62 72 69 65 72 65 20 4b 6f 6d ..Kalibriere Kom |
| 143: 70 61 73 73 00 pass. |
| 00000148 <__c.2021>: |
| 148: 0a 0d 42 65 6e 75 74 7a 65 20 50 61 72 61 6d 65 ..Benutze Parame |
| 158: 74 65 72 73 61 74 7a 20 25 64 00 tersatz %d. |
| 00000163 <__c.2015>: |
| 163: 0a 0d 49 6e 69 74 2e 20 45 45 50 52 4f 4d 3a 20 ..Init. EEPROM: |
| 173: 47 65 6e 65 72 69 65 72 65 20 44 65 66 61 75 6c Generiere Defaul |
| 183: 74 2d 50 61 72 61 6d 65 74 65 72 2e 2e 2e 00 t-Parameter.... |
| 00000192 <__c.2013>: |
| 192: 0a 0d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ..============== |
| 1a2: 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ================ |
| ... |
| 000001b3 <__c.2011>: |
| 1b3: 0a 0d 46 6c 69 67 68 74 43 6f 6e 74 72 6f 6c 20 ..FlightControl |
| 1c3: 56 25 64 2e 25 64 20 00 V%d.%d . |
| 000001cb <__c.2013>: |
| 1cb: 2e 00 .. |
| 000001cd <__c.2113>: |
| 1cd: 5a 5f 52 61 6e 67 65 3a 20 20 25 34 69 00 Z_Range: %4i. |
| 000001db <__c.2111>: |
| 1db: 59 5f 52 61 6e 67 65 3a 20 20 25 34 69 00 Y_Range: %4i. |
| 000001e9 <__c.2109>: |
| 1e9: 58 5f 52 61 6e 67 65 3a 20 20 25 34 69 00 X_Range: %4i. |
| 000001f7 <__c.2107>: |
| 1f7: 4d 4d 33 20 52 61 6e 67 65 00 MM3 Range. |
| 00000201 <__c.2104>: |
| 201: 5a 5f 4f 66 66 73 65 74 3a 20 20 25 33 69 00 Z_Offset: %3i. |
| 00000210 <__c.2102>: |
| 210: 59 5f 4f 66 66 73 65 74 3a 20 20 25 33 69 00 Y_Offset: %3i. |
| 0000021f <__c.2100>: |
| 21f: 58 5f 4f 66 66 73 65 74 3a 20 20 25 33 69 00 X_Offset: %3i. |
| 0000022e <__c.2098>: |
| 22e: 4d 4d 33 20 4f 66 66 00 MM3 Off. |
| 00000236 <__c.2095>: |
| 236: 52 61 6e 67 65 3a 25 33 69 2d 25 33 69 00 Range:%3i-%3i. |
| 00000244 <__c.2093>: |
| 244: 53 74 65 6c 6c 75 6e 67 3a 20 25 33 69 00 Stellung: %3i. |
| 00000252 <__c.2091>: |
| 252: 53 65 74 70 6f 69 6e 74 20 20 25 33 69 00 Setpoint %3i. |
| 00000260 <__c.2089>: |
| 260: 53 65 72 76 6f 20 20 00 Servo . |
| 00000268 <__c.2086>: |
| 268: 50 6f 74 69 34 3a 20 20 25 33 69 00 Poti4: %3i. |
| 00000274 <__c.2084>: |
| 274: 50 6f 74 69 33 3a 20 20 25 33 69 00 Poti3: %3i. |
| 00000280 <__c.2082>: |
| 280: 50 6f 74 69 32 3a 20 20 25 33 69 00 Poti2: %3i. |
| 0000028c <__c.2080>: |
| 28c: 50 6f 74 69 31 3a 20 20 25 33 69 00 Poti1: %3i. |
| 00000298 <__c.2077>: |
| 298: 53 74 61 72 74 3a 20 20 20 20 20 25 35 69 00 Start: %5i. |
| 000002a7 <__c.2075>: |
| 2a7: 4d 65 73 73 77 65 72 74 3a 20 20 25 35 69 00 Messwert: %5i. |
| 000002b6 <__c.2073>: |
| 2b6: 52 69 63 68 74 75 6e 67 3a 20 20 25 35 69 00 Richtung: %5i. |
| 000002c5 <__c.2071>: |
| 2c5: 4b 6f 6d 70 61 73 73 20 20 20 20 20 20 20 00 Kompass . |
| 000002d4 <__c.2068>: |
| 2d4: 45 6d 70 66 2e 50 65 67 65 6c 3a 25 35 69 00 Empf.Pegel:%5i. |
| 000002e3 <__c.2066>: |
| 2e3: 53 70 61 6e 6e 75 6e 67 3a 20 20 25 35 69 00 Spannung: %5i. |
| 000002f2 <__c.2063>: |
| 2f2: 48 6f 63 68 20 25 34 69 20 28 25 33 69 29 00 Hoch %4i (%3i). |
| 00000301 <__c.2061>: |
| 301: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 00000310 <__c.2059>: |
| 310: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 0000031f <__c.2057>: |
| 31f: 41 43 43 20 2d 20 53 65 6e 73 6f 72 00 ACC - Sensor. |
| 0000032c <__c.2054>: |
| 32c: 47 69 65 72 20 25 34 69 20 28 25 33 69 29 00 Gier %4i (%3i). |
| 0000033b <__c.2052>: |
| 33b: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 0000034a <__c.2050>: |
| 34a: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 00000359 <__c.2048>: |
| 359: 47 79 72 6f 20 2d 20 53 65 6e 73 6f 72 00 Gyro - Sensor. |
| 00000367 <__c.2045>: |
| 367: 50 33 3a 25 34 69 20 20 4b 61 6e e4 6c 65 20 00 P3:%4i Kan.le . |
| 00000377 <__c.2043>: |
| 377: 50 31 3a 25 34 69 20 20 50 32 3a 25 34 69 20 00 P1:%4i P2:%4i . |
| 00000387 <__c.2041>: |
| 387: 47 73 3a 25 34 69 20 20 47 69 3a 25 34 69 20 00 Gs:%4i Gi:%4i . |
| 00000397 <__c.2039>: |
| 397: 4e 69 3a 25 34 69 20 20 52 6f 3a 25 34 69 20 00 Ni:%4i Ro:%4i . |
| 000003a7 <__c.2036>: |
| 3a7: 4b 37 3a 25 34 69 20 20 4b 61 6e e4 6c 65 20 00 K7:%4i Kan.le . |
| 000003b7 <__c.2034>: |
| 3b7: 4b 35 3a 25 34 69 20 20 4b 36 3a 25 34 69 20 00 K5:%4i K6:%4i . |
| 000003c7 <__c.2032>: |
| 3c7: 4b 33 3a 25 34 69 20 20 4b 34 3a 25 34 69 20 00 K3:%4i K4:%4i . |
| 000003d7 <__c.2030>: |
| 3d7: 4b 31 3a 25 34 69 20 20 4b 32 3a 25 34 69 20 00 K1:%4i K2:%4i . |
| 000003e7 <__c.2027>: |
| 3e7: 4b 6f 6d 70 61 73 73 3a 20 20 20 25 35 69 00 Kompass: %5i. |
| 000003f6 <__c.2025>: |
| 3f6: 52 6f 6c 6c 3a 20 20 20 20 20 20 25 35 69 00 Roll: %5i. |
| 00000405 <__c.2023>: |
| 405: 4e 69 63 6b 3a 20 20 20 20 20 20 25 35 69 00 Nick: %5i. |
| 00000414 <__c.2021>: |
| 414: 61 6b 74 2e 20 4c 61 67 65 00 akt. Lage. |
| 0000041e <__c.2018>: |
| 41e: 48 f6 68 65 6e 72 65 67 65 6c 75 6e 67 00 H.henregelung. |
| 0000042c <__c.2016>: |
| 42c: 4b 65 69 6e 65 20 00 Keine . |
| 00000433 <__c.2014>: |
| 433: 4f 66 66 20 20 20 20 20 20 3a 20 25 35 69 00 Off : %5i. |
| 00000442 <__c.2012>: |
| 442: 4c 75 66 74 64 72 75 63 6b 3a 20 25 35 69 00 Luftdruck: %5i. |
| 00000451 <__c.2010>: |
| 451: 53 6f 6c 6c 48 6f 65 68 65 3a 20 25 35 69 00 SollHoehe: %5i. |
| 00000460 <__c.2008>: |
| 460: 48 6f 65 68 65 3a 20 20 20 20 20 25 35 69 00 Hoehe: %5i. |
| 0000046f <__c.2004>: |
| 46f: 28 63 29 20 48 6f 6c 67 65 72 20 42 75 73 73 00 (c) Holger Buss. |
| 0000047f <__c.2002>: |
| 47f: 53 65 74 74 69 6e 67 3a 20 25 64 20 00 Setting: %d . |
| 0000048c <__c.2000>: |
| 48c: 56 25 64 2e 25 64 00 V%d.%d. |
| 00000493 <__c.1998>: |
| 493: 2b 2b 20 4d 69 6b 72 6f 4b 6f 70 74 65 72 20 2b ++ MikroKopter + |
| 4a3: 2b 00 +. |
| 000004a5 <__c.1995>: |
| 4a5: 5b 25 69 5d 00 [%i]. |
| 000004aa <pgm_atan>: |
| 4aa: 00 01 02 03 05 06 07 08 09 0a 0b 0c 0d 0f 10 11 ................ |
| 4ba: 12 13 14 15 16 17 18 19 1a 1b 1b 1c 1d 1e 1f 20 ............... |
| 4ca: 21 21 22 23 24 25 25 26 27 27 28 29 29 2a 2b 2b !!"#$%%&''())*++ |
| 4da: 2c 2c 2d 2e 2e 2f 2f 30 30 31 31 32 32 33 33 34 ,,-..//001122334 |
| 4ea: 34 34 35 35 36 36 36 37 37 38 38 38 39 39 39 3a 445566677888999: |
| 4fa: 3a 3a 3b 3b 3b 3c 3c 3c 3c 3d 3d 3d 3d 3e 3e 3e ::;;;<<<<====>>> |
| 50a: 3e 3f 3f 3f 3f 40 40 40 40 41 41 41 41 41 42 42 >????@@@@AAAAABB |
| 51a: 42 42 42 43 43 43 43 43 43 44 44 44 44 44 44 45 BBBCCCCCCDDDDDDE |
| 52a: 45 45 45 45 45 45 46 46 46 46 46 46 46 46 47 47 EEEEEEFFFFFFFFGG |
| 53a: 47 47 47 47 47 47 48 48 48 48 48 48 48 48 48 49 GGGGGGHHHHHHHHHI |
| 54a: 49 49 49 49 49 49 49 49 49 4a 4a 4a 4a 4a 4a 4a IIIIIIIIIJJJJJJJ |
| 55a: 4a 4a 4a 4a 4a 4b 4b 4b 4b 4b 4b 4b 4b 4b 4b 4b JJJJJKKKKKKKKKKK |
| 56a: 4b 4b 4c 4c 4c 4c 4c 4c 4c 4c 4c 4c 4c 4c 4c 4c KKLLLLLLLLLLLLLL |
| 57a: 4c 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d 4d LMMMMMMMMMMMMMMM |
| 58a: 4d 4d 4e 4e 4e 4e 4e 4e 4e 4e 4e 4e 4e 4e 4e 4e MMNNNNNNNNNNNNNN |
| 59a: 4e 4e 4e 4e 4e 4e 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f NNNNNNOOOOOOOOOO |
| 5aa: 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f 4f OOOOOOOOOOOOOO |
| 000005b8 <pgm_sinus_f>: |
| 5b8: 00 00 00 00 56 f8 8e 3c c7 f2 0e 3d 46 5e 56 3d ....V..<...=F^V= |
| 5c8: 7f dc 8e 3d b0 7e b2 3d 0a 13 d6 3d 9d 96 f9 3d ...=.~.=...=...= |
| 5d8: 65 83 0e 3e 5e 30 20 3e d5 d0 31 3e 6f 63 43 3e e..>^0 >..1>ocC> |
| 5e8: ce e6 54 3e 8e 59 66 3e 60 ba 77 3e ed 83 84 3e ..T>.Yf>`.w>...> |
| 5f8: 55 20 8d 3e be b1 95 3e 7a 37 9e 3e dd b0 a6 3e U .>...>z7.>...> |
| 608: 42 1d af 3e ff 7b b7 3e 70 cc bf 3e e8 0d c8 3e B..>.{.>p..>...> |
| 618: c8 3f d0 3e 6a 61 d8 3e 2d 72 e0 3e 71 71 e8 3e .?.>ja.>-r.>qq.> |
| 628: 92 5e f0 3e f7 38 f8 3e 00 00 00 3f 89 d9 03 3f .^.>.8.>...?...? |
| 638: cb a8 07 3f 76 6d 0b 3f 44 27 0f 3f e7 d5 12 3f ...?vm.?D'.?...? |
| 648: 17 79 16 3f 8c 10 1a 3f fe 9b 1d 3f 24 1b 21 3f .y.?...?...?$.!? |
| 658: ba 8d 24 3f 7c f3 27 3f 25 4c 2b 3f 71 97 2e 3f ..$?|.'?%L+?q..? |
| 668: 22 d5 31 3f f4 04 35 3f a7 26 38 3f ff 39 3b 3f ".1?..5?.&8?.9;? |
| 678: bd 3e 3e 3f a6 34 41 3f 7c 1b 44 3f 09 f3 46 3f .>>?.4A?|.D?..F? |
| 688: 12 bb 49 3f 60 73 4c 3f bd 1b 4f 3f f2 b3 51 3f ..I?`sL?..O?..Q? |
| 698: cf 3b 54 3f 1e b3 56 3f ae 19 59 3f 51 6f 5b 3f .;T?..V?..Y?Qo[? |
| 6a8: d7 b3 5d 3f 14 e7 5f 3f db 08 62 3f 01 19 64 3f ..]?.._?..b?..d? |
| 6b8: 5d 17 66 3f ca 03 68 3f 1d de 69 3f 34 a6 6b 3f ].f?..h?..i?4.k? |
| 6c8: eb 5b 6d 3f 20 ff 6e 3f b2 8f 70 3f 82 0d 72 3f .[m? .n?..p?..r? |
| 6d8: 70 78 73 3f 63 d0 74 3f 3f 15 76 3f ea 46 77 3f pxs?c.t??.v?.Fw? |
| 6e8: 4d 65 78 3f 52 70 79 3f e2 67 7a 3f ec 4b 7b 3f Mex?Rpy?.gz?.K{? |
| 6f8: 5c 1c 7c 3f 24 d9 7c 3f 36 82 7d 3f 80 17 7e 3f \.|?$.|?6.}?..~? |
| 708: fd 98 7e 3f 9e 06 7f 3f 5b 60 7f 3f 2f a6 7f 3f ..~?...?[`.?/..? |
| 718: 13 d8 7f 3f 05 f6 7f 3f 00 00 80 3f ...?...?...? |
| 00000724 <__ctors_end>: |
| 724: 11 24 eor r1, r1 |
| 726: 1f be out 0x3f, r1 ; 63 |
| 728: cf ef ldi r28, 0xFF ; 255 |
| 72a: d0 e1 ldi r29, 0x10 ; 16 |
| 72c: de bf out 0x3e, r29 ; 62 |
| 72e: cd bf out 0x3d, r28 ; 61 |
| 00000730 <__do_copy_data>: |
| 730: 11 e0 ldi r17, 0x01 ; 1 |
| 732: a0 e0 ldi r26, 0x00 ; 0 |
| 734: b1 e0 ldi r27, 0x01 ; 1 |
| 736: ec e7 ldi r30, 0x7C ; 124 |
| 738: fe e5 ldi r31, 0x5E ; 94 |
| 73a: 02 c0 rjmp .+4 ; 0x740 <.do_copy_data_start> |
| 0000073c <.do_copy_data_loop>: |
| 73c: 05 90 lpm r0, Z+ |
| 73e: 0d 92 st X+, r0 |
| 00000740 <.do_copy_data_start>: |
| 740: ac 38 cpi r26, 0x8C ; 140 |
| 742: b1 07 cpc r27, r17 |
| 744: d9 f7 brne .-10 ; 0x73c <.do_copy_data_loop> |
| 00000746 <__do_clear_bss>: |
| 746: 15 e0 ldi r17, 0x05 ; 5 |
| 748: ac e8 ldi r26, 0x8C ; 140 |
| 74a: b1 e0 ldi r27, 0x01 ; 1 |
| 74c: 01 c0 rjmp .+2 ; 0x750 <.do_clear_bss_start> |
| 0000074e <.do_clear_bss_loop>: |
| 74e: 1d 92 st X+, r1 |
| 00000750 <.do_clear_bss_start>: |
| 750: a2 33 cpi r26, 0x32 ; 50 |
| 752: b1 07 cpc r27, r17 |
| 754: e1 f7 brne .-8 ; 0x74e <.do_clear_bss_loop> |
| 756: 0e 94 e7 03 call 0x7ce ; 0x7ce <main> |
| 75a: 0c 94 3d 2f jmp 0x5e7a ; 0x5e7a <_exit> |
| 0000075e <__bad_interrupt>: |
| 75e: 0c 94 00 00 jmp 0 ; 0x0 <__vectors> |
| 00000762 <GetActiveParamSetNumber>: |
| 762: a2 e0 ldi r26, 0x02 ; 2 |
| 764: b0 e0 ldi r27, 0x00 ; 0 |
| 766: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 76a: 80 2d mov r24, r0 |
| 76c: 99 27 eor r25, r25 |
| 76e: 08 95 ret |
| 00000770 <WriteParameterSet>: |
| 770: fb 01 movw r30, r22 |
| 772: 86 30 cpi r24, 0x06 ; 6 |
| 774: 08 f0 brcs .+2 ; 0x778 <WriteParameterSet+0x8> |
| 776: 85 e0 ldi r24, 0x05 ; 5 |
| 778: 28 2f mov r18, r24 |
| 77a: 21 50 subi r18, 0x01 ; 1 |
| 77c: 84 2f mov r24, r20 |
| 77e: 99 27 eor r25, r25 |
| 780: aa e3 ldi r26, 0x3A ; 58 |
| 782: 2a 9f mul r18, r26 |
| 784: d0 01 movw r26, r0 |
| 786: 11 24 eor r1, r1 |
| 788: a6 5f subi r26, 0xF6 ; 246 |
| 78a: bf 4f sbci r27, 0xFF ; 255 |
| 0000078c <.28_start>: |
| 78c: 01 97 sbiw r24, 0x01 ; 1 |
| 78e: 24 f0 brlt .+8 ; 0x798 <.28_finished> |
| 790: 01 90 ld r0, Z+ |
| 792: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 796: fa cf rjmp .-12 ; 0x78c <.28_start> |
| 00000798 <.28_finished>: |
| 798: a2 e0 ldi r26, 0x02 ; 2 |
| 79a: b0 e0 ldi r27, 0x00 ; 0 |
| 79c: 02 2e mov r0, r18 |
| 79e: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 7a2: 08 95 ret |
| 000007a4 <ReadParameterSet>: |
| 7a4: fb 01 movw r30, r22 |
| 7a6: 28 2f mov r18, r24 |
| 7a8: 86 30 cpi r24, 0x06 ; 6 |
| 7aa: 08 f0 brcs .+2 ; 0x7ae <ReadParameterSet+0xa> |
| 7ac: 25 e0 ldi r18, 0x05 ; 5 |
| 7ae: 84 2f mov r24, r20 |
| 7b0: 99 27 eor r25, r25 |
| 7b2: 21 50 subi r18, 0x01 ; 1 |
| 7b4: aa e3 ldi r26, 0x3A ; 58 |
| 7b6: 2a 9f mul r18, r26 |
| 7b8: d0 01 movw r26, r0 |
| 7ba: 11 24 eor r1, r1 |
| 7bc: a6 5f subi r26, 0xF6 ; 246 |
| 7be: bf 4f sbci r27, 0xFF ; 255 |
| 000007c0 <.49_start>: |
| 7c0: 01 97 sbiw r24, 0x01 ; 1 |
| 7c2: 24 f0 brlt .+8 ; 0x7cc <.49_finished> |
| 7c4: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 7c8: 01 92 st Z+, r0 |
| 7ca: fa cf rjmp .-12 ; 0x7c0 <.49_start> |
| 000007cc <.49_finished>: |
| 7cc: 08 95 ret |
| 000007ce <main>: |
| 7ce: 0f 93 push r16 |
| 7d0: 1f 93 push r17 |
| 7d2: cf 93 push r28 |
| 7d4: df 93 push r29 |
| 7d6: 81 e0 ldi r24, 0x01 ; 1 |
| 7d8: 87 b9 out 0x07, r24 ; 7 |
| 7da: 8f ef ldi r24, 0xFF ; 255 |
| 7dc: 88 b9 out 0x08, r24 ; 8 |
| 7de: 8b e1 ldi r24, 0x1B ; 27 |
| 7e0: 84 b9 out 0x04, r24 ; 4 |
| 7e2: 28 9a sbi 0x05, 0 ; 5 |
| 7e4: 8e e3 ldi r24, 0x3E ; 62 |
| 7e6: 8a b9 out 0x0a, r24 ; 10 |
| 7e8: 57 9a sbi 0x0a, 7 ; 10 |
| 7ea: 87 ef ldi r24, 0xF7 ; 247 |
| 7ec: 8b b9 out 0x0b, r24 ; 11 |
| 7ee: 84 b7 in r24, 0x34 ; 52 |
| 7f0: 87 7f andi r24, 0xF7 ; 247 |
| 7f2: 84 bf out 0x34, r24 ; 52 |
| 7f4: 80 91 60 00 lds r24, 0x0060 |
| 7f8: 88 61 ori r24, 0x18 ; 24 |
| 7fa: 80 93 60 00 sts 0x0060, r24 |
| 7fe: 10 92 60 00 sts 0x0060, r1 |
| 802: 88 ee ldi r24, 0xE8 ; 232 |
| 804: 93 e0 ldi r25, 0x03 ; 3 |
| 806: 90 93 a7 01 sts 0x01A7, r25 |
| 80a: 80 93 a6 01 sts 0x01A6, r24 |
| 80e: 10 92 22 02 sts 0x0222, r1 |
| 812: 10 92 21 02 sts 0x0221, r1 |
| 816: 10 92 b3 04 sts 0x04B3, r1 |
| 81a: 10 92 b2 04 sts 0x04B2, r1 |
| 81e: 10 92 20 02 sts 0x0220, r1 |
| 822: 10 92 1f 02 sts 0x021F, r1 |
| 826: 10 92 1e 02 sts 0x021E, r1 |
| 82a: 10 92 1d 02 sts 0x021D, r1 |
| 82e: 28 98 cbi 0x05, 0 ; 5 |
| 830: 0e 94 ba 0c call 0x1974 ; 0x1974 <Timer_Init> |
| 834: 0e 94 a4 07 call 0xf48 ; 0xf48 <UART_Init> |
| 838: 0e 94 f2 18 call 0x31e4 ; 0x31e4 <rc_sum_init> |
| 83c: 0e 94 f2 0c call 0x19e4 ; 0x19e4 <ADC_Init> |
| 840: 0e 94 46 18 call 0x308c ; 0x308c <i2c_init> |
| 844: 0e 94 22 17 call 0x2e44 ; 0x2e44 <init_MM3> |
| 848: 78 94 sei |
| 84a: 10 92 ae 03 sts 0x03AE, r1 |
| 84e: 8c e3 ldi r24, 0x3C ; 60 |
| 850: 80 93 af 03 sts 0x03AF, r24 |
| 854: 84 e0 ldi r24, 0x04 ; 4 |
| 856: 80 93 b0 03 sts 0x03B0, r24 |
| 85a: 8c e3 ldi r24, 0x3C ; 60 |
| 85c: 90 e0 ldi r25, 0x00 ; 0 |
| 85e: 9f 93 push r25 |
| 860: 8f 93 push r24 |
| 862: 1f 92 push r1 |
| 864: 1f 92 push r1 |
| 866: 83 eb ldi r24, 0xB3 ; 179 |
| 868: 91 e0 ldi r25, 0x01 ; 1 |
| 86a: 9f 93 push r25 |
| 86c: 8f 93 push r24 |
| 86e: 1f 92 push r1 |
| 870: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 874: 82 e9 ldi r24, 0x92 ; 146 |
| 876: 91 e0 ldi r25, 0x01 ; 1 |
| 878: 9f 93 push r25 |
| 87a: 8f 93 push r24 |
| 87c: 1f 92 push r1 |
| 87e: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 882: 29 9a sbi 0x05, 1 ; 5 |
| 884: a1 e0 ldi r26, 0x01 ; 1 |
| 886: b0 e0 ldi r27, 0x00 ; 0 |
| 888: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 88c: 80 2d mov r24, r0 |
| 88e: 2d b7 in r18, 0x3d ; 61 |
| 890: 3e b7 in r19, 0x3e ; 62 |
| 892: 26 5f subi r18, 0xF6 ; 246 |
| 894: 3f 4f sbci r19, 0xFF ; 255 |
| 896: 2d bf out 0x3d, r18 ; 61 |
| 898: 8a 30 cpi r24, 0x0A ; 10 |
| 89a: b9 f1 breq .+110 ; 0x90a <main+0x13c> |
| 89c: 83 e6 ldi r24, 0x63 ; 99 |
| 89e: 91 e0 ldi r25, 0x01 ; 1 |
| 8a0: 9f 93 push r25 |
| 8a2: 8f 93 push r24 |
| 8a4: 1f 92 push r1 |
| 8a6: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 8aa: 0e 94 5b 20 call 0x40b6 ; 0x40b6 <DefaultKonstanten1> |
| 8ae: 4a e3 ldi r20, 0x3A ; 58 |
| 8b0: 6a ed ldi r22, 0xDA ; 218 |
| 8b2: 74 e0 ldi r23, 0x04 ; 4 |
| 8b4: 80 e0 ldi r24, 0x00 ; 0 |
| 8b6: 0e 94 b8 03 call 0x770 ; 0x770 <WriteParameterSet> |
| 8ba: 01 e0 ldi r16, 0x01 ; 1 |
| 8bc: 0f 90 pop r0 |
| 8be: 0f 90 pop r0 |
| 8c0: 0f 90 pop r0 |
| 8c2: 02 30 cpi r16, 0x02 ; 2 |
| 8c4: 49 f4 brne .+18 ; 0x8d8 <main+0x10a> |
| 8c6: 0e 94 ee 1f call 0x3fdc ; 0x3fdc <DefaultKonstanten2> |
| 8ca: 4a e3 ldi r20, 0x3A ; 58 |
| 8cc: 6a ed ldi r22, 0xDA ; 218 |
| 8ce: 74 e0 ldi r23, 0x04 ; 4 |
| 8d0: 82 e0 ldi r24, 0x02 ; 2 |
| 8d2: 0e 94 b8 03 call 0x770 ; 0x770 <WriteParameterSet> |
| 8d6: 03 e0 ldi r16, 0x03 ; 3 |
| 8d8: 4a e3 ldi r20, 0x3A ; 58 |
| 8da: 6a ed ldi r22, 0xDA ; 218 |
| 8dc: 74 e0 ldi r23, 0x04 ; 4 |
| 8de: 80 2f mov r24, r16 |
| 8e0: 0e 94 b8 03 call 0x770 ; 0x770 <WriteParameterSet> |
| 8e4: 0f 5f subi r16, 0xFF ; 255 |
| 8e6: 06 30 cpi r16, 0x06 ; 6 |
| 8e8: 60 f3 brcs .-40 ; 0x8c2 <main+0xf4> |
| 8ea: 81 e0 ldi r24, 0x01 ; 1 |
| 8ec: 22 e0 ldi r18, 0x02 ; 2 |
| 8ee: 30 e0 ldi r19, 0x00 ; 0 |
| 8f0: d9 01 movw r26, r18 |
| 8f2: 08 2e mov r0, r24 |
| 8f4: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 8f8: 8a e0 ldi r24, 0x0A ; 10 |
| 8fa: 21 50 subi r18, 0x01 ; 1 |
| 8fc: 30 40 sbci r19, 0x00 ; 0 |
| 8fe: d9 01 movw r26, r18 |
| 900: 08 2e mov r0, r24 |
| 902: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 906: 0e 94 e5 21 call 0x43ca ; 0x43ca <calib_acc> |
| 90a: 02 e0 ldi r16, 0x02 ; 2 |
| 90c: 10 e0 ldi r17, 0x00 ; 0 |
| 90e: d8 01 movw r26, r16 |
| 910: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 914: 80 2d mov r24, r0 |
| 916: 4a e3 ldi r20, 0x3A ; 58 |
| 918: 6a ed ldi r22, 0xDA ; 218 |
| 91a: 74 e0 ldi r23, 0x04 ; 4 |
| 91c: 0e 94 d2 03 call 0x7a4 ; 0x7a4 <ReadParameterSet> |
| 920: d8 01 movw r26, r16 |
| 922: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 926: 80 2d mov r24, r0 |
| 928: 99 27 eor r25, r25 |
| 92a: 9f 93 push r25 |
| 92c: 8f 93 push r24 |
| 92e: 88 e4 ldi r24, 0x48 ; 72 |
| 930: 91 e0 ldi r25, 0x01 ; 1 |
| 932: 9f 93 push r25 |
| 934: 8f 93 push r24 |
| 936: 1f 92 push r1 |
| 938: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 93c: 84 ef ldi r24, 0xF4 ; 244 |
| 93e: 91 e0 ldi r25, 0x01 ; 1 |
| 940: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| 944: ec 01 movw r28, r24 |
| 946: 0f 90 pop r0 |
| 948: 0f 90 pop r0 |
| 94a: 0f 90 pop r0 |
| 94c: 0f 90 pop r0 |
| 94e: 0f 90 pop r0 |
| 950: ce 01 movw r24, r28 |
| 952: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| 956: 88 23 and r24, r24 |
| 958: d9 f3 breq .-10 ; 0x950 <main+0x182> |
| 95a: e0 91 dc 04 lds r30, 0x04DC |
| 95e: ff 27 eor r31, r31 |
| 960: ee 0f add r30, r30 |
| 962: ff 1f adc r31, r31 |
| 964: e2 55 subi r30, 0x52 ; 82 |
| 966: fb 4f sbci r31, 0xFB ; 251 |
| 968: 80 81 ld r24, Z |
| 96a: 91 81 ldd r25, Z+1 ; 0x01 |
| 96c: 85 36 cpi r24, 0x65 ; 101 |
| 96e: 91 05 cpc r25, r1 |
| 970: c4 f0 brlt .+48 ; 0x9a2 <main+0x1d4> |
| 972: e0 91 dd 04 lds r30, 0x04DD |
| 976: ff 27 eor r31, r31 |
| 978: ee 0f add r30, r30 |
| 97a: ff 1f adc r31, r31 |
| 97c: e2 55 subi r30, 0x52 ; 82 |
| 97e: fb 4f sbci r31, 0xFB ; 251 |
| 980: 80 81 ld r24, Z |
| 982: 91 81 ldd r25, Z+1 ; 0x01 |
| 984: 85 36 cpi r24, 0x65 ; 101 |
| 986: 91 05 cpc r25, r1 |
| 988: 64 f0 brlt .+24 ; 0x9a2 <main+0x1d4> |
| 98a: 83 e3 ldi r24, 0x33 ; 51 |
| 98c: 91 e0 ldi r25, 0x01 ; 1 |
| 98e: 9f 93 push r25 |
| 990: 8f 93 push r24 |
| 992: 1f 92 push r1 |
| 994: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 998: 0e 94 5c 16 call 0x2cb8 ; 0x2cb8 <calib_MM3> |
| 99c: 0f 90 pop r0 |
| 99e: 0f 90 pop r0 |
| 9a0: 0f 90 pop r0 |
| 9a2: e0 91 dc 04 lds r30, 0x04DC |
| 9a6: ff 27 eor r31, r31 |
| 9a8: ee 0f add r30, r30 |
| 9aa: ff 1f adc r31, r31 |
| 9ac: e2 55 subi r30, 0x52 ; 82 |
| 9ae: fb 4f sbci r31, 0xFB ; 251 |
| 9b0: 80 81 ld r24, Z |
| 9b2: 91 81 ldd r25, Z+1 ; 0x01 |
| 9b4: 85 36 cpi r24, 0x65 ; 101 |
| 9b6: 91 05 cpc r25, r1 |
| 9b8: c4 f0 brlt .+48 ; 0x9ea <main+0x21c> |
| 9ba: e0 91 dd 04 lds r30, 0x04DD |
| 9be: ff 27 eor r31, r31 |
| 9c0: ee 0f add r30, r30 |
| 9c2: ff 1f adc r31, r31 |
| 9c4: e2 55 subi r30, 0x52 ; 82 |
| 9c6: fb 4f sbci r31, 0xFB ; 251 |
| 9c8: 80 81 ld r24, Z |
| 9ca: 91 81 ldd r25, Z+1 ; 0x01 |
| 9cc: 8c 59 subi r24, 0x9C ; 156 |
| 9ce: 9f 4f sbci r25, 0xFF ; 255 |
| 9d0: 64 f4 brge .+24 ; 0x9ea <main+0x21c> |
| 9d2: 8a e1 ldi r24, 0x1A ; 26 |
| 9d4: 91 e0 ldi r25, 0x01 ; 1 |
| 9d6: 9f 93 push r25 |
| 9d8: 8f 93 push r24 |
| 9da: 1f 92 push r1 |
| 9dc: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 9e0: 0e 94 e5 21 call 0x43ca ; 0x43ca <calib_acc> |
| 9e4: 0f 90 pop r0 |
| 9e6: 0f 90 pop r0 |
| 9e8: 0f 90 pop r0 |
| 9ea: 80 91 e2 04 lds r24, 0x04E2 |
| 9ee: 80 ff sbrs r24, 0 |
| 9f0: 20 c0 rjmp .+64 ; 0xa32 <main+0x264> |
| 9f2: 8d ef ldi r24, 0xFD ; 253 |
| 9f4: 90 e0 ldi r25, 0x00 ; 0 |
| 9f6: 9f 93 push r25 |
| 9f8: 8f 93 push r24 |
| 9fa: 1f 92 push r1 |
| 9fc: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| a00: 84 ec ldi r24, 0xC4 ; 196 |
| a02: 99 e0 ldi r25, 0x09 ; 9 |
| a04: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| a08: ec 01 movw r28, r24 |
| a0a: 0e 94 0e 10 call 0x201c ; 0x201c <SucheLuftruckOffset> |
| a0e: 0f 90 pop r0 |
| a10: 0f 90 pop r0 |
| a12: 0f 90 pop r0 |
| a14: ce 01 movw r24, r28 |
| a16: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| a1a: 88 23 and r24, r24 |
| a1c: d9 f3 breq .-10 ; 0xa14 <main+0x246> |
| a1e: 88 ef ldi r24, 0xF8 ; 248 |
| a20: 90 e0 ldi r25, 0x00 ; 0 |
| a22: 9f 93 push r25 |
| a24: 8f 93 push r24 |
| a26: 1f 92 push r1 |
| a28: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| a2c: 0f 90 pop r0 |
| a2e: 0f 90 pop r0 |
| a30: 0f 90 pop r0 |
| a32: 0e 94 13 21 call 0x4226 ; 0x4226 <SetNeutral> |
| a36: 28 98 cbi 0x05, 0 ; 5 |
| a38: 80 ed ldi r24, 0xD0 ; 208 |
| a3a: 97 e0 ldi r25, 0x07 ; 7 |
| a3c: 90 93 a7 01 sts 0x01A7, r25 |
| a40: 80 93 a6 01 sts 0x01A6, r24 |
| a44: 88 ee ldi r24, 0xE8 ; 232 |
| a46: 93 e0 ldi r25, 0x03 ; 3 |
| a48: 90 93 a9 03 sts 0x03A9, r25 |
| a4c: 80 93 a8 03 sts 0x03A8, r24 |
| a50: 85 e5 ldi r24, 0x55 ; 85 |
| a52: 80 93 a3 03 sts 0x03A3, r24 |
| a56: 8a ee ldi r24, 0xEA ; 234 |
| a58: 90 e0 ldi r25, 0x00 ; 0 |
| a5a: 9f 93 push r25 |
| a5c: 8f 93 push r24 |
| a5e: 1f 92 push r1 |
| a60: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| a64: 80 91 e2 04 lds r24, 0x04E2 |
| a68: 0f 90 pop r0 |
| a6a: 0f 90 pop r0 |
| a6c: 0f 90 pop r0 |
| a6e: 82 ff sbrs r24, 2 |
| a70: 03 c0 rjmp .+6 ; 0xa78 <main+0x2aa> |
| a72: 8e ed ldi r24, 0xDE ; 222 |
| a74: 90 e0 ldi r25, 0x00 ; 0 |
| a76: 02 c0 rjmp .+4 ; 0xa7c <main+0x2ae> |
| a78: 86 ed ldi r24, 0xD6 ; 214 |
| a7a: 90 e0 ldi r25, 0x00 ; 0 |
| a7c: 9f 93 push r25 |
| a7e: 8f 93 push r24 |
| a80: 1f 92 push r1 |
| a82: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| a86: 0f 90 pop r0 |
| a88: 0f 90 pop r0 |
| a8a: 0f 90 pop r0 |
| a8c: 82 ed ldi r24, 0xD2 ; 210 |
| a8e: 90 e0 ldi r25, 0x00 ; 0 |
| a90: 9f 93 push r25 |
| a92: 8f 93 push r24 |
| a94: 1f 92 push r1 |
| a96: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| a9a: 0e 94 52 10 call 0x20a4 ; 0x20a4 <LcdClear> |
| a9e: 0f 90 pop r0 |
| aa0: 0f 90 pop r0 |
| aa2: 0f 90 pop r0 |
| aa4: 80 91 a5 01 lds r24, 0x01A5 |
| aa8: 88 23 and r24, r24 |
| aaa: 79 f1 breq .+94 ; 0xb0a <main+0x33c> |
| aac: 10 92 a5 01 sts 0x01A5, r1 |
| ab0: 0e 94 5e 22 call 0x44bc ; 0x44bc <MotorRegler> |
| ab4: 0e 94 cc 20 call 0x4198 ; 0x4198 <SendMotorData> |
| ab8: 28 98 cbi 0x05, 0 ; 5 |
| aba: 80 91 01 01 lds r24, 0x0101 |
| abe: 88 23 and r24, r24 |
| ac0: 19 f0 breq .+6 ; 0xac8 <main+0x2fa> |
| ac2: 81 50 subi r24, 0x01 ; 1 |
| ac4: 80 93 01 01 sts 0x0101, r24 |
| ac8: 80 91 1c 02 lds r24, 0x021C |
| acc: 88 23 and r24, r24 |
| ace: 29 f0 breq .+10 ; 0xada <main+0x30c> |
| ad0: 80 91 1c 02 lds r24, 0x021C |
| ad4: 81 50 subi r24, 0x01 ; 1 |
| ad6: 80 93 1c 02 sts 0x021C, r24 |
| ada: 20 91 04 01 lds r18, 0x0104 |
| ade: 30 91 05 01 lds r19, 0x0105 |
| ae2: 80 91 f2 04 lds r24, 0x04F2 |
| ae6: 99 27 eor r25, r25 |
| ae8: 28 17 cp r18, r24 |
| aea: 39 07 cpc r19, r25 |
| aec: 34 f4 brge .+12 ; 0xafa <main+0x32c> |
| aee: 80 ed ldi r24, 0xD0 ; 208 |
| af0: 97 e0 ldi r25, 0x07 ; 7 |
| af2: 90 93 a7 01 sts 0x01A7, r25 |
| af6: 80 93 a6 01 sts 0x01A6, r24 |
| afa: 80 91 d2 01 lds r24, 0x01D2 |
| afe: 88 23 and r24, r24 |
| b00: 19 f4 brne .+6 ; 0xb08 <main+0x33a> |
| b02: 0e 94 46 18 call 0x308c ; 0x308c <i2c_init> |
| b06: 01 c0 rjmp .+2 ; 0xb0a <main+0x33c> |
| b08: 28 98 cbi 0x05, 0 ; 5 |
| b0a: 0e 94 bf 07 call 0xf7e ; 0xf7e <DatenUebertragung> |
| b0e: 0e 94 2d 08 call 0x105a ; 0x105a <BearbeiteRxDaten> |
| b12: 80 e0 ldi r24, 0x00 ; 0 |
| b14: 90 e0 ldi r25, 0x00 ; 0 |
| b16: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| b1a: 88 23 and r24, r24 |
| b1c: 19 f2 breq .-122 ; 0xaa4 <main+0x2d6> |
| b1e: 80 91 23 02 lds r24, 0x0223 |
| b22: 88 23 and r24, r24 |
| b24: 29 f0 breq .+10 ; 0xb30 <main+0x362> |
| b26: 88 b1 in r24, 0x08 ; 8 |
| b28: 90 e1 ldi r25, 0x10 ; 16 |
| b2a: 89 27 eor r24, r25 |
| b2c: 88 b9 out 0x08, r24 ; 8 |
| b2e: 01 c0 rjmp .+2 ; 0xb32 <main+0x364> |
| b30: 44 98 cbi 0x08, 4 ; 8 |
| b32: 84 ef ldi r24, 0xF4 ; 244 |
| b34: 91 e0 ldi r25, 0x01 ; 1 |
| b36: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| b3a: b4 cf rjmp .-152 ; 0xaa4 <main+0x2d6> |
| 00000b3c <__vector_22>: |
| b3c: 1f 92 push r1 |
| b3e: 0f 92 push r0 |
| b40: 0f b6 in r0, 0x3f ; 63 |
| b42: 0f 92 push r0 |
| b44: 11 24 eor r1, r1 |
| b46: 8f 93 push r24 |
| b48: 9f 93 push r25 |
| b4a: ef 93 push r30 |
| b4c: ff 93 push r31 |
| b4e: 80 91 00 01 lds r24, 0x0100 |
| b52: 88 23 and r24, r24 |
| b54: e1 f4 brne .+56 ; 0xb8e <__vector_22+0x52> |
| b56: 80 91 a1 01 lds r24, 0x01A1 |
| b5a: 90 91 a2 01 lds r25, 0x01A2 |
| b5e: 01 96 adiw r24, 0x01 ; 1 |
| b60: 90 93 a2 01 sts 0x01A2, r25 |
| b64: 80 93 a1 01 sts 0x01A1, r24 |
| b68: fc 01 movw r30, r24 |
| b6a: eb 58 subi r30, 0x8B ; 139 |
| b6c: fd 4f sbci r31, 0xFD ; 253 |
| b6e: e0 81 ld r30, Z |
| b70: ed 30 cpi r30, 0x0D ; 13 |
| b72: 19 f0 breq .+6 ; 0xb7a <__vector_22+0x3e> |
| b74: 86 39 cpi r24, 0x96 ; 150 |
| b76: 91 05 cpc r25, r1 |
| b78: 39 f4 brne .+14 ; 0xb88 <__vector_22+0x4c> |
| b7a: 10 92 a2 01 sts 0x01A2, r1 |
| b7e: 10 92 a1 01 sts 0x01A1, r1 |
| b82: 81 e0 ldi r24, 0x01 ; 1 |
| b84: 80 93 00 01 sts 0x0100, r24 |
| b88: e0 93 c6 00 sts 0x00C6, r30 |
| b8c: 04 c0 rjmp .+8 ; 0xb96 <__vector_22+0x5a> |
| b8e: 10 92 a2 01 sts 0x01A2, r1 |
| b92: 10 92 a1 01 sts 0x01A1, r1 |
| b96: ff 91 pop r31 |
| b98: ef 91 pop r30 |
| b9a: 9f 91 pop r25 |
| b9c: 8f 91 pop r24 |
| b9e: 0f 90 pop r0 |
| ba0: 0f be out 0x3f, r0 ; 63 |
| ba2: 0f 90 pop r0 |
| ba4: 1f 90 pop r1 |
| ba6: 18 95 reti |
| 00000ba8 <__vector_20>: |
| ba8: 1f 92 push r1 |
| baa: 0f 92 push r0 |
| bac: 0f b6 in r0, 0x3f ; 63 |
| bae: 0f 92 push r0 |
| bb0: 11 24 eor r1, r1 |
| bb2: 2f 93 push r18 |
| bb4: 3f 93 push r19 |
| bb6: 4f 93 push r20 |
| bb8: 8f 93 push r24 |
| bba: 9f 93 push r25 |
| bbc: af 93 push r26 |
| bbe: bf 93 push r27 |
| bc0: cf 93 push r28 |
| bc2: df 93 push r29 |
| bc4: ef 93 push r30 |
| bc6: ff 93 push r31 |
| bc8: 80 91 c6 00 lds r24, 0x00C6 |
| bcc: 80 93 90 01 sts 0x0190, r24 |
| bd0: 40 91 9c 01 lds r20, 0x019C |
| bd4: 46 39 cpi r20, 0x96 ; 150 |
| bd6: 10 f0 brcs .+4 ; 0xbdc <__vector_20+0x34> |
| bd8: 10 92 9b 01 sts 0x019B, r1 |
| bdc: 80 91 90 01 lds r24, 0x0190 |
| be0: 8d 30 cpi r24, 0x0D ; 13 |
| be2: 09 f0 breq .+2 ; 0xbe6 <__vector_20+0x3e> |
| be4: 5c c0 rjmp .+184 ; 0xc9e <__vector_20+0xf6> |
| be6: 80 91 9b 01 lds r24, 0x019B |
| bea: 82 30 cpi r24, 0x02 ; 2 |
| bec: 09 f0 breq .+2 ; 0xbf0 <__vector_20+0x48> |
| bee: 57 c0 rjmp .+174 ; 0xc9e <__vector_20+0xf6> |
| bf0: 10 92 9b 01 sts 0x019B, r1 |
| bf4: a4 2f mov r26, r20 |
| bf6: bb 27 eor r27, r27 |
| bf8: fd 01 movw r30, r26 |
| bfa: ea 54 subi r30, 0x4A ; 74 |
| bfc: fc 4f sbci r31, 0xFC ; 252 |
| bfe: 30 81 ld r19, Z |
| c00: ed 01 movw r28, r26 |
| c02: c9 54 subi r28, 0x49 ; 73 |
| c04: dc 4f sbci r29, 0xFC ; 252 |
| c06: 28 81 ld r18, Y |
| c08: 80 91 9f 01 lds r24, 0x019F |
| c0c: 90 91 a0 01 lds r25, 0x01A0 |
| c10: 83 1b sub r24, r19 |
| c12: 91 09 sbc r25, r1 |
| c14: 82 1b sub r24, r18 |
| c16: 91 09 sbc r25, r1 |
| c18: 9f 70 andi r25, 0x0F ; 15 |
| c1a: 90 93 a0 01 sts 0x01A0, r25 |
| c1e: 80 93 9f 01 sts 0x019F, r24 |
| c22: 9c 01 movw r18, r24 |
| c24: 96 e0 ldi r25, 0x06 ; 6 |
| c26: 36 95 lsr r19 |
| c28: 27 95 ror r18 |
| c2a: 9a 95 dec r25 |
| c2c: e1 f7 brne .-8 ; 0xc26 <__vector_20+0x7e> |
| c2e: 23 5c subi r18, 0xC3 ; 195 |
| c30: 20 93 9e 01 sts 0x019E, r18 |
| c34: 98 2f mov r25, r24 |
| c36: 9f 73 andi r25, 0x3F ; 63 |
| c38: 93 5c subi r25, 0xC3 ; 195 |
| c3a: 90 93 9d 01 sts 0x019D, r25 |
| c3e: 80 81 ld r24, Z |
| c40: 28 17 cp r18, r24 |
| c42: 29 f4 brne .+10 ; 0xc4e <__vector_20+0xa6> |
| c44: 88 81 ld r24, Y |
| c46: 98 17 cp r25, r24 |
| c48: 11 f4 brne .+4 ; 0xc4e <__vector_20+0xa6> |
| c4a: 91 e0 ldi r25, 0x01 ; 1 |
| c4c: 06 c0 rjmp .+12 ; 0xc5a <__vector_20+0xb2> |
| c4e: 80 91 93 01 lds r24, 0x0193 |
| c52: 8f 5f subi r24, 0xFF ; 255 |
| c54: 80 93 93 01 sts 0x0193, r24 |
| c58: 90 e0 ldi r25, 0x00 ; 0 |
| c5a: 80 91 91 01 lds r24, 0x0191 |
| c5e: 88 23 and r24, r24 |
| c60: 09 f0 breq .+2 ; 0xc64 <__vector_20+0xbc> |
| c62: 64 c0 rjmp .+200 ; 0xd2c <__vector_20+0x184> |
| c64: 99 23 and r25, r25 |
| c66: 09 f4 brne .+2 ; 0xc6a <__vector_20+0xc2> |
| c68: 61 c0 rjmp .+194 ; 0xd2c <__vector_20+0x184> |
| c6a: 81 e0 ldi r24, 0x01 ; 1 |
| c6c: 80 93 91 01 sts 0x0191, r24 |
| c70: 40 93 94 01 sts 0x0194, r20 |
| c74: a8 54 subi r26, 0x48 ; 72 |
| c76: bc 4f sbci r27, 0xFC ; 252 |
| c78: 8d e0 ldi r24, 0x0D ; 13 |
| c7a: 8c 93 st X, r24 |
| c7c: 80 91 ba 03 lds r24, 0x03BA |
| c80: 82 35 cpi r24, 0x52 ; 82 |
| c82: 09 f0 breq .+2 ; 0xc86 <__vector_20+0xde> |
| c84: 53 c0 rjmp .+166 ; 0xd2c <__vector_20+0x184> |
| c86: 88 e1 ldi r24, 0x18 ; 24 |
| c88: 90 e0 ldi r25, 0x00 ; 0 |
| c8a: 2c e0 ldi r18, 0x0C ; 12 |
| c8c: 0f b6 in r0, 0x3f ; 63 |
| c8e: f8 94 cli |
| c90: a8 95 wdr |
| c92: 80 93 60 00 sts 0x0060, r24 |
| c96: 0f be out 0x3f, r0 ; 63 |
| c98: 20 93 60 00 sts 0x0060, r18 |
| c9c: 47 c0 rjmp .+142 ; 0xd2c <__vector_20+0x184> |
| c9e: 80 91 9b 01 lds r24, 0x019B |
| ca2: 81 30 cpi r24, 0x01 ; 1 |
| ca4: d9 f0 breq .+54 ; 0xcdc <__vector_20+0x134> |
| ca6: 81 30 cpi r24, 0x01 ; 1 |
| ca8: 18 f0 brcs .+6 ; 0xcb0 <__vector_20+0x108> |
| caa: 82 30 cpi r24, 0x02 ; 2 |
| cac: e9 f5 brne .+122 ; 0xd28 <__vector_20+0x180> |
| cae: 30 c0 rjmp .+96 ; 0xd10 <__vector_20+0x168> |
| cb0: 80 91 90 01 lds r24, 0x0190 |
| cb4: 83 32 cpi r24, 0x23 ; 35 |
| cb6: 39 f4 brne .+14 ; 0xcc6 <__vector_20+0x11e> |
| cb8: 80 91 91 01 lds r24, 0x0191 |
| cbc: 88 23 and r24, r24 |
| cbe: 19 f4 brne .+6 ; 0xcc6 <__vector_20+0x11e> |
| cc0: 81 e0 ldi r24, 0x01 ; 1 |
| cc2: 80 93 9b 01 sts 0x019B, r24 |
| cc6: 80 91 90 01 lds r24, 0x0190 |
| cca: 80 93 b8 03 sts 0x03B8, r24 |
| cce: 81 e0 ldi r24, 0x01 ; 1 |
| cd0: 80 93 9c 01 sts 0x019C, r24 |
| cd4: 80 91 90 01 lds r24, 0x0190 |
| cd8: 99 27 eor r25, r25 |
| cda: 15 c0 rjmp .+42 ; 0xd06 <__vector_20+0x15e> |
| cdc: 82 e0 ldi r24, 0x02 ; 2 |
| cde: 80 93 9b 01 sts 0x019B, r24 |
| ce2: e4 2f mov r30, r20 |
| ce4: ff 27 eor r31, r31 |
| ce6: 80 91 90 01 lds r24, 0x0190 |
| cea: e8 54 subi r30, 0x48 ; 72 |
| cec: fc 4f sbci r31, 0xFC ; 252 |
| cee: 80 83 st Z, r24 |
| cf0: 4f 5f subi r20, 0xFF ; 255 |
| cf2: 40 93 9c 01 sts 0x019C, r20 |
| cf6: 20 91 90 01 lds r18, 0x0190 |
| cfa: 80 91 9f 01 lds r24, 0x019F |
| cfe: 90 91 a0 01 lds r25, 0x01A0 |
| d02: 82 0f add r24, r18 |
| d04: 91 1d adc r25, r1 |
| d06: 90 93 a0 01 sts 0x01A0, r25 |
| d0a: 80 93 9f 01 sts 0x019F, r24 |
| d0e: 0e c0 rjmp .+28 ; 0xd2c <__vector_20+0x184> |
| d10: e4 2f mov r30, r20 |
| d12: ff 27 eor r31, r31 |
| d14: 80 91 90 01 lds r24, 0x0190 |
| d18: e8 54 subi r30, 0x48 ; 72 |
| d1a: fc 4f sbci r31, 0xFC ; 252 |
| d1c: 80 83 st Z, r24 |
| d1e: 46 39 cpi r20, 0x96 ; 150 |
| d20: 38 f3 brcs .-50 ; 0xcf0 <__vector_20+0x148> |
| d22: 10 92 9b 01 sts 0x019B, r1 |
| d26: e7 cf rjmp .-50 ; 0xcf6 <__vector_20+0x14e> |
| d28: 10 92 9b 01 sts 0x019B, r1 |
| d2c: ff 91 pop r31 |
| d2e: ef 91 pop r30 |
| d30: df 91 pop r29 |
| d32: cf 91 pop r28 |
| d34: bf 91 pop r27 |
| d36: af 91 pop r26 |
| d38: 9f 91 pop r25 |
| d3a: 8f 91 pop r24 |
| d3c: 4f 91 pop r20 |
| d3e: 3f 91 pop r19 |
| d40: 2f 91 pop r18 |
| d42: 0f 90 pop r0 |
| d44: 0f be out 0x3f, r0 ; 63 |
| d46: 0f 90 pop r0 |
| d48: 1f 90 pop r1 |
| d4a: 18 95 reti |
| 00000d4c <AddCRC>: |
| d4c: dc 01 movw r26, r24 |
| d4e: 20 e0 ldi r18, 0x00 ; 0 |
| d50: 30 e0 ldi r19, 0x00 ; 0 |
| d52: 40 e0 ldi r20, 0x00 ; 0 |
| d54: 50 e0 ldi r21, 0x00 ; 0 |
| d56: e5 e7 ldi r30, 0x75 ; 117 |
| d58: f2 e0 ldi r31, 0x02 ; 2 |
| d5a: 05 c0 rjmp .+10 ; 0xd66 <AddCRC+0x1a> |
| d5c: 81 91 ld r24, Z+ |
| d5e: 28 0f add r18, r24 |
| d60: 31 1d adc r19, r1 |
| d62: 4f 5f subi r20, 0xFF ; 255 |
| d64: 5f 4f sbci r21, 0xFF ; 255 |
| d66: 4a 17 cp r20, r26 |
| d68: 5b 07 cpc r21, r27 |
| d6a: c1 f7 brne .-16 ; 0xd5c <AddCRC+0x10> |
| d6c: 3f 70 andi r19, 0x0F ; 15 |
| d6e: c9 01 movw r24, r18 |
| d70: 36 e0 ldi r19, 0x06 ; 6 |
| d72: 96 95 lsr r25 |
| d74: 87 95 ror r24 |
| d76: 3a 95 dec r19 |
| d78: e1 f7 brne .-8 ; 0xd72 <AddCRC+0x26> |
| d7a: 83 5c subi r24, 0xC3 ; 195 |
| d7c: fd 01 movw r30, r26 |
| d7e: eb 58 subi r30, 0x8B ; 139 |
| d80: fd 4f sbci r31, 0xFD ; 253 |
| d82: 80 83 st Z, r24 |
| d84: 11 96 adiw r26, 0x01 ; 1 |
| d86: 2f 73 andi r18, 0x3F ; 63 |
| d88: 23 5c subi r18, 0xC3 ; 195 |
| d8a: fd 01 movw r30, r26 |
| d8c: eb 58 subi r30, 0x8B ; 139 |
| d8e: fd 4f sbci r31, 0xFD ; 253 |
| d90: 20 83 st Z, r18 |
| d92: aa 58 subi r26, 0x8A ; 138 |
| d94: bd 4f sbci r27, 0xFD ; 253 |
| d96: 8d e0 ldi r24, 0x0D ; 13 |
| d98: 8c 93 st X, r24 |
| d9a: 10 92 00 01 sts 0x0100, r1 |
| d9e: 80 91 75 02 lds r24, 0x0275 |
| da2: 80 93 c6 00 sts 0x00C6, r24 |
| da6: 08 95 ret |
| 00000da8 <SendOutData>: |
| da8: ef 92 push r14 |
| daa: ff 92 push r15 |
| dac: 0f 93 push r16 |
| dae: 1f 93 push r17 |
| db0: cf 93 push r28 |
| db2: df 93 push r29 |
| db4: 7a 01 movw r14, r20 |
| db6: 72 2f mov r23, r18 |
| db8: 93 e2 ldi r25, 0x23 ; 35 |
| dba: 90 93 75 02 sts 0x0275, r25 |
| dbe: 60 93 76 02 sts 0x0276, r22 |
| dc2: 80 93 77 02 sts 0x0277, r24 |
| dc6: 03 e0 ldi r16, 0x03 ; 3 |
| dc8: 10 e0 ldi r17, 0x00 ; 0 |
| dca: 60 e0 ldi r22, 0x00 ; 0 |
| dcc: a8 e7 ldi r26, 0x78 ; 120 |
| dce: b2 e0 ldi r27, 0x02 ; 2 |
| dd0: 46 c0 rjmp .+140 ; 0xe5e <SendOutData+0xb6> |
| dd2: f7 01 movw r30, r14 |
| dd4: e6 0f add r30, r22 |
| dd6: f1 1d adc r31, r1 |
| dd8: 90 81 ld r25, Z |
| dda: 6f 5f subi r22, 0xFF ; 255 |
| ddc: 71 50 subi r23, 0x01 ; 1 |
| dde: 19 f4 brne .+6 ; 0xde6 <SendOutData+0x3e> |
| de0: e0 e0 ldi r30, 0x00 ; 0 |
| de2: 40 e0 ldi r20, 0x00 ; 0 |
| de4: 0f c0 rjmp .+30 ; 0xe04 <SendOutData+0x5c> |
| de6: f7 01 movw r30, r14 |
| de8: e6 0f add r30, r22 |
| dea: f1 1d adc r31, r1 |
| dec: 40 81 ld r20, Z |
| dee: 6f 5f subi r22, 0xFF ; 255 |
| df0: 71 50 subi r23, 0x01 ; 1 |
| df2: 11 f4 brne .+4 ; 0xdf8 <SendOutData+0x50> |
| df4: e0 e0 ldi r30, 0x00 ; 0 |
| df6: 06 c0 rjmp .+12 ; 0xe04 <SendOutData+0x5c> |
| df8: f7 01 movw r30, r14 |
| dfa: e6 0f add r30, r22 |
| dfc: f1 1d adc r31, r1 |
| dfe: e0 81 ld r30, Z |
| e00: 6f 5f subi r22, 0xFF ; 255 |
| e02: 71 50 subi r23, 0x01 ; 1 |
| e04: 89 2f mov r24, r25 |
| e06: 86 95 lsr r24 |
| e08: 86 95 lsr r24 |
| e0a: 83 5c subi r24, 0xC3 ; 195 |
| e0c: 8c 93 st X, r24 |
| e0e: 55 27 eor r21, r21 |
| e10: 89 2f mov r24, r25 |
| e12: 99 27 eor r25, r25 |
| e14: 83 70 andi r24, 0x03 ; 3 |
| e16: 90 70 andi r25, 0x00 ; 0 |
| e18: 24 e0 ldi r18, 0x04 ; 4 |
| e1a: 88 0f add r24, r24 |
| e1c: 99 1f adc r25, r25 |
| e1e: 2a 95 dec r18 |
| e20: e1 f7 brne .-8 ; 0xe1a <SendOutData+0x72> |
| e22: 9a 01 movw r18, r20 |
| e24: 94 e0 ldi r25, 0x04 ; 4 |
| e26: 36 95 lsr r19 |
| e28: 27 95 ror r18 |
| e2a: 9a 95 dec r25 |
| e2c: e1 f7 brne .-8 ; 0xe26 <SendOutData+0x7e> |
| e2e: 82 2b or r24, r18 |
| e30: 83 5c subi r24, 0xC3 ; 195 |
| e32: ed 01 movw r28, r26 |
| e34: 89 83 std Y+1, r24 ; 0x01 |
| e36: 4f 70 andi r20, 0x0F ; 15 |
| e38: 50 70 andi r21, 0x00 ; 0 |
| e3a: 44 0f add r20, r20 |
| e3c: 55 1f adc r21, r21 |
| e3e: 44 0f add r20, r20 |
| e40: 55 1f adc r21, r21 |
| e42: 8e 2f mov r24, r30 |
| e44: 82 95 swap r24 |
| e46: 86 95 lsr r24 |
| e48: 86 95 lsr r24 |
| e4a: 83 70 andi r24, 0x03 ; 3 |
| e4c: 84 2b or r24, r20 |
| e4e: 83 5c subi r24, 0xC3 ; 195 |
| e50: 8a 83 std Y+2, r24 ; 0x02 |
| e52: ef 73 andi r30, 0x3F ; 63 |
| e54: e3 5c subi r30, 0xC3 ; 195 |
| e56: eb 83 std Y+3, r30 ; 0x03 |
| e58: 0c 5f subi r16, 0xFC ; 252 |
| e5a: 1f 4f sbci r17, 0xFF ; 255 |
| e5c: 14 96 adiw r26, 0x04 ; 4 |
| e5e: 77 23 and r23, r23 |
| e60: 09 f0 breq .+2 ; 0xe64 <SendOutData+0xbc> |
| e62: b7 cf rjmp .-146 ; 0xdd2 <SendOutData+0x2a> |
| e64: c8 01 movw r24, r16 |
| e66: 0e 94 a6 06 call 0xd4c ; 0xd4c <AddCRC> |
| e6a: e6 e0 ldi r30, 0x06 ; 6 |
| e6c: cd b7 in r28, 0x3d ; 61 |
| e6e: de b7 in r29, 0x3e ; 62 |
| e70: 0c 94 0a 2f jmp 0x5e14 ; 0x5e14 <__epilogue_restores__+0x18> |
| 00000e74 <Decode64>: |
| e74: 1f 93 push r17 |
| e76: cf 93 push r28 |
| e78: df 93 push r29 |
| e7a: ec 01 movw r28, r24 |
| e7c: 70 e0 ldi r23, 0x00 ; 0 |
| e7e: a2 2f mov r26, r18 |
| e80: bb 27 eor r27, r27 |
| e82: 12 97 sbiw r26, 0x02 ; 2 |
| e84: 48 c0 rjmp .+144 ; 0xf16 <Decode64+0xa2> |
| e86: e4 2f mov r30, r20 |
| e88: ff 27 eor r31, r31 |
| e8a: e8 54 subi r30, 0x48 ; 72 |
| e8c: fc 4f sbci r31, 0xFC ; 252 |
| e8e: 30 81 ld r19, Z |
| e90: 4f 5f subi r20, 0xFF ; 255 |
| e92: e4 2f mov r30, r20 |
| e94: ff 27 eor r31, r31 |
| e96: e8 54 subi r30, 0x48 ; 72 |
| e98: fc 4f sbci r31, 0xFC ; 252 |
| e9a: 50 81 ld r21, Z |
| e9c: 4f 5f subi r20, 0xFF ; 255 |
| e9e: e4 2f mov r30, r20 |
| ea0: ff 27 eor r31, r31 |
| ea2: e8 54 subi r30, 0x48 ; 72 |
| ea4: fc 4f sbci r31, 0xFC ; 252 |
| ea6: 10 81 ld r17, Z |
| ea8: 4f 5f subi r20, 0xFF ; 255 |
| eaa: e4 2f mov r30, r20 |
| eac: ff 27 eor r31, r31 |
| eae: e8 54 subi r30, 0x48 ; 72 |
| eb0: fc 4f sbci r31, 0xFC ; 252 |
| eb2: 20 81 ld r18, Z |
| eb4: 4f 5f subi r20, 0xFF ; 255 |
| eb6: 84 2f mov r24, r20 |
| eb8: 99 27 eor r25, r25 |
| eba: a8 17 cp r26, r24 |
| ebc: b9 07 cpc r27, r25 |
| ebe: 74 f1 brlt .+92 ; 0xf1c <Decode64+0xa8> |
| ec0: 5d 53 subi r21, 0x3D ; 61 |
| ec2: fe 01 movw r30, r28 |
| ec4: e7 0f add r30, r23 |
| ec6: f1 1d adc r31, r1 |
| ec8: 3d 53 subi r19, 0x3D ; 61 |
| eca: 33 0f add r19, r19 |
| ecc: 33 0f add r19, r19 |
| ece: 85 2f mov r24, r21 |
| ed0: 82 95 swap r24 |
| ed2: 8f 70 andi r24, 0x0F ; 15 |
| ed4: 38 2b or r19, r24 |
| ed6: 30 83 st Z, r19 |
| ed8: 61 30 cpi r22, 0x01 ; 1 |
| eda: 01 f1 breq .+64 ; 0xf1c <Decode64+0xa8> |
| edc: 91 2f mov r25, r17 |
| ede: 9d 53 subi r25, 0x3D ; 61 |
| ee0: 7f 5f subi r23, 0xFF ; 255 |
| ee2: fe 01 movw r30, r28 |
| ee4: e7 0f add r30, r23 |
| ee6: f1 1d adc r31, r1 |
| ee8: 71 50 subi r23, 0x01 ; 1 |
| eea: 52 95 swap r21 |
| eec: 50 7f andi r21, 0xF0 ; 240 |
| eee: 89 2f mov r24, r25 |
| ef0: 86 95 lsr r24 |
| ef2: 86 95 lsr r24 |
| ef4: 58 2b or r21, r24 |
| ef6: 50 83 st Z, r21 |
| ef8: 63 50 subi r22, 0x03 ; 3 |
| efa: 6f 3f cpi r22, 0xFF ; 255 |
| efc: 79 f0 breq .+30 ; 0xf1c <Decode64+0xa8> |
| efe: 7e 5f subi r23, 0xFE ; 254 |
| f00: fe 01 movw r30, r28 |
| f02: e7 0f add r30, r23 |
| f04: f1 1d adc r31, r1 |
| f06: 92 95 swap r25 |
| f08: 99 0f add r25, r25 |
| f0a: 99 0f add r25, r25 |
| f0c: 90 7c andi r25, 0xC0 ; 192 |
| f0e: 2d 53 subi r18, 0x3D ; 61 |
| f10: 92 2b or r25, r18 |
| f12: 90 83 st Z, r25 |
| f14: 7f 5f subi r23, 0xFF ; 255 |
| f16: 66 23 and r22, r22 |
| f18: 09 f0 breq .+2 ; 0xf1c <Decode64+0xa8> |
| f1a: b5 cf rjmp .-150 ; 0xe86 <Decode64+0x12> |
| f1c: df 91 pop r29 |
| f1e: cf 91 pop r28 |
| f20: 1f 91 pop r17 |
| f22: 08 95 ret |
| 00000f24 <uart_putchar>: |
| f24: 1f 93 push r17 |
| f26: 18 2f mov r17, r24 |
| f28: 8a 30 cpi r24, 0x0A ; 10 |
| f2a: 19 f4 brne .+6 ; 0xf32 <uart_putchar+0xe> |
| f2c: 8d e0 ldi r24, 0x0D ; 13 |
| f2e: 0e 94 92 07 call 0xf24 ; 0xf24 <uart_putchar> |
| f32: 80 91 c0 00 lds r24, 0x00C0 |
| f36: 85 ff sbrs r24, 5 |
| f38: fc cf rjmp .-8 ; 0xf32 <uart_putchar+0xe> |
| f3a: 10 93 c6 00 sts 0x00C6, r17 |
| f3e: 80 e0 ldi r24, 0x00 ; 0 |
| f40: 90 e0 ldi r25, 0x00 ; 0 |
| f42: 1f 91 pop r17 |
| f44: 08 95 ret |
| 00000f46 <WriteProgramData>: |
| f46: 08 95 ret |
| 00000f48 <UART_Init>: |
| f48: e1 ec ldi r30, 0xC1 ; 193 |
| f4a: f0 e0 ldi r31, 0x00 ; 0 |
| f4c: 88 e1 ldi r24, 0x18 ; 24 |
| f4e: 80 83 st Z, r24 |
| f50: a0 ec ldi r26, 0xC0 ; 192 |
| f52: b0 e0 ldi r27, 0x00 ; 0 |
| f54: 8c 91 ld r24, X |
| f56: 82 60 ori r24, 0x02 ; 2 |
| f58: 8c 93 st X, r24 |
| f5a: 80 81 ld r24, Z |
| f5c: 80 68 ori r24, 0x80 ; 128 |
| f5e: 80 83 st Z, r24 |
| f60: 80 81 ld r24, Z |
| f62: 80 64 ori r24, 0x40 ; 64 |
| f64: 80 83 st Z, r24 |
| f66: 8a e2 ldi r24, 0x2A ; 42 |
| f68: 80 93 c4 00 sts 0x00C4, r24 |
| f6c: 88 ec ldi r24, 0xC8 ; 200 |
| f6e: 90 e0 ldi r25, 0x00 ; 0 |
| f70: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| f74: 90 93 a2 03 sts 0x03A2, r25 |
| f78: 80 93 a1 03 sts 0x03A1, r24 |
| f7c: 08 95 ret |
| 00000f7e <DatenUebertragung>: |
| f7e: 80 91 00 01 lds r24, 0x0100 |
| f82: 88 23 and r24, r24 |
| f84: 09 f4 brne .+2 ; 0xf88 <DatenUebertragung+0xa> |
| f86: 68 c0 rjmp .+208 ; 0x1058 <DatenUebertragung+0xda> |
| f88: 80 91 8c 01 lds r24, 0x018C |
| f8c: 88 23 and r24, r24 |
| f8e: 71 f0 breq .+28 ; 0xfac <DatenUebertragung+0x2e> |
| f90: 80 91 00 01 lds r24, 0x0100 |
| f94: 88 23 and r24, r24 |
| f96: 51 f0 breq .+20 ; 0xfac <DatenUebertragung+0x2e> |
| f98: 2b e0 ldi r18, 0x0B ; 11 |
| f9a: 43 ea ldi r20, 0xA3 ; 163 |
| f9c: 53 e0 ldi r21, 0x03 ; 3 |
| f9e: 60 91 74 02 lds r22, 0x0274 |
| fa2: 87 e4 ldi r24, 0x47 ; 71 |
| fa4: 0e 94 d4 06 call 0xda8 ; 0xda8 <SendOutData> |
| fa8: 10 92 8c 01 sts 0x018C, r1 |
| fac: 80 91 a1 03 lds r24, 0x03A1 |
| fb0: 90 91 a2 03 lds r25, 0x03A2 |
| fb4: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| fb8: 88 23 and r24, r24 |
| fba: 21 f4 brne .+8 ; 0xfc4 <DatenUebertragung+0x46> |
| fbc: 80 91 8e 01 lds r24, 0x018E |
| fc0: 88 23 and r24, r24 |
| fc2: b1 f0 breq .+44 ; 0xff0 <DatenUebertragung+0x72> |
| fc4: 80 91 00 01 lds r24, 0x0100 |
| fc8: 88 23 and r24, r24 |
| fca: 91 f0 breq .+36 ; 0xff0 <DatenUebertragung+0x72> |
| fcc: 22 e3 ldi r18, 0x32 ; 50 |
| fce: 4e e4 ldi r20, 0x4E ; 78 |
| fd0: 54 e0 ldi r21, 0x04 ; 4 |
| fd2: 60 91 74 02 lds r22, 0x0274 |
| fd6: 84 e4 ldi r24, 0x44 ; 68 |
| fd8: 0e 94 d4 06 call 0xda8 ; 0xda8 <SendOutData> |
| fdc: 10 92 8e 01 sts 0x018E, r1 |
| fe0: 8a ef ldi r24, 0xFA ; 250 |
| fe2: 90 e0 ldi r25, 0x00 ; 0 |
| fe4: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| fe8: 90 93 a2 03 sts 0x03A2, r25 |
| fec: 80 93 a1 03 sts 0x03A1, r24 |
| ff0: 80 91 8d 01 lds r24, 0x018D |
| ff4: 88 23 and r24, r24 |
| ff6: f1 f0 breq .+60 ; 0x1034 <DatenUebertragung+0xb6> |
| ff8: 80 91 00 01 lds r24, 0x0100 |
| ffc: 88 23 and r24, r24 |
| ffe: d1 f0 breq .+52 ; 0x1034 <DatenUebertragung+0xb6> |
| 1000: 0e 94 5b 10 call 0x20b6 ; 0x20b6 <Menu> |
| 1004: 10 92 8d 01 sts 0x018D, r1 |
| 1008: 80 91 9a 01 lds r24, 0x019A |
| 100c: 8f 5f subi r24, 0xFF ; 255 |
| 100e: 80 93 9a 01 sts 0x019A, r24 |
| 1012: 84 30 cpi r24, 0x04 ; 4 |
| 1014: 11 f4 brne .+4 ; 0x101a <DatenUebertragung+0x9c> |
| 1016: 10 92 9a 01 sts 0x019A, r1 |
| 101a: 80 91 9a 01 lds r24, 0x019A |
| 101e: 44 e1 ldi r20, 0x14 ; 20 |
| 1020: 84 9f mul r24, r20 |
| 1022: a0 01 movw r20, r0 |
| 1024: 11 24 eor r1, r1 |
| 1026: 4a 5e subi r20, 0xEA ; 234 |
| 1028: 5e 4f sbci r21, 0xFE ; 254 |
| 102a: 24 e1 ldi r18, 0x14 ; 20 |
| 102c: 60 e0 ldi r22, 0x00 ; 0 |
| 102e: 80 5d subi r24, 0xD0 ; 208 |
| 1030: 0e 94 d4 06 call 0xda8 ; 0xda8 <SendOutData> |
| 1034: 80 91 8f 01 lds r24, 0x018F |
| 1038: 88 23 and r24, r24 |
| 103a: 71 f0 breq .+28 ; 0x1058 <DatenUebertragung+0xda> |
| 103c: 80 91 00 01 lds r24, 0x0100 |
| 1040: 88 23 and r24, r24 |
| 1042: 51 f0 breq .+20 ; 0x1058 <DatenUebertragung+0xda> |
| 1044: 2a e0 ldi r18, 0x0A ; 10 |
| 1046: 4e ea ldi r20, 0xAE ; 174 |
| 1048: 53 e0 ldi r21, 0x03 ; 3 |
| 104a: 60 91 74 02 lds r22, 0x0274 |
| 104e: 86 e5 ldi r24, 0x56 ; 86 |
| 1050: 0e 94 d4 06 call 0xda8 ; 0xda8 <SendOutData> |
| 1054: 10 92 8f 01 sts 0x018F, r1 |
| 1058: 08 95 ret |
| 0000105a <BearbeiteRxDaten>: |
| 105a: a2 e0 ldi r26, 0x02 ; 2 |
| 105c: b0 e0 ldi r27, 0x00 ; 0 |
| 105e: e3 e3 ldi r30, 0x33 ; 51 |
| 1060: f8 e0 ldi r31, 0x08 ; 8 |
| 1062: 0c 94 f1 2e jmp 0x5de2 ; 0x5de2 <__prologue_saves__+0x1e> |
| 1066: 80 91 91 01 lds r24, 0x0191 |
| 106a: 88 23 and r24, r24 |
| 106c: 09 f4 brne .+2 ; 0x1070 <BearbeiteRxDaten+0x16> |
| 106e: 8f c0 rjmp .+286 ; 0x118e <__stack+0x8f> |
| 1070: 8f ef ldi r24, 0xFF ; 255 |
| 1072: 80 93 01 01 sts 0x0101, r24 |
| 1076: 80 91 ba 03 lds r24, 0x03BA |
| 107a: 99 27 eor r25, r25 |
| 107c: aa 27 eor r26, r26 |
| 107e: bb 27 eor r27, r27 |
| 1080: fc 01 movw r30, r24 |
| 1082: e3 56 subi r30, 0x63 ; 99 |
| 1084: f0 40 sbci r31, 0x00 ; 0 |
| 1086: e4 31 cpi r30, 0x14 ; 20 |
| 1088: f1 05 cpc r31, r1 |
| 108a: 08 f0 brcs .+2 ; 0x108e <BearbeiteRxDaten+0x34> |
| 108c: 7e c0 rjmp .+252 ; 0x118a <__stack+0x8b> |
| 108e: e8 5c subi r30, 0xC8 ; 200 |
| 1090: ff 4f sbci r31, 0xFF ; 255 |
| 1092: 0c 94 19 2f jmp 0x5e32 ; 0x5e32 <__tablejump2__> |
| 1096: 20 91 94 01 lds r18, 0x0194 |
| 109a: 43 e0 ldi r20, 0x03 ; 3 |
| 109c: 6b e0 ldi r22, 0x0B ; 11 |
| 109e: 83 ea ldi r24, 0xA3 ; 163 |
| 10a0: 93 e0 ldi r25, 0x03 ; 3 |
| 10a2: 0e 94 3a 07 call 0xe74 ; 0xe74 <Decode64> |
| 10a6: 80 91 c8 01 lds r24, 0x01C8 |
| 10aa: 90 91 a5 03 lds r25, 0x03A5 |
| 10ae: 89 2b or r24, r25 |
| 10b0: 80 93 c8 01 sts 0x01C8, r24 |
| 10b4: 81 e0 ldi r24, 0x01 ; 1 |
| 10b6: 80 93 8e 01 sts 0x018E, r24 |
| 10ba: 67 c0 rjmp .+206 ; 0x118a <__stack+0x8b> |
| 10bc: 20 91 94 01 lds r18, 0x0194 |
| 10c0: 43 e0 ldi r20, 0x03 ; 3 |
| 10c2: 62 e0 ldi r22, 0x02 ; 2 |
| 10c4: ce 01 movw r24, r28 |
| 10c6: 01 96 adiw r24, 0x01 ; 1 |
| 10c8: 0e 94 3a 07 call 0xe74 ; 0xe74 <Decode64> |
| 10cc: 80 91 c8 01 lds r24, 0x01C8 |
| 10d0: 99 81 ldd r25, Y+1 ; 0x01 |
| 10d2: 89 2b or r24, r25 |
| 10d4: 80 93 c8 01 sts 0x01C8, r24 |
| 10d8: 81 e0 ldi r24, 0x01 ; 1 |
| 10da: 80 93 8d 01 sts 0x018D, r24 |
| 10de: 55 c0 rjmp .+170 ; 0x118a <__stack+0x8b> |
| 10e0: 20 91 94 01 lds r18, 0x0194 |
| 10e4: 43 e0 ldi r20, 0x03 ; 3 |
| 10e6: 64 e0 ldi r22, 0x04 ; 4 |
| 10e8: 86 e9 ldi r24, 0x96 ; 150 |
| 10ea: 91 e0 ldi r25, 0x01 ; 1 |
| 10ec: 0e 94 3a 07 call 0xe74 ; 0xe74 <Decode64> |
| 10f0: 4c c0 rjmp .+152 ; 0x118a <__stack+0x8b> |
| 10f2: 81 e0 ldi r24, 0x01 ; 1 |
| 10f4: 80 93 8f 01 sts 0x018F, r24 |
| 10f8: 48 c0 rjmp .+144 ; 0x118a <__stack+0x8b> |
| 10fa: 81 e0 ldi r24, 0x01 ; 1 |
| 10fc: 80 93 8c 01 sts 0x018C, r24 |
| 1100: 44 c0 rjmp .+136 ; 0x118a <__stack+0x8b> |
| 1102: 20 91 94 01 lds r18, 0x0194 |
| 1106: 43 e0 ldi r20, 0x03 ; 3 |
| 1108: 62 e0 ldi r22, 0x02 ; 2 |
| 110a: ce 01 movw r24, r28 |
| 110c: 01 96 adiw r24, 0x01 ; 1 |
| 110e: 0e 94 3a 07 call 0xe74 ; 0xe74 <Decode64> |
| 1112: 89 81 ldd r24, Y+1 ; 0x01 |
| 1114: 8f 3f cpi r24, 0xFF ; 255 |
| 1116: 89 f0 breq .+34 ; 0x113a <__stack+0x3b> |
| 1118: 86 30 cpi r24, 0x06 ; 6 |
| 111a: 10 f0 brcs .+4 ; 0x1120 <__stack+0x21> |
| 111c: 85 e0 ldi r24, 0x05 ; 5 |
| 111e: 89 83 std Y+1, r24 ; 0x01 |
| 1120: 4a e3 ldi r20, 0x3A ; 58 |
| 1122: 6a ed ldi r22, 0xDA ; 218 |
| 1124: 74 e0 ldi r23, 0x04 ; 4 |
| 1126: 89 81 ldd r24, Y+1 ; 0x01 |
| 1128: 0e 94 d2 03 call 0x7a4 ; 0x7a4 <ReadParameterSet> |
| 112c: 89 81 ldd r24, Y+1 ; 0x01 |
| 112e: 2a e3 ldi r18, 0x3A ; 58 |
| 1130: 4a ed ldi r20, 0xDA ; 218 |
| 1132: 54 e0 ldi r21, 0x04 ; 4 |
| 1134: 60 91 74 02 lds r22, 0x0274 |
| 1138: 08 c0 rjmp .+16 ; 0x114a <__stack+0x4b> |
| 113a: 10 91 74 02 lds r17, 0x0274 |
| 113e: 0e 94 b1 03 call 0x762 ; 0x762 <GetActiveParamSetNumber> |
| 1142: 2a e3 ldi r18, 0x3A ; 58 |
| 1144: 4a ed ldi r20, 0xDA ; 218 |
| 1146: 54 e0 ldi r21, 0x04 ; 4 |
| 1148: 61 2f mov r22, r17 |
| 114a: 85 5b subi r24, 0xB5 ; 181 |
| 114c: 0e 94 d4 06 call 0xda8 ; 0xda8 <SendOutData> |
| 1150: 1c c0 rjmp .+56 ; 0x118a <__stack+0x8b> |
| 1152: 20 91 94 01 lds r18, 0x0194 |
| 1156: 43 e0 ldi r20, 0x03 ; 3 |
| 1158: 6a e3 ldi r22, 0x3A ; 58 |
| 115a: 8a ed ldi r24, 0xDA ; 218 |
| 115c: 94 e0 ldi r25, 0x04 ; 4 |
| 115e: 0e 94 3a 07 call 0xe74 ; 0xe74 <Decode64> |
| 1162: 80 91 ba 03 lds r24, 0x03BA |
| 1166: 4a e3 ldi r20, 0x3A ; 58 |
| 1168: 6a ed ldi r22, 0xDA ; 218 |
| 116a: 74 e0 ldi r23, 0x04 ; 4 |
| 116c: 8b 56 subi r24, 0x6B ; 107 |
| 116e: 0e 94 b8 03 call 0x770 ; 0x770 <WriteParameterSet> |
| 1172: 80 91 ba 03 lds r24, 0x03BA |
| 1176: 8b 56 subi r24, 0x6B ; 107 |
| 1178: a2 e0 ldi r26, 0x02 ; 2 |
| 117a: b0 e0 ldi r27, 0x00 ; 0 |
| 117c: 08 2e mov r0, r24 |
| 117e: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 1182: 0e 94 b1 03 call 0x762 ; 0x762 <GetActiveParamSetNumber> |
| 1186: 0e 94 49 22 call 0x4492 ; 0x4492 <Piep> |
| 118a: 10 92 91 01 sts 0x0191, r1 |
| 118e: e3 e0 ldi r30, 0x03 ; 3 |
| 1190: ce 5f subi r28, 0xFE ; 254 |
| 1192: 0c 94 0d 2f jmp 0x5e1a ; 0x5e1a <__epilogue_restores__+0x1e> |
| 00001196 <Putchar>: |
| 1196: 98 2f mov r25, r24 |
| 1198: 80 91 80 04 lds r24, 0x0480 |
| 119c: 81 30 cpi r24, 0x01 ; 1 |
| 119e: 69 f4 brne .+26 ; 0x11ba <Putchar+0x24> |
| 11a0: 80 91 c7 01 lds r24, 0x01C7 |
| 11a4: e8 2f mov r30, r24 |
| 11a6: ff 27 eor r31, r31 |
| 11a8: ea 5e subi r30, 0xEA ; 234 |
| 11aa: fe 4f sbci r31, 0xFE ; 254 |
| 11ac: 90 83 st Z, r25 |
| 11ae: 8f 5f subi r24, 0xFF ; 255 |
| 11b0: 80 93 c7 01 sts 0x01C7, r24 |
| 11b4: 21 e0 ldi r18, 0x01 ; 1 |
| 11b6: 30 e0 ldi r19, 0x00 ; 0 |
| 11b8: 05 c0 rjmp .+10 ; 0x11c4 <Putchar+0x2e> |
| 11ba: 89 2f mov r24, r25 |
| 11bc: 0e 94 92 07 call 0xf24 ; 0xf24 <uart_putchar> |
| 11c0: 28 2f mov r18, r24 |
| 11c2: 33 27 eor r19, r19 |
| 11c4: c9 01 movw r24, r18 |
| 11c6: 08 95 ret |
| 000011c8 <PAD_0>: |
| 11c8: 1f 93 push r17 |
| 11ca: 18 2f mov r17, r24 |
| 11cc: 04 c0 rjmp .+8 ; 0x11d6 <PAD_0+0xe> |
| 11ce: 80 e3 ldi r24, 0x30 ; 48 |
| 11d0: 0e 94 cb 08 call 0x1196 ; 0x1196 <Putchar> |
| 11d4: 11 50 subi r17, 0x01 ; 1 |
| 11d6: 11 16 cp r1, r17 |
| 11d8: d4 f3 brlt .-12 ; 0x11ce <PAD_0+0x6> |
| 11da: 1f 91 pop r17 |
| 11dc: 08 95 ret |
| 000011de <PAD_SP>: |
| 11de: 1f 93 push r17 |
| 11e0: 18 2f mov r17, r24 |
| 11e2: 04 c0 rjmp .+8 ; 0x11ec <PAD_SP+0xe> |
| 11e4: 80 e2 ldi r24, 0x20 ; 32 |
| 11e6: 0e 94 cb 08 call 0x1196 ; 0x1196 <Putchar> |
| 11ea: 11 50 subi r17, 0x01 ; 1 |
| 11ec: 11 16 cp r1, r17 |
| 11ee: d4 f3 brlt .-12 ; 0x11e4 <PAD_SP+0x6> |
| 11f0: 1f 91 pop r17 |
| 11f2: 08 95 ret |
| 000011f4 <PRINTP>: |
| 11f4: 0f 93 push r16 |
| 11f6: 1f 93 push r17 |
| 11f8: cf 93 push r28 |
| 11fa: df 93 push r29 |
| 11fc: 8c 01 movw r16, r24 |
| 11fe: eb 01 movw r28, r22 |
| 1200: 08 c0 rjmp .+16 ; 0x1212 <PRINTP+0x1e> |
| 1202: f8 01 movw r30, r16 |
| 1204: 0f 5f subi r16, 0xFF ; 255 |
| 1206: 1f 4f sbci r17, 0xFF ; 255 |
| 1208: e4 91 lpm r30, Z |
| 120a: 8e 2f mov r24, r30 |
| 120c: 0e 94 cb 08 call 0x1196 ; 0x1196 <Putchar> |
| 1210: 21 97 sbiw r28, 0x01 ; 1 |
| 1212: 20 97 sbiw r28, 0x00 ; 0 |
| 1214: b1 f7 brne .-20 ; 0x1202 <PRINTP+0xe> |
| 1216: df 91 pop r29 |
| 1218: cf 91 pop r28 |
| 121a: 1f 91 pop r17 |
| 121c: 0f 91 pop r16 |
| 121e: 08 95 ret |
| 00001220 <PRINT>: |
| 1220: 0f 93 push r16 |
| 1222: 1f 93 push r17 |
| 1224: cf 93 push r28 |
| 1226: df 93 push r29 |
| 1228: 8c 01 movw r16, r24 |
| 122a: eb 01 movw r28, r22 |
| 122c: 06 c0 rjmp .+12 ; 0x123a <PRINT+0x1a> |
| 122e: f8 01 movw r30, r16 |
| 1230: 81 91 ld r24, Z+ |
| 1232: 8f 01 movw r16, r30 |
| 1234: 0e 94 cb 08 call 0x1196 ; 0x1196 <Putchar> |
| 1238: 21 97 sbiw r28, 0x01 ; 1 |
| 123a: 20 97 sbiw r28, 0x00 ; 0 |
| 123c: c1 f7 brne .-16 ; 0x122e <PRINT+0xe> |
| 123e: df 91 pop r29 |
| 1240: cf 91 pop r28 |
| 1242: 1f 91 pop r17 |
| 1244: 0f 91 pop r16 |
| 1246: 08 95 ret |
| 00001248 <_printf_P>: |
| 1248: a3 e3 ldi r26, 0x33 ; 51 |
| 124a: b0 e0 ldi r27, 0x00 ; 0 |
| 124c: ea e2 ldi r30, 0x2A ; 42 |
| 124e: f9 e0 ldi r31, 0x09 ; 9 |
| 1250: 0c 94 e2 2e jmp 0x5dc4 ; 0x5dc4 <__prologue_saves__> |
| 1254: 29 96 adiw r28, 0x09 ; 9 |
| 1256: 8f ad ldd r24, Y+63 ; 0x3f |
| 1258: 29 97 sbiw r28, 0x09 ; 9 |
| 125a: 80 93 80 04 sts 0x0480, r24 |
| 125e: ce 01 movw r24, r28 |
| 1260: 85 5b subi r24, 0xB5 ; 181 |
| 1262: 9f 4f sbci r25, 0xFF ; 255 |
| 1264: 9d 83 std Y+5, r25 ; 0x05 |
| 1266: 8c 83 std Y+4, r24 ; 0x04 |
| 1268: 2b 96 adiw r28, 0x0b ; 11 |
| 126a: 8e ad ldd r24, Y+62 ; 0x3e |
| 126c: 9f ad ldd r25, Y+63 ; 0x3f |
| 126e: 2b 97 sbiw r28, 0x0b ; 11 |
| 1270: 9f a7 std Y+47, r25 ; 0x2f |
| 1272: 8e a7 std Y+46, r24 ; 0x2e |
| 1274: 22 24 eor r2, r2 |
| 1276: 33 24 eor r3, r3 |
| 1278: 21 01 movw r4, r2 |
| 127a: 02 c0 rjmp .+4 ; 0x1280 <_printf_P+0x38> |
| 127c: 13 01 movw r2, r6 |
| 127e: 24 01 movw r4, r8 |
| 1280: 0e a5 ldd r16, Y+46 ; 0x2e |
| 1282: 1f a5 ldd r17, Y+47 ; 0x2f |
| 1284: 02 c0 rjmp .+4 ; 0x128a <_printf_P+0x42> |
| 1286: 0f 5f subi r16, 0xFF ; 255 |
| 1288: 1f 4f sbci r17, 0xFF ; 255 |
| 128a: f8 01 movw r30, r16 |
| 128c: f4 90 lpm r15, Z |
| 128e: ff 20 and r15, r15 |
| 1290: 19 f0 breq .+6 ; 0x1298 <_printf_P+0x50> |
| 1292: f5 e2 ldi r31, 0x25 ; 37 |
| 1294: ff 16 cp r15, r31 |
| 1296: b9 f7 brne .-18 ; 0x1286 <_printf_P+0x3e> |
| 1298: b8 01 movw r22, r16 |
| 129a: 8e a5 ldd r24, Y+46 ; 0x2e |
| 129c: 9f a5 ldd r25, Y+47 ; 0x2f |
| 129e: 68 1b sub r22, r24 |
| 12a0: 79 0b sbc r23, r25 |
| 12a2: 11 f0 breq .+4 ; 0x12a8 <_printf_P+0x60> |
| 12a4: 0e 94 fa 08 call 0x11f4 ; 0x11f4 <PRINTP> |
| 12a8: ff 20 and r15, r15 |
| 12aa: 09 f4 brne .+2 ; 0x12ae <_printf_P+0x66> |
| 12ac: 42 c2 rjmp .+1156 ; 0x1732 <_printf_P+0x4ea> |
| 12ae: 0f 5f subi r16, 0xFF ; 255 |
| 12b0: 1f 4f sbci r17, 0xFF ; 255 |
| 12b2: 1f a7 std Y+47, r17 ; 0x2f |
| 12b4: 0e a7 std Y+46, r16 ; 0x2e |
| 12b6: 19 82 std Y+1, r1 ; 0x01 |
| 12b8: ac 81 ldd r26, Y+4 ; 0x04 |
| 12ba: bd 81 ldd r27, Y+5 ; 0x05 |
| 12bc: 1b aa std Y+51, r1 ; 0x33 |
| 12be: 1a aa std Y+50, r1 ; 0x32 |
| 12c0: 9f ef ldi r25, 0xFF ; 255 |
| 12c2: 99 ab std Y+49, r25 ; 0x31 |
| 12c4: ee a5 ldd r30, Y+46 ; 0x2e |
| 12c6: ff a5 ldd r31, Y+47 ; 0x2f |
| 12c8: cf 01 movw r24, r30 |
| 12ca: 01 96 adiw r24, 0x01 ; 1 |
| 12cc: 9f a7 std Y+47, r25 ; 0x2f |
| 12ce: 8e a7 std Y+46, r24 ; 0x2e |
| 12d0: b4 90 lpm r11, Z |
| 12d2: 95 e7 ldi r25, 0x75 ; 117 |
| 12d4: b9 16 cp r11, r25 |
| 12d6: 21 f0 breq .+8 ; 0x12e0 <_printf_P+0x98> |
| 12d8: 8b 2d mov r24, r11 |
| 12da: 80 62 ori r24, 0x20 ; 32 |
| 12dc: 88 37 cpi r24, 0x78 ; 120 |
| 12de: 89 f4 brne .+34 ; 0x1302 <_printf_P+0xba> |
| 12e0: eb a9 ldd r30, Y+51 ; 0x33 |
| 12e2: e0 ff sbrs r30, 0 |
| 12e4: 07 c0 rjmp .+14 ; 0x12f4 <_printf_P+0xac> |
| 12e6: 2d 90 ld r2, X+ |
| 12e8: 3d 90 ld r3, X+ |
| 12ea: 4d 90 ld r4, X+ |
| 12ec: 5c 90 ld r5, X |
| 12ee: 13 97 sbiw r26, 0x03 ; 3 |
| 12f0: 14 96 adiw r26, 0x04 ; 4 |
| 12f2: 07 c0 rjmp .+14 ; 0x1302 <_printf_P+0xba> |
| 12f4: 8d 91 ld r24, X+ |
| 12f6: 9c 91 ld r25, X |
| 12f8: 11 97 sbiw r26, 0x01 ; 1 |
| 12fa: 1c 01 movw r2, r24 |
| 12fc: 44 24 eor r4, r4 |
| 12fe: 55 24 eor r5, r5 |
| 1300: 12 96 adiw r26, 0x02 ; 2 |
| 1302: f0 e2 ldi r31, 0x20 ; 32 |
| 1304: bf 16 cp r11, r31 |
| 1306: 21 f4 brne .+8 ; 0x1310 <_printf_P+0xc8> |
| 1308: 89 81 ldd r24, Y+1 ; 0x01 |
| 130a: 88 23 and r24, r24 |
| 130c: d9 f6 brne .-74 ; 0x12c4 <_printf_P+0x7c> |
| 130e: 85 c0 rjmp .+266 ; 0x141a <_printf_P+0x1d2> |
| 1310: 83 e2 ldi r24, 0x23 ; 35 |
| 1312: b8 16 cp r11, r24 |
| 1314: 09 f4 brne .+2 ; 0x1318 <_printf_P+0xd0> |
| 1316: 83 c0 rjmp .+262 ; 0x141e <_printf_P+0x1d6> |
| 1318: 9a e2 ldi r25, 0x2A ; 42 |
| 131a: b9 16 cp r11, r25 |
| 131c: 21 f0 breq .+8 ; 0x1326 <_printf_P+0xde> |
| 131e: ed e2 ldi r30, 0x2D ; 45 |
| 1320: be 16 cp r11, r30 |
| 1322: 69 f4 brne .+26 ; 0x133e <_printf_P+0xf6> |
| 1324: 08 c0 rjmp .+16 ; 0x1336 <_printf_P+0xee> |
| 1326: fd 01 movw r30, r26 |
| 1328: 12 96 adiw r26, 0x02 ; 2 |
| 132a: e0 81 ld r30, Z |
| 132c: ea ab std Y+50, r30 ; 0x32 |
| 132e: e7 ff sbrs r30, 7 |
| 1330: c9 cf rjmp .-110 ; 0x12c4 <_printf_P+0x7c> |
| 1332: e1 95 neg r30 |
| 1334: ea ab std Y+50, r30 ; 0x32 |
| 1336: fb a9 ldd r31, Y+51 ; 0x33 |
| 1338: f0 61 ori r31, 0x10 ; 16 |
| 133a: ff 7d andi r31, 0xDF ; 223 |
| 133c: 72 c0 rjmp .+228 ; 0x1422 <_printf_P+0x1da> |
| 133e: 8b e2 ldi r24, 0x2B ; 43 |
| 1340: b8 16 cp r11, r24 |
| 1342: 09 f4 brne .+2 ; 0x1346 <_printf_P+0xfe> |
| 1344: 6a c0 rjmp .+212 ; 0x141a <_printf_P+0x1d2> |
| 1346: 9e e2 ldi r25, 0x2E ; 46 |
| 1348: b9 16 cp r11, r25 |
| 134a: b1 f5 brne .+108 ; 0x13b8 <_printf_P+0x170> |
| 134c: 2e a5 ldd r18, Y+46 ; 0x2e |
| 134e: 3f a5 ldd r19, Y+47 ; 0x2f |
| 1350: 2f 5f subi r18, 0xFF ; 255 |
| 1352: 3f 4f sbci r19, 0xFF ; 255 |
| 1354: ee a5 ldd r30, Y+46 ; 0x2e |
| 1356: ff a5 ldd r31, Y+47 ; 0x2f |
| 1358: 84 91 lpm r24, Z |
| 135a: 8a 32 cpi r24, 0x2A ; 42 |
| 135c: 21 f0 breq .+8 ; 0x1366 <_printf_P+0x11e> |
| 135e: b8 2e mov r11, r24 |
| 1360: 20 e0 ldi r18, 0x00 ; 0 |
| 1362: 30 e0 ldi r19, 0x00 ; 0 |
| 1364: 1b c0 rjmp .+54 ; 0x139c <_printf_P+0x154> |
| 1366: fd 01 movw r30, r26 |
| 1368: 12 96 adiw r26, 0x02 ; 2 |
| 136a: 40 81 ld r20, Z |
| 136c: 51 81 ldd r21, Z+1 ; 0x01 |
| 136e: 57 ff sbrs r21, 7 |
| 1370: 02 c0 rjmp .+4 ; 0x1376 <_printf_P+0x12e> |
| 1372: 4f ef ldi r20, 0xFF ; 255 |
| 1374: 5f ef ldi r21, 0xFF ; 255 |
| 1376: 49 ab std Y+49, r20 ; 0x31 |
| 1378: 3f a7 std Y+47, r19 ; 0x2f |
| 137a: 2e a7 std Y+46, r18 ; 0x2e |
| 137c: a3 cf rjmp .-186 ; 0x12c4 <_printf_P+0x7c> |
| 137e: c9 01 movw r24, r18 |
| 1380: 03 e0 ldi r16, 0x03 ; 3 |
| 1382: 88 0f add r24, r24 |
| 1384: 99 1f adc r25, r25 |
| 1386: 0a 95 dec r16 |
| 1388: e1 f7 brne .-8 ; 0x1382 <_printf_P+0x13a> |
| 138a: 22 0f add r18, r18 |
| 138c: 33 1f adc r19, r19 |
| 138e: 28 0f add r18, r24 |
| 1390: 39 1f adc r19, r25 |
| 1392: 2b 0d add r18, r11 |
| 1394: 31 1d adc r19, r1 |
| 1396: 20 53 subi r18, 0x30 ; 48 |
| 1398: 30 40 sbci r19, 0x00 ; 0 |
| 139a: b4 90 lpm r11, Z |
| 139c: 31 96 adiw r30, 0x01 ; 1 |
| 139e: 8b 2d mov r24, r11 |
| 13a0: 80 53 subi r24, 0x30 ; 48 |
| 13a2: 8a 30 cpi r24, 0x0A ; 10 |
| 13a4: 60 f3 brcs .-40 ; 0x137e <_printf_P+0x136> |
| 13a6: ff a7 std Y+47, r31 ; 0x2f |
| 13a8: ee a7 std Y+46, r30 ; 0x2e |
| 13aa: a9 01 movw r20, r18 |
| 13ac: 37 ff sbrs r19, 7 |
| 13ae: 02 c0 rjmp .+4 ; 0x13b4 <_printf_P+0x16c> |
| 13b0: 4f ef ldi r20, 0xFF ; 255 |
| 13b2: 5f ef ldi r21, 0xFF ; 255 |
| 13b4: 49 ab std Y+49, r20 ; 0x31 |
| 13b6: 8d cf rjmp .-230 ; 0x12d2 <_printf_P+0x8a> |
| 13b8: f0 e3 ldi r31, 0x30 ; 48 |
| 13ba: bf 16 cp r11, r31 |
| 13bc: 31 f4 brne .+12 ; 0x13ca <_printf_P+0x182> |
| 13be: 8b a9 ldd r24, Y+51 ; 0x33 |
| 13c0: 84 fd sbrc r24, 4 |
| 13c2: 80 cf rjmp .-256 ; 0x12c4 <_printf_P+0x7c> |
| 13c4: 80 62 ori r24, 0x20 ; 32 |
| 13c6: 8b ab std Y+51, r24 ; 0x33 |
| 13c8: 7d cf rjmp .-262 ; 0x12c4 <_printf_P+0x7c> |
| 13ca: 8b 2d mov r24, r11 |
| 13cc: 81 53 subi r24, 0x31 ; 49 |
| 13ce: 89 30 cpi r24, 0x09 ; 9 |
| 13d0: e8 f4 brcc .+58 ; 0x140c <_printf_P+0x1c4> |
| 13d2: 20 e0 ldi r18, 0x00 ; 0 |
| 13d4: 30 e0 ldi r19, 0x00 ; 0 |
| 13d6: c9 01 movw r24, r18 |
| 13d8: f3 e0 ldi r31, 0x03 ; 3 |
| 13da: 88 0f add r24, r24 |
| 13dc: 99 1f adc r25, r25 |
| 13de: fa 95 dec r31 |
| 13e0: e1 f7 brne .-8 ; 0x13da <_printf_P+0x192> |
| 13e2: 22 0f add r18, r18 |
| 13e4: 33 1f adc r19, r19 |
| 13e6: 28 0f add r18, r24 |
| 13e8: 39 1f adc r19, r25 |
| 13ea: 2b 0d add r18, r11 |
| 13ec: 31 1d adc r19, r1 |
| 13ee: 20 53 subi r18, 0x30 ; 48 |
| 13f0: 30 40 sbci r19, 0x00 ; 0 |
| 13f2: ee a5 ldd r30, Y+46 ; 0x2e |
| 13f4: ff a5 ldd r31, Y+47 ; 0x2f |
| 13f6: cf 01 movw r24, r30 |
| 13f8: 01 96 adiw r24, 0x01 ; 1 |
| 13fa: 9f a7 std Y+47, r25 ; 0x2f |
| 13fc: 8e a7 std Y+46, r24 ; 0x2e |
| 13fe: b4 90 lpm r11, Z |
| 1400: 8b 2d mov r24, r11 |
| 1402: 80 53 subi r24, 0x30 ; 48 |
| 1404: 8a 30 cpi r24, 0x0A ; 10 |
| 1406: 38 f3 brcs .-50 ; 0x13d6 <_printf_P+0x18e> |
| 1408: 2a ab std Y+50, r18 ; 0x32 |
| 140a: 63 cf rjmp .-314 ; 0x12d2 <_printf_P+0x8a> |
| 140c: 98 e6 ldi r25, 0x68 ; 104 |
| 140e: b9 16 cp r11, r25 |
| 1410: 51 f4 brne .+20 ; 0x1426 <_printf_P+0x1de> |
| 1412: eb a9 ldd r30, Y+51 ; 0x33 |
| 1414: e4 60 ori r30, 0x04 ; 4 |
| 1416: eb ab std Y+51, r30 ; 0x33 |
| 1418: 55 cf rjmp .-342 ; 0x12c4 <_printf_P+0x7c> |
| 141a: b9 82 std Y+1, r11 ; 0x01 |
| 141c: 53 cf rjmp .-346 ; 0x12c4 <_printf_P+0x7c> |
| 141e: fb a9 ldd r31, Y+51 ; 0x33 |
| 1420: f8 60 ori r31, 0x08 ; 8 |
| 1422: fb ab std Y+51, r31 ; 0x33 |
| 1424: 4f cf rjmp .-354 ; 0x12c4 <_printf_P+0x7c> |
| 1426: 8c e6 ldi r24, 0x6C ; 108 |
| 1428: b8 16 cp r11, r24 |
| 142a: 21 f4 brne .+8 ; 0x1434 <_printf_P+0x1ec> |
| 142c: 9b a9 ldd r25, Y+51 ; 0x33 |
| 142e: 91 60 ori r25, 0x01 ; 1 |
| 1430: 9b ab std Y+51, r25 ; 0x33 |
| 1432: 48 cf rjmp .-368 ; 0x12c4 <_printf_P+0x7c> |
| 1434: bd 83 std Y+5, r27 ; 0x05 |
| 1436: ac 83 std Y+4, r26 ; 0x04 |
| 1438: e3 e6 ldi r30, 0x63 ; 99 |
| 143a: be 16 cp r11, r30 |
| 143c: 39 f4 brne .+14 ; 0x144c <_printf_P+0x204> |
| 143e: 12 96 adiw r26, 0x02 ; 2 |
| 1440: bd 83 std Y+5, r27 ; 0x05 |
| 1442: ac 83 std Y+4, r26 ; 0x04 |
| 1444: 12 97 sbiw r26, 0x02 ; 2 |
| 1446: 8c 91 ld r24, X |
| 1448: 8e 83 std Y+6, r24 ; 0x06 |
| 144a: 18 c1 rjmp .+560 ; 0x167c <_printf_P+0x434> |
| 144c: f4 e4 ldi r31, 0x44 ; 68 |
| 144e: bf 16 cp r11, r31 |
| 1450: 39 f0 breq .+14 ; 0x1460 <_printf_P+0x218> |
| 1452: 84 e6 ldi r24, 0x64 ; 100 |
| 1454: b8 16 cp r11, r24 |
| 1456: 39 f0 breq .+14 ; 0x1466 <_printf_P+0x21e> |
| 1458: 99 e6 ldi r25, 0x69 ; 105 |
| 145a: b9 16 cp r11, r25 |
| 145c: 59 f5 brne .+86 ; 0x14b4 <_printf_P+0x26c> |
| 145e: 03 c0 rjmp .+6 ; 0x1466 <_printf_P+0x21e> |
| 1460: eb a9 ldd r30, Y+51 ; 0x33 |
| 1462: e1 60 ori r30, 0x01 ; 1 |
| 1464: eb ab std Y+51, r30 ; 0x33 |
| 1466: fb a9 ldd r31, Y+51 ; 0x33 |
| 1468: f0 ff sbrs r31, 0 |
| 146a: 08 c0 rjmp .+16 ; 0x147c <_printf_P+0x234> |
| 146c: 14 96 adiw r26, 0x04 ; 4 |
| 146e: bd 83 std Y+5, r27 ; 0x05 |
| 1470: ac 83 std Y+4, r26 ; 0x04 |
| 1472: 5e 90 ld r5, -X |
| 1474: 4e 90 ld r4, -X |
| 1476: 3e 90 ld r3, -X |
| 1478: 2e 90 ld r2, -X |
| 147a: 0a c0 rjmp .+20 ; 0x1490 <_printf_P+0x248> |
| 147c: 12 96 adiw r26, 0x02 ; 2 |
| 147e: bd 83 std Y+5, r27 ; 0x05 |
| 1480: ac 83 std Y+4, r26 ; 0x04 |
| 1482: 9e 91 ld r25, -X |
| 1484: 8e 91 ld r24, -X |
| 1486: 1c 01 movw r2, r24 |
| 1488: 44 24 eor r4, r4 |
| 148a: 37 fc sbrc r3, 7 |
| 148c: 40 94 com r4 |
| 148e: 54 2c mov r5, r4 |
| 1490: 57 fc sbrc r5, 7 |
| 1492: 03 c0 rjmp .+6 ; 0x149a <_printf_P+0x252> |
| 1494: 8a e0 ldi r24, 0x0A ; 10 |
| 1496: 88 ab std Y+48, r24 ; 0x30 |
| 1498: 92 c0 rjmp .+292 ; 0x15be <_printf_P+0x376> |
| 149a: 50 94 com r5 |
| 149c: 40 94 com r4 |
| 149e: 30 94 com r3 |
| 14a0: 20 94 com r2 |
| 14a2: 21 1c adc r2, r1 |
| 14a4: 31 1c adc r3, r1 |
| 14a6: 41 1c adc r4, r1 |
| 14a8: 51 1c adc r5, r1 |
| 14aa: 8d e2 ldi r24, 0x2D ; 45 |
| 14ac: 89 83 std Y+1, r24 ; 0x01 |
| 14ae: 9a e0 ldi r25, 0x0A ; 10 |
| 14b0: 98 ab std Y+48, r25 ; 0x30 |
| 14b2: 85 c0 rjmp .+266 ; 0x15be <_printf_P+0x376> |
| 14b4: ef e4 ldi r30, 0x4F ; 79 |
| 14b6: be 16 cp r11, r30 |
| 14b8: 29 f0 breq .+10 ; 0x14c4 <_printf_P+0x27c> |
| 14ba: ff e6 ldi r31, 0x6F ; 111 |
| 14bc: bf 16 cp r11, r31 |
| 14be: 39 f4 brne .+14 ; 0x14ce <_printf_P+0x286> |
| 14c0: 88 e0 ldi r24, 0x08 ; 8 |
| 14c2: 61 c0 rjmp .+194 ; 0x1586 <_printf_P+0x33e> |
| 14c4: 9b a9 ldd r25, Y+51 ; 0x33 |
| 14c6: 91 60 ori r25, 0x01 ; 1 |
| 14c8: 9b ab std Y+51, r25 ; 0x33 |
| 14ca: e8 e0 ldi r30, 0x08 ; 8 |
| 14cc: 56 c0 rjmp .+172 ; 0x157a <_printf_P+0x332> |
| 14ce: f0 e7 ldi r31, 0x70 ; 112 |
| 14d0: bf 16 cp r11, r31 |
| 14d2: 71 f4 brne .+28 ; 0x14f0 <_printf_P+0x2a8> |
| 14d4: 12 96 adiw r26, 0x02 ; 2 |
| 14d6: bd 83 std Y+5, r27 ; 0x05 |
| 14d8: ac 83 std Y+4, r26 ; 0x04 |
| 14da: 9e 91 ld r25, -X |
| 14dc: 8e 91 ld r24, -X |
| 14de: 1c 01 movw r2, r24 |
| 14e0: 44 24 eor r4, r4 |
| 14e2: 55 24 eor r5, r5 |
| 14e4: 8b a9 ldd r24, Y+51 ; 0x33 |
| 14e6: 80 64 ori r24, 0x40 ; 64 |
| 14e8: 8b ab std Y+51, r24 ; 0x33 |
| 14ea: 78 e7 ldi r23, 0x78 ; 120 |
| 14ec: b7 2e mov r11, r23 |
| 14ee: 5e c0 rjmp .+188 ; 0x15ac <_printf_P+0x364> |
| 14f0: e3 e7 ldi r30, 0x73 ; 115 |
| 14f2: be 16 cp r11, r30 |
| 14f4: d9 f5 brne .+118 ; 0x156c <_printf_P+0x324> |
| 14f6: 12 96 adiw r26, 0x02 ; 2 |
| 14f8: bd 83 std Y+5, r27 ; 0x05 |
| 14fa: ac 83 std Y+4, r26 ; 0x04 |
| 14fc: de 90 ld r13, -X |
| 14fe: ce 90 ld r12, -X |
| 1500: c1 14 cp r12, r1 |
| 1502: d1 04 cpc r13, r1 |
| 1504: 89 f4 brne .+34 ; 0x1528 <_printf_P+0x2e0> |
| 1506: 88 e2 ldi r24, 0x28 ; 40 |
| 1508: 8e 83 std Y+6, r24 ; 0x06 |
| 150a: 8e e6 ldi r24, 0x6E ; 110 |
| 150c: 8f 83 std Y+7, r24 ; 0x07 |
| 150e: 85 e7 ldi r24, 0x75 ; 117 |
| 1510: 88 87 std Y+8, r24 ; 0x08 |
| 1512: 8c e6 ldi r24, 0x6C ; 108 |
| 1514: 89 87 std Y+9, r24 ; 0x09 |
| 1516: 8a 87 std Y+10, r24 ; 0x0a |
| 1518: 89 e2 ldi r24, 0x29 ; 41 |
| 151a: 8b 87 std Y+11, r24 ; 0x0b |
| 151c: 1c 86 std Y+12, r1 ; 0x0c |
| 151e: 66 e0 ldi r22, 0x06 ; 6 |
| 1520: c6 2e mov r12, r22 |
| 1522: d1 2c mov r13, r1 |
| 1524: cc 0e add r12, r28 |
| 1526: dd 1e adc r13, r29 |
| 1528: f9 a9 ldd r31, Y+49 ; 0x31 |
| 152a: f7 fd sbrc r31, 7 |
| 152c: 13 c0 rjmp .+38 ; 0x1554 <_printf_P+0x30c> |
| 152e: 4f 2f mov r20, r31 |
| 1530: 55 27 eor r21, r21 |
| 1532: 47 fd sbrc r20, 7 |
| 1534: 50 95 com r21 |
| 1536: 60 e0 ldi r22, 0x00 ; 0 |
| 1538: 70 e0 ldi r23, 0x00 ; 0 |
| 153a: c6 01 movw r24, r12 |
| 153c: 0e 94 ea 2c call 0x59d4 ; 0x59d4 <memchr> |
| 1540: 00 97 sbiw r24, 0x00 ; 0 |
| 1542: 11 f4 brne .+4 ; 0x1548 <_printf_P+0x300> |
| 1544: 19 a9 ldd r17, Y+49 ; 0x31 |
| 1546: 0d c0 rjmp .+26 ; 0x1562 <_printf_P+0x31a> |
| 1548: 8c 19 sub r24, r12 |
| 154a: 19 a9 ldd r17, Y+49 ; 0x31 |
| 154c: 81 17 cp r24, r17 |
| 154e: 4c f4 brge .+18 ; 0x1562 <_printf_P+0x31a> |
| 1550: 18 2f mov r17, r24 |
| 1552: 07 c0 rjmp .+14 ; 0x1562 <_printf_P+0x31a> |
| 1554: f6 01 movw r30, r12 |
| 1556: 01 90 ld r0, Z+ |
| 1558: 00 20 and r0, r0 |
| 155a: e9 f7 brne .-6 ; 0x1556 <_printf_P+0x30e> |
| 155c: 31 97 sbiw r30, 0x01 ; 1 |
| 155e: 1e 2f mov r17, r30 |
| 1560: 1c 19 sub r17, r12 |
| 1562: 19 82 std Y+1, r1 ; 0x01 |
| 1564: 42 01 movw r8, r4 |
| 1566: 31 01 movw r6, r2 |
| 1568: 40 e0 ldi r20, 0x00 ; 0 |
| 156a: 94 c0 rjmp .+296 ; 0x1694 <_printf_P+0x44c> |
| 156c: 85 e5 ldi r24, 0x55 ; 85 |
| 156e: b8 16 cp r11, r24 |
| 1570: 31 f0 breq .+12 ; 0x157e <_printf_P+0x336> |
| 1572: 95 e7 ldi r25, 0x75 ; 117 |
| 1574: b9 16 cp r11, r25 |
| 1576: 49 f4 brne .+18 ; 0x158a <_printf_P+0x342> |
| 1578: ea e0 ldi r30, 0x0A ; 10 |
| 157a: e8 ab std Y+48, r30 ; 0x30 |
| 157c: 1f c0 rjmp .+62 ; 0x15bc <_printf_P+0x374> |
| 157e: fb a9 ldd r31, Y+51 ; 0x33 |
| 1580: f1 60 ori r31, 0x01 ; 1 |
| 1582: fb ab std Y+51, r31 ; 0x33 |
| 1584: 8a e0 ldi r24, 0x0A ; 10 |
| 1586: 88 ab std Y+48, r24 ; 0x30 |
| 1588: 19 c0 rjmp .+50 ; 0x15bc <_printf_P+0x374> |
| 158a: 98 e5 ldi r25, 0x58 ; 88 |
| 158c: b9 16 cp r11, r25 |
| 158e: 21 f0 breq .+8 ; 0x1598 <_printf_P+0x350> |
| 1590: e8 e7 ldi r30, 0x78 ; 120 |
| 1592: be 16 cp r11, r30 |
| 1594: 09 f0 breq .+2 ; 0x1598 <_printf_P+0x350> |
| 1596: 6e c0 rjmp .+220 ; 0x1674 <_printf_P+0x42c> |
| 1598: fb a9 ldd r31, Y+51 ; 0x33 |
| 159a: f3 fd sbrc r31, 3 |
| 159c: 02 c0 rjmp .+4 ; 0x15a2 <_printf_P+0x35a> |
| 159e: 80 e1 ldi r24, 0x10 ; 16 |
| 15a0: f2 cf rjmp .-28 ; 0x1586 <_printf_P+0x33e> |
| 15a2: 21 14 cp r2, r1 |
| 15a4: 31 04 cpc r3, r1 |
| 15a6: 41 04 cpc r4, r1 |
| 15a8: 51 04 cpc r5, r1 |
| 15aa: 19 f4 brne .+6 ; 0x15b2 <_printf_P+0x36a> |
| 15ac: 90 e1 ldi r25, 0x10 ; 16 |
| 15ae: 98 ab std Y+48, r25 ; 0x30 |
| 15b0: 05 c0 rjmp .+10 ; 0x15bc <_printf_P+0x374> |
| 15b2: eb a9 ldd r30, Y+51 ; 0x33 |
| 15b4: e0 64 ori r30, 0x40 ; 64 |
| 15b6: eb ab std Y+51, r30 ; 0x33 |
| 15b8: f0 e1 ldi r31, 0x10 ; 16 |
| 15ba: f8 ab std Y+48, r31 ; 0x30 |
| 15bc: 19 82 std Y+1, r1 ; 0x01 |
| 15be: 89 a9 ldd r24, Y+49 ; 0x31 |
| 15c0: 87 fd sbrc r24, 7 |
| 15c2: 03 c0 rjmp .+6 ; 0x15ca <_printf_P+0x382> |
| 15c4: 9b a9 ldd r25, Y+51 ; 0x33 |
| 15c6: 9f 7d andi r25, 0xDF ; 223 |
| 15c8: 9b ab std Y+51, r25 ; 0x33 |
| 15ca: 21 14 cp r2, r1 |
| 15cc: 31 04 cpc r3, r1 |
| 15ce: 41 04 cpc r4, r1 |
| 15d0: 51 04 cpc r5, r1 |
| 15d2: 61 f4 brne .+24 ; 0x15ec <_printf_P+0x3a4> |
| 15d4: e9 a9 ldd r30, Y+49 ; 0x31 |
| 15d6: ee 23 and r30, r30 |
| 15d8: 49 f4 brne .+18 ; 0x15ec <_printf_P+0x3a4> |
| 15da: 66 24 eor r6, r6 |
| 15dc: 77 24 eor r7, r7 |
| 15de: 43 01 movw r8, r6 |
| 15e0: 5e e2 ldi r21, 0x2E ; 46 |
| 15e2: c5 2e mov r12, r21 |
| 15e4: d1 2c mov r13, r1 |
| 15e6: cc 0e add r12, r28 |
| 15e8: dd 1e adc r13, r29 |
| 15ea: 3e c0 rjmp .+124 ; 0x1668 <_printf_P+0x420> |
| 15ec: 4e e2 ldi r20, 0x2E ; 46 |
| 15ee: c4 2e mov r12, r20 |
| 15f0: d1 2c mov r13, r1 |
| 15f2: cc 0e add r12, r28 |
| 15f4: dd 1e adc r13, r29 |
| 15f6: f8 a9 ldd r31, Y+48 ; 0x30 |
| 15f8: ef 2e mov r14, r31 |
| 15fa: ff 24 eor r15, r15 |
| 15fc: 00 27 eor r16, r16 |
| 15fe: 11 27 eor r17, r17 |
| 1600: c2 01 movw r24, r4 |
| 1602: b1 01 movw r22, r2 |
| 1604: a8 01 movw r20, r16 |
| 1606: 97 01 movw r18, r14 |
| 1608: 0e 94 a5 2e call 0x5d4a ; 0x5d4a <__udivmodsi4> |
| 160c: 6a 30 cpi r22, 0x0A ; 10 |
| 160e: 20 f4 brcc .+8 ; 0x1618 <_printf_P+0x3d0> |
| 1610: 30 e3 ldi r19, 0x30 ; 48 |
| 1612: a3 2e mov r10, r19 |
| 1614: a6 0e add r10, r22 |
| 1616: 08 c0 rjmp .+16 ; 0x1628 <_printf_P+0x3e0> |
| 1618: 27 e5 ldi r18, 0x57 ; 87 |
| 161a: a2 2e mov r10, r18 |
| 161c: a6 0e add r10, r22 |
| 161e: 88 e5 ldi r24, 0x58 ; 88 |
| 1620: b8 16 cp r11, r24 |
| 1622: 11 f4 brne .+4 ; 0x1628 <_printf_P+0x3e0> |
| 1624: 9f ed ldi r25, 0xDF ; 223 |
| 1626: a9 22 and r10, r25 |
| 1628: f6 01 movw r30, r12 |
| 162a: a2 92 st -Z, r10 |
| 162c: 6f 01 movw r12, r30 |
| 162e: c2 01 movw r24, r4 |
| 1630: b1 01 movw r22, r2 |
| 1632: a8 01 movw r20, r16 |
| 1634: 97 01 movw r18, r14 |
| 1636: 0e 94 a5 2e call 0x5d4a ; 0x5d4a <__udivmodsi4> |
| 163a: 39 01 movw r6, r18 |
| 163c: 4a 01 movw r8, r20 |
| 163e: 2e 14 cp r2, r14 |
| 1640: 3f 04 cpc r3, r15 |
| 1642: 40 06 cpc r4, r16 |
| 1644: 51 06 cpc r5, r17 |
| 1646: 18 f0 brcs .+6 ; 0x164e <_printf_P+0x406> |
| 1648: 19 01 movw r2, r18 |
| 164a: 2a 01 movw r4, r20 |
| 164c: d9 cf rjmp .-78 ; 0x1600 <_printf_P+0x3b8> |
| 164e: f8 a9 ldd r31, Y+48 ; 0x30 |
| 1650: f8 30 cpi r31, 0x08 ; 8 |
| 1652: 51 f4 brne .+20 ; 0x1668 <_printf_P+0x420> |
| 1654: 8b a9 ldd r24, Y+51 ; 0x33 |
| 1656: 83 ff sbrs r24, 3 |
| 1658: 07 c0 rjmp .+14 ; 0x1668 <_printf_P+0x420> |
| 165a: 90 e3 ldi r25, 0x30 ; 48 |
| 165c: a9 16 cp r10, r25 |
| 165e: 21 f0 breq .+8 ; 0x1668 <_printf_P+0x420> |
| 1660: 80 e3 ldi r24, 0x30 ; 48 |
| 1662: f6 01 movw r30, r12 |
| 1664: 82 93 st -Z, r24 |
| 1666: 6f 01 movw r12, r30 |
| 1668: ce 01 movw r24, r28 |
| 166a: 8c 19 sub r24, r12 |
| 166c: 18 2f mov r17, r24 |
| 166e: 12 5d subi r17, 0xD2 ; 210 |
| 1670: 49 a9 ldd r20, Y+49 ; 0x31 |
| 1672: 10 c0 rjmp .+32 ; 0x1694 <_printf_P+0x44c> |
| 1674: bb 20 and r11, r11 |
| 1676: 09 f4 brne .+2 ; 0x167a <_printf_P+0x432> |
| 1678: 5c c0 rjmp .+184 ; 0x1732 <_printf_P+0x4ea> |
| 167a: be 82 std Y+6, r11 ; 0x06 |
| 167c: 19 82 std Y+1, r1 ; 0x01 |
| 167e: 42 01 movw r8, r4 |
| 1680: 31 01 movw r6, r2 |
| 1682: 00 e0 ldi r16, 0x00 ; 0 |
| 1684: 96 e0 ldi r25, 0x06 ; 6 |
| 1686: c9 2e mov r12, r25 |
| 1688: d1 2c mov r13, r1 |
| 168a: cc 0e add r12, r28 |
| 168c: dd 1e adc r13, r29 |
| 168e: 11 e0 ldi r17, 0x01 ; 1 |
| 1690: 21 e0 ldi r18, 0x01 ; 1 |
| 1692: 05 c0 rjmp .+10 ; 0x169e <_printf_P+0x456> |
| 1694: 21 2f mov r18, r17 |
| 1696: 04 2f mov r16, r20 |
| 1698: 01 1b sub r16, r17 |
| 169a: 07 fd sbrc r16, 7 |
| 169c: 00 e0 ldi r16, 0x00 ; 0 |
| 169e: 89 81 ldd r24, Y+1 ; 0x01 |
| 16a0: 88 23 and r24, r24 |
| 16a2: 19 f0 breq .+6 ; 0x16aa <_printf_P+0x462> |
| 16a4: 81 2f mov r24, r17 |
| 16a6: 8f 5f subi r24, 0xFF ; 255 |
| 16a8: 07 c0 rjmp .+14 ; 0x16b8 <_printf_P+0x470> |
| 16aa: 9b a9 ldd r25, Y+51 ; 0x33 |
| 16ac: 96 fd sbrc r25, 6 |
| 16ae: 02 c0 rjmp .+4 ; 0x16b4 <_printf_P+0x46c> |
| 16b0: 81 2f mov r24, r17 |
| 16b2: 02 c0 rjmp .+4 ; 0x16b8 <_printf_P+0x470> |
| 16b4: 82 2f mov r24, r18 |
| 16b6: 8e 5f subi r24, 0xFE ; 254 |
| 16b8: a8 2e mov r10, r24 |
| 16ba: a0 0e add r10, r16 |
| 16bc: eb a9 ldd r30, Y+51 ; 0x33 |
| 16be: ee 2e mov r14, r30 |
| 16c0: ff 24 eor r15, r15 |
| 16c2: 80 e3 ldi r24, 0x30 ; 48 |
| 16c4: 48 2e mov r4, r24 |
| 16c6: 51 2c mov r5, r1 |
| 16c8: 4e 20 and r4, r14 |
| 16ca: 5f 20 and r5, r15 |
| 16cc: 41 14 cp r4, r1 |
| 16ce: 51 04 cpc r5, r1 |
| 16d0: 21 f4 brne .+8 ; 0x16da <_printf_P+0x492> |
| 16d2: 8a a9 ldd r24, Y+50 ; 0x32 |
| 16d4: 8a 19 sub r24, r10 |
| 16d6: 0e 94 ef 08 call 0x11de ; 0x11de <PAD_SP> |
| 16da: 89 81 ldd r24, Y+1 ; 0x01 |
| 16dc: 88 23 and r24, r24 |
| 16de: 29 f0 breq .+10 ; 0x16ea <_printf_P+0x4a2> |
| 16e0: 61 e0 ldi r22, 0x01 ; 1 |
| 16e2: 70 e0 ldi r23, 0x00 ; 0 |
| 16e4: ce 01 movw r24, r28 |
| 16e6: 01 96 adiw r24, 0x01 ; 1 |
| 16e8: 09 c0 rjmp .+18 ; 0x16fc <_printf_P+0x4b4> |
| 16ea: e6 fe sbrs r14, 6 |
| 16ec: 09 c0 rjmp .+18 ; 0x1700 <_printf_P+0x4b8> |
| 16ee: 80 e3 ldi r24, 0x30 ; 48 |
| 16f0: 8a 83 std Y+2, r24 ; 0x02 |
| 16f2: bb 82 std Y+3, r11 ; 0x03 |
| 16f4: 62 e0 ldi r22, 0x02 ; 2 |
| 16f6: 70 e0 ldi r23, 0x00 ; 0 |
| 16f8: ce 01 movw r24, r28 |
| 16fa: 02 96 adiw r24, 0x02 ; 2 |
| 16fc: 0e 94 10 09 call 0x1220 ; 0x1220 <PRINT> |
| 1700: f0 e2 ldi r31, 0x20 ; 32 |
| 1702: 4f 16 cp r4, r31 |
| 1704: 51 04 cpc r5, r1 |
| 1706: 21 f4 brne .+8 ; 0x1710 <_printf_P+0x4c8> |
| 1708: 8a a9 ldd r24, Y+50 ; 0x32 |
| 170a: 8a 19 sub r24, r10 |
| 170c: 0e 94 e4 08 call 0x11c8 ; 0x11c8 <PAD_0> |
| 1710: 80 2f mov r24, r16 |
| 1712: 0e 94 e4 08 call 0x11c8 ; 0x11c8 <PAD_0> |
| 1716: 61 2f mov r22, r17 |
| 1718: 77 27 eor r23, r23 |
| 171a: 67 fd sbrc r22, 7 |
| 171c: 70 95 com r23 |
| 171e: c6 01 movw r24, r12 |
| 1720: 0e 94 10 09 call 0x1220 ; 0x1220 <PRINT> |
| 1724: e4 fe sbrs r14, 4 |
| 1726: aa cd rjmp .-1196 ; 0x127c <_printf_P+0x34> |
| 1728: 8a a9 ldd r24, Y+50 ; 0x32 |
| 172a: 8a 19 sub r24, r10 |
| 172c: 0e 94 ef 08 call 0x11de ; 0x11de <PAD_SP> |
| 1730: a5 cd rjmp .-1206 ; 0x127c <_printf_P+0x34> |
| 1732: e2 e1 ldi r30, 0x12 ; 18 |
| 1734: cd 5c subi r28, 0xCD ; 205 |
| 1736: 0c 94 fe 2e jmp 0x5dfc ; 0x5dfc <__epilogue_restores__> |
| 0000173a <SetDelay>: |
| 173a: 20 91 a3 01 lds r18, 0x01A3 |
| 173e: 30 91 a4 01 lds r19, 0x01A4 |
| 1742: 2f 5f subi r18, 0xFF ; 255 |
| 1744: 3f 4f sbci r19, 0xFF ; 255 |
| 1746: 82 0f add r24, r18 |
| 1748: 93 1f adc r25, r19 |
| 174a: 08 95 ret |
| 0000174c <CheckDelay>: |
| 174c: 20 91 a3 01 lds r18, 0x01A3 |
| 1750: 30 91 a4 01 lds r19, 0x01A4 |
| 1754: 82 1b sub r24, r18 |
| 1756: 93 0b sbc r25, r19 |
| 1758: 89 2f mov r24, r25 |
| 175a: 99 27 eor r25, r25 |
| 175c: 86 95 lsr r24 |
| 175e: 80 74 andi r24, 0x40 ; 64 |
| 1760: 99 27 eor r25, r25 |
| 1762: 08 95 ret |
| 00001764 <__vector_9>: |
| 1764: 1f 92 push r1 |
| 1766: 0f 92 push r0 |
| 1768: 0f b6 in r0, 0x3f ; 63 |
| 176a: 0f 92 push r0 |
| 176c: 11 24 eor r1, r1 |
| 176e: ef 92 push r14 |
| 1770: ff 92 push r15 |
| 1772: 0f 93 push r16 |
| 1774: 1f 93 push r17 |
| 1776: 2f 93 push r18 |
| 1778: 3f 93 push r19 |
| 177a: 4f 93 push r20 |
| 177c: 5f 93 push r21 |
| 177e: 6f 93 push r22 |
| 1780: 7f 93 push r23 |
| 1782: 8f 93 push r24 |
| 1784: 9f 93 push r25 |
| 1786: af 93 push r26 |
| 1788: bf 93 push r27 |
| 178a: cf 93 push r28 |
| 178c: df 93 push r29 |
| 178e: ef 93 push r30 |
| 1790: ff 93 push r31 |
| 1792: 80 91 02 01 lds r24, 0x0102 |
| 1796: 81 50 subi r24, 0x01 ; 1 |
| 1798: 80 93 02 01 sts 0x0102, r24 |
| 179c: 8f 3f cpi r24, 0xFF ; 255 |
| 179e: 09 f0 breq .+2 ; 0x17a2 <__vector_9+0x3e> |
| 17a0: 6d c0 rjmp .+218 ; 0x187c <__vector_9+0x118> |
| 17a2: 83 e8 ldi r24, 0x83 ; 131 |
| 17a4: 80 93 b0 00 sts 0x00B0, r24 |
| 17a8: 80 91 89 01 lds r24, 0x0189 |
| 17ac: c8 2f mov r28, r24 |
| 17ae: dd 27 eor r29, r29 |
| 17b0: d0 93 a9 01 sts 0x01A9, r29 |
| 17b4: c0 93 a8 01 sts 0x01A8, r28 |
| 17b8: 80 91 00 05 lds r24, 0x0500 |
| 17bc: e0 90 fc 04 lds r14, 0x04FC |
| 17c0: 80 ff sbrs r24, 0 |
| 17c2: 1e c0 rjmp .+60 ; 0x1800 <__vector_9+0x9c> |
| 17c4: 60 91 db 01 lds r22, 0x01DB |
| 17c8: 70 91 dc 01 lds r23, 0x01DC |
| 17cc: 80 91 dd 01 lds r24, 0x01DD |
| 17d0: 90 91 de 01 lds r25, 0x01DE |
| 17d4: ff 24 eor r15, r15 |
| 17d6: 00 27 eor r16, r16 |
| 17d8: 11 27 eor r17, r17 |
| 17da: 20 e8 ldi r18, 0x80 ; 128 |
| 17dc: 30 e0 ldi r19, 0x00 ; 0 |
| 17de: 40 e0 ldi r20, 0x00 ; 0 |
| 17e0: 50 e0 ldi r21, 0x00 ; 0 |
| 17e2: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 17e6: c8 01 movw r24, r16 |
| 17e8: b7 01 movw r22, r14 |
| 17ea: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 17ee: 20 e0 ldi r18, 0x00 ; 0 |
| 17f0: 32 e0 ldi r19, 0x02 ; 2 |
| 17f2: 40 e0 ldi r20, 0x00 ; 0 |
| 17f4: 50 e0 ldi r21, 0x00 ; 0 |
| 17f6: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 17fa: c2 0f add r28, r18 |
| 17fc: d3 1f adc r29, r19 |
| 17fe: 1d c0 rjmp .+58 ; 0x183a <__vector_9+0xd6> |
| 1800: 60 91 db 01 lds r22, 0x01DB |
| 1804: 70 91 dc 01 lds r23, 0x01DC |
| 1808: 80 91 dd 01 lds r24, 0x01DD |
| 180c: 90 91 de 01 lds r25, 0x01DE |
| 1810: ff 24 eor r15, r15 |
| 1812: 00 27 eor r16, r16 |
| 1814: 11 27 eor r17, r17 |
| 1816: 20 e8 ldi r18, 0x80 ; 128 |
| 1818: 30 e0 ldi r19, 0x00 ; 0 |
| 181a: 40 e0 ldi r20, 0x00 ; 0 |
| 181c: 50 e0 ldi r21, 0x00 ; 0 |
| 181e: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 1822: c8 01 movw r24, r16 |
| 1824: b7 01 movw r22, r14 |
| 1826: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 182a: 20 e0 ldi r18, 0x00 ; 0 |
| 182c: 32 e0 ldi r19, 0x02 ; 2 |
| 182e: 40 e0 ldi r20, 0x00 ; 0 |
| 1830: 50 e0 ldi r21, 0x00 ; 0 |
| 1832: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 1836: c2 1b sub r28, r18 |
| 1838: d3 0b sbc r29, r19 |
| 183a: d0 93 a9 01 sts 0x01A9, r29 |
| 183e: c0 93 a8 01 sts 0x01A8, r28 |
| 1842: 20 91 a8 01 lds r18, 0x01A8 |
| 1846: 30 91 a9 01 lds r19, 0x01A9 |
| 184a: 80 91 fd 04 lds r24, 0x04FD |
| 184e: 99 27 eor r25, r25 |
| 1850: 28 17 cp r18, r24 |
| 1852: 39 07 cpc r19, r25 |
| 1854: 34 f0 brlt .+12 ; 0x1862 <__vector_9+0xfe> |
| 1856: 80 91 fe 04 lds r24, 0x04FE |
| 185a: 99 27 eor r25, r25 |
| 185c: 82 17 cp r24, r18 |
| 185e: 93 07 cpc r25, r19 |
| 1860: 24 f4 brge .+8 ; 0x186a <__vector_9+0x106> |
| 1862: 90 93 a9 01 sts 0x01A9, r25 |
| 1866: 80 93 a8 01 sts 0x01A8, r24 |
| 186a: 80 91 a8 01 lds r24, 0x01A8 |
| 186e: 80 93 b3 00 sts 0x00B3, r24 |
| 1872: 80 91 ff 04 lds r24, 0x04FF |
| 1876: 80 93 02 01 sts 0x0102, r24 |
| 187a: 04 c0 rjmp .+8 ; 0x1884 <__vector_9+0x120> |
| 187c: 83 e0 ldi r24, 0x03 ; 3 |
| 187e: 80 93 b0 00 sts 0x00B0, r24 |
| 1882: 5f 98 cbi 0x0b, 7 ; 11 |
| 1884: ff 91 pop r31 |
| 1886: ef 91 pop r30 |
| 1888: df 91 pop r29 |
| 188a: cf 91 pop r28 |
| 188c: bf 91 pop r27 |
| 188e: af 91 pop r26 |
| 1890: 9f 91 pop r25 |
| 1892: 8f 91 pop r24 |
| 1894: 7f 91 pop r23 |
| 1896: 6f 91 pop r22 |
| 1898: 5f 91 pop r21 |
| 189a: 4f 91 pop r20 |
| 189c: 3f 91 pop r19 |
| 189e: 2f 91 pop r18 |
| 18a0: 1f 91 pop r17 |
| 18a2: 0f 91 pop r16 |
| 18a4: ff 90 pop r15 |
| 18a6: ef 90 pop r14 |
| 18a8: 0f 90 pop r0 |
| 18aa: 0f be out 0x3f, r0 ; 63 |
| 18ac: 0f 90 pop r0 |
| 18ae: 1f 90 pop r1 |
| 18b0: 18 95 reti |
| 000018b2 <__vector_18>: |
| 18b2: 1f 92 push r1 |
| 18b4: 0f 92 push r0 |
| 18b6: 0f b6 in r0, 0x3f ; 63 |
| 18b8: 0f 92 push r0 |
| 18ba: 11 24 eor r1, r1 |
| 18bc: 2f 93 push r18 |
| 18be: 3f 93 push r19 |
| 18c0: 4f 93 push r20 |
| 18c2: 5f 93 push r21 |
| 18c4: 6f 93 push r22 |
| 18c6: 7f 93 push r23 |
| 18c8: 8f 93 push r24 |
| 18ca: 9f 93 push r25 |
| 18cc: af 93 push r26 |
| 18ce: bf 93 push r27 |
| 18d0: ef 93 push r30 |
| 18d2: ff 93 push r31 |
| 18d4: 80 91 aa 01 lds r24, 0x01AA |
| 18d8: 81 50 subi r24, 0x01 ; 1 |
| 18da: 80 93 aa 01 sts 0x01AA, r24 |
| 18de: 8f 3f cpi r24, 0xFF ; 255 |
| 18e0: 01 f5 brne .+64 ; 0x1922 <__vector_18+0x70> |
| 18e2: 8a e0 ldi r24, 0x0A ; 10 |
| 18e4: 80 93 aa 01 sts 0x01AA, r24 |
| 18e8: 80 91 03 01 lds r24, 0x0103 |
| 18ec: 8f 5f subi r24, 0xFF ; 255 |
| 18ee: 81 70 andi r24, 0x01 ; 1 |
| 18f0: 80 93 03 01 sts 0x0103, r24 |
| 18f4: 88 23 and r24, r24 |
| 18f6: 19 f4 brne .+6 ; 0x18fe <__vector_18+0x4c> |
| 18f8: 81 e0 ldi r24, 0x01 ; 1 |
| 18fa: 80 93 a5 01 sts 0x01A5, r24 |
| 18fe: 80 91 a3 01 lds r24, 0x01A3 |
| 1902: 90 91 a4 01 lds r25, 0x01A4 |
| 1906: 01 96 adiw r24, 0x01 ; 1 |
| 1908: 90 93 a4 01 sts 0x01A4, r25 |
| 190c: 80 93 a3 01 sts 0x01A3, r24 |
| 1910: 80 91 d2 01 lds r24, 0x01D2 |
| 1914: 88 23 and r24, r24 |
| 1916: 29 f0 breq .+10 ; 0x1922 <__vector_18+0x70> |
| 1918: 80 91 d2 01 lds r24, 0x01D2 |
| 191c: 81 50 subi r24, 0x01 ; 1 |
| 191e: 80 93 d2 01 sts 0x01D2, r24 |
| 1922: 80 91 a6 01 lds r24, 0x01A6 |
| 1926: 90 91 a7 01 lds r25, 0x01A7 |
| 192a: 02 97 sbiw r24, 0x02 ; 2 |
| 192c: 58 f0 brcs .+22 ; 0x1944 <__vector_18+0x92> |
| 192e: 80 91 a6 01 lds r24, 0x01A6 |
| 1932: 90 91 a7 01 lds r25, 0x01A7 |
| 1936: 01 97 sbiw r24, 0x01 ; 1 |
| 1938: 90 93 a7 01 sts 0x01A7, r25 |
| 193c: 80 93 a6 01 sts 0x01A6, r24 |
| 1940: 5a 9a sbi 0x0b, 2 ; 11 |
| 1942: 01 c0 rjmp .+2 ; 0x1946 <__vector_18+0x94> |
| 1944: 5a 98 cbi 0x0b, 2 ; 11 |
| 1946: 80 91 e2 04 lds r24, 0x04E2 |
| 194a: 83 ff sbrs r24, 3 |
| 194c: 02 c0 rjmp .+4 ; 0x1952 <__vector_18+0xa0> |
| 194e: 0e 94 2a 16 call 0x2c54 ; 0x2c54 <timer0_MM3> |
| 1952: ff 91 pop r31 |
| 1954: ef 91 pop r30 |
| 1956: bf 91 pop r27 |
| 1958: af 91 pop r26 |
| 195a: 9f 91 pop r25 |
| 195c: 8f 91 pop r24 |
| 195e: 7f 91 pop r23 |
| 1960: 6f 91 pop r22 |
| 1962: 5f 91 pop r21 |
| 1964: 4f 91 pop r20 |
| 1966: 3f 91 pop r19 |
| 1968: 2f 91 pop r18 |
| 196a: 0f 90 pop r0 |
| 196c: 0f be out 0x3f, r0 ; 63 |
| 196e: 0f 90 pop r0 |
| 1970: 1f 90 pop r1 |
| 1972: 18 95 reti |
| 00001974 <Timer_Init>: |
| 1974: 80 91 a3 01 lds r24, 0x01A3 |
| 1978: 90 91 a4 01 lds r25, 0x01A4 |
| 197c: 0b 96 adiw r24, 0x0b ; 11 |
| 197e: 90 93 ac 01 sts 0x01AC, r25 |
| 1982: 80 93 ab 01 sts 0x01AB, r24 |
| 1986: 82 e0 ldi r24, 0x02 ; 2 |
| 1988: 85 bd out 0x25, r24 ; 37 |
| 198a: 83 ea ldi r24, 0xA3 ; 163 |
| 198c: 84 bd out 0x24, r24 ; 36 |
| 198e: 17 bc out 0x27, r1 ; 39 |
| 1990: 88 e7 ldi r24, 0x78 ; 120 |
| 1992: 88 bd out 0x28, r24 ; 40 |
| 1994: 83 ec ldi r24, 0xC3 ; 195 |
| 1996: 80 93 b0 00 sts 0x00B0, r24 |
| 199a: 86 e0 ldi r24, 0x06 ; 6 |
| 199c: 80 93 b1 00 sts 0x00B1, r24 |
| 19a0: e0 e7 ldi r30, 0x70 ; 112 |
| 19a2: f0 e0 ldi r31, 0x00 ; 0 |
| 19a4: 80 81 ld r24, Z |
| 19a6: 82 60 ori r24, 0x02 ; 2 |
| 19a8: 80 83 st Z, r24 |
| 19aa: ee e6 ldi r30, 0x6E ; 110 |
| 19ac: f0 e0 ldi r31, 0x00 ; 0 |
| 19ae: 80 81 ld r24, Z |
| 19b0: 81 60 ori r24, 0x01 ; 1 |
| 19b2: 80 83 st Z, r24 |
| 19b4: 8a e0 ldi r24, 0x0A ; 10 |
| 19b6: 80 93 b3 00 sts 0x00B3, r24 |
| 19ba: 10 92 b2 00 sts 0x00B2, r1 |
| 19be: 08 95 ret |
| 000019c0 <Delay_ms>: |
| 19c0: 20 91 a3 01 lds r18, 0x01A3 |
| 19c4: 30 91 a4 01 lds r19, 0x01A4 |
| 19c8: 2f 5f subi r18, 0xFF ; 255 |
| 19ca: 3f 4f sbci r19, 0xFF ; 255 |
| 19cc: 28 0f add r18, r24 |
| 19ce: 39 1f adc r19, r25 |
| 19d0: 80 91 a3 01 lds r24, 0x01A3 |
| 19d4: 90 91 a4 01 lds r25, 0x01A4 |
| 19d8: a9 01 movw r20, r18 |
| 19da: 48 1b sub r20, r24 |
| 19dc: 59 0b sbc r21, r25 |
| 19de: 57 ff sbrs r21, 7 |
| 19e0: f7 cf rjmp .-18 ; 0x19d0 <Delay_ms+0x10> |
| 19e2: 08 95 ret |
| 000019e4 <ADC_Init>: |
| 19e4: 10 92 7c 00 sts 0x007C, r1 |
| 19e8: 8f ec ldi r24, 0xCF ; 207 |
| 19ea: 80 93 7a 00 sts 0x007A, r24 |
| 19ee: 08 95 ret |
| 000019f0 <__vector_24>: |
| 19f0: 1f 92 push r1 |
| 19f2: 0f 92 push r0 |
| 19f4: 0f b6 in r0, 0x3f ; 63 |
| 19f6: 0f 92 push r0 |
| 19f8: 11 24 eor r1, r1 |
| 19fa: ef 92 push r14 |
| 19fc: ff 92 push r15 |
| 19fe: 0f 93 push r16 |
| 1a00: 1f 93 push r17 |
| 1a02: 2f 93 push r18 |
| 1a04: 3f 93 push r19 |
| 1a06: 4f 93 push r20 |
| 1a08: 5f 93 push r21 |
| 1a0a: 6f 93 push r22 |
| 1a0c: 7f 93 push r23 |
| 1a0e: 8f 93 push r24 |
| 1a10: 9f 93 push r25 |
| 1a12: af 93 push r26 |
| 1a14: bf 93 push r27 |
| 1a16: cf 93 push r28 |
| 1a18: df 93 push r29 |
| 1a1a: ef 93 push r30 |
| 1a1c: ff 93 push r31 |
| 1a1e: 10 92 7a 00 sts 0x007A, r1 |
| 1a22: 80 91 c3 01 lds r24, 0x01C3 |
| 1a26: 8f 5f subi r24, 0xFF ; 255 |
| 1a28: 80 93 c3 01 sts 0x01C3, r24 |
| 1a2c: 81 50 subi r24, 0x01 ; 1 |
| 1a2e: e8 2f mov r30, r24 |
| 1a30: ff 27 eor r31, r31 |
| 1a32: e8 30 cpi r30, 0x08 ; 8 |
| 1a34: f1 05 cpc r31, r1 |
| 1a36: 08 f0 brcs .+2 ; 0x1a3a <__vector_24+0x4a> |
| 1a38: cf c2 rjmp .+1438 ; 0x1fd8 <__vector_24+0x5e8> |
| 1a3a: e4 5b subi r30, 0xB4 ; 180 |
| 1a3c: ff 4f sbci r31, 0xFF ; 255 |
| 1a3e: 0c 94 19 2f jmp 0x5e32 ; 0x5e32 <__tablejump2__> |
| 1a42: 20 91 d7 01 lds r18, 0x01D7 |
| 1a46: 30 91 d8 01 lds r19, 0x01D8 |
| 1a4a: 80 91 78 00 lds r24, 0x0078 |
| 1a4e: 90 91 79 00 lds r25, 0x0079 |
| 1a52: 28 1b sub r18, r24 |
| 1a54: 39 0b sbc r19, r25 |
| 1a56: 80 91 b1 01 lds r24, 0x01B1 |
| 1a5a: 90 91 b2 01 lds r25, 0x01B2 |
| 1a5e: 82 0f add r24, r18 |
| 1a60: 93 1f adc r25, r19 |
| 1a62: 90 93 b2 01 sts 0x01B2, r25 |
| 1a66: 80 93 b1 01 sts 0x01B1, r24 |
| 1a6a: 80 91 bb 01 lds r24, 0x01BB |
| 1a6e: 8f 5f subi r24, 0xFF ; 255 |
| 1a70: 80 93 bb 01 sts 0x01BB, r24 |
| 1a74: 80 91 ff 01 lds r24, 0x01FF |
| 1a78: 90 91 00 02 lds r25, 0x0200 |
| 1a7c: a0 91 01 02 lds r26, 0x0201 |
| 1a80: b0 91 02 02 lds r27, 0x0202 |
| 1a84: 44 27 eor r20, r20 |
| 1a86: 37 fd sbrc r19, 7 |
| 1a88: 40 95 com r20 |
| 1a8a: 54 2f mov r21, r20 |
| 1a8c: 82 0f add r24, r18 |
| 1a8e: 93 1f adc r25, r19 |
| 1a90: a4 1f adc r26, r20 |
| 1a92: b5 1f adc r27, r21 |
| 1a94: 80 93 ff 01 sts 0x01FF, r24 |
| 1a98: 90 93 00 02 sts 0x0200, r25 |
| 1a9c: a0 93 01 02 sts 0x0201, r26 |
| 1aa0: b0 93 02 02 sts 0x0202, r27 |
| 1aa4: 80 91 03 02 lds r24, 0x0203 |
| 1aa8: 90 91 04 02 lds r25, 0x0204 |
| 1aac: a0 91 05 02 lds r26, 0x0205 |
| 1ab0: b0 91 06 02 lds r27, 0x0206 |
| 1ab4: 82 0f add r24, r18 |
| 1ab6: 93 1f adc r25, r19 |
| 1ab8: a4 1f adc r26, r20 |
| 1aba: b5 1f adc r27, r21 |
| 1abc: 80 93 03 02 sts 0x0203, r24 |
| 1ac0: 90 93 04 02 sts 0x0204, r25 |
| 1ac4: a0 93 05 02 sts 0x0205, r26 |
| 1ac8: b0 93 06 02 sts 0x0206, r27 |
| 1acc: 81 e0 ldi r24, 0x01 ; 1 |
| 1ace: 80 93 c4 01 sts 0x01C4, r24 |
| 1ad2: 80 91 c1 01 lds r24, 0x01C1 |
| 1ad6: 90 91 c2 01 lds r25, 0x01C2 |
| 1ada: 01 96 adiw r24, 0x01 ; 1 |
| 1adc: 90 93 c2 01 sts 0x01C2, r25 |
| 1ae0: 80 93 c1 01 sts 0x01C1, r24 |
| 1ae4: 7d c2 rjmp .+1274 ; 0x1fe0 <__vector_24+0x5f0> |
| 1ae6: 60 91 78 00 lds r22, 0x0078 |
| 1aea: 70 91 79 00 lds r23, 0x0079 |
| 1aee: 80 91 d5 01 lds r24, 0x01D5 |
| 1af2: 90 91 d6 01 lds r25, 0x01D6 |
| 1af6: 68 1b sub r22, r24 |
| 1af8: 79 0b sbc r23, r25 |
| 1afa: 80 91 f7 01 lds r24, 0x01F7 |
| 1afe: 90 91 f8 01 lds r25, 0x01F8 |
| 1b02: a0 91 f9 01 lds r26, 0x01F9 |
| 1b06: b0 91 fa 01 lds r27, 0x01FA |
| 1b0a: 9b 01 movw r18, r22 |
| 1b0c: 44 27 eor r20, r20 |
| 1b0e: 37 fd sbrc r19, 7 |
| 1b10: 40 95 com r20 |
| 1b12: 54 2f mov r21, r20 |
| 1b14: 82 0f add r24, r18 |
| 1b16: 93 1f adc r25, r19 |
| 1b18: a4 1f adc r26, r20 |
| 1b1a: b5 1f adc r27, r21 |
| 1b1c: 80 93 f7 01 sts 0x01F7, r24 |
| 1b20: 90 93 f8 01 sts 0x01F8, r25 |
| 1b24: a0 93 f9 01 sts 0x01F9, r26 |
| 1b28: b0 93 fa 01 sts 0x01FA, r27 |
| 1b2c: 80 91 fb 01 lds r24, 0x01FB |
| 1b30: 90 91 fc 01 lds r25, 0x01FC |
| 1b34: a0 91 fd 01 lds r26, 0x01FD |
| 1b38: b0 91 fe 01 lds r27, 0x01FE |
| 1b3c: 82 0f add r24, r18 |
| 1b3e: 93 1f adc r25, r19 |
| 1b40: a4 1f adc r26, r20 |
| 1b42: b5 1f adc r27, r21 |
| 1b44: 80 93 fb 01 sts 0x01FB, r24 |
| 1b48: 90 93 fc 01 sts 0x01FC, r25 |
| 1b4c: a0 93 fd 01 sts 0x01FD, r26 |
| 1b50: b0 93 fe 01 sts 0x01FE, r27 |
| 1b54: 80 91 78 00 lds r24, 0x0078 |
| 1b58: 90 91 79 00 lds r25, 0x0079 |
| 1b5c: 0a 97 sbiw r24, 0x0a ; 10 |
| 1b5e: 10 f4 brcc .+4 ; 0x1b64 <__vector_24+0x174> |
| 1b60: 64 e4 ldi r22, 0x44 ; 68 |
| 1b62: 7d ef ldi r23, 0xFD ; 253 |
| 1b64: 80 91 78 00 lds r24, 0x0078 |
| 1b68: 90 91 79 00 lds r25, 0x0079 |
| 1b6c: 89 5e subi r24, 0xE9 ; 233 |
| 1b6e: 93 40 sbci r25, 0x03 ; 3 |
| 1b70: 10 f0 brcs .+4 ; 0x1b76 <__vector_24+0x186> |
| 1b72: 6c eb ldi r22, 0xBC ; 188 |
| 1b74: 72 e0 ldi r23, 0x02 ; 2 |
| 1b76: 80 91 af 01 lds r24, 0x01AF |
| 1b7a: 90 91 b0 01 lds r25, 0x01B0 |
| 1b7e: 86 0f add r24, r22 |
| 1b80: 97 1f adc r25, r23 |
| 1b82: 90 93 b0 01 sts 0x01B0, r25 |
| 1b86: 80 93 af 01 sts 0x01AF, r24 |
| 1b8a: 80 91 ba 01 lds r24, 0x01BA |
| 1b8e: 8f 5f subi r24, 0xFF ; 255 |
| 1b90: 80 93 ba 01 sts 0x01BA, r24 |
| 1b94: 82 e0 ldi r24, 0x02 ; 2 |
| 1b96: 58 c0 rjmp .+176 ; 0x1c48 <__vector_24+0x258> |
| 1b98: 60 91 78 00 lds r22, 0x0078 |
| 1b9c: 70 91 79 00 lds r23, 0x0079 |
| 1ba0: 80 91 d3 01 lds r24, 0x01D3 |
| 1ba4: 90 91 d4 01 lds r25, 0x01D4 |
| 1ba8: 68 1b sub r22, r24 |
| 1baa: 79 0b sbc r23, r25 |
| 1bac: 80 91 ef 01 lds r24, 0x01EF |
| 1bb0: 90 91 f0 01 lds r25, 0x01F0 |
| 1bb4: a0 91 f1 01 lds r26, 0x01F1 |
| 1bb8: b0 91 f2 01 lds r27, 0x01F2 |
| 1bbc: 9b 01 movw r18, r22 |
| 1bbe: 44 27 eor r20, r20 |
| 1bc0: 37 fd sbrc r19, 7 |
| 1bc2: 40 95 com r20 |
| 1bc4: 54 2f mov r21, r20 |
| 1bc6: 82 0f add r24, r18 |
| 1bc8: 93 1f adc r25, r19 |
| 1bca: a4 1f adc r26, r20 |
| 1bcc: b5 1f adc r27, r21 |
| 1bce: 80 93 ef 01 sts 0x01EF, r24 |
| 1bd2: 90 93 f0 01 sts 0x01F0, r25 |
| 1bd6: a0 93 f1 01 sts 0x01F1, r26 |
| 1bda: b0 93 f2 01 sts 0x01F2, r27 |
| 1bde: 80 91 f3 01 lds r24, 0x01F3 |
| 1be2: 90 91 f4 01 lds r25, 0x01F4 |
| 1be6: a0 91 f5 01 lds r26, 0x01F5 |
| 1bea: b0 91 f6 01 lds r27, 0x01F6 |
| 1bee: 82 0f add r24, r18 |
| 1bf0: 93 1f adc r25, r19 |
| 1bf2: a4 1f adc r26, r20 |
| 1bf4: b5 1f adc r27, r21 |
| 1bf6: 80 93 f3 01 sts 0x01F3, r24 |
| 1bfa: 90 93 f4 01 sts 0x01F4, r25 |
| 1bfe: a0 93 f5 01 sts 0x01F5, r26 |
| 1c02: b0 93 f6 01 sts 0x01F6, r27 |
| 1c06: 80 91 78 00 lds r24, 0x0078 |
| 1c0a: 90 91 79 00 lds r25, 0x0079 |
| 1c0e: 0a 97 sbiw r24, 0x0a ; 10 |
| 1c10: 10 f4 brcc .+4 ; 0x1c16 <__vector_24+0x226> |
| 1c12: 64 e4 ldi r22, 0x44 ; 68 |
| 1c14: 7d ef ldi r23, 0xFD ; 253 |
| 1c16: 80 91 78 00 lds r24, 0x0078 |
| 1c1a: 90 91 79 00 lds r25, 0x0079 |
| 1c1e: 89 5e subi r24, 0xE9 ; 233 |
| 1c20: 93 40 sbci r25, 0x03 ; 3 |
| 1c22: 10 f0 brcs .+4 ; 0x1c28 <__vector_24+0x238> |
| 1c24: 6c eb ldi r22, 0xBC ; 188 |
| 1c26: 72 e0 ldi r23, 0x02 ; 2 |
| 1c28: 80 91 ad 01 lds r24, 0x01AD |
| 1c2c: 90 91 ae 01 lds r25, 0x01AE |
| 1c30: 86 0f add r24, r22 |
| 1c32: 97 1f adc r25, r23 |
| 1c34: 90 93 ae 01 sts 0x01AE, r25 |
| 1c38: 80 93 ad 01 sts 0x01AD, r24 |
| 1c3c: 80 91 b9 01 lds r24, 0x01B9 |
| 1c40: 8f 5f subi r24, 0xFF ; 255 |
| 1c42: 80 93 b9 01 sts 0x01B9, r24 |
| 1c46: 84 e0 ldi r24, 0x04 ; 4 |
| 1c48: 80 93 c4 01 sts 0x01C4, r24 |
| 1c4c: c9 c1 rjmp .+914 ; 0x1fe0 <__vector_24+0x5f0> |
| 1c4e: 40 91 04 01 lds r20, 0x0104 |
| 1c52: 50 91 05 01 lds r21, 0x0105 |
| 1c56: 80 91 78 00 lds r24, 0x0078 |
| 1c5a: 90 91 79 00 lds r25, 0x0079 |
| 1c5e: 9a 01 movw r18, r20 |
| 1c60: 22 0f add r18, r18 |
| 1c62: 33 1f adc r19, r19 |
| 1c64: 24 0f add r18, r20 |
| 1c66: 35 1f adc r19, r21 |
| 1c68: 63 e0 ldi r22, 0x03 ; 3 |
| 1c6a: 70 e0 ldi r23, 0x00 ; 0 |
| 1c6c: 0e 94 7e 2e call 0x5cfc ; 0x5cfc <__udivmodhi4> |
| 1c70: 26 0f add r18, r22 |
| 1c72: 37 1f adc r19, r23 |
| 1c74: 36 95 lsr r19 |
| 1c76: 27 95 ror r18 |
| 1c78: 36 95 lsr r19 |
| 1c7a: 27 95 ror r18 |
| 1c7c: 30 93 05 01 sts 0x0105, r19 |
| 1c80: 20 93 04 01 sts 0x0104, r18 |
| 1c84: 86 e0 ldi r24, 0x06 ; 6 |
| 1c86: e0 cf rjmp .-64 ; 0x1c48 <__vector_24+0x258> |
| 1c88: 80 91 21 05 lds r24, 0x0521 |
| 1c8c: 90 91 22 05 lds r25, 0x0522 |
| 1c90: 20 91 78 00 lds r18, 0x0078 |
| 1c94: 30 91 79 00 lds r19, 0x0079 |
| 1c98: 82 1b sub r24, r18 |
| 1c9a: 93 0b sbc r25, r19 |
| 1c9c: 90 93 82 04 sts 0x0482, r25 |
| 1ca0: 80 93 81 04 sts 0x0481, r24 |
| 1ca4: 80 91 b3 01 lds r24, 0x01B3 |
| 1ca8: 90 91 b4 01 lds r25, 0x01B4 |
| 1cac: 20 91 81 04 lds r18, 0x0481 |
| 1cb0: 30 91 82 04 lds r19, 0x0482 |
| 1cb4: 82 0f add r24, r18 |
| 1cb6: 93 1f adc r25, r19 |
| 1cb8: 90 93 b4 01 sts 0x01B4, r25 |
| 1cbc: 80 93 b3 01 sts 0x01B3, r24 |
| 1cc0: 80 91 bd 01 lds r24, 0x01BD |
| 1cc4: 8f 5f subi r24, 0xFF ; 255 |
| 1cc6: 80 93 bd 01 sts 0x01BD, r24 |
| 1cca: 87 e0 ldi r24, 0x07 ; 7 |
| 1ccc: bd cf rjmp .-134 ; 0x1c48 <__vector_24+0x258> |
| 1cce: 80 91 78 00 lds r24, 0x0078 |
| 1cd2: 90 91 79 00 lds r25, 0x0079 |
| 1cd6: 20 91 1f 05 lds r18, 0x051F |
| 1cda: 30 91 20 05 lds r19, 0x0520 |
| 1cde: 82 1b sub r24, r18 |
| 1ce0: 93 0b sbc r25, r19 |
| 1ce2: 90 93 8d 04 sts 0x048D, r25 |
| 1ce6: 80 93 8c 04 sts 0x048C, r24 |
| 1cea: 80 91 b5 01 lds r24, 0x01B5 |
| 1cee: 90 91 b6 01 lds r25, 0x01B6 |
| 1cf2: 20 91 8c 04 lds r18, 0x048C |
| 1cf6: 30 91 8d 04 lds r19, 0x048D |
| 1cfa: 82 0f add r24, r18 |
| 1cfc: 93 1f adc r25, r19 |
| 1cfe: 90 93 b6 01 sts 0x01B6, r25 |
| 1d02: 80 93 b5 01 sts 0x01B5, r24 |
| 1d06: 80 91 bc 01 lds r24, 0x01BC |
| 1d0a: 8f 5f subi r24, 0xFF ; 255 |
| 1d0c: 80 93 bc 01 sts 0x01BC, r24 |
| 1d10: 85 e0 ldi r24, 0x05 ; 5 |
| 1d12: 80 93 c4 01 sts 0x01C4, r24 |
| 1d16: 86 e0 ldi r24, 0x06 ; 6 |
| 1d18: e4 c0 rjmp .+456 ; 0x1ee2 <__vector_24+0x4f2> |
| 1d1a: 60 91 78 00 lds r22, 0x0078 |
| 1d1e: 70 91 79 00 lds r23, 0x0079 |
| 1d22: e0 90 23 05 lds r14, 0x0523 |
| 1d26: f0 90 24 05 lds r15, 0x0524 |
| 1d2a: 00 91 25 05 lds r16, 0x0525 |
| 1d2e: 10 91 26 05 lds r17, 0x0526 |
| 1d32: 88 27 eor r24, r24 |
| 1d34: 77 fd sbrc r23, 7 |
| 1d36: 80 95 com r24 |
| 1d38: 98 2f mov r25, r24 |
| 1d3a: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 1d3e: a8 01 movw r20, r16 |
| 1d40: 97 01 movw r18, r14 |
| 1d42: 0e 94 f7 2c call 0x59ee ; 0x59ee <__subsf3> |
| 1d46: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 1d4a: 70 93 b8 01 sts 0x01B8, r23 |
| 1d4e: 60 93 b7 01 sts 0x01B7, r22 |
| 1d52: 20 91 b7 01 lds r18, 0x01B7 |
| 1d56: 30 91 b8 01 lds r19, 0x01B8 |
| 1d5a: e0 91 81 04 lds r30, 0x0481 |
| 1d5e: f0 91 82 04 lds r31, 0x0482 |
| 1d62: 80 91 8c 04 lds r24, 0x048C |
| 1d66: 90 91 8d 04 lds r25, 0x048D |
| 1d6a: 97 ff sbrs r25, 7 |
| 1d6c: 03 c0 rjmp .+6 ; 0x1d74 <__vector_24+0x384> |
| 1d6e: 90 95 com r25 |
| 1d70: 81 95 neg r24 |
| 1d72: 9f 4f sbci r25, 0xFF ; 255 |
| 1d74: 64 e0 ldi r22, 0x04 ; 4 |
| 1d76: 70 e0 ldi r23, 0x00 ; 0 |
| 1d78: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 1d7c: eb 01 movw r28, r22 |
| 1d7e: cf 01 movw r24, r30 |
| 1d80: f7 ff sbrs r31, 7 |
| 1d82: 03 c0 rjmp .+6 ; 0x1d8a <__vector_24+0x39a> |
| 1d84: 90 95 com r25 |
| 1d86: 81 95 neg r24 |
| 1d88: 9f 4f sbci r25, 0xFF ; 255 |
| 1d8a: 64 e0 ldi r22, 0x04 ; 4 |
| 1d8c: 70 e0 ldi r23, 0x00 ; 0 |
| 1d8e: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 1d92: 26 0f add r18, r22 |
| 1d94: 37 1f adc r19, r23 |
| 1d96: 2c 0f add r18, r28 |
| 1d98: 3d 1f adc r19, r29 |
| 1d9a: 30 93 b8 01 sts 0x01B8, r19 |
| 1d9e: 20 93 b7 01 sts 0x01B7, r18 |
| 1da2: 80 91 b7 01 lds r24, 0x01B7 |
| 1da6: 90 91 b8 01 lds r25, 0x01B8 |
| 1daa: 02 97 sbiw r24, 0x02 ; 2 |
| 1dac: 04 f1 brlt .+64 ; 0x1dee <__vector_24+0x3fe> |
| 1dae: 60 91 23 05 lds r22, 0x0523 |
| 1db2: 70 91 24 05 lds r23, 0x0524 |
| 1db6: 80 91 25 05 lds r24, 0x0525 |
| 1dba: 90 91 26 05 lds r25, 0x0526 |
| 1dbe: 20 e0 ldi r18, 0x00 ; 0 |
| 1dc0: 30 e0 ldi r19, 0x00 ; 0 |
| 1dc2: 48 e4 ldi r20, 0x48 ; 72 |
| 1dc4: 54 e4 ldi r21, 0x44 ; 68 |
| 1dc6: 0e 94 a7 2d call 0x5b4e ; 0x5b4e <__eqsf2> |
| 1dca: 88 23 and r24, r24 |
| 1dcc: 0c f0 brlt .+2 ; 0x1dd0 <__vector_24+0x3e0> |
| 1dce: 3c c0 rjmp .+120 ; 0x1e48 <__vector_24+0x458> |
| 1dd0: 60 91 23 05 lds r22, 0x0523 |
| 1dd4: 70 91 24 05 lds r23, 0x0524 |
| 1dd8: 80 91 25 05 lds r24, 0x0525 |
| 1ddc: 90 91 26 05 lds r25, 0x0526 |
| 1de0: 2a e0 ldi r18, 0x0A ; 10 |
| 1de2: 37 ed ldi r19, 0xD7 ; 215 |
| 1de4: 43 ea ldi r20, 0xA3 ; 163 |
| 1de6: 5c e3 ldi r21, 0x3C ; 60 |
| 1de8: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 1dec: 25 c0 rjmp .+74 ; 0x1e38 <__vector_24+0x448> |
| 1dee: 80 91 b7 01 lds r24, 0x01B7 |
| 1df2: 90 91 b8 01 lds r25, 0x01B8 |
| 1df6: 8f 5f subi r24, 0xFF ; 255 |
| 1df8: 9f 4f sbci r25, 0xFF ; 255 |
| 1dfa: 34 f5 brge .+76 ; 0x1e48 <__vector_24+0x458> |
| 1dfc: 60 91 23 05 lds r22, 0x0523 |
| 1e00: 70 91 24 05 lds r23, 0x0524 |
| 1e04: 80 91 25 05 lds r24, 0x0525 |
| 1e08: 90 91 26 05 lds r25, 0x0526 |
| 1e0c: 20 e0 ldi r18, 0x00 ; 0 |
| 1e0e: 30 e0 ldi r19, 0x00 ; 0 |
| 1e10: 46 e1 ldi r20, 0x16 ; 22 |
| 1e12: 54 e4 ldi r21, 0x44 ; 68 |
| 1e14: 0e 94 aa 2d call 0x5b54 ; 0x5b54 <__gesf2> |
| 1e18: 18 16 cp r1, r24 |
| 1e1a: b4 f4 brge .+44 ; 0x1e48 <__vector_24+0x458> |
| 1e1c: 60 91 23 05 lds r22, 0x0523 |
| 1e20: 70 91 24 05 lds r23, 0x0524 |
| 1e24: 80 91 25 05 lds r24, 0x0525 |
| 1e28: 90 91 26 05 lds r25, 0x0526 |
| 1e2c: 2a e0 ldi r18, 0x0A ; 10 |
| 1e2e: 37 ed ldi r19, 0xD7 ; 215 |
| 1e30: 43 ea ldi r20, 0xA3 ; 163 |
| 1e32: 5c e3 ldi r21, 0x3C ; 60 |
| 1e34: 0e 94 f7 2c call 0x59ee ; 0x59ee <__subsf3> |
| 1e38: 60 93 23 05 sts 0x0523, r22 |
| 1e3c: 70 93 24 05 sts 0x0524, r23 |
| 1e40: 80 93 25 05 sts 0x0525, r24 |
| 1e44: 90 93 26 05 sts 0x0526, r25 |
| 1e48: 81 e0 ldi r24, 0x01 ; 1 |
| 1e4a: 80 93 be 01 sts 0x01BE, r24 |
| 1e4e: 80 91 78 00 lds r24, 0x0078 |
| 1e52: 90 91 79 00 lds r25, 0x0079 |
| 1e56: 90 93 84 04 sts 0x0484, r25 |
| 1e5a: 80 93 83 04 sts 0x0483, r24 |
| 1e5e: 20 91 07 02 lds r18, 0x0207 |
| 1e62: 30 91 08 02 lds r19, 0x0208 |
| 1e66: 40 91 09 02 lds r20, 0x0209 |
| 1e6a: 50 91 0a 02 lds r21, 0x020A |
| 1e6e: 80 91 b7 01 lds r24, 0x01B7 |
| 1e72: 90 91 b8 01 lds r25, 0x01B8 |
| 1e76: aa 27 eor r26, r26 |
| 1e78: 97 fd sbrc r25, 7 |
| 1e7a: a0 95 com r26 |
| 1e7c: ba 2f mov r27, r26 |
| 1e7e: 28 0f add r18, r24 |
| 1e80: 39 1f adc r19, r25 |
| 1e82: 4a 1f adc r20, r26 |
| 1e84: 5b 1f adc r21, r27 |
| 1e86: 20 93 07 02 sts 0x0207, r18 |
| 1e8a: 30 93 08 02 sts 0x0208, r19 |
| 1e8e: 40 93 09 02 sts 0x0209, r20 |
| 1e92: 50 93 0a 02 sts 0x020A, r21 |
| 1e96: e0 90 07 02 lds r14, 0x0207 |
| 1e9a: f0 90 08 02 lds r15, 0x0208 |
| 1e9e: 00 91 09 02 lds r16, 0x0209 |
| 1ea2: 10 91 0a 02 lds r17, 0x020A |
| 1ea6: 60 91 07 02 lds r22, 0x0207 |
| 1eaa: 70 91 08 02 lds r23, 0x0208 |
| 1eae: 80 91 09 02 lds r24, 0x0209 |
| 1eb2: 90 91 0a 02 lds r25, 0x020A |
| 1eb6: 20 e0 ldi r18, 0x00 ; 0 |
| 1eb8: 34 e0 ldi r19, 0x04 ; 4 |
| 1eba: 40 e0 ldi r20, 0x00 ; 0 |
| 1ebc: 50 e0 ldi r21, 0x00 ; 0 |
| 1ebe: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 1ec2: e2 1a sub r14, r18 |
| 1ec4: f3 0a sbc r15, r19 |
| 1ec6: 04 0b sbc r16, r20 |
| 1ec8: 15 0b sbc r17, r21 |
| 1eca: e0 92 07 02 sts 0x0207, r14 |
| 1ece: f0 92 08 02 sts 0x0208, r15 |
| 1ed2: 00 93 09 02 sts 0x0209, r16 |
| 1ed6: 10 93 0a 02 sts 0x020A, r17 |
| 1eda: 83 e0 ldi r24, 0x03 ; 3 |
| 1edc: 80 93 c4 01 sts 0x01C4, r24 |
| 1ee0: 87 e0 ldi r24, 0x07 ; 7 |
| 1ee2: 80 93 c3 01 sts 0x01C3, r24 |
| 1ee6: 7c c0 rjmp .+248 ; 0x1fe0 <__vector_24+0x5f0> |
| 1ee8: 80 91 91 04 lds r24, 0x0491 |
| 1eec: 90 91 92 04 lds r25, 0x0492 |
| 1ef0: 20 91 78 00 lds r18, 0x0078 |
| 1ef4: 30 91 79 00 lds r19, 0x0079 |
| 1ef8: 82 0f add r24, r18 |
| 1efa: 93 1f adc r25, r19 |
| 1efc: 90 93 92 04 sts 0x0492, r25 |
| 1f00: 80 93 91 04 sts 0x0491, r24 |
| 1f04: 80 91 89 04 lds r24, 0x0489 |
| 1f08: 8f 5f subi r24, 0xFF ; 255 |
| 1f0a: 80 93 89 04 sts 0x0489, r24 |
| 1f0e: 80 91 89 04 lds r24, 0x0489 |
| 1f12: 85 30 cpi r24, 0x05 ; 5 |
| 1f14: 08 f4 brcc .+2 ; 0x1f18 <__vector_24+0x528> |
| 1f16: 60 c0 rjmp .+192 ; 0x1fd8 <__vector_24+0x5e8> |
| 1f18: 80 91 78 00 lds r24, 0x0078 |
| 1f1c: 90 91 79 00 lds r25, 0x0079 |
| 1f20: 90 93 0b 01 sts 0x010B, r25 |
| 1f24: 80 93 0a 01 sts 0x010A, r24 |
| 1f28: 10 92 89 04 sts 0x0489, r1 |
| 1f2c: 80 91 85 04 lds r24, 0x0485 |
| 1f30: 90 91 86 04 lds r25, 0x0486 |
| 1f34: 20 91 91 04 lds r18, 0x0491 |
| 1f38: 30 91 92 04 lds r19, 0x0492 |
| 1f3c: 82 1b sub r24, r18 |
| 1f3e: 93 0b sbc r25, r19 |
| 1f40: 20 91 24 02 lds r18, 0x0224 |
| 1f44: 30 91 25 02 lds r19, 0x0225 |
| 1f48: 82 1b sub r24, r18 |
| 1f4a: 93 0b sbc r25, r19 |
| 1f4c: 90 93 c0 01 sts 0x01C0, r25 |
| 1f50: 80 93 bf 01 sts 0x01BF, r24 |
| 1f54: 60 91 91 04 lds r22, 0x0491 |
| 1f58: 70 91 92 04 lds r23, 0x0492 |
| 1f5c: e0 90 06 01 lds r14, 0x0106 |
| 1f60: f0 90 07 01 lds r15, 0x0107 |
| 1f64: 00 91 08 01 lds r16, 0x0108 |
| 1f68: 10 91 09 01 lds r17, 0x0109 |
| 1f6c: 88 27 eor r24, r24 |
| 1f6e: 77 fd sbrc r23, 7 |
| 1f70: 80 95 com r24 |
| 1f72: 98 2f mov r25, r24 |
| 1f74: a8 01 movw r20, r16 |
| 1f76: 97 01 movw r18, r14 |
| 1f78: 22 0f add r18, r18 |
| 1f7a: 33 1f adc r19, r19 |
| 1f7c: 44 1f adc r20, r20 |
| 1f7e: 55 1f adc r21, r21 |
| 1f80: 2e 0d add r18, r14 |
| 1f82: 3f 1d adc r19, r15 |
| 1f84: 40 1f adc r20, r16 |
| 1f86: 51 1f adc r21, r17 |
| 1f88: 62 0f add r22, r18 |
| 1f8a: 73 1f adc r23, r19 |
| 1f8c: 84 1f adc r24, r20 |
| 1f8e: 95 1f adc r25, r21 |
| 1f90: 24 e0 ldi r18, 0x04 ; 4 |
| 1f92: 30 e0 ldi r19, 0x00 ; 0 |
| 1f94: 40 e0 ldi r20, 0x00 ; 0 |
| 1f96: 50 e0 ldi r21, 0x00 ; 0 |
| 1f98: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 1f9c: 20 93 06 01 sts 0x0106, r18 |
| 1fa0: 30 93 07 01 sts 0x0107, r19 |
| 1fa4: 40 93 08 01 sts 0x0108, r20 |
| 1fa8: 50 93 09 01 sts 0x0109, r21 |
| 1fac: 20 91 85 04 lds r18, 0x0485 |
| 1fb0: 30 91 86 04 lds r19, 0x0486 |
| 1fb4: 80 91 06 01 lds r24, 0x0106 |
| 1fb8: 90 91 07 01 lds r25, 0x0107 |
| 1fbc: a0 91 08 01 lds r26, 0x0108 |
| 1fc0: b0 91 09 01 lds r27, 0x0109 |
| 1fc4: 28 1b sub r18, r24 |
| 1fc6: 39 0b sbc r19, r25 |
| 1fc8: 30 93 25 02 sts 0x0225, r19 |
| 1fcc: 20 93 24 02 sts 0x0224, r18 |
| 1fd0: 10 92 92 04 sts 0x0492, r1 |
| 1fd4: 10 92 91 04 sts 0x0491, r1 |
| 1fd8: 10 92 c4 01 sts 0x01C4, r1 |
| 1fdc: 10 92 c3 01 sts 0x01C3, r1 |
| 1fe0: 80 91 c4 01 lds r24, 0x01C4 |
| 1fe4: 80 93 7c 00 sts 0x007C, r24 |
| 1fe8: 8f ec ldi r24, 0xCF ; 207 |
| 1fea: 80 93 7a 00 sts 0x007A, r24 |
| 1fee: ff 91 pop r31 |
| 1ff0: ef 91 pop r30 |
| 1ff2: df 91 pop r29 |
| 1ff4: cf 91 pop r28 |
| 1ff6: bf 91 pop r27 |
| 1ff8: af 91 pop r26 |
| 1ffa: 9f 91 pop r25 |
| 1ffc: 8f 91 pop r24 |
| 1ffe: 7f 91 pop r23 |
| 2000: 6f 91 pop r22 |
| 2002: 5f 91 pop r21 |
| 2004: 4f 91 pop r20 |
| 2006: 3f 91 pop r19 |
| 2008: 2f 91 pop r18 |
| 200a: 1f 91 pop r17 |
| 200c: 0f 91 pop r16 |
| 200e: ff 90 pop r15 |
| 2010: ef 90 pop r14 |
| 2012: 0f 90 pop r0 |
| 2014: 0f be out 0x3f, r0 ; 63 |
| 2016: 0f 90 pop r0 |
| 2018: 1f 90 pop r1 |
| 201a: 18 95 reti |
| 0000201c <SucheLuftruckOffset>: |
| 201c: cf 93 push r28 |
| 201e: df 93 push r29 |
| 2020: a3 e0 ldi r26, 0x03 ; 3 |
| 2022: b0 e0 ldi r27, 0x00 ; 0 |
| 2024: 0e 94 1f 2f call 0x5e3e ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 2028: 80 2d mov r24, r0 |
| 202a: c8 2f mov r28, r24 |
| 202c: dd 27 eor r29, r29 |
| 202e: c5 31 cpi r28, 0x15 ; 21 |
| 2030: d1 05 cpc r29, r1 |
| 2032: 08 f0 brcs .+2 ; 0x2036 <SucheLuftruckOffset+0x1a> |
| 2034: 2a 97 sbiw r28, 0x0a ; 10 |
| 2036: c7 bd out 0x27, r28 ; 39 |
| 2038: 84 e6 ldi r24, 0x64 ; 100 |
| 203a: 90 e0 ldi r25, 0x00 ; 0 |
| 203c: 0e 94 e0 0c call 0x19c0 ; 0x19c0 <Delay_ms> |
| 2040: 80 91 0a 01 lds r24, 0x010A |
| 2044: 90 91 0b 01 lds r25, 0x010B |
| 2048: 82 55 subi r24, 0x52 ; 82 |
| 204a: 93 40 sbci r25, 0x03 ; 3 |
| 204c: d0 f4 brcc .+52 ; 0x2082 <SucheLuftruckOffset+0x66> |
| 204e: c0 e0 ldi r28, 0x00 ; 0 |
| 2050: d0 e0 ldi r29, 0x00 ; 0 |
| 2052: 17 c0 rjmp .+46 ; 0x2082 <SucheLuftruckOffset+0x66> |
| 2054: c7 bd out 0x27, r28 ; 39 |
| 2056: 82 e3 ldi r24, 0x32 ; 50 |
| 2058: 90 e0 ldi r25, 0x00 ; 0 |
| 205a: 0e 94 e0 0c call 0x19c0 ; 0x19c0 <Delay_ms> |
| 205e: 8b ec ldi r24, 0xCB ; 203 |
| 2060: 91 e0 ldi r25, 0x01 ; 1 |
| 2062: 9f 93 push r25 |
| 2064: 8f 93 push r24 |
| 2066: 1f 92 push r1 |
| 2068: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 206c: 80 91 0a 01 lds r24, 0x010A |
| 2070: 90 91 0b 01 lds r25, 0x010B |
| 2074: 0f 90 pop r0 |
| 2076: 0f 90 pop r0 |
| 2078: 0f 90 pop r0 |
| 207a: 84 58 subi r24, 0x84 ; 132 |
| 207c: 93 40 sbci r25, 0x03 ; 3 |
| 207e: 20 f0 brcs .+8 ; 0x2088 <SucheLuftruckOffset+0x6c> |
| 2080: 21 96 adiw r28, 0x01 ; 1 |
| 2082: ca 3f cpi r28, 0xFA ; 250 |
| 2084: d1 05 cpc r29, r1 |
| 2086: 30 f3 brcs .-52 ; 0x2054 <SucheLuftruckOffset+0x38> |
| 2088: a3 e0 ldi r26, 0x03 ; 3 |
| 208a: b0 e0 ldi r27, 0x00 ; 0 |
| 208c: 0c 2e mov r0, r28 |
| 208e: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 2092: c0 93 8e 04 sts 0x048E, r28 |
| 2096: 88 ec ldi r24, 0xC8 ; 200 |
| 2098: 90 e0 ldi r25, 0x00 ; 0 |
| 209a: 0e 94 e0 0c call 0x19c0 ; 0x19c0 <Delay_ms> |
| 209e: df 91 pop r29 |
| 20a0: cf 91 pop r28 |
| 20a2: 08 95 ret |
| 000020a4 <LcdClear>: |
| 20a4: e6 e1 ldi r30, 0x16 ; 22 |
| 20a6: f1 e0 ldi r31, 0x01 ; 1 |
| 20a8: 80 e2 ldi r24, 0x20 ; 32 |
| 20aa: 81 93 st Z+, r24 |
| 20ac: 91 e0 ldi r25, 0x01 ; 1 |
| 20ae: e6 36 cpi r30, 0x66 ; 102 |
| 20b0: f9 07 cpc r31, r25 |
| 20b2: d9 f7 brne .-10 ; 0x20aa <LcdClear+0x6> |
| 20b4: 08 95 ret |
| 000020b6 <Menu>: |
| 20b6: ff 92 push r15 |
| 20b8: 0f 93 push r16 |
| 20ba: 1f 93 push r17 |
| 20bc: 80 91 c8 01 lds r24, 0x01C8 |
| 20c0: 28 2f mov r18, r24 |
| 20c2: 33 27 eor r19, r19 |
| 20c4: c9 01 movw r24, r18 |
| 20c6: 81 70 andi r24, 0x01 ; 1 |
| 20c8: 90 70 andi r25, 0x00 ; 0 |
| 20ca: 68 2f mov r22, r24 |
| 20cc: 88 23 and r24, r24 |
| 20ce: 91 f0 breq .+36 ; 0x20f4 <Menu+0x3e> |
| 20d0: 80 91 c9 01 lds r24, 0x01C9 |
| 20d4: 88 23 and r24, r24 |
| 20d6: 11 f0 breq .+4 ; 0x20dc <Menu+0x26> |
| 20d8: 81 50 subi r24, 0x01 ; 1 |
| 20da: 02 c0 rjmp .+4 ; 0x20e0 <Menu+0x2a> |
| 20dc: 80 91 66 01 lds r24, 0x0166 |
| 20e0: 80 93 c9 01 sts 0x01C9, r24 |
| 20e4: e6 e1 ldi r30, 0x16 ; 22 |
| 20e6: f1 e0 ldi r31, 0x01 ; 1 |
| 20e8: 80 e2 ldi r24, 0x20 ; 32 |
| 20ea: 81 93 st Z+, r24 |
| 20ec: 91 e0 ldi r25, 0x01 ; 1 |
| 20ee: e6 36 cpi r30, 0x66 ; 102 |
| 20f0: f9 07 cpc r31, r25 |
| 20f2: d9 f7 brne .-10 ; 0x20ea <Menu+0x34> |
| 20f4: a9 01 movw r20, r18 |
| 20f6: 42 70 andi r20, 0x02 ; 2 |
| 20f8: 50 70 andi r21, 0x00 ; 0 |
| 20fa: 21 ff sbrs r18, 1 |
| 20fc: 0d c0 rjmp .+26 ; 0x2118 <Menu+0x62> |
| 20fe: 80 91 c9 01 lds r24, 0x01C9 |
| 2102: 8f 5f subi r24, 0xFF ; 255 |
| 2104: 80 93 c9 01 sts 0x01C9, r24 |
| 2108: e6 e1 ldi r30, 0x16 ; 22 |
| 210a: f1 e0 ldi r31, 0x01 ; 1 |
| 210c: 80 e2 ldi r24, 0x20 ; 32 |
| 210e: 81 93 st Z+, r24 |
| 2110: 91 e0 ldi r25, 0x01 ; 1 |
| 2112: e6 36 cpi r30, 0x66 ; 102 |
| 2114: f9 07 cpc r31, r25 |
| 2116: d9 f7 brne .-10 ; 0x210e <Menu+0x58> |
| 2118: 66 23 and r22, r22 |
| 211a: 21 f0 breq .+8 ; 0x2124 <Menu+0x6e> |
| 211c: 45 2b or r20, r21 |
| 211e: 11 f0 breq .+4 ; 0x2124 <Menu+0x6e> |
| 2120: 10 92 c9 01 sts 0x01C9, r1 |
| 2124: 81 e1 ldi r24, 0x11 ; 17 |
| 2126: 80 93 c7 01 sts 0x01C7, r24 |
| 212a: 80 91 c9 01 lds r24, 0x01C9 |
| 212e: 99 27 eor r25, r25 |
| 2130: 9f 93 push r25 |
| 2132: 8f 93 push r24 |
| 2134: 85 ea ldi r24, 0xA5 ; 165 |
| 2136: 94 e0 ldi r25, 0x04 ; 4 |
| 2138: 9f 93 push r25 |
| 213a: 8f 93 push r24 |
| 213c: 81 e0 ldi r24, 0x01 ; 1 |
| 213e: 8f 93 push r24 |
| 2140: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2144: 80 91 c9 01 lds r24, 0x01C9 |
| 2148: 0f 90 pop r0 |
| 214a: 0f 90 pop r0 |
| 214c: 0f 90 pop r0 |
| 214e: 0f 90 pop r0 |
| 2150: 0f 90 pop r0 |
| 2152: e8 2f mov r30, r24 |
| 2154: ff 27 eor r31, r31 |
| 2156: ed 30 cpi r30, 0x0D ; 13 |
| 2158: f1 05 cpc r31, r1 |
| 215a: 08 f0 brcs .+2 ; 0x215e <Menu+0xa8> |
| 215c: bc c3 rjmp .+1912 ; 0x28d6 <Menu+0x820> |
| 215e: ec 5a subi r30, 0xAC ; 172 |
| 2160: ff 4f sbci r31, 0xFF ; 255 |
| 2162: 0c 94 19 2f jmp 0x5e32 ; 0x5e32 <__tablejump2__> |
| 2166: 10 92 c7 01 sts 0x01C7, r1 |
| 216a: 83 e9 ldi r24, 0x93 ; 147 |
| 216c: 94 e0 ldi r25, 0x04 ; 4 |
| 216e: 9f 93 push r25 |
| 2170: 8f 93 push r24 |
| 2172: 11 e0 ldi r17, 0x01 ; 1 |
| 2174: 1f 93 push r17 |
| 2176: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 217a: 84 e1 ldi r24, 0x14 ; 20 |
| 217c: 80 93 c7 01 sts 0x01C7, r24 |
| 2180: 8c e3 ldi r24, 0x3C ; 60 |
| 2182: 90 e0 ldi r25, 0x00 ; 0 |
| 2184: 9f 93 push r25 |
| 2186: 8f 93 push r24 |
| 2188: 1f 92 push r1 |
| 218a: 1f 92 push r1 |
| 218c: 8c e8 ldi r24, 0x8C ; 140 |
| 218e: 94 e0 ldi r25, 0x04 ; 4 |
| 2190: 9f 93 push r25 |
| 2192: 8f 93 push r24 |
| 2194: 1f 93 push r17 |
| 2196: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 219a: 88 e2 ldi r24, 0x28 ; 40 |
| 219c: 80 93 c7 01 sts 0x01C7, r24 |
| 21a0: 0e 94 b1 03 call 0x762 ; 0x762 <GetActiveParamSetNumber> |
| 21a4: 99 27 eor r25, r25 |
| 21a6: 9f 93 push r25 |
| 21a8: 8f 93 push r24 |
| 21aa: 8f e7 ldi r24, 0x7F ; 127 |
| 21ac: 94 e0 ldi r25, 0x04 ; 4 |
| 21ae: 9f 93 push r25 |
| 21b0: 8f 93 push r24 |
| 21b2: 1f 93 push r17 |
| 21b4: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 21b8: 8c e3 ldi r24, 0x3C ; 60 |
| 21ba: 80 93 c7 01 sts 0x01C7, r24 |
| 21be: 8f e6 ldi r24, 0x6F ; 111 |
| 21c0: 94 e0 ldi r25, 0x04 ; 4 |
| 21c2: 9f 93 push r25 |
| 21c4: 8f 93 push r24 |
| 21c6: 1f 93 push r17 |
| 21c8: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 21cc: 80 c3 rjmp .+1792 ; 0x28ce <Menu+0x818> |
| 21ce: 80 91 e2 04 lds r24, 0x04E2 |
| 21d2: 80 ff sbrs r24, 0 |
| 21d4: 44 c0 rjmp .+136 ; 0x225e <Menu+0x1a8> |
| 21d6: 10 92 c7 01 sts 0x01C7, r1 |
| 21da: 80 91 24 02 lds r24, 0x0224 |
| 21de: 90 91 25 02 lds r25, 0x0225 |
| 21e2: 9f 93 push r25 |
| 21e4: 8f 93 push r24 |
| 21e6: 80 e6 ldi r24, 0x60 ; 96 |
| 21e8: 94 e0 ldi r25, 0x04 ; 4 |
| 21ea: 9f 93 push r25 |
| 21ec: 8f 93 push r24 |
| 21ee: 11 e0 ldi r17, 0x01 ; 1 |
| 21f0: 1f 93 push r17 |
| 21f2: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 21f6: 84 e1 ldi r24, 0x14 ; 20 |
| 21f8: 80 93 c7 01 sts 0x01C7, r24 |
| 21fc: 80 91 26 02 lds r24, 0x0226 |
| 2200: 90 91 27 02 lds r25, 0x0227 |
| 2204: 9f 93 push r25 |
| 2206: 8f 93 push r24 |
| 2208: 81 e5 ldi r24, 0x51 ; 81 |
| 220a: 94 e0 ldi r25, 0x04 ; 4 |
| 220c: 9f 93 push r25 |
| 220e: 8f 93 push r24 |
| 2210: 1f 93 push r17 |
| 2212: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2216: 88 e2 ldi r24, 0x28 ; 40 |
| 2218: 80 93 c7 01 sts 0x01C7, r24 |
| 221c: 80 91 0a 01 lds r24, 0x010A |
| 2220: 90 91 0b 01 lds r25, 0x010B |
| 2224: 9f 93 push r25 |
| 2226: 8f 93 push r24 |
| 2228: 82 e4 ldi r24, 0x42 ; 66 |
| 222a: 94 e0 ldi r25, 0x04 ; 4 |
| 222c: 9f 93 push r25 |
| 222e: 8f 93 push r24 |
| 2230: 1f 93 push r17 |
| 2232: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2236: 8c e3 ldi r24, 0x3C ; 60 |
| 2238: 80 93 c7 01 sts 0x01C7, r24 |
| 223c: 80 91 8e 04 lds r24, 0x048E |
| 2240: 99 27 eor r25, r25 |
| 2242: 9f 93 push r25 |
| 2244: 8f 93 push r24 |
| 2246: 83 e3 ldi r24, 0x33 ; 51 |
| 2248: 94 e0 ldi r25, 0x04 ; 4 |
| 224a: 9f 93 push r25 |
| 224c: 8f 93 push r24 |
| 224e: 1f 93 push r17 |
| 2250: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2254: 8d b7 in r24, 0x3d ; 61 |
| 2256: 9e b7 in r25, 0x3e ; 62 |
| 2258: 44 96 adiw r24, 0x14 ; 20 |
| 225a: 8d bf out 0x3d, r24 ; 61 |
| 225c: 41 c3 rjmp .+1666 ; 0x28e0 <Menu+0x82a> |
| 225e: 84 e1 ldi r24, 0x14 ; 20 |
| 2260: 80 93 c7 01 sts 0x01C7, r24 |
| 2264: 8c e2 ldi r24, 0x2C ; 44 |
| 2266: 94 e0 ldi r25, 0x04 ; 4 |
| 2268: 9f 93 push r25 |
| 226a: 8f 93 push r24 |
| 226c: 11 e0 ldi r17, 0x01 ; 1 |
| 226e: 1f 93 push r17 |
| 2270: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2274: 88 e2 ldi r24, 0x28 ; 40 |
| 2276: 80 93 c7 01 sts 0x01C7, r24 |
| 227a: 8e e1 ldi r24, 0x1E ; 30 |
| 227c: 94 e0 ldi r25, 0x04 ; 4 |
| 227e: 9f 93 push r25 |
| 2280: 8f 93 push r24 |
| 2282: 1f 93 push r17 |
| 2284: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2288: 8d b7 in r24, 0x3d ; 61 |
| 228a: 9e b7 in r25, 0x3e ; 62 |
| 228c: 06 96 adiw r24, 0x06 ; 6 |
| 228e: e5 cf rjmp .-54 ; 0x225a <Menu+0x1a4> |
| 2290: 10 92 c7 01 sts 0x01C7, r1 |
| 2294: 84 e1 ldi r24, 0x14 ; 20 |
| 2296: 94 e0 ldi r25, 0x04 ; 4 |
| 2298: 9f 93 push r25 |
| 229a: 8f 93 push r24 |
| 229c: 11 e0 ldi r17, 0x01 ; 1 |
| 229e: 1f 93 push r17 |
| 22a0: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 22a4: 84 e1 ldi r24, 0x14 ; 20 |
| 22a6: 80 93 c7 01 sts 0x01C7, r24 |
| 22aa: 60 91 db 01 lds r22, 0x01DB |
| 22ae: 70 91 dc 01 lds r23, 0x01DC |
| 22b2: 80 91 dd 01 lds r24, 0x01DD |
| 22b6: 90 91 de 01 lds r25, 0x01DE |
| 22ba: 20 e0 ldi r18, 0x00 ; 0 |
| 22bc: 34 e0 ldi r19, 0x04 ; 4 |
| 22be: 40 e0 ldi r20, 0x00 ; 0 |
| 22c0: 50 e0 ldi r21, 0x00 ; 0 |
| 22c2: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 22c6: 5f 93 push r21 |
| 22c8: 4f 93 push r20 |
| 22ca: 3f 93 push r19 |
| 22cc: 2f 93 push r18 |
| 22ce: 85 e0 ldi r24, 0x05 ; 5 |
| 22d0: 94 e0 ldi r25, 0x04 ; 4 |
| 22d2: 9f 93 push r25 |
| 22d4: 8f 93 push r24 |
| 22d6: 1f 93 push r17 |
| 22d8: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 22dc: 88 e2 ldi r24, 0x28 ; 40 |
| 22de: 80 93 c7 01 sts 0x01C7, r24 |
| 22e2: 60 91 e3 01 lds r22, 0x01E3 |
| 22e6: 70 91 e4 01 lds r23, 0x01E4 |
| 22ea: 80 91 e5 01 lds r24, 0x01E5 |
| 22ee: 90 91 e6 01 lds r25, 0x01E6 |
| 22f2: 20 e0 ldi r18, 0x00 ; 0 |
| 22f4: 34 e0 ldi r19, 0x04 ; 4 |
| 22f6: 40 e0 ldi r20, 0x00 ; 0 |
| 22f8: 50 e0 ldi r21, 0x00 ; 0 |
| 22fa: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 22fe: 5f 93 push r21 |
| 2300: 4f 93 push r20 |
| 2302: 3f 93 push r19 |
| 2304: 2f 93 push r18 |
| 2306: 86 ef ldi r24, 0xF6 ; 246 |
| 2308: 93 e0 ldi r25, 0x03 ; 3 |
| 230a: 9f 93 push r25 |
| 230c: 8f 93 push r24 |
| 230e: 1f 93 push r17 |
| 2310: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2314: 8c e3 ldi r24, 0x3C ; 60 |
| 2316: 80 93 c7 01 sts 0x01C7, r24 |
| 231a: 80 91 0b 02 lds r24, 0x020B |
| 231e: 90 91 0c 02 lds r25, 0x020C |
| 2322: 9f 93 push r25 |
| 2324: 8f 93 push r24 |
| 2326: 87 ee ldi r24, 0xE7 ; 231 |
| 2328: 93 e0 ldi r25, 0x03 ; 3 |
| 232a: 9f 93 push r25 |
| 232c: 8f 93 push r24 |
| 232e: 1f 93 push r17 |
| 2330: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2334: 8d b7 in r24, 0x3d ; 61 |
| 2336: 9e b7 in r25, 0x3e ; 62 |
| 2338: 46 96 adiw r24, 0x16 ; 22 |
| 233a: 8f cf rjmp .-226 ; 0x225a <Menu+0x1a4> |
| 233c: 10 92 c7 01 sts 0x01C7, r1 |
| 2340: 80 91 b2 04 lds r24, 0x04B2 |
| 2344: 90 91 b3 04 lds r25, 0x04B3 |
| 2348: 20 91 b0 04 lds r18, 0x04B0 |
| 234c: 30 91 b1 04 lds r19, 0x04B1 |
| 2350: 9f 93 push r25 |
| 2352: 8f 93 push r24 |
| 2354: 3f 93 push r19 |
| 2356: 2f 93 push r18 |
| 2358: 87 ed ldi r24, 0xD7 ; 215 |
| 235a: 93 e0 ldi r25, 0x03 ; 3 |
| 235c: 9f 93 push r25 |
| 235e: 8f 93 push r24 |
| 2360: 11 e0 ldi r17, 0x01 ; 1 |
| 2362: 1f 93 push r17 |
| 2364: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2368: 84 e1 ldi r24, 0x14 ; 20 |
| 236a: 80 93 c7 01 sts 0x01C7, r24 |
| 236e: 80 91 b6 04 lds r24, 0x04B6 |
| 2372: 90 91 b7 04 lds r25, 0x04B7 |
| 2376: 20 91 b4 04 lds r18, 0x04B4 |
| 237a: 30 91 b5 04 lds r19, 0x04B5 |
| 237e: 9f 93 push r25 |
| 2380: 8f 93 push r24 |
| 2382: 3f 93 push r19 |
| 2384: 2f 93 push r18 |
| 2386: 87 ec ldi r24, 0xC7 ; 199 |
| 2388: 93 e0 ldi r25, 0x03 ; 3 |
| 238a: 9f 93 push r25 |
| 238c: 8f 93 push r24 |
| 238e: 1f 93 push r17 |
| 2390: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2394: 88 e2 ldi r24, 0x28 ; 40 |
| 2396: 80 93 c7 01 sts 0x01C7, r24 |
| 239a: 80 91 ba 04 lds r24, 0x04BA |
| 239e: 90 91 bb 04 lds r25, 0x04BB |
| 23a2: 20 91 b8 04 lds r18, 0x04B8 |
| 23a6: 30 91 b9 04 lds r19, 0x04B9 |
| 23aa: 9f 93 push r25 |
| 23ac: 8f 93 push r24 |
| 23ae: 3f 93 push r19 |
| 23b0: 2f 93 push r18 |
| 23b2: 87 eb ldi r24, 0xB7 ; 183 |
| 23b4: 93 e0 ldi r25, 0x03 ; 3 |
| 23b6: 9f 93 push r25 |
| 23b8: 8f 93 push r24 |
| 23ba: 1f 93 push r17 |
| 23bc: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 23c0: 8c e3 ldi r24, 0x3C ; 60 |
| 23c2: 80 93 c7 01 sts 0x01C7, r24 |
| 23c6: 80 91 bc 04 lds r24, 0x04BC |
| 23ca: 90 91 bd 04 lds r25, 0x04BD |
| 23ce: 9f 93 push r25 |
| 23d0: 8f 93 push r24 |
| 23d2: 87 ea ldi r24, 0xA7 ; 167 |
| 23d4: 93 e0 ldi r25, 0x03 ; 3 |
| 23d6: 70 c0 rjmp .+224 ; 0x24b8 <Menu+0x402> |
| 23d8: 10 92 c7 01 sts 0x01C7, r1 |
| 23dc: e0 91 db 04 lds r30, 0x04DB |
| 23e0: ff 27 eor r31, r31 |
| 23e2: ee 0f add r30, r30 |
| 23e4: ff 1f adc r31, r31 |
| 23e6: e2 55 subi r30, 0x52 ; 82 |
| 23e8: fb 4f sbci r31, 0xFB ; 251 |
| 23ea: 20 81 ld r18, Z |
| 23ec: 31 81 ldd r19, Z+1 ; 0x01 |
| 23ee: e0 91 da 04 lds r30, 0x04DA |
| 23f2: ff 27 eor r31, r31 |
| 23f4: ee 0f add r30, r30 |
| 23f6: ff 1f adc r31, r31 |
| 23f8: e2 55 subi r30, 0x52 ; 82 |
| 23fa: fb 4f sbci r31, 0xFB ; 251 |
| 23fc: 80 81 ld r24, Z |
| 23fe: 91 81 ldd r25, Z+1 ; 0x01 |
| 2400: 3f 93 push r19 |
| 2402: 2f 93 push r18 |
| 2404: 9f 93 push r25 |
| 2406: 8f 93 push r24 |
| 2408: 87 e9 ldi r24, 0x97 ; 151 |
| 240a: 93 e0 ldi r25, 0x03 ; 3 |
| 240c: 9f 93 push r25 |
| 240e: 8f 93 push r24 |
| 2410: 11 e0 ldi r17, 0x01 ; 1 |
| 2412: 1f 93 push r17 |
| 2414: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2418: 84 e1 ldi r24, 0x14 ; 20 |
| 241a: 80 93 c7 01 sts 0x01C7, r24 |
| 241e: e0 91 dd 04 lds r30, 0x04DD |
| 2422: ff 27 eor r31, r31 |
| 2424: ee 0f add r30, r30 |
| 2426: ff 1f adc r31, r31 |
| 2428: e2 55 subi r30, 0x52 ; 82 |
| 242a: fb 4f sbci r31, 0xFB ; 251 |
| 242c: 20 81 ld r18, Z |
| 242e: 31 81 ldd r19, Z+1 ; 0x01 |
| 2430: e0 91 dc 04 lds r30, 0x04DC |
| 2434: ff 27 eor r31, r31 |
| 2436: ee 0f add r30, r30 |
| 2438: ff 1f adc r31, r31 |
| 243a: e2 55 subi r30, 0x52 ; 82 |
| 243c: fb 4f sbci r31, 0xFB ; 251 |
| 243e: 80 81 ld r24, Z |
| 2440: 91 81 ldd r25, Z+1 ; 0x01 |
| 2442: 3f 93 push r19 |
| 2444: 2f 93 push r18 |
| 2446: 9f 93 push r25 |
| 2448: 8f 93 push r24 |
| 244a: 87 e8 ldi r24, 0x87 ; 135 |
| 244c: 93 e0 ldi r25, 0x03 ; 3 |
| 244e: 9f 93 push r25 |
| 2450: 8f 93 push r24 |
| 2452: 1f 93 push r17 |
| 2454: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2458: 88 e2 ldi r24, 0x28 ; 40 |
| 245a: 80 93 c7 01 sts 0x01C7, r24 |
| 245e: e0 91 df 04 lds r30, 0x04DF |
| 2462: ff 27 eor r31, r31 |
| 2464: ee 0f add r30, r30 |
| 2466: ff 1f adc r31, r31 |
| 2468: e2 55 subi r30, 0x52 ; 82 |
| 246a: fb 4f sbci r31, 0xFB ; 251 |
| 246c: 20 81 ld r18, Z |
| 246e: 31 81 ldd r19, Z+1 ; 0x01 |
| 2470: e0 91 de 04 lds r30, 0x04DE |
| 2474: ff 27 eor r31, r31 |
| 2476: ee 0f add r30, r30 |
| 2478: ff 1f adc r31, r31 |
| 247a: e2 55 subi r30, 0x52 ; 82 |
| 247c: fb 4f sbci r31, 0xFB ; 251 |
| 247e: 80 81 ld r24, Z |
| 2480: 91 81 ldd r25, Z+1 ; 0x01 |
| 2482: 3f 93 push r19 |
| 2484: 2f 93 push r18 |
| 2486: 9f 93 push r25 |
| 2488: 8f 93 push r24 |
| 248a: 87 e7 ldi r24, 0x77 ; 119 |
| 248c: 93 e0 ldi r25, 0x03 ; 3 |
| 248e: 9f 93 push r25 |
| 2490: 8f 93 push r24 |
| 2492: 1f 93 push r17 |
| 2494: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2498: 8c e3 ldi r24, 0x3C ; 60 |
| 249a: 80 93 c7 01 sts 0x01C7, r24 |
| 249e: e0 91 e0 04 lds r30, 0x04E0 |
| 24a2: ff 27 eor r31, r31 |
| 24a4: ee 0f add r30, r30 |
| 24a6: ff 1f adc r31, r31 |
| 24a8: e2 55 subi r30, 0x52 ; 82 |
| 24aa: fb 4f sbci r31, 0xFB ; 251 |
| 24ac: 80 81 ld r24, Z |
| 24ae: 91 81 ldd r25, Z+1 ; 0x01 |
| 24b0: 9f 93 push r25 |
| 24b2: 8f 93 push r24 |
| 24b4: 87 e6 ldi r24, 0x67 ; 103 |
| 24b6: 93 e0 ldi r25, 0x03 ; 3 |
| 24b8: 9f 93 push r25 |
| 24ba: 8f 93 push r24 |
| 24bc: 1f 93 push r17 |
| 24be: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 24c2: 8d b7 in r24, 0x3d ; 61 |
| 24c4: 9e b7 in r25, 0x3e ; 62 |
| 24c6: 4a 96 adiw r24, 0x1a ; 26 |
| 24c8: c8 ce rjmp .-624 ; 0x225a <Menu+0x1a4> |
| 24ca: 10 92 c7 01 sts 0x01C7, r1 |
| 24ce: 89 e5 ldi r24, 0x59 ; 89 |
| 24d0: 93 e0 ldi r25, 0x03 ; 3 |
| 24d2: 9f 93 push r25 |
| 24d4: 8f 93 push r24 |
| 24d6: 11 e0 ldi r17, 0x01 ; 1 |
| 24d8: 1f 93 push r17 |
| 24da: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 24de: 84 e1 ldi r24, 0x14 ; 20 |
| 24e0: 80 93 c7 01 sts 0x01C7, r24 |
| 24e4: 20 91 d3 01 lds r18, 0x01D3 |
| 24e8: 30 91 d4 01 lds r19, 0x01D4 |
| 24ec: 80 91 ad 01 lds r24, 0x01AD |
| 24f0: 90 91 ae 01 lds r25, 0x01AE |
| 24f4: 60 91 b9 01 lds r22, 0x01B9 |
| 24f8: 3f 93 push r19 |
| 24fa: 2f 93 push r18 |
| 24fc: 77 27 eor r23, r23 |
| 24fe: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 2502: 7f 93 push r23 |
| 2504: 6f 93 push r22 |
| 2506: 8a e4 ldi r24, 0x4A ; 74 |
| 2508: 93 e0 ldi r25, 0x03 ; 3 |
| 250a: 9f 93 push r25 |
| 250c: 8f 93 push r24 |
| 250e: 1f 93 push r17 |
| 2510: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2514: 88 e2 ldi r24, 0x28 ; 40 |
| 2516: 80 93 c7 01 sts 0x01C7, r24 |
| 251a: 20 91 d5 01 lds r18, 0x01D5 |
| 251e: 30 91 d6 01 lds r19, 0x01D6 |
| 2522: 80 91 af 01 lds r24, 0x01AF |
| 2526: 90 91 b0 01 lds r25, 0x01B0 |
| 252a: 60 91 ba 01 lds r22, 0x01BA |
| 252e: 3f 93 push r19 |
| 2530: 2f 93 push r18 |
| 2532: 77 27 eor r23, r23 |
| 2534: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 2538: 7f 93 push r23 |
| 253a: 6f 93 push r22 |
| 253c: 8b e3 ldi r24, 0x3B ; 59 |
| 253e: 93 e0 ldi r25, 0x03 ; 3 |
| 2540: 9f 93 push r25 |
| 2542: 8f 93 push r24 |
| 2544: 1f 93 push r17 |
| 2546: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 254a: 8c e3 ldi r24, 0x3C ; 60 |
| 254c: 80 93 c7 01 sts 0x01C7, r24 |
| 2550: 20 91 d7 01 lds r18, 0x01D7 |
| 2554: 30 91 d8 01 lds r19, 0x01D8 |
| 2558: 80 91 b1 01 lds r24, 0x01B1 |
| 255c: 90 91 b2 01 lds r25, 0x01B2 |
| 2560: 60 91 bb 01 lds r22, 0x01BB |
| 2564: 3f 93 push r19 |
| 2566: 2f 93 push r18 |
| 2568: 77 27 eor r23, r23 |
| 256a: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 256e: 7f 93 push r23 |
| 2570: 6f 93 push r22 |
| 2572: 8c e2 ldi r24, 0x2C ; 44 |
| 2574: 93 e0 ldi r25, 0x03 ; 3 |
| 2576: 9f 93 push r25 |
| 2578: 8f 93 push r24 |
| 257a: 1f 93 push r17 |
| 257c: 5b c0 rjmp .+182 ; 0x2634 <Menu+0x57e> |
| 257e: 10 92 c7 01 sts 0x01C7, r1 |
| 2582: 8f e1 ldi r24, 0x1F ; 31 |
| 2584: 93 e0 ldi r25, 0x03 ; 3 |
| 2586: 9f 93 push r25 |
| 2588: 8f 93 push r24 |
| 258a: 81 e0 ldi r24, 0x01 ; 1 |
| 258c: f8 2e mov r15, r24 |
| 258e: ff 92 push r15 |
| 2590: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2594: 84 e1 ldi r24, 0x14 ; 20 |
| 2596: 80 93 c7 01 sts 0x01C7, r24 |
| 259a: 20 91 1f 05 lds r18, 0x051F |
| 259e: 30 91 20 05 lds r19, 0x0520 |
| 25a2: 80 91 b5 01 lds r24, 0x01B5 |
| 25a6: 90 91 b6 01 lds r25, 0x01B6 |
| 25aa: 60 91 bc 01 lds r22, 0x01BC |
| 25ae: 3f 93 push r19 |
| 25b0: 2f 93 push r18 |
| 25b2: 77 27 eor r23, r23 |
| 25b4: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 25b8: 7f 93 push r23 |
| 25ba: 6f 93 push r22 |
| 25bc: 80 e1 ldi r24, 0x10 ; 16 |
| 25be: 93 e0 ldi r25, 0x03 ; 3 |
| 25c0: 9f 93 push r25 |
| 25c2: 8f 93 push r24 |
| 25c4: ff 92 push r15 |
| 25c6: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 25ca: 88 e2 ldi r24, 0x28 ; 40 |
| 25cc: 80 93 c7 01 sts 0x01C7, r24 |
| 25d0: 20 91 21 05 lds r18, 0x0521 |
| 25d4: 30 91 22 05 lds r19, 0x0522 |
| 25d8: 80 91 b3 01 lds r24, 0x01B3 |
| 25dc: 90 91 b4 01 lds r25, 0x01B4 |
| 25e0: 60 91 bd 01 lds r22, 0x01BD |
| 25e4: 3f 93 push r19 |
| 25e6: 2f 93 push r18 |
| 25e8: 77 27 eor r23, r23 |
| 25ea: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 25ee: 7f 93 push r23 |
| 25f0: 6f 93 push r22 |
| 25f2: 81 e0 ldi r24, 0x01 ; 1 |
| 25f4: 93 e0 ldi r25, 0x03 ; 3 |
| 25f6: 9f 93 push r25 |
| 25f8: 8f 93 push r24 |
| 25fa: ff 92 push r15 |
| 25fc: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2600: 8c e3 ldi r24, 0x3C ; 60 |
| 2602: 80 93 c7 01 sts 0x01C7, r24 |
| 2606: 60 91 23 05 lds r22, 0x0523 |
| 260a: 70 91 24 05 lds r23, 0x0524 |
| 260e: 80 91 25 05 lds r24, 0x0525 |
| 2612: 90 91 26 05 lds r25, 0x0526 |
| 2616: 00 91 83 04 lds r16, 0x0483 |
| 261a: 10 91 84 04 lds r17, 0x0484 |
| 261e: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 2622: 7f 93 push r23 |
| 2624: 6f 93 push r22 |
| 2626: 1f 93 push r17 |
| 2628: 0f 93 push r16 |
| 262a: 82 ef ldi r24, 0xF2 ; 242 |
| 262c: 92 e0 ldi r25, 0x02 ; 2 |
| 262e: 9f 93 push r25 |
| 2630: 8f 93 push r24 |
| 2632: ff 92 push r15 |
| 2634: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2638: 8d b7 in r24, 0x3d ; 61 |
| 263a: 9e b7 in r25, 0x3e ; 62 |
| 263c: 48 96 adiw r24, 0x18 ; 24 |
| 263e: 0d ce rjmp .-998 ; 0x225a <Menu+0x1a4> |
| 2640: 84 e1 ldi r24, 0x14 ; 20 |
| 2642: 80 93 c7 01 sts 0x01C7, r24 |
| 2646: 80 91 04 01 lds r24, 0x0104 |
| 264a: 90 91 05 01 lds r25, 0x0105 |
| 264e: 9f 93 push r25 |
| 2650: 8f 93 push r24 |
| 2652: 83 ee ldi r24, 0xE3 ; 227 |
| 2654: 92 e0 ldi r25, 0x02 ; 2 |
| 2656: 9f 93 push r25 |
| 2658: 8f 93 push r24 |
| 265a: 11 e0 ldi r17, 0x01 ; 1 |
| 265c: 1f 93 push r17 |
| 265e: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2662: 88 e2 ldi r24, 0x28 ; 40 |
| 2664: 80 93 c7 01 sts 0x01C7, r24 |
| 2668: 80 91 1c 02 lds r24, 0x021C |
| 266c: 99 27 eor r25, r25 |
| 266e: 9f 93 push r25 |
| 2670: 8f 93 push r24 |
| 2672: 84 ed ldi r24, 0xD4 ; 212 |
| 2674: 92 e0 ldi r25, 0x02 ; 2 |
| 2676: 9f 93 push r25 |
| 2678: 8f 93 push r24 |
| 267a: 1f 93 push r17 |
| 267c: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2680: 8d b7 in r24, 0x3d ; 61 |
| 2682: 9e b7 in r25, 0x3e ; 62 |
| 2684: 0a 96 adiw r24, 0x0a ; 10 |
| 2686: e9 cd rjmp .-1070 ; 0x225a <Menu+0x1a4> |
| 2688: 10 92 c7 01 sts 0x01C7, r1 |
| 268c: 85 ec ldi r24, 0xC5 ; 197 |
| 268e: 92 e0 ldi r25, 0x02 ; 2 |
| 2690: 9f 93 push r25 |
| 2692: 8f 93 push r24 |
| 2694: 11 e0 ldi r17, 0x01 ; 1 |
| 2696: 1f 93 push r17 |
| 2698: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 269c: 84 e1 ldi r24, 0x14 ; 20 |
| 269e: 80 93 c7 01 sts 0x01C7, r24 |
| 26a2: 80 91 0f 02 lds r24, 0x020F |
| 26a6: 90 91 10 02 lds r25, 0x0210 |
| 26aa: 9f 93 push r25 |
| 26ac: 8f 93 push r24 |
| 26ae: 86 eb ldi r24, 0xB6 ; 182 |
| 26b0: 92 e0 ldi r25, 0x02 ; 2 |
| 26b2: 9f 93 push r25 |
| 26b4: 8f 93 push r24 |
| 26b6: 1f 93 push r17 |
| 26b8: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 26bc: 88 e2 ldi r24, 0x28 ; 40 |
| 26be: 80 93 c7 01 sts 0x01C7, r24 |
| 26c2: 80 91 0b 02 lds r24, 0x020B |
| 26c6: 90 91 0c 02 lds r25, 0x020C |
| 26ca: 9f 93 push r25 |
| 26cc: 8f 93 push r24 |
| 26ce: 87 ea ldi r24, 0xA7 ; 167 |
| 26d0: 92 e0 ldi r25, 0x02 ; 2 |
| 26d2: 9f 93 push r25 |
| 26d4: 8f 93 push r24 |
| 26d6: 1f 93 push r17 |
| 26d8: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 26dc: 8c e3 ldi r24, 0x3C ; 60 |
| 26de: 80 93 c7 01 sts 0x01C7, r24 |
| 26e2: 80 91 0d 02 lds r24, 0x020D |
| 26e6: 90 91 0e 02 lds r25, 0x020E |
| 26ea: 9f 93 push r25 |
| 26ec: 8f 93 push r24 |
| 26ee: 88 e9 ldi r24, 0x98 ; 152 |
| 26f0: 92 e0 ldi r25, 0x02 ; 2 |
| 26f2: e8 c0 rjmp .+464 ; 0x28c4 <Menu+0x80e> |
| 26f4: 10 92 c7 01 sts 0x01C7, r1 |
| 26f8: 80 91 14 02 lds r24, 0x0214 |
| 26fc: 90 91 15 02 lds r25, 0x0215 |
| 2700: 9f 93 push r25 |
| 2702: 8f 93 push r24 |
| 2704: 8c e8 ldi r24, 0x8C ; 140 |
| 2706: 92 e0 ldi r25, 0x02 ; 2 |
| 2708: 9f 93 push r25 |
| 270a: 8f 93 push r24 |
| 270c: 11 e0 ldi r17, 0x01 ; 1 |
| 270e: 1f 93 push r17 |
| 2710: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2714: 84 e1 ldi r24, 0x14 ; 20 |
| 2716: 80 93 c7 01 sts 0x01C7, r24 |
| 271a: 80 91 16 02 lds r24, 0x0216 |
| 271e: 90 91 17 02 lds r25, 0x0217 |
| 2722: 9f 93 push r25 |
| 2724: 8f 93 push r24 |
| 2726: 80 e8 ldi r24, 0x80 ; 128 |
| 2728: 92 e0 ldi r25, 0x02 ; 2 |
| 272a: 9f 93 push r25 |
| 272c: 8f 93 push r24 |
| 272e: 1f 93 push r17 |
| 2730: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2734: 88 e2 ldi r24, 0x28 ; 40 |
| 2736: 80 93 c7 01 sts 0x01C7, r24 |
| 273a: 80 91 18 02 lds r24, 0x0218 |
| 273e: 90 91 19 02 lds r25, 0x0219 |
| 2742: 9f 93 push r25 |
| 2744: 8f 93 push r24 |
| 2746: 84 e7 ldi r24, 0x74 ; 116 |
| 2748: 92 e0 ldi r25, 0x02 ; 2 |
| 274a: 9f 93 push r25 |
| 274c: 8f 93 push r24 |
| 274e: 1f 93 push r17 |
| 2750: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2754: 8c e3 ldi r24, 0x3C ; 60 |
| 2756: 80 93 c7 01 sts 0x01C7, r24 |
| 275a: 80 91 1a 02 lds r24, 0x021A |
| 275e: 90 91 1b 02 lds r25, 0x021B |
| 2762: 9f 93 push r25 |
| 2764: 8f 93 push r24 |
| 2766: 88 e6 ldi r24, 0x68 ; 104 |
| 2768: 92 e0 ldi r25, 0x02 ; 2 |
| 276a: 6f cd rjmp .-1314 ; 0x224a <Menu+0x194> |
| 276c: 10 92 c7 01 sts 0x01C7, r1 |
| 2770: 80 e6 ldi r24, 0x60 ; 96 |
| 2772: 92 e0 ldi r25, 0x02 ; 2 |
| 2774: 9f 93 push r25 |
| 2776: 8f 93 push r24 |
| 2778: 11 e0 ldi r17, 0x01 ; 1 |
| 277a: 1f 93 push r17 |
| 277c: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2780: 84 e1 ldi r24, 0x14 ; 20 |
| 2782: 80 93 c7 01 sts 0x01C7, r24 |
| 2786: 80 91 89 01 lds r24, 0x0189 |
| 278a: 99 27 eor r25, r25 |
| 278c: 9f 93 push r25 |
| 278e: 8f 93 push r24 |
| 2790: 82 e5 ldi r24, 0x52 ; 82 |
| 2792: 92 e0 ldi r25, 0x02 ; 2 |
| 2794: 9f 93 push r25 |
| 2796: 8f 93 push r24 |
| 2798: 1f 93 push r17 |
| 279a: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 279e: 88 e2 ldi r24, 0x28 ; 40 |
| 27a0: 80 93 c7 01 sts 0x01C7, r24 |
| 27a4: 80 91 a8 01 lds r24, 0x01A8 |
| 27a8: 90 91 a9 01 lds r25, 0x01A9 |
| 27ac: 9f 93 push r25 |
| 27ae: 8f 93 push r24 |
| 27b0: 84 e4 ldi r24, 0x44 ; 68 |
| 27b2: 92 e0 ldi r25, 0x02 ; 2 |
| 27b4: 9f 93 push r25 |
| 27b6: 8f 93 push r24 |
| 27b8: 1f 93 push r17 |
| 27ba: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 27be: 8c e3 ldi r24, 0x3C ; 60 |
| 27c0: 80 93 c7 01 sts 0x01C7, r24 |
| 27c4: 80 91 fe 04 lds r24, 0x04FE |
| 27c8: 99 27 eor r25, r25 |
| 27ca: 9f 93 push r25 |
| 27cc: 8f 93 push r24 |
| 27ce: 80 91 fd 04 lds r24, 0x04FD |
| 27d2: 99 27 eor r25, r25 |
| 27d4: 9f 93 push r25 |
| 27d6: 8f 93 push r24 |
| 27d8: 86 e3 ldi r24, 0x36 ; 54 |
| 27da: 92 e0 ldi r25, 0x02 ; 2 |
| 27dc: 9f 93 push r25 |
| 27de: 8f 93 push r24 |
| 27e0: 1f 93 push r17 |
| 27e2: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 27e6: 36 cd rjmp .-1428 ; 0x2254 <Menu+0x19e> |
| 27e8: 10 92 c7 01 sts 0x01C7, r1 |
| 27ec: 8e e2 ldi r24, 0x2E ; 46 |
| 27ee: 92 e0 ldi r25, 0x02 ; 2 |
| 27f0: 9f 93 push r25 |
| 27f2: 8f 93 push r24 |
| 27f4: 11 e0 ldi r17, 0x01 ; 1 |
| 27f6: 1f 93 push r17 |
| 27f8: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 27fc: 84 e1 ldi r24, 0x14 ; 20 |
| 27fe: 80 93 c7 01 sts 0x01C7, r24 |
| 2802: 80 91 93 04 lds r24, 0x0493 |
| 2806: 99 27 eor r25, r25 |
| 2808: 87 fd sbrc r24, 7 |
| 280a: 90 95 com r25 |
| 280c: 9f 93 push r25 |
| 280e: 8f 93 push r24 |
| 2810: 8f e1 ldi r24, 0x1F ; 31 |
| 2812: 92 e0 ldi r25, 0x02 ; 2 |
| 2814: 9f 93 push r25 |
| 2816: 8f 93 push r24 |
| 2818: 1f 93 push r17 |
| 281a: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 281e: 88 e2 ldi r24, 0x28 ; 40 |
| 2820: 80 93 c7 01 sts 0x01C7, r24 |
| 2824: 80 91 94 04 lds r24, 0x0494 |
| 2828: 99 27 eor r25, r25 |
| 282a: 87 fd sbrc r24, 7 |
| 282c: 90 95 com r25 |
| 282e: 9f 93 push r25 |
| 2830: 8f 93 push r24 |
| 2832: 80 e1 ldi r24, 0x10 ; 16 |
| 2834: 92 e0 ldi r25, 0x02 ; 2 |
| 2836: 9f 93 push r25 |
| 2838: 8f 93 push r24 |
| 283a: 1f 93 push r17 |
| 283c: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 2840: 8c e3 ldi r24, 0x3C ; 60 |
| 2842: 80 93 c7 01 sts 0x01C7, r24 |
| 2846: 80 91 95 04 lds r24, 0x0495 |
| 284a: 99 27 eor r25, r25 |
| 284c: 87 fd sbrc r24, 7 |
| 284e: 90 95 com r25 |
| 2850: 9f 93 push r25 |
| 2852: 8f 93 push r24 |
| 2854: 81 e0 ldi r24, 0x01 ; 1 |
| 2856: 92 e0 ldi r25, 0x02 ; 2 |
| 2858: 35 c0 rjmp .+106 ; 0x28c4 <Menu+0x80e> |
| 285a: 10 92 c7 01 sts 0x01C7, r1 |
| 285e: 87 ef ldi r24, 0xF7 ; 247 |
| 2860: 91 e0 ldi r25, 0x01 ; 1 |
| 2862: 9f 93 push r25 |
| 2864: 8f 93 push r24 |
| 2866: 11 e0 ldi r17, 0x01 ; 1 |
| 2868: 1f 93 push r17 |
| 286a: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 286e: 84 e1 ldi r24, 0x14 ; 20 |
| 2870: 80 93 c7 01 sts 0x01C7, r24 |
| 2874: 80 91 96 04 lds r24, 0x0496 |
| 2878: 90 91 97 04 lds r25, 0x0497 |
| 287c: 9f 93 push r25 |
| 287e: 8f 93 push r24 |
| 2880: 89 ee ldi r24, 0xE9 ; 233 |
| 2882: 91 e0 ldi r25, 0x01 ; 1 |
| 2884: 9f 93 push r25 |
| 2886: 8f 93 push r24 |
| 2888: 1f 93 push r17 |
| 288a: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 288e: 88 e2 ldi r24, 0x28 ; 40 |
| 2890: 80 93 c7 01 sts 0x01C7, r24 |
| 2894: 80 91 98 04 lds r24, 0x0498 |
| 2898: 90 91 99 04 lds r25, 0x0499 |
| 289c: 9f 93 push r25 |
| 289e: 8f 93 push r24 |
| 28a0: 8b ed ldi r24, 0xDB ; 219 |
| 28a2: 91 e0 ldi r25, 0x01 ; 1 |
| 28a4: 9f 93 push r25 |
| 28a6: 8f 93 push r24 |
| 28a8: 1f 93 push r17 |
| 28aa: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 28ae: 8c e3 ldi r24, 0x3C ; 60 |
| 28b0: 80 93 c7 01 sts 0x01C7, r24 |
| 28b4: 80 91 9a 04 lds r24, 0x049A |
| 28b8: 90 91 9b 04 lds r25, 0x049B |
| 28bc: 9f 93 push r25 |
| 28be: 8f 93 push r24 |
| 28c0: 8d ec ldi r24, 0xCD ; 205 |
| 28c2: 91 e0 ldi r25, 0x01 ; 1 |
| 28c4: 9f 93 push r25 |
| 28c6: 8f 93 push r24 |
| 28c8: 1f 93 push r17 |
| 28ca: 0e 94 24 09 call 0x1248 ; 0x1248 <_printf_P> |
| 28ce: 8d b7 in r24, 0x3d ; 61 |
| 28d0: 9e b7 in r25, 0x3e ; 62 |
| 28d2: 42 96 adiw r24, 0x12 ; 18 |
| 28d4: c2 cc rjmp .-1660 ; 0x225a <Menu+0x1a4> |
| 28d6: 81 50 subi r24, 0x01 ; 1 |
| 28d8: 80 93 66 01 sts 0x0166, r24 |
| 28dc: 10 92 c9 01 sts 0x01C9, r1 |
| 28e0: 10 92 c8 01 sts 0x01C8, r1 |
| 28e4: 1f 91 pop r17 |
| 28e6: 0f 91 pop r16 |
| 28e8: ff 90 pop r15 |
| 28ea: 08 95 ret |
| 000028ec <__vector_19>: |
| 28ec: 1f 92 push r1 |
| 28ee: 0f 92 push r0 |
| 28f0: 0f b6 in r0, 0x3f ; 63 |
| 28f2: 0f 92 push r0 |
| 28f4: 11 24 eor r1, r1 |
| 28f6: 2f 93 push r18 |
| 28f8: 3f 93 push r19 |
| 28fa: 4f 93 push r20 |
| 28fc: 8f 93 push r24 |
| 28fe: 9f 93 push r25 |
| 2900: 80 91 9c 04 lds r24, 0x049C |
| 2904: 83 30 cpi r24, 0x03 ; 3 |
| 2906: 19 f0 breq .+6 ; 0x290e <__vector_19+0x22> |
| 2908: 84 30 cpi r24, 0x04 ; 4 |
| 290a: a1 f5 brne .+104 ; 0x2974 <__vector_19+0x88> |
| 290c: 08 c0 rjmp .+16 ; 0x291e <__vector_19+0x32> |
| 290e: 8e b5 in r24, 0x2e ; 46 |
| 2910: 80 93 ca 01 sts 0x01CA, r24 |
| 2914: 1e bc out 0x2e, r1 ; 46 |
| 2916: 84 e0 ldi r24, 0x04 ; 4 |
| 2918: 80 93 9c 04 sts 0x049C, r24 |
| 291c: 2b c0 rjmp .+86 ; 0x2974 <__vector_19+0x88> |
| 291e: 80 91 ca 01 lds r24, 0x01CA |
| 2922: 99 27 eor r25, r25 |
| 2924: 38 2f mov r19, r24 |
| 2926: 22 27 eor r18, r18 |
| 2928: 8e b5 in r24, 0x2e ; 46 |
| 292a: 99 27 eor r25, r25 |
| 292c: 28 2b or r18, r24 |
| 292e: 39 2b or r19, r25 |
| 2930: c9 01 movw r24, r18 |
| 2932: 8d 50 subi r24, 0x0D ; 13 |
| 2934: 9e 4f sbci r25, 0xFE ; 254 |
| 2936: 87 5e subi r24, 0xE7 ; 231 |
| 2938: 93 40 sbci r25, 0x03 ; 3 |
| 293a: d0 f4 brcc .+52 ; 0x2970 <__vector_19+0x84> |
| 293c: 80 91 9f 04 lds r24, 0x049F |
| 2940: 85 30 cpi r24, 0x05 ; 5 |
| 2942: 19 f0 breq .+6 ; 0x294a <__vector_19+0x5e> |
| 2944: 86 30 cpi r24, 0x06 ; 6 |
| 2946: 69 f4 brne .+26 ; 0x2962 <__vector_19+0x76> |
| 2948: 06 c0 rjmp .+12 ; 0x2956 <__vector_19+0x6a> |
| 294a: 30 93 a1 04 sts 0x04A1, r19 |
| 294e: 20 93 a0 04 sts 0x04A0, r18 |
| 2952: 86 e0 ldi r24, 0x06 ; 6 |
| 2954: 0b c0 rjmp .+22 ; 0x296c <__vector_19+0x80> |
| 2956: 30 93 a3 04 sts 0x04A3, r19 |
| 295a: 20 93 a2 04 sts 0x04A2, r18 |
| 295e: 87 e0 ldi r24, 0x07 ; 7 |
| 2960: 05 c0 rjmp .+10 ; 0x296c <__vector_19+0x80> |
| 2962: 30 93 a5 04 sts 0x04A5, r19 |
| 2966: 20 93 a4 04 sts 0x04A4, r18 |
| 296a: 85 e0 ldi r24, 0x05 ; 5 |
| 296c: 80 93 9f 04 sts 0x049F, r24 |
| 2970: 10 92 9c 04 sts 0x049C, r1 |
| 2974: 9f 91 pop r25 |
| 2976: 8f 91 pop r24 |
| 2978: 4f 91 pop r20 |
| 297a: 3f 91 pop r19 |
| 297c: 2f 91 pop r18 |
| 297e: 0f 90 pop r0 |
| 2980: 0f be out 0x3f, r0 ; 63 |
| 2982: 0f 90 pop r0 |
| 2984: 1f 90 pop r1 |
| 2986: 18 95 reti |
| 00002988 <heading_MM3>: |
| 2988: a0 e1 ldi r26, 0x10 ; 16 |
| 298a: b0 e0 ldi r27, 0x00 ; 0 |
| 298c: ea ec ldi r30, 0xCA ; 202 |
| 298e: f4 e1 ldi r31, 0x14 ; 20 |
| 2990: 0c 94 e2 2e jmp 0x5dc4 ; 0x5dc4 <__prologue_saves__> |
| 2994: 60 91 db 01 lds r22, 0x01DB |
| 2998: 70 91 dc 01 lds r23, 0x01DC |
| 299c: 80 91 dd 01 lds r24, 0x01DD |
| 29a0: 90 91 de 01 lds r25, 0x01DE |
| 29a4: e0 90 f7 04 lds r14, 0x04F7 |
| 29a8: ff 24 eor r15, r15 |
| 29aa: 33 e0 ldi r19, 0x03 ; 3 |
| 29ac: ee 0c add r14, r14 |
| 29ae: ff 1c adc r15, r15 |
| 29b0: 3a 95 dec r19 |
| 29b2: e1 f7 brne .-8 ; 0x29ac <heading_MM3+0x24> |
| 29b4: 00 27 eor r16, r16 |
| 29b6: 11 27 eor r17, r17 |
| 29b8: a8 01 movw r20, r16 |
| 29ba: 97 01 movw r18, r14 |
| 29bc: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 29c0: 59 01 movw r10, r18 |
| 29c2: 6a 01 movw r12, r20 |
| 29c4: c9 01 movw r24, r18 |
| 29c6: 0e 94 de 17 call 0x2fbc ; 0x2fbc <sin_f> |
| 29ca: 6d 87 std Y+13, r22 ; 0x0d |
| 29cc: 7e 87 std Y+14, r23 ; 0x0e |
| 29ce: 8f 87 std Y+15, r24 ; 0x0f |
| 29d0: 98 8b std Y+16, r25 ; 0x10 |
| 29d2: c5 01 movw r24, r10 |
| 29d4: 0e 94 3e 18 call 0x307c ; 0x307c <cos_f> |
| 29d8: 69 87 std Y+9, r22 ; 0x09 |
| 29da: 7a 87 std Y+10, r23 ; 0x0a |
| 29dc: 8b 87 std Y+11, r24 ; 0x0b |
| 29de: 9c 87 std Y+12, r25 ; 0x0c |
| 29e0: 60 91 e3 01 lds r22, 0x01E3 |
| 29e4: 70 91 e4 01 lds r23, 0x01E4 |
| 29e8: 80 91 e5 01 lds r24, 0x01E5 |
| 29ec: 90 91 e6 01 lds r25, 0x01E6 |
| 29f0: a8 01 movw r20, r16 |
| 29f2: 97 01 movw r18, r14 |
| 29f4: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 29f8: 79 01 movw r14, r18 |
| 29fa: 8a 01 movw r16, r20 |
| 29fc: c9 01 movw r24, r18 |
| 29fe: 0e 94 de 17 call 0x2fbc ; 0x2fbc <sin_f> |
| 2a02: 6d 83 std Y+5, r22 ; 0x05 |
| 2a04: 7e 83 std Y+6, r23 ; 0x06 |
| 2a06: 8f 83 std Y+7, r24 ; 0x07 |
| 2a08: 98 87 std Y+8, r25 ; 0x08 |
| 2a0a: c7 01 movw r24, r14 |
| 2a0c: 0e 94 3e 18 call 0x307c ; 0x307c <cos_f> |
| 2a10: 69 83 std Y+1, r22 ; 0x01 |
| 2a12: 7a 83 std Y+2, r23 ; 0x02 |
| 2a14: 8b 83 std Y+3, r24 ; 0x03 |
| 2a16: 9c 83 std Y+4, r25 ; 0x04 |
| 2a18: a0 90 a0 04 lds r10, 0x04A0 |
| 2a1c: b0 90 a1 04 lds r11, 0x04A1 |
| 2a20: 80 91 93 04 lds r24, 0x0493 |
| 2a24: 99 27 eor r25, r25 |
| 2a26: 87 fd sbrc r24, 7 |
| 2a28: 90 95 com r25 |
| 2a2a: a8 1a sub r10, r24 |
| 2a2c: b9 0a sbc r11, r25 |
| 2a2e: 80 90 a2 04 lds r8, 0x04A2 |
| 2a32: 90 90 a3 04 lds r9, 0x04A3 |
| 2a36: 80 91 94 04 lds r24, 0x0494 |
| 2a3a: 99 27 eor r25, r25 |
| 2a3c: 87 fd sbrc r24, 7 |
| 2a3e: 90 95 com r25 |
| 2a40: 88 1a sub r8, r24 |
| 2a42: 99 0a sbc r9, r25 |
| 2a44: 40 90 a4 04 lds r4, 0x04A4 |
| 2a48: 50 90 a5 04 lds r5, 0x04A5 |
| 2a4c: 80 91 95 04 lds r24, 0x0495 |
| 2a50: 99 27 eor r25, r25 |
| 2a52: 87 fd sbrc r24, 7 |
| 2a54: 90 95 com r25 |
| 2a56: 48 1a sub r4, r24 |
| 2a58: 59 0a sbc r5, r25 |
| 2a5a: 20 90 96 04 lds r2, 0x0496 |
| 2a5e: 30 90 97 04 lds r3, 0x0497 |
| 2a62: c0 90 98 04 lds r12, 0x0498 |
| 2a66: d0 90 99 04 lds r13, 0x0499 |
| 2a6a: c2 14 cp r12, r2 |
| 2a6c: d3 04 cpc r13, r3 |
| 2a6e: d0 f4 brcc .+52 ; 0x2aa4 <heading_MM3+0x11c> |
| 2a70: 60 90 9a 04 lds r6, 0x049A |
| 2a74: 70 90 9b 04 lds r7, 0x049B |
| 2a78: 62 14 cp r6, r2 |
| 2a7a: 73 04 cpc r7, r3 |
| 2a7c: 98 f4 brcc .+38 ; 0x2aa4 <heading_MM3+0x11c> |
| 2a7e: 71 01 movw r14, r2 |
| 2a80: 00 27 eor r16, r16 |
| 2a82: 11 27 eor r17, r17 |
| 2a84: b4 01 movw r22, r8 |
| 2a86: 88 27 eor r24, r24 |
| 2a88: 77 fd sbrc r23, 7 |
| 2a8a: 80 95 com r24 |
| 2a8c: 98 2f mov r25, r24 |
| 2a8e: a8 01 movw r20, r16 |
| 2a90: 97 01 movw r18, r14 |
| 2a92: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2a96: 96 01 movw r18, r12 |
| 2a98: 44 27 eor r20, r20 |
| 2a9a: 55 27 eor r21, r21 |
| 2a9c: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2aa0: 49 01 movw r8, r18 |
| 2aa2: 1c c0 rjmp .+56 ; 0x2adc <heading_MM3+0x154> |
| 2aa4: 2c 14 cp r2, r12 |
| 2aa6: 3d 04 cpc r3, r13 |
| 2aa8: 48 f5 brcc .+82 ; 0x2afc <heading_MM3+0x174> |
| 2aaa: 60 90 9a 04 lds r6, 0x049A |
| 2aae: 70 90 9b 04 lds r7, 0x049B |
| 2ab2: 6c 14 cp r6, r12 |
| 2ab4: 7d 04 cpc r7, r13 |
| 2ab6: 10 f5 brcc .+68 ; 0x2afc <heading_MM3+0x174> |
| 2ab8: 76 01 movw r14, r12 |
| 2aba: 00 27 eor r16, r16 |
| 2abc: 11 27 eor r17, r17 |
| 2abe: b5 01 movw r22, r10 |
| 2ac0: 88 27 eor r24, r24 |
| 2ac2: 77 fd sbrc r23, 7 |
| 2ac4: 80 95 com r24 |
| 2ac6: 98 2f mov r25, r24 |
| 2ac8: a8 01 movw r20, r16 |
| 2aca: 97 01 movw r18, r14 |
| 2acc: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2ad0: 91 01 movw r18, r2 |
| 2ad2: 44 27 eor r20, r20 |
| 2ad4: 55 27 eor r21, r21 |
| 2ad6: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2ada: 59 01 movw r10, r18 |
| 2adc: b2 01 movw r22, r4 |
| 2ade: 88 27 eor r24, r24 |
| 2ae0: 77 fd sbrc r23, 7 |
| 2ae2: 80 95 com r24 |
| 2ae4: 98 2f mov r25, r24 |
| 2ae6: a8 01 movw r20, r16 |
| 2ae8: 97 01 movw r18, r14 |
| 2aea: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2aee: 93 01 movw r18, r6 |
| 2af0: 44 27 eor r20, r20 |
| 2af2: 55 27 eor r21, r21 |
| 2af4: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2af8: 29 01 movw r4, r18 |
| 2afa: 24 c0 rjmp .+72 ; 0x2b44 <heading_MM3+0x1bc> |
| 2afc: e0 90 9a 04 lds r14, 0x049A |
| 2b00: f0 90 9b 04 lds r15, 0x049B |
| 2b04: 00 27 eor r16, r16 |
| 2b06: 11 27 eor r17, r17 |
| 2b08: b5 01 movw r22, r10 |
| 2b0a: 88 27 eor r24, r24 |
| 2b0c: 77 fd sbrc r23, 7 |
| 2b0e: 80 95 com r24 |
| 2b10: 98 2f mov r25, r24 |
| 2b12: a8 01 movw r20, r16 |
| 2b14: 97 01 movw r18, r14 |
| 2b16: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2b1a: 91 01 movw r18, r2 |
| 2b1c: 44 27 eor r20, r20 |
| 2b1e: 55 27 eor r21, r21 |
| 2b20: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2b24: 59 01 movw r10, r18 |
| 2b26: b4 01 movw r22, r8 |
| 2b28: 88 27 eor r24, r24 |
| 2b2a: 77 fd sbrc r23, 7 |
| 2b2c: 80 95 com r24 |
| 2b2e: 98 2f mov r25, r24 |
| 2b30: a8 01 movw r20, r16 |
| 2b32: 97 01 movw r18, r14 |
| 2b34: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2b38: 96 01 movw r18, r12 |
| 2b3a: 44 27 eor r20, r20 |
| 2b3c: 55 27 eor r21, r21 |
| 2b3e: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2b42: 49 01 movw r8, r18 |
| 2b44: b0 92 73 04 sts 0x0473, r11 |
| 2b48: a0 92 72 04 sts 0x0472, r10 |
| 2b4c: 90 92 75 04 sts 0x0475, r9 |
| 2b50: 80 92 74 04 sts 0x0474, r8 |
| 2b54: 50 92 77 04 sts 0x0477, r5 |
| 2b58: 40 92 76 04 sts 0x0476, r4 |
| 2b5c: b5 01 movw r22, r10 |
| 2b5e: 88 27 eor r24, r24 |
| 2b60: 77 fd sbrc r23, 7 |
| 2b62: 80 95 com r24 |
| 2b64: 98 2f mov r25, r24 |
| 2b66: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 2b6a: 29 85 ldd r18, Y+9 ; 0x09 |
| 2b6c: 3a 85 ldd r19, Y+10 ; 0x0a |
| 2b6e: 4b 85 ldd r20, Y+11 ; 0x0b |
| 2b70: 5c 85 ldd r21, Y+12 ; 0x0c |
| 2b72: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2b76: 5b 01 movw r10, r22 |
| 2b78: 6c 01 movw r12, r24 |
| 2b7a: b4 01 movw r22, r8 |
| 2b7c: 88 27 eor r24, r24 |
| 2b7e: 77 fd sbrc r23, 7 |
| 2b80: 80 95 com r24 |
| 2b82: 98 2f mov r25, r24 |
| 2b84: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 2b88: 7b 01 movw r14, r22 |
| 2b8a: 8c 01 movw r16, r24 |
| 2b8c: 2d 81 ldd r18, Y+5 ; 0x05 |
| 2b8e: 3e 81 ldd r19, Y+6 ; 0x06 |
| 2b90: 4f 81 ldd r20, Y+7 ; 0x07 |
| 2b92: 58 85 ldd r21, Y+8 ; 0x08 |
| 2b94: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2b98: 2d 85 ldd r18, Y+13 ; 0x0d |
| 2b9a: 3e 85 ldd r19, Y+14 ; 0x0e |
| 2b9c: 4f 85 ldd r20, Y+15 ; 0x0f |
| 2b9e: 58 89 ldd r21, Y+16 ; 0x10 |
| 2ba0: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2ba4: 9b 01 movw r18, r22 |
| 2ba6: ac 01 movw r20, r24 |
| 2ba8: c6 01 movw r24, r12 |
| 2baa: b5 01 movw r22, r10 |
| 2bac: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 2bb0: 3b 01 movw r6, r22 |
| 2bb2: 4c 01 movw r8, r24 |
| 2bb4: b2 01 movw r22, r4 |
| 2bb6: 88 27 eor r24, r24 |
| 2bb8: 77 fd sbrc r23, 7 |
| 2bba: 80 95 com r24 |
| 2bbc: 98 2f mov r25, r24 |
| 2bbe: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 2bc2: 5b 01 movw r10, r22 |
| 2bc4: 6c 01 movw r12, r24 |
| 2bc6: 29 81 ldd r18, Y+1 ; 0x01 |
| 2bc8: 3a 81 ldd r19, Y+2 ; 0x02 |
| 2bca: 4b 81 ldd r20, Y+3 ; 0x03 |
| 2bcc: 5c 81 ldd r21, Y+4 ; 0x04 |
| 2bce: c8 01 movw r24, r16 |
| 2bd0: b7 01 movw r22, r14 |
| 2bd2: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2bd6: 7b 01 movw r14, r22 |
| 2bd8: 8c 01 movw r16, r24 |
| 2bda: 2d 81 ldd r18, Y+5 ; 0x05 |
| 2bdc: 3e 81 ldd r19, Y+6 ; 0x06 |
| 2bde: 4f 81 ldd r20, Y+7 ; 0x07 |
| 2be0: 58 85 ldd r21, Y+8 ; 0x08 |
| 2be2: c6 01 movw r24, r12 |
| 2be4: b5 01 movw r22, r10 |
| 2be6: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2bea: 9b 01 movw r18, r22 |
| 2bec: ac 01 movw r20, r24 |
| 2bee: c8 01 movw r24, r16 |
| 2bf0: b7 01 movw r22, r14 |
| 2bf2: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 2bf6: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 2bfa: 7b 01 movw r14, r22 |
| 2bfc: 8c 01 movw r16, r24 |
| 2bfe: 29 81 ldd r18, Y+1 ; 0x01 |
| 2c00: 3a 81 ldd r19, Y+2 ; 0x02 |
| 2c02: 4b 81 ldd r20, Y+3 ; 0x03 |
| 2c04: 5c 81 ldd r21, Y+4 ; 0x04 |
| 2c06: c6 01 movw r24, r12 |
| 2c08: b5 01 movw r22, r10 |
| 2c0a: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2c0e: 2d 85 ldd r18, Y+13 ; 0x0d |
| 2c10: 3e 85 ldd r19, Y+14 ; 0x0e |
| 2c12: 4f 85 ldd r20, Y+15 ; 0x0f |
| 2c14: 58 89 ldd r21, Y+16 ; 0x10 |
| 2c16: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 2c1a: 9b 01 movw r18, r22 |
| 2c1c: ac 01 movw r20, r24 |
| 2c1e: c4 01 movw r24, r8 |
| 2c20: b3 01 movw r22, r6 |
| 2c22: 0e 94 f7 2c call 0x59ee ; 0x59ee <__subsf3> |
| 2c26: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 2c2a: dc 01 movw r26, r24 |
| 2c2c: cb 01 movw r24, r22 |
| 2c2e: b7 01 movw r22, r14 |
| 2c30: 0e 94 36 17 call 0x2e6c ; 0x2e6c <atan2_i> |
| 2c34: 9c 01 movw r18, r24 |
| 2c36: 97 ff sbrs r25, 7 |
| 2c38: 05 c0 rjmp .+10 ; 0x2c44 <heading_MM3+0x2bc> |
| 2c3a: 88 27 eor r24, r24 |
| 2c3c: 99 27 eor r25, r25 |
| 2c3e: 82 1b sub r24, r18 |
| 2c40: 93 0b sbc r25, r19 |
| 2c42: 04 c0 rjmp .+8 ; 0x2c4c <heading_MM3+0x2c4> |
| 2c44: 88 e6 ldi r24, 0x68 ; 104 |
| 2c46: 91 e0 ldi r25, 0x01 ; 1 |
| 2c48: 82 1b sub r24, r18 |
| 2c4a: 93 0b sbc r25, r19 |
| 2c4c: e2 e1 ldi r30, 0x12 ; 18 |
| 2c4e: c0 5f subi r28, 0xF0 ; 240 |
| 2c50: 0c 94 fe 2e jmp 0x5dfc ; 0x5dfc <__epilogue_restores__> |
| 00002c54 <timer0_MM3>: |
| 2c54: 80 91 9c 04 lds r24, 0x049C |
| 2c58: 81 30 cpi r24, 0x01 ; 1 |
| 2c5a: 41 f0 breq .+16 ; 0x2c6c <timer0_MM3+0x18> |
| 2c5c: 81 30 cpi r24, 0x01 ; 1 |
| 2c5e: 18 f0 brcs .+6 ; 0x2c66 <timer0_MM3+0x12> |
| 2c60: 82 30 cpi r24, 0x02 ; 2 |
| 2c62: 49 f5 brne .+82 ; 0x2cb6 <timer0_MM3+0x62> |
| 2c64: 1c c0 rjmp .+56 ; 0x2c9e <timer0_MM3+0x4a> |
| 2c66: 2a 9a sbi 0x05, 2 ; 5 |
| 2c68: 81 e0 ldi r24, 0x01 ; 1 |
| 2c6a: 16 c0 rjmp .+44 ; 0x2c98 <timer0_MM3+0x44> |
| 2c6c: 2a 98 cbi 0x05, 2 ; 5 |
| 2c6e: 80 91 9f 04 lds r24, 0x049F |
| 2c72: 85 30 cpi r24, 0x05 ; 5 |
| 2c74: 11 f4 brne .+4 ; 0x2c7a <timer0_MM3+0x26> |
| 2c76: 81 e3 ldi r24, 0x31 ; 49 |
| 2c78: 05 c0 rjmp .+10 ; 0x2c84 <timer0_MM3+0x30> |
| 2c7a: 86 30 cpi r24, 0x06 ; 6 |
| 2c7c: 11 f4 brne .+4 ; 0x2c82 <timer0_MM3+0x2e> |
| 2c7e: 82 e3 ldi r24, 0x32 ; 50 |
| 2c80: 01 c0 rjmp .+2 ; 0x2c84 <timer0_MM3+0x30> |
| 2c82: 83 e3 ldi r24, 0x33 ; 51 |
| 2c84: 8e bd out 0x2e, r24 ; 46 |
| 2c86: 88 e0 ldi r24, 0x08 ; 8 |
| 2c88: 90 e0 ldi r25, 0x00 ; 0 |
| 2c8a: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| 2c8e: 90 93 9e 04 sts 0x049E, r25 |
| 2c92: 80 93 9d 04 sts 0x049D, r24 |
| 2c96: 82 e0 ldi r24, 0x02 ; 2 |
| 2c98: 80 93 9c 04 sts 0x049C, r24 |
| 2c9c: 08 95 ret |
| 2c9e: 80 91 9d 04 lds r24, 0x049D |
| 2ca2: 90 91 9e 04 lds r25, 0x049E |
| 2ca6: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| 2caa: 88 23 and r24, r24 |
| 2cac: 21 f0 breq .+8 ; 0x2cb6 <timer0_MM3+0x62> |
| 2cae: 1e bc out 0x2e, r1 ; 46 |
| 2cb0: 83 e0 ldi r24, 0x03 ; 3 |
| 2cb2: 80 93 9c 04 sts 0x049C, r24 |
| 2cb6: 08 95 ret |
| 00002cb8 <calib_MM3>: |
| 2cb8: a0 e0 ldi r26, 0x00 ; 0 |
| 2cba: b0 e0 ldi r27, 0x00 ; 0 |
| 2cbc: e2 e6 ldi r30, 0x62 ; 98 |
| 2cbe: f6 e1 ldi r31, 0x16 ; 22 |
| 2cc0: 0c 94 e4 2e jmp 0x5dc8 ; 0x5dc8 <__prologue_saves__+0x4> |
| 2cc4: 29 9a sbi 0x05, 1 ; 5 |
| 2cc6: 28 98 cbi 0x05, 0 ; 5 |
| 2cc8: ee 24 eor r14, r14 |
| 2cca: ff 24 eor r15, r15 |
| 2ccc: 00 e0 ldi r16, 0x00 ; 0 |
| 2cce: 10 e0 ldi r17, 0x00 ; 0 |
| 2cd0: aa 24 eor r10, r10 |
| 2cd2: bb 24 eor r11, r11 |
| 2cd4: cc 24 eor r12, r12 |
| 2cd6: dd 24 eor r13, r13 |
| 2cd8: 66 24 eor r6, r6 |
| 2cda: 77 24 eor r7, r7 |
| 2cdc: 88 24 eor r8, r8 |
| 2cde: 99 24 eor r9, r9 |
| 2ce0: 62 e3 ldi r22, 0x32 ; 50 |
| 2ce2: 46 2e mov r4, r22 |
| 2ce4: 55 24 eor r5, r5 |
| 2ce6: 80 91 a0 04 lds r24, 0x04A0 |
| 2cea: 90 91 a1 04 lds r25, 0x04A1 |
| 2cee: 08 17 cp r16, r24 |
| 2cf0: 19 07 cpc r17, r25 |
| 2cf2: 2c f4 brge .+10 ; 0x2cfe <calib_MM3+0x46> |
| 2cf4: 00 91 a0 04 lds r16, 0x04A0 |
| 2cf8: 10 91 a1 04 lds r17, 0x04A1 |
| 2cfc: 0b c0 rjmp .+22 ; 0x2d14 <calib_MM3+0x5c> |
| 2cfe: 80 91 a0 04 lds r24, 0x04A0 |
| 2d02: 90 91 a1 04 lds r25, 0x04A1 |
| 2d06: 8e 15 cp r24, r14 |
| 2d08: 9f 05 cpc r25, r15 |
| 2d0a: 24 f4 brge .+8 ; 0x2d14 <calib_MM3+0x5c> |
| 2d0c: e0 90 a0 04 lds r14, 0x04A0 |
| 2d10: f0 90 a1 04 lds r15, 0x04A1 |
| 2d14: 80 91 a2 04 lds r24, 0x04A2 |
| 2d18: 90 91 a3 04 lds r25, 0x04A3 |
| 2d1c: c8 16 cp r12, r24 |
| 2d1e: d9 06 cpc r13, r25 |
| 2d20: 2c f4 brge .+10 ; 0x2d2c <calib_MM3+0x74> |
| 2d22: c0 90 a2 04 lds r12, 0x04A2 |
| 2d26: d0 90 a3 04 lds r13, 0x04A3 |
| 2d2a: 0b c0 rjmp .+22 ; 0x2d42 <calib_MM3+0x8a> |
| 2d2c: 80 91 a2 04 lds r24, 0x04A2 |
| 2d30: 90 91 a3 04 lds r25, 0x04A3 |
| 2d34: 8a 15 cp r24, r10 |
| 2d36: 9b 05 cpc r25, r11 |
| 2d38: 24 f4 brge .+8 ; 0x2d42 <calib_MM3+0x8a> |
| 2d3a: a0 90 a2 04 lds r10, 0x04A2 |
| 2d3e: b0 90 a3 04 lds r11, 0x04A3 |
| 2d42: 80 91 a4 04 lds r24, 0x04A4 |
| 2d46: 90 91 a5 04 lds r25, 0x04A5 |
| 2d4a: 88 16 cp r8, r24 |
| 2d4c: 99 06 cpc r9, r25 |
| 2d4e: 2c f4 brge .+10 ; 0x2d5a <calib_MM3+0xa2> |
| 2d50: 80 90 a4 04 lds r8, 0x04A4 |
| 2d54: 90 90 a5 04 lds r9, 0x04A5 |
| 2d58: 0b c0 rjmp .+22 ; 0x2d70 <calib_MM3+0xb8> |
| 2d5a: 80 91 a4 04 lds r24, 0x04A4 |
| 2d5e: 90 91 a5 04 lds r25, 0x04A5 |
| 2d62: 86 15 cp r24, r6 |
| 2d64: 97 05 cpc r25, r7 |
| 2d66: 24 f4 brge .+8 ; 0x2d70 <calib_MM3+0xb8> |
| 2d68: 60 90 a4 04 lds r6, 0x04A4 |
| 2d6c: 70 90 a5 04 lds r7, 0x04A5 |
| 2d70: 55 20 and r5, r5 |
| 2d72: 81 f4 brne .+32 ; 0x2d94 <calib_MM3+0xdc> |
| 2d74: 85 b1 in r24, 0x05 ; 5 |
| 2d76: 91 e0 ldi r25, 0x01 ; 1 |
| 2d78: 89 27 eor r24, r25 |
| 2d7a: 85 b9 out 0x05, r24 ; 5 |
| 2d7c: 85 b1 in r24, 0x05 ; 5 |
| 2d7e: 92 e0 ldi r25, 0x02 ; 2 |
| 2d80: 89 27 eor r24, r25 |
| 2d82: 85 b9 out 0x05, r24 ; 5 |
| 2d84: 82 e3 ldi r24, 0x32 ; 50 |
| 2d86: 90 e0 ldi r25, 0x00 ; 0 |
| 2d88: 90 93 a7 01 sts 0x01A7, r25 |
| 2d8c: 80 93 a6 01 sts 0x01A6, r24 |
| 2d90: 52 e3 ldi r21, 0x32 ; 50 |
| 2d92: 55 2e mov r5, r21 |
| 2d94: 8a e0 ldi r24, 0x0A ; 10 |
| 2d96: 90 e0 ldi r25, 0x00 ; 0 |
| 2d98: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| 2d9c: ec 01 movw r28, r24 |
| 2d9e: ce 01 movw r24, r28 |
| 2da0: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| 2da4: 88 23 and r24, r24 |
| 2da6: d9 f3 breq .-10 ; 0x2d9e <calib_MM3+0xe6> |
| 2da8: e0 91 dc 04 lds r30, 0x04DC |
| 2dac: ff 27 eor r31, r31 |
| 2dae: ee 0f add r30, r30 |
| 2db0: ff 1f adc r31, r31 |
| 2db2: e2 55 subi r30, 0x52 ; 82 |
| 2db4: fb 4f sbci r31, 0xFB ; 251 |
| 2db6: 80 81 ld r24, Z |
| 2db8: 91 81 ldd r25, Z+1 ; 0x01 |
| 2dba: 84 36 cpi r24, 0x64 ; 100 |
| 2dbc: 91 05 cpc r25, r1 |
| 2dbe: 0c f4 brge .+2 ; 0x2dc2 <calib_MM3+0x10a> |
| 2dc0: 4a 94 dec r4 |
| 2dc2: 44 20 and r4, r4 |
| 2dc4: 11 f0 breq .+4 ; 0x2dca <calib_MM3+0x112> |
| 2dc6: 5a 94 dec r5 |
| 2dc8: 8e cf rjmp .-228 ; 0x2ce6 <calib_MM3+0x2e> |
| 2dca: c8 01 movw r24, r16 |
| 2dcc: 8e 19 sub r24, r14 |
| 2dce: 9f 09 sbc r25, r15 |
| 2dd0: 90 93 97 04 sts 0x0497, r25 |
| 2dd4: 80 93 96 04 sts 0x0496, r24 |
| 2dd8: c6 01 movw r24, r12 |
| 2dda: 8a 19 sub r24, r10 |
| 2ddc: 9b 09 sbc r25, r11 |
| 2dde: 90 93 99 04 sts 0x0499, r25 |
| 2de2: 80 93 98 04 sts 0x0498, r24 |
| 2de6: c4 01 movw r24, r8 |
| 2de8: 86 19 sub r24, r6 |
| 2dea: 97 09 sbc r25, r7 |
| 2dec: 90 93 9b 04 sts 0x049B, r25 |
| 2df0: 80 93 9a 04 sts 0x049A, r24 |
| 2df4: e3 e9 ldi r30, 0x93 ; 147 |
| 2df6: f4 e0 ldi r31, 0x04 ; 4 |
| 2df8: c8 01 movw r24, r16 |
| 2dfa: 8e 0d add r24, r14 |
| 2dfc: 9f 1d adc r25, r15 |
| 2dfe: 62 e0 ldi r22, 0x02 ; 2 |
| 2e00: 70 e0 ldi r23, 0x00 ; 0 |
| 2e02: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 2e06: 60 93 93 04 sts 0x0493, r22 |
| 2e0a: c6 01 movw r24, r12 |
| 2e0c: 8a 0d add r24, r10 |
| 2e0e: 9b 1d adc r25, r11 |
| 2e10: 62 e0 ldi r22, 0x02 ; 2 |
| 2e12: 70 e0 ldi r23, 0x00 ; 0 |
| 2e14: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 2e18: 60 93 94 04 sts 0x0494, r22 |
| 2e1c: c4 01 movw r24, r8 |
| 2e1e: 86 0d add r24, r6 |
| 2e20: 97 1d adc r25, r7 |
| 2e22: 62 e0 ldi r22, 0x02 ; 2 |
| 2e24: 70 e0 ldi r23, 0x00 ; 0 |
| 2e26: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 2e2a: 60 93 95 04 sts 0x0495, r22 |
| 2e2e: 89 e0 ldi r24, 0x09 ; 9 |
| 2e30: ac e2 ldi r26, 0x2C ; 44 |
| 2e32: b1 e0 ldi r27, 0x01 ; 1 |
| 2e34: 18 2e mov r1, r24 |
| 2e36: 0e 94 38 2f call 0x5e70 ; 0x5e70 <__eeprom_write_block_1F2021> |
| 2e3a: e0 e1 ldi r30, 0x10 ; 16 |
| 2e3c: cd b7 in r28, 0x3d ; 61 |
| 2e3e: de b7 in r29, 0x3e ; 62 |
| 2e40: 0c 94 00 2f jmp 0x5e00 ; 0x5e00 <__epilogue_restores__+0x4> |
| 00002e44 <init_MM3>: |
| 2e44: 83 ed ldi r24, 0xD3 ; 211 |
| 2e46: 8c bd out 0x2c, r24 ; 44 |
| 2e48: 84 b1 in r24, 0x04 ; 4 |
| 2e4a: 84 6a ori r24, 0xA4 ; 164 |
| 2e4c: 84 b9 out 0x04, r24 ; 4 |
| 2e4e: 5b 98 cbi 0x0b, 3 ; 11 |
| 2e50: 85 e0 ldi r24, 0x05 ; 5 |
| 2e52: 80 93 9f 04 sts 0x049F, r24 |
| 2e56: 10 92 9c 04 sts 0x049C, r1 |
| 2e5a: 89 e0 ldi r24, 0x09 ; 9 |
| 2e5c: e3 e9 ldi r30, 0x93 ; 147 |
| 2e5e: f4 e0 ldi r31, 0x04 ; 4 |
| 2e60: ac e2 ldi r26, 0x2C ; 44 |
| 2e62: b1 e0 ldi r27, 0x01 ; 1 |
| 2e64: 18 2e mov r1, r24 |
| 2e66: 0e 94 27 2f call 0x5e4e ; 0x5e4e <__eeprom_read_block_1F2021> |
| 2e6a: 08 95 ret |
| 00002e6c <atan2_i>: |
| 2e6c: 1f 93 push r17 |
| 2e6e: cf 93 push r28 |
| 2e70: df 93 push r29 |
| 2e72: ec 01 movw r28, r24 |
| 2e74: 89 2b or r24, r25 |
| 2e76: 31 f4 brne .+12 ; 0x2e84 <atan2_i+0x18> |
| 2e78: 61 15 cp r22, r1 |
| 2e7a: 71 05 cpc r23, r1 |
| 2e7c: 19 f4 brne .+6 ; 0x2e84 <atan2_i+0x18> |
| 2e7e: 80 e0 ldi r24, 0x00 ; 0 |
| 2e80: 90 e0 ldi r25, 0x00 ; 0 |
| 2e82: 8e c0 rjmp .+284 ; 0x2fa0 <atan2_i+0x134> |
| 2e84: 77 fd sbrc r23, 7 |
| 2e86: 02 c0 rjmp .+4 ; 0x2e8c <atan2_i+0x20> |
| 2e88: 11 e0 ldi r17, 0x01 ; 1 |
| 2e8a: 01 c0 rjmp .+2 ; 0x2e8e <atan2_i+0x22> |
| 2e8c: 1f ef ldi r17, 0xFF ; 255 |
| 2e8e: 20 97 sbiw r28, 0x00 ; 0 |
| 2e90: 29 f4 brne .+10 ; 0x2e9c <atan2_i+0x30> |
| 2e92: 8a e5 ldi r24, 0x5A ; 90 |
| 2e94: 18 02 muls r17, r24 |
| 2e96: c0 01 movw r24, r0 |
| 2e98: 11 24 eor r1, r1 |
| 2e9a: 82 c0 rjmp .+260 ; 0x2fa0 <atan2_i+0x134> |
| 2e9c: 88 27 eor r24, r24 |
| 2e9e: 77 fd sbrc r23, 7 |
| 2ea0: 80 95 com r24 |
| 2ea2: 98 2f mov r25, r24 |
| 2ea4: 22 e3 ldi r18, 0x32 ; 50 |
| 2ea6: 30 e0 ldi r19, 0x00 ; 0 |
| 2ea8: 40 e0 ldi r20, 0x00 ; 0 |
| 2eaa: 50 e0 ldi r21, 0x00 ; 0 |
| 2eac: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 2eb0: 9e 01 movw r18, r28 |
| 2eb2: 44 27 eor r20, r20 |
| 2eb4: 37 fd sbrc r19, 7 |
| 2eb6: 40 95 com r20 |
| 2eb8: 54 2f mov r21, r20 |
| 2eba: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 2ebe: f9 01 movw r30, r18 |
| 2ec0: 37 ff sbrs r19, 7 |
| 2ec2: 03 c0 rjmp .+6 ; 0x2eca <atan2_i+0x5e> |
| 2ec4: f0 95 com r31 |
| 2ec6: e1 95 neg r30 |
| 2ec8: ff 4f sbci r31, 0xFF ; 255 |
| 2eca: 41 e0 ldi r20, 0x01 ; 1 |
| 2ecc: ee 30 cpi r30, 0x0E ; 14 |
| 2ece: f4 07 cpc r31, r20 |
| 2ed0: 34 f4 brge .+12 ; 0x2ede <atan2_i+0x72> |
| 2ed2: e6 55 subi r30, 0x56 ; 86 |
| 2ed4: fb 4f sbci r31, 0xFB ; 251 |
| 2ed6: 84 91 lpm r24, Z |
| 2ed8: 28 2f mov r18, r24 |
| 2eda: 33 27 eor r19, r19 |
| 2edc: 47 c0 rjmp .+142 ; 0x2f6c <atan2_i+0x100> |
| 2ede: 56 e1 ldi r21, 0x16 ; 22 |
| 2ee0: e7 37 cpi r30, 0x77 ; 119 |
| 2ee2: f5 07 cpc r31, r21 |
| 2ee4: 1c f0 brlt .+6 ; 0x2eec <atan2_i+0x80> |
| 2ee6: 2a e5 ldi r18, 0x5A ; 90 |
| 2ee8: 30 e0 ldi r19, 0x00 ; 0 |
| 2eea: 40 c0 rjmp .+128 ; 0x2f6c <atan2_i+0x100> |
| 2eec: 87 e0 ldi r24, 0x07 ; 7 |
| 2eee: e6 37 cpi r30, 0x76 ; 118 |
| 2ef0: f8 07 cpc r31, r24 |
| 2ef2: 1c f0 brlt .+6 ; 0x2efa <atan2_i+0x8e> |
| 2ef4: 29 e5 ldi r18, 0x59 ; 89 |
| 2ef6: 30 e0 ldi r19, 0x00 ; 0 |
| 2ef8: 39 c0 rjmp .+114 ; 0x2f6c <atan2_i+0x100> |
| 2efa: 44 e0 ldi r20, 0x04 ; 4 |
| 2efc: ee 37 cpi r30, 0x7E ; 126 |
| 2efe: f4 07 cpc r31, r20 |
| 2f00: 1c f0 brlt .+6 ; 0x2f08 <atan2_i+0x9c> |
| 2f02: 28 e5 ldi r18, 0x58 ; 88 |
| 2f04: 30 e0 ldi r19, 0x00 ; 0 |
| 2f06: 32 c0 rjmp .+100 ; 0x2f6c <atan2_i+0x100> |
| 2f08: 53 e0 ldi r21, 0x03 ; 3 |
| 2f0a: e4 33 cpi r30, 0x34 ; 52 |
| 2f0c: f5 07 cpc r31, r21 |
| 2f0e: 1c f0 brlt .+6 ; 0x2f16 <atan2_i+0xaa> |
| 2f10: 27 e5 ldi r18, 0x57 ; 87 |
| 2f12: 30 e0 ldi r19, 0x00 ; 0 |
| 2f14: 2b c0 rjmp .+86 ; 0x2f6c <atan2_i+0x100> |
| 2f16: 82 e0 ldi r24, 0x02 ; 2 |
| 2f18: e0 38 cpi r30, 0x80 ; 128 |
| 2f1a: f8 07 cpc r31, r24 |
| 2f1c: 1c f0 brlt .+6 ; 0x2f24 <atan2_i+0xb8> |
| 2f1e: 26 e5 ldi r18, 0x56 ; 86 |
| 2f20: 30 e0 ldi r19, 0x00 ; 0 |
| 2f22: 24 c0 rjmp .+72 ; 0x2f6c <atan2_i+0x100> |
| 2f24: 42 e0 ldi r20, 0x02 ; 2 |
| 2f26: e8 30 cpi r30, 0x08 ; 8 |
| 2f28: f4 07 cpc r31, r20 |
| 2f2a: 1c f0 brlt .+6 ; 0x2f32 <atan2_i+0xc6> |
| 2f2c: 25 e5 ldi r18, 0x55 ; 85 |
| 2f2e: 30 e0 ldi r19, 0x00 ; 0 |
| 2f30: 1d c0 rjmp .+58 ; 0x2f6c <atan2_i+0x100> |
| 2f32: 51 e0 ldi r21, 0x01 ; 1 |
| 2f34: e8 3b cpi r30, 0xB8 ; 184 |
| 2f36: f5 07 cpc r31, r21 |
| 2f38: 1c f0 brlt .+6 ; 0x2f40 <atan2_i+0xd4> |
| 2f3a: 24 e5 ldi r18, 0x54 ; 84 |
| 2f3c: 30 e0 ldi r19, 0x00 ; 0 |
| 2f3e: 16 c0 rjmp .+44 ; 0x2f6c <atan2_i+0x100> |
| 2f40: 81 e0 ldi r24, 0x01 ; 1 |
| 2f42: ec 37 cpi r30, 0x7C ; 124 |
| 2f44: f8 07 cpc r31, r24 |
| 2f46: 1c f0 brlt .+6 ; 0x2f4e <atan2_i+0xe2> |
| 2f48: 23 e5 ldi r18, 0x53 ; 83 |
| 2f4a: 30 e0 ldi r19, 0x00 ; 0 |
| 2f4c: 0f c0 rjmp .+30 ; 0x2f6c <atan2_i+0x100> |
| 2f4e: 41 e0 ldi r20, 0x01 ; 1 |
| 2f50: ef 34 cpi r30, 0x4F ; 79 |
| 2f52: f4 07 cpc r31, r20 |
| 2f54: 1c f0 brlt .+6 ; 0x2f5c <atan2_i+0xf0> |
| 2f56: 22 e5 ldi r18, 0x52 ; 82 |
| 2f58: 30 e0 ldi r19, 0x00 ; 0 |
| 2f5a: 08 c0 rjmp .+16 ; 0x2f6c <atan2_i+0x100> |
| 2f5c: eb 52 subi r30, 0x2B ; 43 |
| 2f5e: f1 40 sbci r31, 0x01 ; 1 |
| 2f60: 1c f0 brlt .+6 ; 0x2f68 <atan2_i+0xfc> |
| 2f62: 21 e5 ldi r18, 0x51 ; 81 |
| 2f64: 30 e0 ldi r19, 0x00 ; 0 |
| 2f66: 02 c0 rjmp .+4 ; 0x2f6c <atan2_i+0x100> |
| 2f68: 20 e5 ldi r18, 0x50 ; 80 |
| 2f6a: 30 e0 ldi r19, 0x00 ; 0 |
| 2f6c: 1c 16 cp r1, r28 |
| 2f6e: 1d 06 cpc r1, r29 |
| 2f70: 6c f4 brge .+26 ; 0x2f8c <atan2_i+0x120> |
| 2f72: 81 2f mov r24, r17 |
| 2f74: 99 27 eor r25, r25 |
| 2f76: 87 fd sbrc r24, 7 |
| 2f78: 90 95 com r25 |
| 2f7a: ac 01 movw r20, r24 |
| 2f7c: 24 9f mul r18, r20 |
| 2f7e: c0 01 movw r24, r0 |
| 2f80: 25 9f mul r18, r21 |
| 2f82: 90 0d add r25, r0 |
| 2f84: 34 9f mul r19, r20 |
| 2f86: 90 0d add r25, r0 |
| 2f88: 11 24 eor r1, r1 |
| 2f8a: 0a c0 rjmp .+20 ; 0x2fa0 <atan2_i+0x134> |
| 2f8c: 11 16 cp r1, r17 |
| 2f8e: 2c f4 brge .+10 ; 0x2f9a <atan2_i+0x12e> |
| 2f90: 84 eb ldi r24, 0xB4 ; 180 |
| 2f92: 90 e0 ldi r25, 0x00 ; 0 |
| 2f94: 82 1b sub r24, r18 |
| 2f96: 93 0b sbc r25, r19 |
| 2f98: 03 c0 rjmp .+6 ; 0x2fa0 <atan2_i+0x134> |
| 2f9a: c9 01 movw r24, r18 |
| 2f9c: 84 5b subi r24, 0xB4 ; 180 |
| 2f9e: 90 40 sbci r25, 0x00 ; 0 |
| 2fa0: df 91 pop r29 |
| 2fa2: cf 91 pop r28 |
| 2fa4: 1f 91 pop r17 |
| 2fa6: 08 95 ret |
| 00002fa8 <pgm_read_float>: |
| 2fa8: fc 01 movw r30, r24 |
| 2faa: 25 91 lpm r18, Z+ |
| 2fac: 34 91 lpm r19, Z |
| 2fae: fc 01 movw r30, r24 |
| 2fb0: 32 96 adiw r30, 0x02 ; 2 |
| 2fb2: 45 91 lpm r20, Z+ |
| 2fb4: 54 91 lpm r21, Z |
| 2fb6: ca 01 movw r24, r20 |
| 2fb8: b9 01 movw r22, r18 |
| 2fba: 08 95 ret |
| 00002fbc <sin_f>: |
| 2fbc: a0 e0 ldi r26, 0x00 ; 0 |
| 2fbe: b0 e0 ldi r27, 0x00 ; 0 |
| 2fc0: e4 ee ldi r30, 0xE4 ; 228 |
| 2fc2: f7 e1 ldi r31, 0x17 ; 23 |
| 2fc4: 0c 94 ec 2e jmp 0x5dd8 ; 0x5dd8 <__prologue_saves__+0x14> |
| 2fc8: 9c 01 movw r18, r24 |
| 2fca: 97 fd sbrc r25, 7 |
| 2fcc: 04 c0 rjmp .+8 ; 0x2fd6 <sin_f+0x1a> |
| 2fce: 41 e0 ldi r20, 0x01 ; 1 |
| 2fd0: c4 2e mov r12, r20 |
| 2fd2: d1 2c mov r13, r1 |
| 2fd4: 06 c0 rjmp .+12 ; 0x2fe2 <sin_f+0x26> |
| 2fd6: 30 95 com r19 |
| 2fd8: 21 95 neg r18 |
| 2fda: 3f 4f sbci r19, 0xFF ; 255 |
| 2fdc: 9f ef ldi r25, 0xFF ; 255 |
| 2fde: c9 2e mov r12, r25 |
| 2fe0: d9 2e mov r13, r25 |
| 2fe2: 2b 35 cpi r18, 0x5B ; 91 |
| 2fe4: 31 05 cpc r19, r1 |
| 2fe6: 5c f0 brlt .+22 ; 0x2ffe <sin_f+0x42> |
| 2fe8: c9 01 movw r24, r18 |
| 2fea: 8b 55 subi r24, 0x5B ; 91 |
| 2fec: 90 40 sbci r25, 0x00 ; 0 |
| 2fee: 8a 35 cpi r24, 0x5A ; 90 |
| 2ff0: 91 05 cpc r25, r1 |
| 2ff2: 40 f4 brcc .+16 ; 0x3004 <sin_f+0x48> |
| 2ff4: 84 eb ldi r24, 0xB4 ; 180 |
| 2ff6: 90 e0 ldi r25, 0x00 ; 0 |
| 2ff8: 82 1b sub r24, r18 |
| 2ffa: 93 0b sbc r25, r19 |
| 2ffc: 9c 01 movw r18, r24 |
| 2ffe: c1 e0 ldi r28, 0x01 ; 1 |
| 3000: d0 e0 ldi r29, 0x00 ; 0 |
| 3002: 10 c0 rjmp .+32 ; 0x3024 <sin_f+0x68> |
| 3004: c9 01 movw r24, r18 |
| 3006: 85 5b subi r24, 0xB5 ; 181 |
| 3008: 90 40 sbci r25, 0x00 ; 0 |
| 300a: 8a 35 cpi r24, 0x5A ; 90 |
| 300c: 91 05 cpc r25, r1 |
| 300e: 18 f4 brcc .+6 ; 0x3016 <sin_f+0x5a> |
| 3010: 24 5b subi r18, 0xB4 ; 180 |
| 3012: 30 40 sbci r19, 0x00 ; 0 |
| 3014: 05 c0 rjmp .+10 ; 0x3020 <sin_f+0x64> |
| 3016: 88 e6 ldi r24, 0x68 ; 104 |
| 3018: 91 e0 ldi r25, 0x01 ; 1 |
| 301a: 82 1b sub r24, r18 |
| 301c: 93 0b sbc r25, r19 |
| 301e: 9c 01 movw r18, r24 |
| 3020: cf ef ldi r28, 0xFF ; 255 |
| 3022: df ef ldi r29, 0xFF ; 255 |
| 3024: 22 0f add r18, r18 |
| 3026: 33 1f adc r19, r19 |
| 3028: 22 0f add r18, r18 |
| 302a: 33 1f adc r19, r19 |
| 302c: c9 01 movw r24, r18 |
| 302e: 88 54 subi r24, 0x48 ; 72 |
| 3030: 9a 4f sbci r25, 0xFA ; 250 |
| 3032: 0e 94 d4 17 call 0x2fa8 ; 0x2fa8 <pgm_read_float> |
| 3036: 7b 01 movw r14, r22 |
| 3038: 8c 01 movw r16, r24 |
| 303a: b6 01 movw r22, r12 |
| 303c: 88 27 eor r24, r24 |
| 303e: 77 fd sbrc r23, 7 |
| 3040: 80 95 com r24 |
| 3042: 98 2f mov r25, r24 |
| 3044: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 3048: 9b 01 movw r18, r22 |
| 304a: ac 01 movw r20, r24 |
| 304c: c8 01 movw r24, r16 |
| 304e: b7 01 movw r22, r14 |
| 3050: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 3054: 7b 01 movw r14, r22 |
| 3056: 8c 01 movw r16, r24 |
| 3058: be 01 movw r22, r28 |
| 305a: 88 27 eor r24, r24 |
| 305c: 77 fd sbrc r23, 7 |
| 305e: 80 95 com r24 |
| 3060: 98 2f mov r25, r24 |
| 3062: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 3066: 9b 01 movw r18, r22 |
| 3068: ac 01 movw r20, r24 |
| 306a: c8 01 movw r24, r16 |
| 306c: b7 01 movw r22, r14 |
| 306e: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 3072: e8 e0 ldi r30, 0x08 ; 8 |
| 3074: cd b7 in r28, 0x3d ; 61 |
| 3076: de b7 in r29, 0x3e ; 62 |
| 3078: 0c 94 08 2f jmp 0x5e10 ; 0x5e10 <__epilogue_restores__+0x14> |
| 0000307c <cos_f>: |
| 307c: 2a e5 ldi r18, 0x5A ; 90 |
| 307e: 30 e0 ldi r19, 0x00 ; 0 |
| 3080: 28 1b sub r18, r24 |
| 3082: 39 0b sbc r19, r25 |
| 3084: c9 01 movw r24, r18 |
| 3086: 0e 94 de 17 call 0x2fbc ; 0x2fbc <sin_f> |
| 308a: 08 95 ret |
| 0000308c <i2c_init>: |
| 308c: 10 92 b9 00 sts 0x00B9, r1 |
| 3090: 8a e2 ldi r24, 0x2A ; 42 |
| 3092: 80 93 b8 00 sts 0x00B8, r24 |
| 3096: 08 95 ret |
| 00003098 <i2c_start>: |
| 3098: 85 ea ldi r24, 0xA5 ; 165 |
| 309a: 80 93 bc 00 sts 0x00BC, r24 |
| 309e: 80 e0 ldi r24, 0x00 ; 0 |
| 30a0: 90 e0 ldi r25, 0x00 ; 0 |
| 30a2: 08 95 ret |
| 000030a4 <i2c_stop>: |
| 30a4: 84 e9 ldi r24, 0x94 ; 148 |
| 30a6: 80 93 bc 00 sts 0x00BC, r24 |
| 30aa: 08 95 ret |
| 000030ac <i2c_write_byte>: |
| 30ac: 10 92 b9 00 sts 0x00B9, r1 |
| 30b0: 80 93 bb 00 sts 0x00BB, r24 |
| 30b4: 85 e8 ldi r24, 0x85 ; 133 |
| 30b6: 80 93 bc 00 sts 0x00BC, r24 |
| 30ba: 80 e0 ldi r24, 0x00 ; 0 |
| 30bc: 90 e0 ldi r25, 0x00 ; 0 |
| 30be: 08 95 ret |
| 000030c0 <__vector_26>: |
| 30c0: 1f 92 push r1 |
| 30c2: 0f 92 push r0 |
| 30c4: 0f b6 in r0, 0x3f ; 63 |
| 30c6: 0f 92 push r0 |
| 30c8: 11 24 eor r1, r1 |
| 30ca: 8f 93 push r24 |
| 30cc: 9f 93 push r25 |
| 30ce: ef 93 push r30 |
| 30d0: ff 93 push r31 |
| 30d2: 80 91 cb 01 lds r24, 0x01CB |
| 30d6: 8f 5f subi r24, 0xFF ; 255 |
| 30d8: 80 93 cb 01 sts 0x01CB, r24 |
| 30dc: 81 50 subi r24, 0x01 ; 1 |
| 30de: e8 2f mov r30, r24 |
| 30e0: ff 27 eor r31, r31 |
| 30e2: e8 30 cpi r30, 0x08 ; 8 |
| 30e4: f1 05 cpc r31, r1 |
| 30e6: 08 f0 brcs .+2 ; 0x30ea <__vector_26+0x2a> |
| 30e8: 74 c0 rjmp .+232 ; 0x31d2 <__vector_26+0x112> |
| 30ea: ef 59 subi r30, 0x9F ; 159 |
| 30ec: ff 4f sbci r31, 0xFF ; 255 |
| 30ee: 0c 94 19 2f jmp 0x5e32 ; 0x5e32 <__tablejump2__> |
| 30f2: 80 91 cc 01 lds r24, 0x01CC |
| 30f6: 88 0f add r24, r24 |
| 30f8: 8e 5a subi r24, 0xAE ; 174 |
| 30fa: 14 c0 rjmp .+40 ; 0x3124 <__vector_26+0x64> |
| 30fc: 80 91 cc 01 lds r24, 0x01CC |
| 3100: 8f 5f subi r24, 0xFF ; 255 |
| 3102: 80 93 cc 01 sts 0x01CC, r24 |
| 3106: 81 50 subi r24, 0x01 ; 1 |
| 3108: 81 30 cpi r24, 0x01 ; 1 |
| 310a: 09 f4 brne .+2 ; 0x310e <__vector_26+0x4e> |
| 310c: 44 c0 rjmp .+136 ; 0x3196 <__vector_26+0xd6> |
| 310e: 81 30 cpi r24, 0x01 ; 1 |
| 3110: 38 f0 brcs .+14 ; 0x3120 <__vector_26+0x60> |
| 3112: 82 30 cpi r24, 0x02 ; 2 |
| 3114: 09 f4 brne .+2 ; 0x3118 <__vector_26+0x58> |
| 3116: 42 c0 rjmp .+132 ; 0x319c <__vector_26+0xdc> |
| 3118: 83 30 cpi r24, 0x03 ; 3 |
| 311a: 09 f0 breq .+2 ; 0x311e <__vector_26+0x5e> |
| 311c: 5a c0 rjmp .+180 ; 0x31d2 <__vector_26+0x112> |
| 311e: 41 c0 rjmp .+130 ; 0x31a2 <__vector_26+0xe2> |
| 3120: 80 91 65 02 lds r24, 0x0265 |
| 3124: 10 92 b9 00 sts 0x00B9, r1 |
| 3128: 80 93 bb 00 sts 0x00BB, r24 |
| 312c: 85 e8 ldi r24, 0x85 ; 133 |
| 312e: 80 93 bc 00 sts 0x00BC, r24 |
| 3132: 4f c0 rjmp .+158 ; 0x31d2 <__vector_26+0x112> |
| 3134: 84 e9 ldi r24, 0x94 ; 148 |
| 3136: 80 93 bc 00 sts 0x00BC, r24 |
| 313a: 80 91 cc 01 lds r24, 0x01CC |
| 313e: 84 30 cpi r24, 0x04 ; 4 |
| 3140: 18 f4 brcc .+6 ; 0x3148 <__vector_26+0x88> |
| 3142: 10 92 cb 01 sts 0x01CB, r1 |
| 3146: 02 c0 rjmp .+4 ; 0x314c <__vector_26+0x8c> |
| 3148: 10 92 cc 01 sts 0x01CC, r1 |
| 314c: 85 ea ldi r24, 0xA5 ; 165 |
| 314e: ef cf rjmp .-34 ; 0x312e <__vector_26+0x6e> |
| 3150: 80 91 cd 01 lds r24, 0x01CD |
| 3154: 88 0f add r24, r24 |
| 3156: 8d 5a subi r24, 0xAD ; 173 |
| 3158: e5 cf rjmp .-54 ; 0x3124 <__vector_26+0x64> |
| 315a: 80 91 cd 01 lds r24, 0x01CD |
| 315e: 81 30 cpi r24, 0x01 ; 1 |
| 3160: d1 f0 breq .+52 ; 0x3196 <__vector_26+0xd6> |
| 3162: 81 30 cpi r24, 0x01 ; 1 |
| 3164: e8 f2 brcs .-70 ; 0x3120 <__vector_26+0x60> |
| 3166: 82 30 cpi r24, 0x02 ; 2 |
| 3168: c9 f0 breq .+50 ; 0x319c <__vector_26+0xdc> |
| 316a: 83 30 cpi r24, 0x03 ; 3 |
| 316c: 91 f5 brne .+100 ; 0x31d2 <__vector_26+0x112> |
| 316e: 19 c0 rjmp .+50 ; 0x31a2 <__vector_26+0xe2> |
| 3170: 80 91 bb 00 lds r24, 0x00BB |
| 3174: e0 91 cd 01 lds r30, 0x01CD |
| 3178: ff 27 eor r31, r31 |
| 317a: ea 55 subi r30, 0x5A ; 90 |
| 317c: fb 4f sbci r31, 0xFB ; 251 |
| 317e: 80 83 st Z, r24 |
| 3180: 80 91 cd 01 lds r24, 0x01CD |
| 3184: 81 30 cpi r24, 0x01 ; 1 |
| 3186: 39 f0 breq .+14 ; 0x3196 <__vector_26+0xd6> |
| 3188: 81 30 cpi r24, 0x01 ; 1 |
| 318a: 50 f2 brcs .-108 ; 0x3120 <__vector_26+0x60> |
| 318c: 82 30 cpi r24, 0x02 ; 2 |
| 318e: 31 f0 breq .+12 ; 0x319c <__vector_26+0xdc> |
| 3190: 83 30 cpi r24, 0x03 ; 3 |
| 3192: f9 f4 brne .+62 ; 0x31d2 <__vector_26+0x112> |
| 3194: 06 c0 rjmp .+12 ; 0x31a2 <__vector_26+0xe2> |
| 3196: 80 91 66 02 lds r24, 0x0266 |
| 319a: c4 cf rjmp .-120 ; 0x3124 <__vector_26+0x64> |
| 319c: 80 91 69 02 lds r24, 0x0269 |
| 31a0: c1 cf rjmp .-126 ; 0x3124 <__vector_26+0x64> |
| 31a2: 80 91 6b 02 lds r24, 0x026B |
| 31a6: be cf rjmp .-132 ; 0x3124 <__vector_26+0x64> |
| 31a8: 80 91 cd 01 lds r24, 0x01CD |
| 31ac: 90 91 bb 00 lds r25, 0x00BB |
| 31b0: e8 2f mov r30, r24 |
| 31b2: ff 27 eor r31, r31 |
| 31b4: ea 55 subi r30, 0x5A ; 90 |
| 31b6: fb 4f sbci r31, 0xFB ; 251 |
| 31b8: 94 83 std Z+4, r25 ; 0x04 |
| 31ba: 8f 5f subi r24, 0xFF ; 255 |
| 31bc: 80 93 cd 01 sts 0x01CD, r24 |
| 31c0: 84 30 cpi r24, 0x04 ; 4 |
| 31c2: 10 f0 brcs .+4 ; 0x31c8 <__vector_26+0x108> |
| 31c4: 10 92 cd 01 sts 0x01CD, r1 |
| 31c8: 84 e9 ldi r24, 0x94 ; 148 |
| 31ca: 80 93 bc 00 sts 0x00BC, r24 |
| 31ce: 10 92 cb 01 sts 0x01CB, r1 |
| 31d2: ff 91 pop r31 |
| 31d4: ef 91 pop r30 |
| 31d6: 9f 91 pop r25 |
| 31d8: 8f 91 pop r24 |
| 31da: 0f 90 pop r0 |
| 31dc: 0f be out 0x3f, r0 ; 63 |
| 31de: 0f 90 pop r0 |
| 31e0: 1f 90 pop r1 |
| 31e2: 18 95 reti |
| 000031e4 <rc_sum_init>: |
| 31e4: 83 ec ldi r24, 0xC3 ; 195 |
| 31e6: 80 93 81 00 sts 0x0081, r24 |
| 31ea: ef e6 ldi r30, 0x6F ; 111 |
| 31ec: f0 e0 ldi r31, 0x00 ; 0 |
| 31ee: 80 81 ld r24, Z |
| 31f0: 80 62 ori r24, 0x20 ; 32 |
| 31f2: 80 83 st Z, r24 |
| 31f4: 10 92 d8 01 sts 0x01D8, r1 |
| 31f8: 10 92 d7 01 sts 0x01D7, r1 |
| 31fc: 10 92 d6 01 sts 0x01D6, r1 |
| 3200: 10 92 d5 01 sts 0x01D5, r1 |
| 3204: 10 92 d4 01 sts 0x01D4, r1 |
| 3208: 10 92 d3 01 sts 0x01D3, r1 |
| 320c: 08 95 ret |
| 0000320e <__vector_12>: |
| 320e: 1f 92 push r1 |
| 3210: 0f 92 push r0 |
| 3212: 0f b6 in r0, 0x3f ; 63 |
| 3214: 0f 92 push r0 |
| 3216: 11 24 eor r1, r1 |
| 3218: 0f 93 push r16 |
| 321a: 1f 93 push r17 |
| 321c: 2f 93 push r18 |
| 321e: 3f 93 push r19 |
| 3220: 4f 93 push r20 |
| 3222: 5f 93 push r21 |
| 3224: 6f 93 push r22 |
| 3226: 7f 93 push r23 |
| 3228: 8f 93 push r24 |
| 322a: 9f 93 push r25 |
| 322c: af 93 push r26 |
| 322e: bf 93 push r27 |
| 3230: cf 93 push r28 |
| 3232: df 93 push r29 |
| 3234: ef 93 push r30 |
| 3236: ff 93 push r31 |
| 3238: 20 91 86 00 lds r18, 0x0086 |
| 323c: 30 91 87 00 lds r19, 0x0087 |
| 3240: 80 91 d0 01 lds r24, 0x01D0 |
| 3244: 90 91 d1 01 lds r25, 0x01D1 |
| 3248: 28 1b sub r18, r24 |
| 324a: 39 0b sbc r19, r25 |
| 324c: 80 91 86 00 lds r24, 0x0086 |
| 3250: 90 91 87 00 lds r25, 0x0087 |
| 3254: 90 93 d1 01 sts 0x01D1, r25 |
| 3258: 80 93 d0 01 sts 0x01D0, r24 |
| 325c: c9 01 movw r24, r18 |
| 325e: 8d 5d subi r24, 0xDD ; 221 |
| 3260: 95 40 sbci r25, 0x05 ; 5 |
| 3262: 83 56 subi r24, 0x63 ; 99 |
| 3264: 99 41 sbci r25, 0x19 ; 25 |
| 3266: 48 f4 brcc .+18 ; 0x327a <__vector_12+0x6c> |
| 3268: 81 e0 ldi r24, 0x01 ; 1 |
| 326a: 90 e0 ldi r25, 0x00 ; 0 |
| 326c: 90 93 cf 01 sts 0x01CF, r25 |
| 3270: 80 93 ce 01 sts 0x01CE, r24 |
| 3274: 10 92 67 01 sts 0x0167, r1 |
| 3278: 54 c0 rjmp .+168 ; 0x3322 <__vector_12+0x114> |
| 327a: c0 91 ce 01 lds r28, 0x01CE |
| 327e: d0 91 cf 01 lds r29, 0x01CF |
| 3282: ca 30 cpi r28, 0x0A ; 10 |
| 3284: d1 05 cpc r29, r1 |
| 3286: 0c f0 brlt .+2 ; 0x328a <__vector_12+0x7c> |
| 3288: 4c c0 rjmp .+152 ; 0x3322 <__vector_12+0x114> |
| 328a: c9 01 movw r24, r18 |
| 328c: 8b 5f subi r24, 0xFB ; 251 |
| 328e: 90 40 sbci r25, 0x00 ; 0 |
| 3290: 84 5b subi r24, 0xB4 ; 180 |
| 3292: 91 40 sbci r25, 0x01 ; 1 |
| 3294: 08 f0 brcs .+2 ; 0x3298 <__vector_12+0x8a> |
| 3296: 40 c0 rjmp .+128 ; 0x3318 <__vector_12+0x10a> |
| 3298: a9 01 movw r20, r18 |
| 329a: 42 5d subi r20, 0xD2 ; 210 |
| 329c: 51 40 sbci r21, 0x01 ; 1 |
| 329e: fe 01 movw r30, r28 |
| 32a0: ee 0f add r30, r30 |
| 32a2: ff 1f adc r31, r31 |
| 32a4: e2 55 subi r30, 0x52 ; 82 |
| 32a6: fb 4f sbci r31, 0xFB ; 251 |
| 32a8: 80 81 ld r24, Z |
| 32aa: 91 81 ldd r25, Z+1 ; 0x01 |
| 32ac: fa 01 movw r30, r20 |
| 32ae: e8 1b sub r30, r24 |
| 32b0: f9 0b sbc r31, r25 |
| 32b2: cf 01 movw r24, r30 |
| 32b4: f7 ff sbrs r31, 7 |
| 32b6: 03 c0 rjmp .+6 ; 0x32be <__vector_12+0xb0> |
| 32b8: 90 95 com r25 |
| 32ba: 81 95 neg r24 |
| 32bc: 9f 4f sbci r25, 0xFF ; 255 |
| 32be: 06 97 sbiw r24, 0x06 ; 6 |
| 32c0: 4c f4 brge .+18 ; 0x32d4 <__vector_12+0xc6> |
| 32c2: 80 91 1c 02 lds r24, 0x021C |
| 32c6: 88 3c cpi r24, 0xC8 ; 200 |
| 32c8: 28 f4 brcc .+10 ; 0x32d4 <__vector_12+0xc6> |
| 32ca: 80 91 1c 02 lds r24, 0x021C |
| 32ce: 86 5f subi r24, 0xF6 ; 246 |
| 32d0: 80 93 1c 02 sts 0x021C, r24 |
| 32d4: fe 01 movw r30, r28 |
| 32d6: ee 0f add r30, r30 |
| 32d8: ff 1f adc r31, r31 |
| 32da: 8f 01 movw r16, r30 |
| 32dc: 02 55 subi r16, 0x52 ; 82 |
| 32de: 1b 4f sbci r17, 0xFB ; 251 |
| 32e0: d8 01 movw r26, r16 |
| 32e2: 2d 91 ld r18, X+ |
| 32e4: 3c 91 ld r19, X |
| 32e6: c9 01 movw r24, r18 |
| 32e8: 88 0f add r24, r24 |
| 32ea: 99 1f adc r25, r25 |
| 32ec: 82 0f add r24, r18 |
| 32ee: 93 1f adc r25, r19 |
| 32f0: 84 0f add r24, r20 |
| 32f2: 95 1f adc r25, r21 |
| 32f4: 64 e0 ldi r22, 0x04 ; 4 |
| 32f6: 70 e0 ldi r23, 0x00 ; 0 |
| 32f8: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 32fc: d8 01 movw r26, r16 |
| 32fe: 8d 91 ld r24, X+ |
| 3300: 9c 91 ld r25, X |
| 3302: 11 97 sbiw r26, 0x01 ; 1 |
| 3304: 9b 01 movw r18, r22 |
| 3306: 28 1b sub r18, r24 |
| 3308: 39 0b sbc r19, r25 |
| 330a: ec 53 subi r30, 0x3C ; 60 |
| 330c: fb 4f sbci r31, 0xFB ; 251 |
| 330e: 31 83 std Z+1, r19 ; 0x01 |
| 3310: 20 83 st Z, r18 |
| 3312: 11 96 adiw r26, 0x01 ; 1 |
| 3314: 7c 93 st X, r23 |
| 3316: 6e 93 st -X, r22 |
| 3318: 21 96 adiw r28, 0x01 ; 1 |
| 331a: d0 93 cf 01 sts 0x01CF, r29 |
| 331e: c0 93 ce 01 sts 0x01CE, r28 |
| 3322: ff 91 pop r31 |
| 3324: ef 91 pop r30 |
| 3326: df 91 pop r29 |
| 3328: cf 91 pop r28 |
| 332a: bf 91 pop r27 |
| 332c: af 91 pop r26 |
| 332e: 9f 91 pop r25 |
| 3330: 8f 91 pop r24 |
| 3332: 7f 91 pop r23 |
| 3334: 6f 91 pop r22 |
| 3336: 5f 91 pop r21 |
| 3338: 4f 91 pop r20 |
| 333a: 3f 91 pop r19 |
| 333c: 2f 91 pop r18 |
| 333e: 1f 91 pop r17 |
| 3340: 0f 91 pop r16 |
| 3342: 0f 90 pop r0 |
| 3344: 0f be out 0x3f, r0 ; 63 |
| 3346: 0f 90 pop r0 |
| 3348: 1f 90 pop r1 |
| 334a: 18 95 reti |
| 0000334c <Mittelwert>: |
| 334c: af 92 push r10 |
| 334e: bf 92 push r11 |
| 3350: cf 92 push r12 |
| 3352: df 92 push r13 |
| 3354: ef 92 push r14 |
| 3356: ff 92 push r15 |
| 3358: 0f 93 push r16 |
| 335a: 1f 93 push r17 |
| 335c: 10 92 7a 00 sts 0x007A, r1 |
| 3360: 80 91 b9 01 lds r24, 0x01B9 |
| 3364: 88 23 and r24, r24 |
| 3366: 69 f0 breq .+26 ; 0x3382 <Mittelwert+0x36> |
| 3368: 80 91 ad 01 lds r24, 0x01AD |
| 336c: 90 91 ae 01 lds r25, 0x01AE |
| 3370: 60 91 b9 01 lds r22, 0x01B9 |
| 3374: 77 27 eor r23, r23 |
| 3376: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 337a: 70 93 17 05 sts 0x0517, r23 |
| 337e: 60 93 16 05 sts 0x0516, r22 |
| 3382: 80 91 ba 01 lds r24, 0x01BA |
| 3386: 88 23 and r24, r24 |
| 3388: 69 f0 breq .+26 ; 0x33a4 <Mittelwert+0x58> |
| 338a: 80 91 af 01 lds r24, 0x01AF |
| 338e: 90 91 b0 01 lds r25, 0x01B0 |
| 3392: 60 91 ba 01 lds r22, 0x01BA |
| 3396: 77 27 eor r23, r23 |
| 3398: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 339c: 70 93 15 05 sts 0x0515, r23 |
| 33a0: 60 93 14 05 sts 0x0514, r22 |
| 33a4: 80 91 bb 01 lds r24, 0x01BB |
| 33a8: 88 23 and r24, r24 |
| 33aa: 69 f0 breq .+26 ; 0x33c6 <Mittelwert+0x7a> |
| 33ac: 80 91 b1 01 lds r24, 0x01B1 |
| 33b0: 90 91 b2 01 lds r25, 0x01B2 |
| 33b4: 60 91 bb 01 lds r22, 0x01BB |
| 33b8: 77 27 eor r23, r23 |
| 33ba: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 33be: 70 93 2b 05 sts 0x052B, r23 |
| 33c2: 60 93 2a 05 sts 0x052A, r22 |
| 33c6: 80 91 bc 01 lds r24, 0x01BC |
| 33ca: 88 23 and r24, r24 |
| 33cc: d9 f1 breq .+118 ; 0x3444 <Mittelwert+0xf8> |
| 33ce: e0 90 27 05 lds r14, 0x0527 |
| 33d2: f0 90 28 05 lds r15, 0x0528 |
| 33d6: 60 91 b5 01 lds r22, 0x01B5 |
| 33da: 70 91 b6 01 lds r23, 0x01B6 |
| 33de: 20 91 bc 01 lds r18, 0x01BC |
| 33e2: 00 27 eor r16, r16 |
| 33e4: f7 fc sbrc r15, 7 |
| 33e6: 00 95 com r16 |
| 33e8: 10 2f mov r17, r16 |
| 33ea: 57 01 movw r10, r14 |
| 33ec: 68 01 movw r12, r16 |
| 33ee: 83 e0 ldi r24, 0x03 ; 3 |
| 33f0: aa 0c add r10, r10 |
| 33f2: bb 1c adc r11, r11 |
| 33f4: cc 1c adc r12, r12 |
| 33f6: dd 1c adc r13, r13 |
| 33f8: 8a 95 dec r24 |
| 33fa: d1 f7 brne .-12 ; 0x33f0 <Mittelwert+0xa4> |
| 33fc: ae 18 sub r10, r14 |
| 33fe: bf 08 sbc r11, r15 |
| 3400: c0 0a sbc r12, r16 |
| 3402: d1 0a sbc r13, r17 |
| 3404: 88 27 eor r24, r24 |
| 3406: 77 fd sbrc r23, 7 |
| 3408: 80 95 com r24 |
| 340a: 98 2f mov r25, r24 |
| 340c: b4 e0 ldi r27, 0x04 ; 4 |
| 340e: 66 0f add r22, r22 |
| 3410: 77 1f adc r23, r23 |
| 3412: 88 1f adc r24, r24 |
| 3414: 99 1f adc r25, r25 |
| 3416: ba 95 dec r27 |
| 3418: d1 f7 brne .-12 ; 0x340e <Mittelwert+0xc2> |
| 341a: 33 27 eor r19, r19 |
| 341c: 44 27 eor r20, r20 |
| 341e: 55 27 eor r21, r21 |
| 3420: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 3424: a2 0e add r10, r18 |
| 3426: b3 1e adc r11, r19 |
| 3428: c4 1e adc r12, r20 |
| 342a: d5 1e adc r13, r21 |
| 342c: c6 01 movw r24, r12 |
| 342e: b5 01 movw r22, r10 |
| 3430: 28 e0 ldi r18, 0x08 ; 8 |
| 3432: 30 e0 ldi r19, 0x00 ; 0 |
| 3434: 40 e0 ldi r20, 0x00 ; 0 |
| 3436: 50 e0 ldi r21, 0x00 ; 0 |
| 3438: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 343c: 30 93 28 05 sts 0x0528, r19 |
| 3440: 20 93 27 05 sts 0x0527, r18 |
| 3444: 80 91 bd 01 lds r24, 0x01BD |
| 3448: 88 23 and r24, r24 |
| 344a: d9 f1 breq .+118 ; 0x34c2 <Mittelwert+0x176> |
| 344c: e0 90 30 05 lds r14, 0x0530 |
| 3450: f0 90 31 05 lds r15, 0x0531 |
| 3454: 60 91 b3 01 lds r22, 0x01B3 |
| 3458: 70 91 b4 01 lds r23, 0x01B4 |
| 345c: 20 91 bd 01 lds r18, 0x01BD |
| 3460: 00 27 eor r16, r16 |
| 3462: f7 fc sbrc r15, 7 |
| 3464: 00 95 com r16 |
| 3466: 10 2f mov r17, r16 |
| 3468: 57 01 movw r10, r14 |
| 346a: 68 01 movw r12, r16 |
| 346c: a3 e0 ldi r26, 0x03 ; 3 |
| 346e: aa 0c add r10, r10 |
| 3470: bb 1c adc r11, r11 |
| 3472: cc 1c adc r12, r12 |
| 3474: dd 1c adc r13, r13 |
| 3476: aa 95 dec r26 |
| 3478: d1 f7 brne .-12 ; 0x346e <Mittelwert+0x122> |
| 347a: ae 18 sub r10, r14 |
| 347c: bf 08 sbc r11, r15 |
| 347e: c0 0a sbc r12, r16 |
| 3480: d1 0a sbc r13, r17 |
| 3482: 88 27 eor r24, r24 |
| 3484: 77 fd sbrc r23, 7 |
| 3486: 80 95 com r24 |
| 3488: 98 2f mov r25, r24 |
| 348a: f4 e0 ldi r31, 0x04 ; 4 |
| 348c: 66 0f add r22, r22 |
| 348e: 77 1f adc r23, r23 |
| 3490: 88 1f adc r24, r24 |
| 3492: 99 1f adc r25, r25 |
| 3494: fa 95 dec r31 |
| 3496: d1 f7 brne .-12 ; 0x348c <Mittelwert+0x140> |
| 3498: 33 27 eor r19, r19 |
| 349a: 44 27 eor r20, r20 |
| 349c: 55 27 eor r21, r21 |
| 349e: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 34a2: a2 0e add r10, r18 |
| 34a4: b3 1e adc r11, r19 |
| 34a6: c4 1e adc r12, r20 |
| 34a8: d5 1e adc r13, r21 |
| 34aa: c6 01 movw r24, r12 |
| 34ac: b5 01 movw r22, r10 |
| 34ae: 28 e0 ldi r18, 0x08 ; 8 |
| 34b0: 30 e0 ldi r19, 0x00 ; 0 |
| 34b2: 40 e0 ldi r20, 0x00 ; 0 |
| 34b4: 50 e0 ldi r21, 0x00 ; 0 |
| 34b6: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 34ba: 30 93 31 05 sts 0x0531, r19 |
| 34be: 20 93 30 05 sts 0x0530, r18 |
| 34c2: 80 91 be 01 lds r24, 0x01BE |
| 34c6: 88 23 and r24, r24 |
| 34c8: a1 f1 breq .+104 ; 0x3532 <Mittelwert+0x1e6> |
| 34ca: e0 90 19 05 lds r14, 0x0519 |
| 34ce: f0 90 1a 05 lds r15, 0x051A |
| 34d2: 60 91 b7 01 lds r22, 0x01B7 |
| 34d6: 70 91 b8 01 lds r23, 0x01B8 |
| 34da: 20 91 be 01 lds r18, 0x01BE |
| 34de: 00 27 eor r16, r16 |
| 34e0: f7 fc sbrc r15, 7 |
| 34e2: 00 95 com r16 |
| 34e4: 10 2f mov r17, r16 |
| 34e6: 57 01 movw r10, r14 |
| 34e8: 68 01 movw r12, r16 |
| 34ea: e3 e0 ldi r30, 0x03 ; 3 |
| 34ec: aa 0c add r10, r10 |
| 34ee: bb 1c adc r11, r11 |
| 34f0: cc 1c adc r12, r12 |
| 34f2: dd 1c adc r13, r13 |
| 34f4: ea 95 dec r30 |
| 34f6: d1 f7 brne .-12 ; 0x34ec <Mittelwert+0x1a0> |
| 34f8: ae 18 sub r10, r14 |
| 34fa: bf 08 sbc r11, r15 |
| 34fc: c0 0a sbc r12, r16 |
| 34fe: d1 0a sbc r13, r17 |
| 3500: 88 27 eor r24, r24 |
| 3502: 77 fd sbrc r23, 7 |
| 3504: 80 95 com r24 |
| 3506: 98 2f mov r25, r24 |
| 3508: 33 27 eor r19, r19 |
| 350a: 44 27 eor r20, r20 |
| 350c: 55 27 eor r21, r21 |
| 350e: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 3512: a2 0e add r10, r18 |
| 3514: b3 1e adc r11, r19 |
| 3516: c4 1e adc r12, r20 |
| 3518: d5 1e adc r13, r21 |
| 351a: c6 01 movw r24, r12 |
| 351c: b5 01 movw r22, r10 |
| 351e: 28 e0 ldi r18, 0x08 ; 8 |
| 3520: 30 e0 ldi r19, 0x00 ; 0 |
| 3522: 40 e0 ldi r20, 0x00 ; 0 |
| 3524: 50 e0 ldi r21, 0x00 ; 0 |
| 3526: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 352a: 30 93 1a 05 sts 0x051A, r19 |
| 352e: 20 93 19 05 sts 0x0519, r18 |
| 3532: 10 92 ae 01 sts 0x01AE, r1 |
| 3536: 10 92 ad 01 sts 0x01AD, r1 |
| 353a: 10 92 b9 01 sts 0x01B9, r1 |
| 353e: 10 92 b0 01 sts 0x01B0, r1 |
| 3542: 10 92 af 01 sts 0x01AF, r1 |
| 3546: 10 92 ba 01 sts 0x01BA, r1 |
| 354a: 10 92 b2 01 sts 0x01B2, r1 |
| 354e: 10 92 b1 01 sts 0x01B1, r1 |
| 3552: 10 92 bb 01 sts 0x01BB, r1 |
| 3556: 10 92 b4 01 sts 0x01B4, r1 |
| 355a: 10 92 b3 01 sts 0x01B3, r1 |
| 355e: 10 92 bd 01 sts 0x01BD, r1 |
| 3562: 10 92 b6 01 sts 0x01B6, r1 |
| 3566: 10 92 b5 01 sts 0x01B5, r1 |
| 356a: 10 92 bc 01 sts 0x01BC, r1 |
| 356e: 10 92 b8 01 sts 0x01B8, r1 |
| 3572: 10 92 b7 01 sts 0x01B7, r1 |
| 3576: 10 92 be 01 sts 0x01BE, r1 |
| 357a: 80 91 ff 01 lds r24, 0x01FF |
| 357e: 90 91 00 02 lds r25, 0x0200 |
| 3582: a0 91 01 02 lds r26, 0x0201 |
| 3586: b0 91 02 02 lds r27, 0x0202 |
| 358a: 80 93 eb 01 sts 0x01EB, r24 |
| 358e: 90 93 ec 01 sts 0x01EC, r25 |
| 3592: a0 93 ed 01 sts 0x01ED, r26 |
| 3596: b0 93 ee 01 sts 0x01EE, r27 |
| 359a: 80 91 ef 01 lds r24, 0x01EF |
| 359e: 90 91 f0 01 lds r25, 0x01F0 |
| 35a2: a0 91 f1 01 lds r26, 0x01F1 |
| 35a6: b0 91 f2 01 lds r27, 0x01F2 |
| 35aa: 80 93 db 01 sts 0x01DB, r24 |
| 35ae: 90 93 dc 01 sts 0x01DC, r25 |
| 35b2: a0 93 dd 01 sts 0x01DD, r26 |
| 35b6: b0 93 de 01 sts 0x01DE, r27 |
| 35ba: 80 91 f7 01 lds r24, 0x01F7 |
| 35be: 90 91 f8 01 lds r25, 0x01F8 |
| 35c2: a0 91 f9 01 lds r26, 0x01F9 |
| 35c6: b0 91 fa 01 lds r27, 0x01FA |
| 35ca: 80 93 e3 01 sts 0x01E3, r24 |
| 35ce: 90 93 e4 01 sts 0x01E4, r25 |
| 35d2: a0 93 e5 01 sts 0x01E5, r26 |
| 35d6: b0 93 e6 01 sts 0x01E6, r27 |
| 35da: 80 91 f3 01 lds r24, 0x01F3 |
| 35de: 90 91 f4 01 lds r25, 0x01F4 |
| 35e2: a0 91 f5 01 lds r26, 0x01F5 |
| 35e6: b0 91 f6 01 lds r27, 0x01F6 |
| 35ea: 80 93 df 01 sts 0x01DF, r24 |
| 35ee: 90 93 e0 01 sts 0x01E0, r25 |
| 35f2: a0 93 e1 01 sts 0x01E1, r26 |
| 35f6: b0 93 e2 01 sts 0x01E2, r27 |
| 35fa: 80 91 fb 01 lds r24, 0x01FB |
| 35fe: 90 91 fc 01 lds r25, 0x01FC |
| 3602: a0 91 fd 01 lds r26, 0x01FD |
| 3606: b0 91 fe 01 lds r27, 0x01FE |
| 360a: 80 93 e7 01 sts 0x01E7, r24 |
| 360e: 90 93 e8 01 sts 0x01E8, r25 |
| 3612: a0 93 e9 01 sts 0x01E9, r26 |
| 3616: b0 93 ea 01 sts 0x01EA, r27 |
| 361a: 8f ec ldi r24, 0xCF ; 207 |
| 361c: 80 93 7a 00 sts 0x007A, r24 |
| 3620: 20 91 14 02 lds r18, 0x0214 |
| 3624: 30 91 15 02 lds r19, 0x0215 |
| 3628: 80 91 de 04 lds r24, 0x04DE |
| 362c: e8 2f mov r30, r24 |
| 362e: ff 27 eor r31, r31 |
| 3630: ee 0f add r30, r30 |
| 3632: ff 1f adc r31, r31 |
| 3634: e2 55 subi r30, 0x52 ; 82 |
| 3636: fb 4f sbci r31, 0xFB ; 251 |
| 3638: 80 81 ld r24, Z |
| 363a: 91 81 ldd r25, Z+1 ; 0x01 |
| 363c: 82 59 subi r24, 0x92 ; 146 |
| 363e: 9f 4f sbci r25, 0xFF ; 255 |
| 3640: 28 17 cp r18, r24 |
| 3642: 39 07 cpc r19, r25 |
| 3644: 1c f4 brge .+6 ; 0x364c <Mittelwert+0x300> |
| 3646: 2f 5f subi r18, 0xFF ; 255 |
| 3648: 3f 4f sbci r19, 0xFF ; 255 |
| 364a: 0c c0 rjmp .+24 ; 0x3664 <Mittelwert+0x318> |
| 364c: 80 81 ld r24, Z |
| 364e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3650: 82 59 subi r24, 0x92 ; 146 |
| 3652: 9f 4f sbci r25, 0xFF ; 255 |
| 3654: 82 17 cp r24, r18 |
| 3656: 93 07 cpc r25, r19 |
| 3658: 4c f4 brge .+18 ; 0x366c <Mittelwert+0x320> |
| 365a: 21 15 cp r18, r1 |
| 365c: 31 05 cpc r19, r1 |
| 365e: 31 f0 breq .+12 ; 0x366c <Mittelwert+0x320> |
| 3660: 21 50 subi r18, 0x01 ; 1 |
| 3662: 30 40 sbci r19, 0x00 ; 0 |
| 3664: 30 93 15 02 sts 0x0215, r19 |
| 3668: 20 93 14 02 sts 0x0214, r18 |
| 366c: 20 91 16 02 lds r18, 0x0216 |
| 3670: 30 91 17 02 lds r19, 0x0217 |
| 3674: 80 91 df 04 lds r24, 0x04DF |
| 3678: e8 2f mov r30, r24 |
| 367a: ff 27 eor r31, r31 |
| 367c: ee 0f add r30, r30 |
| 367e: ff 1f adc r31, r31 |
| 3680: e2 55 subi r30, 0x52 ; 82 |
| 3682: fb 4f sbci r31, 0xFB ; 251 |
| 3684: 80 81 ld r24, Z |
| 3686: 91 81 ldd r25, Z+1 ; 0x01 |
| 3688: 82 59 subi r24, 0x92 ; 146 |
| 368a: 9f 4f sbci r25, 0xFF ; 255 |
| 368c: 28 17 cp r18, r24 |
| 368e: 39 07 cpc r19, r25 |
| 3690: 1c f4 brge .+6 ; 0x3698 <Mittelwert+0x34c> |
| 3692: 2f 5f subi r18, 0xFF ; 255 |
| 3694: 3f 4f sbci r19, 0xFF ; 255 |
| 3696: 0c c0 rjmp .+24 ; 0x36b0 <Mittelwert+0x364> |
| 3698: 80 81 ld r24, Z |
| 369a: 91 81 ldd r25, Z+1 ; 0x01 |
| 369c: 82 59 subi r24, 0x92 ; 146 |
| 369e: 9f 4f sbci r25, 0xFF ; 255 |
| 36a0: 82 17 cp r24, r18 |
| 36a2: 93 07 cpc r25, r19 |
| 36a4: 4c f4 brge .+18 ; 0x36b8 <Mittelwert+0x36c> |
| 36a6: 21 15 cp r18, r1 |
| 36a8: 31 05 cpc r19, r1 |
| 36aa: 31 f0 breq .+12 ; 0x36b8 <Mittelwert+0x36c> |
| 36ac: 21 50 subi r18, 0x01 ; 1 |
| 36ae: 30 40 sbci r19, 0x00 ; 0 |
| 36b0: 30 93 17 02 sts 0x0217, r19 |
| 36b4: 20 93 16 02 sts 0x0216, r18 |
| 36b8: 20 91 18 02 lds r18, 0x0218 |
| 36bc: 30 91 19 02 lds r19, 0x0219 |
| 36c0: 80 91 e0 04 lds r24, 0x04E0 |
| 36c4: e8 2f mov r30, r24 |
| 36c6: ff 27 eor r31, r31 |
| 36c8: ee 0f add r30, r30 |
| 36ca: ff 1f adc r31, r31 |
| 36cc: e2 55 subi r30, 0x52 ; 82 |
| 36ce: fb 4f sbci r31, 0xFB ; 251 |
| 36d0: 80 81 ld r24, Z |
| 36d2: 91 81 ldd r25, Z+1 ; 0x01 |
| 36d4: 82 59 subi r24, 0x92 ; 146 |
| 36d6: 9f 4f sbci r25, 0xFF ; 255 |
| 36d8: 28 17 cp r18, r24 |
| 36da: 39 07 cpc r19, r25 |
| 36dc: 1c f4 brge .+6 ; 0x36e4 <Mittelwert+0x398> |
| 36de: 2f 5f subi r18, 0xFF ; 255 |
| 36e0: 3f 4f sbci r19, 0xFF ; 255 |
| 36e2: 0c c0 rjmp .+24 ; 0x36fc <Mittelwert+0x3b0> |
| 36e4: 80 81 ld r24, Z |
| 36e6: 91 81 ldd r25, Z+1 ; 0x01 |
| 36e8: 82 59 subi r24, 0x92 ; 146 |
| 36ea: 9f 4f sbci r25, 0xFF ; 255 |
| 36ec: 82 17 cp r24, r18 |
| 36ee: 93 07 cpc r25, r19 |
| 36f0: 4c f4 brge .+18 ; 0x3704 <Mittelwert+0x3b8> |
| 36f2: 21 15 cp r18, r1 |
| 36f4: 31 05 cpc r19, r1 |
| 36f6: 31 f0 breq .+12 ; 0x3704 <Mittelwert+0x3b8> |
| 36f8: 21 50 subi r18, 0x01 ; 1 |
| 36fa: 30 40 sbci r19, 0x00 ; 0 |
| 36fc: 30 93 19 02 sts 0x0219, r19 |
| 3700: 20 93 18 02 sts 0x0218, r18 |
| 3704: 20 91 1a 02 lds r18, 0x021A |
| 3708: 30 91 1b 02 lds r19, 0x021B |
| 370c: 80 91 e1 04 lds r24, 0x04E1 |
| 3710: e8 2f mov r30, r24 |
| 3712: ff 27 eor r31, r31 |
| 3714: ee 0f add r30, r30 |
| 3716: ff 1f adc r31, r31 |
| 3718: e2 55 subi r30, 0x52 ; 82 |
| 371a: fb 4f sbci r31, 0xFB ; 251 |
| 371c: 80 81 ld r24, Z |
| 371e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3720: 82 59 subi r24, 0x92 ; 146 |
| 3722: 9f 4f sbci r25, 0xFF ; 255 |
| 3724: 28 17 cp r18, r24 |
| 3726: 39 07 cpc r19, r25 |
| 3728: 1c f4 brge .+6 ; 0x3730 <Mittelwert+0x3e4> |
| 372a: 2f 5f subi r18, 0xFF ; 255 |
| 372c: 3f 4f sbci r19, 0xFF ; 255 |
| 372e: 0c c0 rjmp .+24 ; 0x3748 <Mittelwert+0x3fc> |
| 3730: 80 81 ld r24, Z |
| 3732: 91 81 ldd r25, Z+1 ; 0x01 |
| 3734: 82 59 subi r24, 0x92 ; 146 |
| 3736: 9f 4f sbci r25, 0xFF ; 255 |
| 3738: 82 17 cp r24, r18 |
| 373a: 93 07 cpc r25, r19 |
| 373c: 4c f4 brge .+18 ; 0x3750 <Mittelwert+0x404> |
| 373e: 21 15 cp r18, r1 |
| 3740: 31 05 cpc r19, r1 |
| 3742: 31 f0 breq .+12 ; 0x3750 <Mittelwert+0x404> |
| 3744: 21 50 subi r18, 0x01 ; 1 |
| 3746: 30 40 sbci r19, 0x00 ; 0 |
| 3748: 30 93 1b 02 sts 0x021B, r19 |
| 374c: 20 93 1a 02 sts 0x021A, r18 |
| 3750: 80 91 14 02 lds r24, 0x0214 |
| 3754: 90 91 15 02 lds r25, 0x0215 |
| 3758: 97 ff sbrs r25, 7 |
| 375a: 05 c0 rjmp .+10 ; 0x3766 <Mittelwert+0x41a> |
| 375c: 10 92 15 02 sts 0x0215, r1 |
| 3760: 10 92 14 02 sts 0x0214, r1 |
| 3764: 0a c0 rjmp .+20 ; 0x377a <Mittelwert+0x42e> |
| 3766: 8f 3f cpi r24, 0xFF ; 255 |
| 3768: 91 05 cpc r25, r1 |
| 376a: 39 f0 breq .+14 ; 0x377a <Mittelwert+0x42e> |
| 376c: 34 f0 brlt .+12 ; 0x377a <Mittelwert+0x42e> |
| 376e: 8f ef ldi r24, 0xFF ; 255 |
| 3770: 90 e0 ldi r25, 0x00 ; 0 |
| 3772: 90 93 15 02 sts 0x0215, r25 |
| 3776: 80 93 14 02 sts 0x0214, r24 |
| 377a: 80 91 16 02 lds r24, 0x0216 |
| 377e: 90 91 17 02 lds r25, 0x0217 |
| 3782: 97 ff sbrs r25, 7 |
| 3784: 05 c0 rjmp .+10 ; 0x3790 <Mittelwert+0x444> |
| 3786: 10 92 17 02 sts 0x0217, r1 |
| 378a: 10 92 16 02 sts 0x0216, r1 |
| 378e: 0a c0 rjmp .+20 ; 0x37a4 <Mittelwert+0x458> |
| 3790: 8f 3f cpi r24, 0xFF ; 255 |
| 3792: 91 05 cpc r25, r1 |
| 3794: 39 f0 breq .+14 ; 0x37a4 <Mittelwert+0x458> |
| 3796: 34 f0 brlt .+12 ; 0x37a4 <Mittelwert+0x458> |
| 3798: 8f ef ldi r24, 0xFF ; 255 |
| 379a: 90 e0 ldi r25, 0x00 ; 0 |
| 379c: 90 93 17 02 sts 0x0217, r25 |
| 37a0: 80 93 16 02 sts 0x0216, r24 |
| 37a4: 80 91 18 02 lds r24, 0x0218 |
| 37a8: 90 91 19 02 lds r25, 0x0219 |
| 37ac: 97 ff sbrs r25, 7 |
| 37ae: 05 c0 rjmp .+10 ; 0x37ba <Mittelwert+0x46e> |
| 37b0: 10 92 19 02 sts 0x0219, r1 |
| 37b4: 10 92 18 02 sts 0x0218, r1 |
| 37b8: 0a c0 rjmp .+20 ; 0x37ce <Mittelwert+0x482> |
| 37ba: 8f 3f cpi r24, 0xFF ; 255 |
| 37bc: 91 05 cpc r25, r1 |
| 37be: 39 f0 breq .+14 ; 0x37ce <Mittelwert+0x482> |
| 37c0: 34 f0 brlt .+12 ; 0x37ce <Mittelwert+0x482> |
| 37c2: 8f ef ldi r24, 0xFF ; 255 |
| 37c4: 90 e0 ldi r25, 0x00 ; 0 |
| 37c6: 90 93 19 02 sts 0x0219, r25 |
| 37ca: 80 93 18 02 sts 0x0218, r24 |
| 37ce: 80 91 1a 02 lds r24, 0x021A |
| 37d2: 90 91 1b 02 lds r25, 0x021B |
| 37d6: 97 ff sbrs r25, 7 |
| 37d8: 05 c0 rjmp .+10 ; 0x37e4 <Mittelwert+0x498> |
| 37da: 10 92 1b 02 sts 0x021B, r1 |
| 37de: 10 92 1a 02 sts 0x021A, r1 |
| 37e2: 0a c0 rjmp .+20 ; 0x37f8 <Mittelwert+0x4ac> |
| 37e4: 8f 3f cpi r24, 0xFF ; 255 |
| 37e6: 91 05 cpc r25, r1 |
| 37e8: 39 f0 breq .+14 ; 0x37f8 <Mittelwert+0x4ac> |
| 37ea: 34 f0 brlt .+12 ; 0x37f8 <Mittelwert+0x4ac> |
| 37ec: 8f ef ldi r24, 0xFF ; 255 |
| 37ee: 90 e0 ldi r25, 0x00 ; 0 |
| 37f0: 90 93 1b 02 sts 0x021B, r25 |
| 37f4: 80 93 1a 02 sts 0x021A, r24 |
| 37f8: 1f 91 pop r17 |
| 37fa: 0f 91 pop r16 |
| 37fc: ff 90 pop r15 |
| 37fe: ef 90 pop r14 |
| 3800: df 90 pop r13 |
| 3802: cf 90 pop r12 |
| 3804: bf 90 pop r11 |
| 3806: af 90 pop r10 |
| 3808: 08 95 ret |
| 0000380a <CalibrierMittelwert>: |
| 380a: 10 92 7a 00 sts 0x007A, r1 |
| 380e: 80 91 b9 01 lds r24, 0x01B9 |
| 3812: 88 23 and r24, r24 |
| 3814: 69 f0 breq .+26 ; 0x3830 <CalibrierMittelwert+0x26> |
| 3816: 80 91 ad 01 lds r24, 0x01AD |
| 381a: 90 91 ae 01 lds r25, 0x01AE |
| 381e: 60 91 b9 01 lds r22, 0x01B9 |
| 3822: 77 27 eor r23, r23 |
| 3824: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 3828: 70 93 17 05 sts 0x0517, r23 |
| 382c: 60 93 16 05 sts 0x0516, r22 |
| 3830: 80 91 ba 01 lds r24, 0x01BA |
| 3834: 88 23 and r24, r24 |
| 3836: 69 f0 breq .+26 ; 0x3852 <CalibrierMittelwert+0x48> |
| 3838: 80 91 af 01 lds r24, 0x01AF |
| 383c: 90 91 b0 01 lds r25, 0x01B0 |
| 3840: 60 91 ba 01 lds r22, 0x01BA |
| 3844: 77 27 eor r23, r23 |
| 3846: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 384a: 70 93 15 05 sts 0x0515, r23 |
| 384e: 60 93 14 05 sts 0x0514, r22 |
| 3852: 80 91 bb 01 lds r24, 0x01BB |
| 3856: 88 23 and r24, r24 |
| 3858: 69 f0 breq .+26 ; 0x3874 <CalibrierMittelwert+0x6a> |
| 385a: 80 91 b1 01 lds r24, 0x01B1 |
| 385e: 90 91 b2 01 lds r25, 0x01B2 |
| 3862: 60 91 bb 01 lds r22, 0x01BB |
| 3866: 77 27 eor r23, r23 |
| 3868: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 386c: 70 93 2b 05 sts 0x052B, r23 |
| 3870: 60 93 2a 05 sts 0x052A, r22 |
| 3874: 80 91 bc 01 lds r24, 0x01BC |
| 3878: 88 23 and r24, r24 |
| 387a: d1 f0 breq .+52 ; 0x38b0 <CalibrierMittelwert+0xa6> |
| 387c: 60 91 b5 01 lds r22, 0x01B5 |
| 3880: 70 91 b6 01 lds r23, 0x01B6 |
| 3884: 20 91 bc 01 lds r18, 0x01BC |
| 3888: 88 27 eor r24, r24 |
| 388a: 77 fd sbrc r23, 7 |
| 388c: 80 95 com r24 |
| 388e: 98 2f mov r25, r24 |
| 3890: f4 e0 ldi r31, 0x04 ; 4 |
| 3892: 66 0f add r22, r22 |
| 3894: 77 1f adc r23, r23 |
| 3896: 88 1f adc r24, r24 |
| 3898: 99 1f adc r25, r25 |
| 389a: fa 95 dec r31 |
| 389c: d1 f7 brne .-12 ; 0x3892 <CalibrierMittelwert+0x88> |
| 389e: 33 27 eor r19, r19 |
| 38a0: 44 27 eor r20, r20 |
| 38a2: 55 27 eor r21, r21 |
| 38a4: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 38a8: 30 93 28 05 sts 0x0528, r19 |
| 38ac: 20 93 27 05 sts 0x0527, r18 |
| 38b0: 80 91 bd 01 lds r24, 0x01BD |
| 38b4: 88 23 and r24, r24 |
| 38b6: d1 f0 breq .+52 ; 0x38ec <CalibrierMittelwert+0xe2> |
| 38b8: 60 91 b3 01 lds r22, 0x01B3 |
| 38bc: 70 91 b4 01 lds r23, 0x01B4 |
| 38c0: 20 91 bd 01 lds r18, 0x01BD |
| 38c4: 88 27 eor r24, r24 |
| 38c6: 77 fd sbrc r23, 7 |
| 38c8: 80 95 com r24 |
| 38ca: 98 2f mov r25, r24 |
| 38cc: e4 e0 ldi r30, 0x04 ; 4 |
| 38ce: 66 0f add r22, r22 |
| 38d0: 77 1f adc r23, r23 |
| 38d2: 88 1f adc r24, r24 |
| 38d4: 99 1f adc r25, r25 |
| 38d6: ea 95 dec r30 |
| 38d8: d1 f7 brne .-12 ; 0x38ce <CalibrierMittelwert+0xc4> |
| 38da: 33 27 eor r19, r19 |
| 38dc: 44 27 eor r20, r20 |
| 38de: 55 27 eor r21, r21 |
| 38e0: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 38e4: 30 93 31 05 sts 0x0531, r19 |
| 38e8: 20 93 30 05 sts 0x0530, r18 |
| 38ec: 80 91 be 01 lds r24, 0x01BE |
| 38f0: 88 23 and r24, r24 |
| 38f2: 99 f0 breq .+38 ; 0x391a <CalibrierMittelwert+0x110> |
| 38f4: 60 91 b7 01 lds r22, 0x01B7 |
| 38f8: 70 91 b8 01 lds r23, 0x01B8 |
| 38fc: 20 91 be 01 lds r18, 0x01BE |
| 3900: 88 27 eor r24, r24 |
| 3902: 77 fd sbrc r23, 7 |
| 3904: 80 95 com r24 |
| 3906: 98 2f mov r25, r24 |
| 3908: 33 27 eor r19, r19 |
| 390a: 44 27 eor r20, r20 |
| 390c: 55 27 eor r21, r21 |
| 390e: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 3912: 30 93 1a 05 sts 0x051A, r19 |
| 3916: 20 93 19 05 sts 0x0519, r18 |
| 391a: 10 92 ae 01 sts 0x01AE, r1 |
| 391e: 10 92 ad 01 sts 0x01AD, r1 |
| 3922: 10 92 b9 01 sts 0x01B9, r1 |
| 3926: 10 92 b0 01 sts 0x01B0, r1 |
| 392a: 10 92 af 01 sts 0x01AF, r1 |
| 392e: 10 92 ba 01 sts 0x01BA, r1 |
| 3932: 10 92 b2 01 sts 0x01B2, r1 |
| 3936: 10 92 b1 01 sts 0x01B1, r1 |
| 393a: 10 92 bb 01 sts 0x01BB, r1 |
| 393e: 10 92 b4 01 sts 0x01B4, r1 |
| 3942: 10 92 b3 01 sts 0x01B3, r1 |
| 3946: 10 92 bd 01 sts 0x01BD, r1 |
| 394a: 10 92 b6 01 sts 0x01B6, r1 |
| 394e: 10 92 b5 01 sts 0x01B5, r1 |
| 3952: 10 92 bc 01 sts 0x01BC, r1 |
| 3956: 10 92 b8 01 sts 0x01B8, r1 |
| 395a: 10 92 b7 01 sts 0x01B7, r1 |
| 395e: 10 92 be 01 sts 0x01BE, r1 |
| 3962: 8f ec ldi r24, 0xCF ; 207 |
| 3964: 80 93 7a 00 sts 0x007A, r24 |
| 3968: 20 91 14 02 lds r18, 0x0214 |
| 396c: 30 91 15 02 lds r19, 0x0215 |
| 3970: 80 91 de 04 lds r24, 0x04DE |
| 3974: e8 2f mov r30, r24 |
| 3976: ff 27 eor r31, r31 |
| 3978: ee 0f add r30, r30 |
| 397a: ff 1f adc r31, r31 |
| 397c: e2 55 subi r30, 0x52 ; 82 |
| 397e: fb 4f sbci r31, 0xFB ; 251 |
| 3980: 80 81 ld r24, Z |
| 3982: 91 81 ldd r25, Z+1 ; 0x01 |
| 3984: 82 59 subi r24, 0x92 ; 146 |
| 3986: 9f 4f sbci r25, 0xFF ; 255 |
| 3988: 28 17 cp r18, r24 |
| 398a: 39 07 cpc r19, r25 |
| 398c: 1c f4 brge .+6 ; 0x3994 <CalibrierMittelwert+0x18a> |
| 398e: 2f 5f subi r18, 0xFF ; 255 |
| 3990: 3f 4f sbci r19, 0xFF ; 255 |
| 3992: 0c c0 rjmp .+24 ; 0x39ac <CalibrierMittelwert+0x1a2> |
| 3994: 80 81 ld r24, Z |
| 3996: 91 81 ldd r25, Z+1 ; 0x01 |
| 3998: 82 59 subi r24, 0x92 ; 146 |
| 399a: 9f 4f sbci r25, 0xFF ; 255 |
| 399c: 82 17 cp r24, r18 |
| 399e: 93 07 cpc r25, r19 |
| 39a0: 4c f4 brge .+18 ; 0x39b4 <CalibrierMittelwert+0x1aa> |
| 39a2: 21 15 cp r18, r1 |
| 39a4: 31 05 cpc r19, r1 |
| 39a6: 31 f0 breq .+12 ; 0x39b4 <CalibrierMittelwert+0x1aa> |
| 39a8: 21 50 subi r18, 0x01 ; 1 |
| 39aa: 30 40 sbci r19, 0x00 ; 0 |
| 39ac: 30 93 15 02 sts 0x0215, r19 |
| 39b0: 20 93 14 02 sts 0x0214, r18 |
| 39b4: 20 91 16 02 lds r18, 0x0216 |
| 39b8: 30 91 17 02 lds r19, 0x0217 |
| 39bc: 80 91 df 04 lds r24, 0x04DF |
| 39c0: e8 2f mov r30, r24 |
| 39c2: ff 27 eor r31, r31 |
| 39c4: ee 0f add r30, r30 |
| 39c6: ff 1f adc r31, r31 |
| 39c8: e2 55 subi r30, 0x52 ; 82 |
| 39ca: fb 4f sbci r31, 0xFB ; 251 |
| 39cc: 80 81 ld r24, Z |
| 39ce: 91 81 ldd r25, Z+1 ; 0x01 |
| 39d0: 82 59 subi r24, 0x92 ; 146 |
| 39d2: 9f 4f sbci r25, 0xFF ; 255 |
| 39d4: 28 17 cp r18, r24 |
| 39d6: 39 07 cpc r19, r25 |
| 39d8: 1c f4 brge .+6 ; 0x39e0 <CalibrierMittelwert+0x1d6> |
| 39da: 2f 5f subi r18, 0xFF ; 255 |
| 39dc: 3f 4f sbci r19, 0xFF ; 255 |
| 39de: 0c c0 rjmp .+24 ; 0x39f8 <CalibrierMittelwert+0x1ee> |
| 39e0: 80 81 ld r24, Z |
| 39e2: 91 81 ldd r25, Z+1 ; 0x01 |
| 39e4: 82 59 subi r24, 0x92 ; 146 |
| 39e6: 9f 4f sbci r25, 0xFF ; 255 |
| 39e8: 82 17 cp r24, r18 |
| 39ea: 93 07 cpc r25, r19 |
| 39ec: 4c f4 brge .+18 ; 0x3a00 <CalibrierMittelwert+0x1f6> |
| 39ee: 21 15 cp r18, r1 |
| 39f0: 31 05 cpc r19, r1 |
| 39f2: 31 f0 breq .+12 ; 0x3a00 <CalibrierMittelwert+0x1f6> |
| 39f4: 21 50 subi r18, 0x01 ; 1 |
| 39f6: 30 40 sbci r19, 0x00 ; 0 |
| 39f8: 30 93 17 02 sts 0x0217, r19 |
| 39fc: 20 93 16 02 sts 0x0216, r18 |
| 3a00: 20 91 18 02 lds r18, 0x0218 |
| 3a04: 30 91 19 02 lds r19, 0x0219 |
| 3a08: 80 91 e0 04 lds r24, 0x04E0 |
| 3a0c: e8 2f mov r30, r24 |
| 3a0e: ff 27 eor r31, r31 |
| 3a10: ee 0f add r30, r30 |
| 3a12: ff 1f adc r31, r31 |
| 3a14: e2 55 subi r30, 0x52 ; 82 |
| 3a16: fb 4f sbci r31, 0xFB ; 251 |
| 3a18: 80 81 ld r24, Z |
| 3a1a: 91 81 ldd r25, Z+1 ; 0x01 |
| 3a1c: 82 59 subi r24, 0x92 ; 146 |
| 3a1e: 9f 4f sbci r25, 0xFF ; 255 |
| 3a20: 28 17 cp r18, r24 |
| 3a22: 39 07 cpc r19, r25 |
| 3a24: 1c f4 brge .+6 ; 0x3a2c <CalibrierMittelwert+0x222> |
| 3a26: 2f 5f subi r18, 0xFF ; 255 |
| 3a28: 3f 4f sbci r19, 0xFF ; 255 |
| 3a2a: 0c c0 rjmp .+24 ; 0x3a44 <CalibrierMittelwert+0x23a> |
| 3a2c: 80 81 ld r24, Z |
| 3a2e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3a30: 82 59 subi r24, 0x92 ; 146 |
| 3a32: 9f 4f sbci r25, 0xFF ; 255 |
| 3a34: 82 17 cp r24, r18 |
| 3a36: 93 07 cpc r25, r19 |
| 3a38: 4c f4 brge .+18 ; 0x3a4c <CalibrierMittelwert+0x242> |
| 3a3a: 21 15 cp r18, r1 |
| 3a3c: 31 05 cpc r19, r1 |
| 3a3e: 31 f0 breq .+12 ; 0x3a4c <CalibrierMittelwert+0x242> |
| 3a40: 21 50 subi r18, 0x01 ; 1 |
| 3a42: 30 40 sbci r19, 0x00 ; 0 |
| 3a44: 30 93 19 02 sts 0x0219, r19 |
| 3a48: 20 93 18 02 sts 0x0218, r18 |
| 3a4c: 20 91 1a 02 lds r18, 0x021A |
| 3a50: 30 91 1b 02 lds r19, 0x021B |
| 3a54: 80 91 e1 04 lds r24, 0x04E1 |
| 3a58: e8 2f mov r30, r24 |
| 3a5a: ff 27 eor r31, r31 |
| 3a5c: ee 0f add r30, r30 |
| 3a5e: ff 1f adc r31, r31 |
| 3a60: e2 55 subi r30, 0x52 ; 82 |
| 3a62: fb 4f sbci r31, 0xFB ; 251 |
| 3a64: 80 81 ld r24, Z |
| 3a66: 91 81 ldd r25, Z+1 ; 0x01 |
| 3a68: 82 59 subi r24, 0x92 ; 146 |
| 3a6a: 9f 4f sbci r25, 0xFF ; 255 |
| 3a6c: 28 17 cp r18, r24 |
| 3a6e: 39 07 cpc r19, r25 |
| 3a70: 1c f4 brge .+6 ; 0x3a78 <CalibrierMittelwert+0x26e> |
| 3a72: 2f 5f subi r18, 0xFF ; 255 |
| 3a74: 3f 4f sbci r19, 0xFF ; 255 |
| 3a76: 0c c0 rjmp .+24 ; 0x3a90 <CalibrierMittelwert+0x286> |
| 3a78: 80 81 ld r24, Z |
| 3a7a: 91 81 ldd r25, Z+1 ; 0x01 |
| 3a7c: 82 59 subi r24, 0x92 ; 146 |
| 3a7e: 9f 4f sbci r25, 0xFF ; 255 |
| 3a80: 82 17 cp r24, r18 |
| 3a82: 93 07 cpc r25, r19 |
| 3a84: 4c f4 brge .+18 ; 0x3a98 <CalibrierMittelwert+0x28e> |
| 3a86: 21 15 cp r18, r1 |
| 3a88: 31 05 cpc r19, r1 |
| 3a8a: 31 f0 breq .+12 ; 0x3a98 <CalibrierMittelwert+0x28e> |
| 3a8c: 21 50 subi r18, 0x01 ; 1 |
| 3a8e: 30 40 sbci r19, 0x00 ; 0 |
| 3a90: 30 93 1b 02 sts 0x021B, r19 |
| 3a94: 20 93 1a 02 sts 0x021A, r18 |
| 3a98: 80 91 14 02 lds r24, 0x0214 |
| 3a9c: 90 91 15 02 lds r25, 0x0215 |
| 3aa0: 97 ff sbrs r25, 7 |
| 3aa2: 05 c0 rjmp .+10 ; 0x3aae <CalibrierMittelwert+0x2a4> |
| 3aa4: 10 92 15 02 sts 0x0215, r1 |
| 3aa8: 10 92 14 02 sts 0x0214, r1 |
| 3aac: 0a c0 rjmp .+20 ; 0x3ac2 <CalibrierMittelwert+0x2b8> |
| 3aae: 8f 3f cpi r24, 0xFF ; 255 |
| 3ab0: 91 05 cpc r25, r1 |
| 3ab2: 39 f0 breq .+14 ; 0x3ac2 <CalibrierMittelwert+0x2b8> |
| 3ab4: 34 f0 brlt .+12 ; 0x3ac2 <CalibrierMittelwert+0x2b8> |
| 3ab6: 8f ef ldi r24, 0xFF ; 255 |
| 3ab8: 90 e0 ldi r25, 0x00 ; 0 |
| 3aba: 90 93 15 02 sts 0x0215, r25 |
| 3abe: 80 93 14 02 sts 0x0214, r24 |
| 3ac2: 80 91 16 02 lds r24, 0x0216 |
| 3ac6: 90 91 17 02 lds r25, 0x0217 |
| 3aca: 97 ff sbrs r25, 7 |
| 3acc: 05 c0 rjmp .+10 ; 0x3ad8 <CalibrierMittelwert+0x2ce> |
| 3ace: 10 92 17 02 sts 0x0217, r1 |
| 3ad2: 10 92 16 02 sts 0x0216, r1 |
| 3ad6: 0a c0 rjmp .+20 ; 0x3aec <CalibrierMittelwert+0x2e2> |
| 3ad8: 8f 3f cpi r24, 0xFF ; 255 |
| 3ada: 91 05 cpc r25, r1 |
| 3adc: 39 f0 breq .+14 ; 0x3aec <CalibrierMittelwert+0x2e2> |
| 3ade: 34 f0 brlt .+12 ; 0x3aec <CalibrierMittelwert+0x2e2> |
| 3ae0: 8f ef ldi r24, 0xFF ; 255 |
| 3ae2: 90 e0 ldi r25, 0x00 ; 0 |
| 3ae4: 90 93 17 02 sts 0x0217, r25 |
| 3ae8: 80 93 16 02 sts 0x0216, r24 |
| 3aec: 80 91 18 02 lds r24, 0x0218 |
| 3af0: 90 91 19 02 lds r25, 0x0219 |
| 3af4: 97 ff sbrs r25, 7 |
| 3af6: 05 c0 rjmp .+10 ; 0x3b02 <CalibrierMittelwert+0x2f8> |
| 3af8: 10 92 19 02 sts 0x0219, r1 |
| 3afc: 10 92 18 02 sts 0x0218, r1 |
| 3b00: 0a c0 rjmp .+20 ; 0x3b16 <CalibrierMittelwert+0x30c> |
| 3b02: 8f 3f cpi r24, 0xFF ; 255 |
| 3b04: 91 05 cpc r25, r1 |
| 3b06: 39 f0 breq .+14 ; 0x3b16 <CalibrierMittelwert+0x30c> |
| 3b08: 34 f0 brlt .+12 ; 0x3b16 <CalibrierMittelwert+0x30c> |
| 3b0a: 8f ef ldi r24, 0xFF ; 255 |
| 3b0c: 90 e0 ldi r25, 0x00 ; 0 |
| 3b0e: 90 93 19 02 sts 0x0219, r25 |
| 3b12: 80 93 18 02 sts 0x0218, r24 |
| 3b16: 80 91 1a 02 lds r24, 0x021A |
| 3b1a: 90 91 1b 02 lds r25, 0x021B |
| 3b1e: 97 ff sbrs r25, 7 |
| 3b20: 05 c0 rjmp .+10 ; 0x3b2c <CalibrierMittelwert+0x322> |
| 3b22: 10 92 1b 02 sts 0x021B, r1 |
| 3b26: 10 92 1a 02 sts 0x021A, r1 |
| 3b2a: 08 95 ret |
| 3b2c: 8f 3f cpi r24, 0xFF ; 255 |
| 3b2e: 91 05 cpc r25, r1 |
| 3b30: 39 f0 breq .+14 ; 0x3b40 <CalibrierMittelwert+0x336> |
| 3b32: 34 f0 brlt .+12 ; 0x3b40 <CalibrierMittelwert+0x336> |
| 3b34: 8f ef ldi r24, 0xFF ; 255 |
| 3b36: 90 e0 ldi r25, 0x00 ; 0 |
| 3b38: 90 93 1b 02 sts 0x021B, r25 |
| 3b3c: 80 93 1a 02 sts 0x021A, r24 |
| 3b40: 08 95 ret |
| 00003b42 <ParameterZuordnung>: |
| 3b42: 1f 93 push r17 |
| 3b44: 80 91 e5 04 lds r24, 0x04E5 |
| 3b48: 8b 3f cpi r24, 0xFB ; 251 |
| 3b4a: 98 f0 brcs .+38 ; 0x3b72 <ParameterZuordnung+0x30> |
| 3b4c: 8b 3f cpi r24, 0xFB ; 251 |
| 3b4e: 19 f4 brne .+6 ; 0x3b56 <ParameterZuordnung+0x14> |
| 3b50: 80 91 14 02 lds r24, 0x0214 |
| 3b54: 0e c0 rjmp .+28 ; 0x3b72 <ParameterZuordnung+0x30> |
| 3b56: 8c 3f cpi r24, 0xFC ; 252 |
| 3b58: 19 f4 brne .+6 ; 0x3b60 <ParameterZuordnung+0x1e> |
| 3b5a: 80 91 16 02 lds r24, 0x0216 |
| 3b5e: 09 c0 rjmp .+18 ; 0x3b72 <ParameterZuordnung+0x30> |
| 3b60: 8d 3f cpi r24, 0xFD ; 253 |
| 3b62: 19 f4 brne .+6 ; 0x3b6a <ParameterZuordnung+0x28> |
| 3b64: 80 91 18 02 lds r24, 0x0218 |
| 3b68: 04 c0 rjmp .+8 ; 0x3b72 <ParameterZuordnung+0x30> |
| 3b6a: 8e 3f cpi r24, 0xFE ; 254 |
| 3b6c: 21 f4 brne .+8 ; 0x3b76 <ParameterZuordnung+0x34> |
| 3b6e: 80 91 1a 02 lds r24, 0x021A |
| 3b72: 80 93 81 01 sts 0x0181, r24 |
| 3b76: 80 91 81 01 lds r24, 0x0181 |
| 3b7a: 88 23 and r24, r24 |
| 3b7c: 19 f4 brne .+6 ; 0x3b84 <ParameterZuordnung+0x42> |
| 3b7e: 10 92 81 01 sts 0x0181, r1 |
| 3b82: 04 c0 rjmp .+8 ; 0x3b8c <ParameterZuordnung+0x4a> |
| 3b84: 8f 3f cpi r24, 0xFF ; 255 |
| 3b86: 11 f4 brne .+4 ; 0x3b8c <ParameterZuordnung+0x4a> |
| 3b88: 80 93 81 01 sts 0x0181, r24 |
| 3b8c: 80 91 e4 04 lds r24, 0x04E4 |
| 3b90: 8b 3f cpi r24, 0xFB ; 251 |
| 3b92: 98 f0 brcs .+38 ; 0x3bba <ParameterZuordnung+0x78> |
| 3b94: 8b 3f cpi r24, 0xFB ; 251 |
| 3b96: 19 f4 brne .+6 ; 0x3b9e <ParameterZuordnung+0x5c> |
| 3b98: 80 91 14 02 lds r24, 0x0214 |
| 3b9c: 0e c0 rjmp .+28 ; 0x3bba <ParameterZuordnung+0x78> |
| 3b9e: 8c 3f cpi r24, 0xFC ; 252 |
| 3ba0: 19 f4 brne .+6 ; 0x3ba8 <ParameterZuordnung+0x66> |
| 3ba2: 80 91 16 02 lds r24, 0x0216 |
| 3ba6: 09 c0 rjmp .+18 ; 0x3bba <ParameterZuordnung+0x78> |
| 3ba8: 8d 3f cpi r24, 0xFD ; 253 |
| 3baa: 19 f4 brne .+6 ; 0x3bb2 <ParameterZuordnung+0x70> |
| 3bac: 80 91 18 02 lds r24, 0x0218 |
| 3bb0: 04 c0 rjmp .+8 ; 0x3bba <ParameterZuordnung+0x78> |
| 3bb2: 8e 3f cpi r24, 0xFE ; 254 |
| 3bb4: 21 f4 brne .+8 ; 0x3bbe <ParameterZuordnung+0x7c> |
| 3bb6: 80 91 1a 02 lds r24, 0x021A |
| 3bba: 80 93 80 01 sts 0x0180, r24 |
| 3bbe: 80 91 80 01 lds r24, 0x0180 |
| 3bc2: 88 23 and r24, r24 |
| 3bc4: 19 f4 brne .+6 ; 0x3bcc <ParameterZuordnung+0x8a> |
| 3bc6: 10 92 80 01 sts 0x0180, r1 |
| 3bca: 05 c0 rjmp .+10 ; 0x3bd6 <ParameterZuordnung+0x94> |
| 3bcc: 84 36 cpi r24, 0x64 ; 100 |
| 3bce: 18 f0 brcs .+6 ; 0x3bd6 <ParameterZuordnung+0x94> |
| 3bd0: 84 e6 ldi r24, 0x64 ; 100 |
| 3bd2: 80 93 80 01 sts 0x0180, r24 |
| 3bd6: 80 91 e6 04 lds r24, 0x04E6 |
| 3bda: 8b 3f cpi r24, 0xFB ; 251 |
| 3bdc: 98 f0 brcs .+38 ; 0x3c04 <ParameterZuordnung+0xc2> |
| 3bde: 8b 3f cpi r24, 0xFB ; 251 |
| 3be0: 19 f4 brne .+6 ; 0x3be8 <ParameterZuordnung+0xa6> |
| 3be2: 80 91 14 02 lds r24, 0x0214 |
| 3be6: 0e c0 rjmp .+28 ; 0x3c04 <ParameterZuordnung+0xc2> |
| 3be8: 8c 3f cpi r24, 0xFC ; 252 |
| 3bea: 19 f4 brne .+6 ; 0x3bf2 <ParameterZuordnung+0xb0> |
| 3bec: 80 91 16 02 lds r24, 0x0216 |
| 3bf0: 09 c0 rjmp .+18 ; 0x3c04 <ParameterZuordnung+0xc2> |
| 3bf2: 8d 3f cpi r24, 0xFD ; 253 |
| 3bf4: 19 f4 brne .+6 ; 0x3bfc <ParameterZuordnung+0xba> |
| 3bf6: 80 91 18 02 lds r24, 0x0218 |
| 3bfa: 04 c0 rjmp .+8 ; 0x3c04 <ParameterZuordnung+0xc2> |
| 3bfc: 8e 3f cpi r24, 0xFE ; 254 |
| 3bfe: 21 f4 brne .+8 ; 0x3c08 <ParameterZuordnung+0xc6> |
| 3c00: 80 91 1a 02 lds r24, 0x021A |
| 3c04: 80 93 82 01 sts 0x0182, r24 |
| 3c08: 80 91 82 01 lds r24, 0x0182 |
| 3c0c: 88 23 and r24, r24 |
| 3c0e: 19 f4 brne .+6 ; 0x3c16 <ParameterZuordnung+0xd4> |
| 3c10: 10 92 82 01 sts 0x0182, r1 |
| 3c14: 05 c0 rjmp .+10 ; 0x3c20 <ParameterZuordnung+0xde> |
| 3c16: 84 36 cpi r24, 0x64 ; 100 |
| 3c18: 18 f0 brcs .+6 ; 0x3c20 <ParameterZuordnung+0xde> |
| 3c1a: 84 e6 ldi r24, 0x64 ; 100 |
| 3c1c: 80 93 82 01 sts 0x0182, r24 |
| 3c20: 80 91 e8 04 lds r24, 0x04E8 |
| 3c24: 8b 3f cpi r24, 0xFB ; 251 |
| 3c26: 98 f0 brcs .+38 ; 0x3c4e <ParameterZuordnung+0x10c> |
| 3c28: 8b 3f cpi r24, 0xFB ; 251 |
| 3c2a: 19 f4 brne .+6 ; 0x3c32 <ParameterZuordnung+0xf0> |
| 3c2c: 80 91 14 02 lds r24, 0x0214 |
| 3c30: 0e c0 rjmp .+28 ; 0x3c4e <ParameterZuordnung+0x10c> |
| 3c32: 8c 3f cpi r24, 0xFC ; 252 |
| 3c34: 19 f4 brne .+6 ; 0x3c3c <ParameterZuordnung+0xfa> |
| 3c36: 80 91 16 02 lds r24, 0x0216 |
| 3c3a: 09 c0 rjmp .+18 ; 0x3c4e <ParameterZuordnung+0x10c> |
| 3c3c: 8d 3f cpi r24, 0xFD ; 253 |
| 3c3e: 19 f4 brne .+6 ; 0x3c46 <ParameterZuordnung+0x104> |
| 3c40: 80 91 18 02 lds r24, 0x0218 |
| 3c44: 04 c0 rjmp .+8 ; 0x3c4e <ParameterZuordnung+0x10c> |
| 3c46: 8e 3f cpi r24, 0xFE ; 254 |
| 3c48: 21 f4 brne .+8 ; 0x3c52 <ParameterZuordnung+0x110> |
| 3c4a: 80 91 1a 02 lds r24, 0x021A |
| 3c4e: 80 93 83 01 sts 0x0183, r24 |
| 3c52: 80 91 83 01 lds r24, 0x0183 |
| 3c56: 88 23 and r24, r24 |
| 3c58: 19 f4 brne .+6 ; 0x3c60 <ParameterZuordnung+0x11e> |
| 3c5a: 10 92 83 01 sts 0x0183, r1 |
| 3c5e: 04 c0 rjmp .+8 ; 0x3c68 <ParameterZuordnung+0x126> |
| 3c60: 8f 3f cpi r24, 0xFF ; 255 |
| 3c62: 11 f4 brne .+4 ; 0x3c68 <ParameterZuordnung+0x126> |
| 3c64: 80 93 83 01 sts 0x0183, r24 |
| 3c68: 80 91 ef 04 lds r24, 0x04EF |
| 3c6c: 8b 3f cpi r24, 0xFB ; 251 |
| 3c6e: 98 f0 brcs .+38 ; 0x3c96 <ParameterZuordnung+0x154> |
| 3c70: 8b 3f cpi r24, 0xFB ; 251 |
| 3c72: 19 f4 brne .+6 ; 0x3c7a <ParameterZuordnung+0x138> |
| 3c74: 80 91 14 02 lds r24, 0x0214 |
| 3c78: 0e c0 rjmp .+28 ; 0x3c96 <ParameterZuordnung+0x154> |
| 3c7a: 8c 3f cpi r24, 0xFC ; 252 |
| 3c7c: 19 f4 brne .+6 ; 0x3c84 <ParameterZuordnung+0x142> |
| 3c7e: 80 91 16 02 lds r24, 0x0216 |
| 3c82: 09 c0 rjmp .+18 ; 0x3c96 <ParameterZuordnung+0x154> |
| 3c84: 8d 3f cpi r24, 0xFD ; 253 |
| 3c86: 19 f4 brne .+6 ; 0x3c8e <ParameterZuordnung+0x14c> |
| 3c88: 80 91 18 02 lds r24, 0x0218 |
| 3c8c: 04 c0 rjmp .+8 ; 0x3c96 <ParameterZuordnung+0x154> |
| 3c8e: 8e 3f cpi r24, 0xFE ; 254 |
| 3c90: 21 f4 brne .+8 ; 0x3c9a <ParameterZuordnung+0x158> |
| 3c92: 80 91 1a 02 lds r24, 0x021A |
| 3c96: 80 93 84 01 sts 0x0184, r24 |
| 3c9a: 80 91 84 01 lds r24, 0x0184 |
| 3c9e: 88 23 and r24, r24 |
| 3ca0: 19 f4 brne .+6 ; 0x3ca8 <ParameterZuordnung+0x166> |
| 3ca2: 10 92 84 01 sts 0x0184, r1 |
| 3ca6: 04 c0 rjmp .+8 ; 0x3cb0 <ParameterZuordnung+0x16e> |
| 3ca8: 8f 3f cpi r24, 0xFF ; 255 |
| 3caa: 11 f4 brne .+4 ; 0x3cb0 <ParameterZuordnung+0x16e> |
| 3cac: 80 93 84 01 sts 0x0184, r24 |
| 3cb0: 80 91 f0 04 lds r24, 0x04F0 |
| 3cb4: 8b 3f cpi r24, 0xFB ; 251 |
| 3cb6: 98 f0 brcs .+38 ; 0x3cde <ParameterZuordnung+0x19c> |
| 3cb8: 8b 3f cpi r24, 0xFB ; 251 |
| 3cba: 19 f4 brne .+6 ; 0x3cc2 <ParameterZuordnung+0x180> |
| 3cbc: 80 91 14 02 lds r24, 0x0214 |
| 3cc0: 0e c0 rjmp .+28 ; 0x3cde <ParameterZuordnung+0x19c> |
| 3cc2: 8c 3f cpi r24, 0xFC ; 252 |
| 3cc4: 19 f4 brne .+6 ; 0x3ccc <ParameterZuordnung+0x18a> |
| 3cc6: 80 91 16 02 lds r24, 0x0216 |
| 3cca: 09 c0 rjmp .+18 ; 0x3cde <ParameterZuordnung+0x19c> |
| 3ccc: 8d 3f cpi r24, 0xFD ; 253 |
| 3cce: 19 f4 brne .+6 ; 0x3cd6 <ParameterZuordnung+0x194> |
| 3cd0: 80 91 18 02 lds r24, 0x0218 |
| 3cd4: 04 c0 rjmp .+8 ; 0x3cde <ParameterZuordnung+0x19c> |
| 3cd6: 8e 3f cpi r24, 0xFE ; 254 |
| 3cd8: 21 f4 brne .+8 ; 0x3ce2 <ParameterZuordnung+0x1a0> |
| 3cda: 80 91 1a 02 lds r24, 0x021A |
| 3cde: 80 93 85 01 sts 0x0185, r24 |
| 3ce2: 80 91 85 01 lds r24, 0x0185 |
| 3ce6: 8b 30 cpi r24, 0x0B ; 11 |
| 3ce8: 10 f4 brcc .+4 ; 0x3cee <ParameterZuordnung+0x1ac> |
| 3cea: 8a e0 ldi r24, 0x0A ; 10 |
| 3cec: 02 c0 rjmp .+4 ; 0x3cf2 <ParameterZuordnung+0x1b0> |
| 3cee: 8f 3f cpi r24, 0xFF ; 255 |
| 3cf0: 11 f4 brne .+4 ; 0x3cf6 <ParameterZuordnung+0x1b4> |
| 3cf2: 80 93 85 01 sts 0x0185, r24 |
| 3cf6: 80 91 f1 04 lds r24, 0x04F1 |
| 3cfa: 8b 3f cpi r24, 0xFB ; 251 |
| 3cfc: 98 f0 brcs .+38 ; 0x3d24 <ParameterZuordnung+0x1e2> |
| 3cfe: 8b 3f cpi r24, 0xFB ; 251 |
| 3d00: 19 f4 brne .+6 ; 0x3d08 <ParameterZuordnung+0x1c6> |
| 3d02: 80 91 14 02 lds r24, 0x0214 |
| 3d06: 0e c0 rjmp .+28 ; 0x3d24 <ParameterZuordnung+0x1e2> |
| 3d08: 8c 3f cpi r24, 0xFC ; 252 |
| 3d0a: 19 f4 brne .+6 ; 0x3d12 <ParameterZuordnung+0x1d0> |
| 3d0c: 80 91 16 02 lds r24, 0x0216 |
| 3d10: 09 c0 rjmp .+18 ; 0x3d24 <ParameterZuordnung+0x1e2> |
| 3d12: 8d 3f cpi r24, 0xFD ; 253 |
| 3d14: 19 f4 brne .+6 ; 0x3d1c <ParameterZuordnung+0x1da> |
| 3d16: 80 91 18 02 lds r24, 0x0218 |
| 3d1a: 04 c0 rjmp .+8 ; 0x3d24 <ParameterZuordnung+0x1e2> |
| 3d1c: 8e 3f cpi r24, 0xFE ; 254 |
| 3d1e: 21 f4 brne .+8 ; 0x3d28 <ParameterZuordnung+0x1e6> |
| 3d20: 80 91 1a 02 lds r24, 0x021A |
| 3d24: 80 93 86 01 sts 0x0186, r24 |
| 3d28: 80 91 86 01 lds r24, 0x0186 |
| 3d2c: 88 23 and r24, r24 |
| 3d2e: 19 f4 brne .+6 ; 0x3d36 <ParameterZuordnung+0x1f4> |
| 3d30: 10 92 86 01 sts 0x0186, r1 |
| 3d34: 04 c0 rjmp .+8 ; 0x3d3e <ParameterZuordnung+0x1fc> |
| 3d36: 8f 3f cpi r24, 0xFF ; 255 |
| 3d38: 11 f4 brne .+4 ; 0x3d3e <ParameterZuordnung+0x1fc> |
| 3d3a: 80 93 86 01 sts 0x0186, r24 |
| 3d3e: 80 91 f6 04 lds r24, 0x04F6 |
| 3d42: 8b 3f cpi r24, 0xFB ; 251 |
| 3d44: 98 f0 brcs .+38 ; 0x3d6c <ParameterZuordnung+0x22a> |
| 3d46: 8b 3f cpi r24, 0xFB ; 251 |
| 3d48: 19 f4 brne .+6 ; 0x3d50 <ParameterZuordnung+0x20e> |
| 3d4a: 80 91 14 02 lds r24, 0x0214 |
| 3d4e: 0e c0 rjmp .+28 ; 0x3d6c <ParameterZuordnung+0x22a> |
| 3d50: 8c 3f cpi r24, 0xFC ; 252 |
| 3d52: 19 f4 brne .+6 ; 0x3d5a <ParameterZuordnung+0x218> |
| 3d54: 80 91 16 02 lds r24, 0x0216 |
| 3d58: 09 c0 rjmp .+18 ; 0x3d6c <ParameterZuordnung+0x22a> |
| 3d5a: 8d 3f cpi r24, 0xFD ; 253 |
| 3d5c: 19 f4 brne .+6 ; 0x3d64 <ParameterZuordnung+0x222> |
| 3d5e: 80 91 18 02 lds r24, 0x0218 |
| 3d62: 04 c0 rjmp .+8 ; 0x3d6c <ParameterZuordnung+0x22a> |
| 3d64: 8e 3f cpi r24, 0xFE ; 254 |
| 3d66: 21 f4 brne .+8 ; 0x3d70 <ParameterZuordnung+0x22e> |
| 3d68: 80 91 1a 02 lds r24, 0x021A |
| 3d6c: 80 93 88 01 sts 0x0188, r24 |
| 3d70: 80 91 88 01 lds r24, 0x0188 |
| 3d74: 88 23 and r24, r24 |
| 3d76: 19 f4 brne .+6 ; 0x3d7e <ParameterZuordnung+0x23c> |
| 3d78: 10 92 88 01 sts 0x0188, r1 |
| 3d7c: 04 c0 rjmp .+8 ; 0x3d86 <ParameterZuordnung+0x244> |
| 3d7e: 8f 3f cpi r24, 0xFF ; 255 |
| 3d80: 11 f4 brne .+4 ; 0x3d86 <ParameterZuordnung+0x244> |
| 3d82: 80 93 88 01 sts 0x0188, r24 |
| 3d86: 80 91 f7 04 lds r24, 0x04F7 |
| 3d8a: 8b 3f cpi r24, 0xFB ; 251 |
| 3d8c: 98 f0 brcs .+38 ; 0x3db4 <ParameterZuordnung+0x272> |
| 3d8e: 8b 3f cpi r24, 0xFB ; 251 |
| 3d90: 19 f4 brne .+6 ; 0x3d98 <ParameterZuordnung+0x256> |
| 3d92: 80 91 14 02 lds r24, 0x0214 |
| 3d96: 0e c0 rjmp .+28 ; 0x3db4 <ParameterZuordnung+0x272> |
| 3d98: 8c 3f cpi r24, 0xFC ; 252 |
| 3d9a: 19 f4 brne .+6 ; 0x3da2 <ParameterZuordnung+0x260> |
| 3d9c: 80 91 16 02 lds r24, 0x0216 |
| 3da0: 09 c0 rjmp .+18 ; 0x3db4 <ParameterZuordnung+0x272> |
| 3da2: 8d 3f cpi r24, 0xFD ; 253 |
| 3da4: 19 f4 brne .+6 ; 0x3dac <ParameterZuordnung+0x26a> |
| 3da6: 80 91 18 02 lds r24, 0x0218 |
| 3daa: 04 c0 rjmp .+8 ; 0x3db4 <ParameterZuordnung+0x272> |
| 3dac: 8e 3f cpi r24, 0xFE ; 254 |
| 3dae: 21 f4 brne .+8 ; 0x3db8 <ParameterZuordnung+0x276> |
| 3db0: 80 91 1a 02 lds r24, 0x021A |
| 3db4: 80 93 28 02 sts 0x0228, r24 |
| 3db8: 80 91 28 02 lds r24, 0x0228 |
| 3dbc: 88 23 and r24, r24 |
| 3dbe: 19 f4 brne .+6 ; 0x3dc6 <ParameterZuordnung+0x284> |
| 3dc0: 10 92 28 02 sts 0x0228, r1 |
| 3dc4: 04 c0 rjmp .+8 ; 0x3dce <ParameterZuordnung+0x28c> |
| 3dc6: 8f 3f cpi r24, 0xFF ; 255 |
| 3dc8: 11 f4 brne .+4 ; 0x3dce <ParameterZuordnung+0x28c> |
| 3dca: 80 93 28 02 sts 0x0228, r24 |
| 3dce: 80 91 f8 04 lds r24, 0x04F8 |
| 3dd2: 8b 3f cpi r24, 0xFB ; 251 |
| 3dd4: 98 f0 brcs .+38 ; 0x3dfc <ParameterZuordnung+0x2ba> |
| 3dd6: 8b 3f cpi r24, 0xFB ; 251 |
| 3dd8: 19 f4 brne .+6 ; 0x3de0 <ParameterZuordnung+0x29e> |
| 3dda: 80 91 14 02 lds r24, 0x0214 |
| 3dde: 0e c0 rjmp .+28 ; 0x3dfc <ParameterZuordnung+0x2ba> |
| 3de0: 8c 3f cpi r24, 0xFC ; 252 |
| 3de2: 19 f4 brne .+6 ; 0x3dea <ParameterZuordnung+0x2a8> |
| 3de4: 80 91 16 02 lds r24, 0x0216 |
| 3de8: 09 c0 rjmp .+18 ; 0x3dfc <ParameterZuordnung+0x2ba> |
| 3dea: 8d 3f cpi r24, 0xFD ; 253 |
| 3dec: 19 f4 brne .+6 ; 0x3df4 <ParameterZuordnung+0x2b2> |
| 3dee: 80 91 18 02 lds r24, 0x0218 |
| 3df2: 04 c0 rjmp .+8 ; 0x3dfc <ParameterZuordnung+0x2ba> |
| 3df4: 8e 3f cpi r24, 0xFE ; 254 |
| 3df6: 21 f4 brne .+8 ; 0x3e00 <ParameterZuordnung+0x2be> |
| 3df8: 80 91 1a 02 lds r24, 0x021A |
| 3dfc: 80 93 29 02 sts 0x0229, r24 |
| 3e00: 80 91 29 02 lds r24, 0x0229 |
| 3e04: 88 23 and r24, r24 |
| 3e06: 19 f4 brne .+6 ; 0x3e0e <ParameterZuordnung+0x2cc> |
| 3e08: 10 92 29 02 sts 0x0229, r1 |
| 3e0c: 04 c0 rjmp .+8 ; 0x3e16 <ParameterZuordnung+0x2d4> |
| 3e0e: 8f 3f cpi r24, 0xFF ; 255 |
| 3e10: 11 f4 brne .+4 ; 0x3e16 <ParameterZuordnung+0x2d4> |
| 3e12: 80 93 29 02 sts 0x0229, r24 |
| 3e16: 80 91 f9 04 lds r24, 0x04F9 |
| 3e1a: 8b 3f cpi r24, 0xFB ; 251 |
| 3e1c: 98 f0 brcs .+38 ; 0x3e44 <ParameterZuordnung+0x302> |
| 3e1e: 8b 3f cpi r24, 0xFB ; 251 |
| 3e20: 19 f4 brne .+6 ; 0x3e28 <ParameterZuordnung+0x2e6> |
| 3e22: 80 91 14 02 lds r24, 0x0214 |
| 3e26: 0e c0 rjmp .+28 ; 0x3e44 <ParameterZuordnung+0x302> |
| 3e28: 8c 3f cpi r24, 0xFC ; 252 |
| 3e2a: 19 f4 brne .+6 ; 0x3e32 <ParameterZuordnung+0x2f0> |
| 3e2c: 80 91 16 02 lds r24, 0x0216 |
| 3e30: 09 c0 rjmp .+18 ; 0x3e44 <ParameterZuordnung+0x302> |
| 3e32: 8d 3f cpi r24, 0xFD ; 253 |
| 3e34: 19 f4 brne .+6 ; 0x3e3c <ParameterZuordnung+0x2fa> |
| 3e36: 80 91 18 02 lds r24, 0x0218 |
| 3e3a: 04 c0 rjmp .+8 ; 0x3e44 <ParameterZuordnung+0x302> |
| 3e3c: 8e 3f cpi r24, 0xFE ; 254 |
| 3e3e: 21 f4 brne .+8 ; 0x3e48 <ParameterZuordnung+0x306> |
| 3e40: 80 91 1a 02 lds r24, 0x021A |
| 3e44: 80 93 2a 02 sts 0x022A, r24 |
| 3e48: 80 91 2a 02 lds r24, 0x022A |
| 3e4c: 88 23 and r24, r24 |
| 3e4e: 19 f4 brne .+6 ; 0x3e56 <ParameterZuordnung+0x314> |
| 3e50: 10 92 2a 02 sts 0x022A, r1 |
| 3e54: 04 c0 rjmp .+8 ; 0x3e5e <ParameterZuordnung+0x31c> |
| 3e56: 8f 3f cpi r24, 0xFF ; 255 |
| 3e58: 11 f4 brne .+4 ; 0x3e5e <ParameterZuordnung+0x31c> |
| 3e5a: 80 93 2a 02 sts 0x022A, r24 |
| 3e5e: 80 91 fa 04 lds r24, 0x04FA |
| 3e62: 8b 3f cpi r24, 0xFB ; 251 |
| 3e64: 98 f0 brcs .+38 ; 0x3e8c <ParameterZuordnung+0x34a> |
| 3e66: 8b 3f cpi r24, 0xFB ; 251 |
| 3e68: 19 f4 brne .+6 ; 0x3e70 <ParameterZuordnung+0x32e> |
| 3e6a: 80 91 14 02 lds r24, 0x0214 |
| 3e6e: 0e c0 rjmp .+28 ; 0x3e8c <ParameterZuordnung+0x34a> |
| 3e70: 8c 3f cpi r24, 0xFC ; 252 |
| 3e72: 19 f4 brne .+6 ; 0x3e7a <ParameterZuordnung+0x338> |
| 3e74: 80 91 16 02 lds r24, 0x0216 |
| 3e78: 09 c0 rjmp .+18 ; 0x3e8c <ParameterZuordnung+0x34a> |
| 3e7a: 8d 3f cpi r24, 0xFD ; 253 |
| 3e7c: 19 f4 brne .+6 ; 0x3e84 <ParameterZuordnung+0x342> |
| 3e7e: 80 91 18 02 lds r24, 0x0218 |
| 3e82: 04 c0 rjmp .+8 ; 0x3e8c <ParameterZuordnung+0x34a> |
| 3e84: 8e 3f cpi r24, 0xFE ; 254 |
| 3e86: 21 f4 brne .+8 ; 0x3e90 <ParameterZuordnung+0x34e> |
| 3e88: 80 91 1a 02 lds r24, 0x021A |
| 3e8c: 80 93 2b 02 sts 0x022B, r24 |
| 3e90: 80 91 2b 02 lds r24, 0x022B |
| 3e94: 88 23 and r24, r24 |
| 3e96: 19 f4 brne .+6 ; 0x3e9e <ParameterZuordnung+0x35c> |
| 3e98: 10 92 2b 02 sts 0x022B, r1 |
| 3e9c: 04 c0 rjmp .+8 ; 0x3ea6 <ParameterZuordnung+0x364> |
| 3e9e: 8f 3f cpi r24, 0xFF ; 255 |
| 3ea0: 11 f4 brne .+4 ; 0x3ea6 <ParameterZuordnung+0x364> |
| 3ea2: 80 93 2b 02 sts 0x022B, r24 |
| 3ea6: 90 91 fb 04 lds r25, 0x04FB |
| 3eaa: 9b 3f cpi r25, 0xFB ; 251 |
| 3eac: b0 f0 brcs .+44 ; 0x3eda <ParameterZuordnung+0x398> |
| 3eae: 9b 3f cpi r25, 0xFB ; 251 |
| 3eb0: 19 f4 brne .+6 ; 0x3eb8 <ParameterZuordnung+0x376> |
| 3eb2: 80 91 14 02 lds r24, 0x0214 |
| 3eb6: 04 c0 rjmp .+8 ; 0x3ec0 <ParameterZuordnung+0x37e> |
| 3eb8: 9c 3f cpi r25, 0xFC ; 252 |
| 3eba: 29 f4 brne .+10 ; 0x3ec6 <ParameterZuordnung+0x384> |
| 3ebc: 80 91 16 02 lds r24, 0x0216 |
| 3ec0: 80 93 89 01 sts 0x0189, r24 |
| 3ec4: 0c c0 rjmp .+24 ; 0x3ede <ParameterZuordnung+0x39c> |
| 3ec6: 9d 3f cpi r25, 0xFD ; 253 |
| 3ec8: 19 f4 brne .+6 ; 0x3ed0 <ParameterZuordnung+0x38e> |
| 3eca: 80 91 18 02 lds r24, 0x0218 |
| 3ece: f8 cf rjmp .-16 ; 0x3ec0 <ParameterZuordnung+0x37e> |
| 3ed0: 9e 3f cpi r25, 0xFE ; 254 |
| 3ed2: 29 f4 brne .+10 ; 0x3ede <ParameterZuordnung+0x39c> |
| 3ed4: 80 91 1a 02 lds r24, 0x021A |
| 3ed8: f3 cf rjmp .-26 ; 0x3ec0 <ParameterZuordnung+0x37e> |
| 3eda: 90 93 89 01 sts 0x0189, r25 |
| 3ede: 80 91 89 01 lds r24, 0x0189 |
| 3ee2: 88 23 and r24, r24 |
| 3ee4: 19 f4 brne .+6 ; 0x3eec <ParameterZuordnung+0x3aa> |
| 3ee6: 10 92 89 01 sts 0x0189, r1 |
| 3eea: 04 c0 rjmp .+8 ; 0x3ef4 <ParameterZuordnung+0x3b2> |
| 3eec: 8f 3f cpi r24, 0xFF ; 255 |
| 3eee: 11 f4 brne .+4 ; 0x3ef4 <ParameterZuordnung+0x3b2> |
| 3ef0: 80 93 89 01 sts 0x0189, r24 |
| 3ef4: 9b 3f cpi r25, 0xFB ; 251 |
| 3ef6: b0 f0 brcs .+44 ; 0x3f24 <ParameterZuordnung+0x3e2> |
| 3ef8: 9b 3f cpi r25, 0xFB ; 251 |
| 3efa: 19 f4 brne .+6 ; 0x3f02 <ParameterZuordnung+0x3c0> |
| 3efc: 80 91 14 02 lds r24, 0x0214 |
| 3f00: 04 c0 rjmp .+8 ; 0x3f0a <ParameterZuordnung+0x3c8> |
| 3f02: 9c 3f cpi r25, 0xFC ; 252 |
| 3f04: 29 f4 brne .+10 ; 0x3f10 <ParameterZuordnung+0x3ce> |
| 3f06: 80 91 16 02 lds r24, 0x0216 |
| 3f0a: 80 93 89 01 sts 0x0189, r24 |
| 3f0e: 0c c0 rjmp .+24 ; 0x3f28 <ParameterZuordnung+0x3e6> |
| 3f10: 9d 3f cpi r25, 0xFD ; 253 |
| 3f12: 19 f4 brne .+6 ; 0x3f1a <ParameterZuordnung+0x3d8> |
| 3f14: 80 91 18 02 lds r24, 0x0218 |
| 3f18: f8 cf rjmp .-16 ; 0x3f0a <ParameterZuordnung+0x3c8> |
| 3f1a: 9e 3f cpi r25, 0xFE ; 254 |
| 3f1c: 29 f4 brne .+10 ; 0x3f28 <ParameterZuordnung+0x3e6> |
| 3f1e: 80 91 1a 02 lds r24, 0x021A |
| 3f22: f3 cf rjmp .-26 ; 0x3f0a <ParameterZuordnung+0x3c8> |
| 3f24: 90 93 89 01 sts 0x0189, r25 |
| 3f28: 80 91 89 01 lds r24, 0x0189 |
| 3f2c: 88 23 and r24, r24 |
| 3f2e: 19 f4 brne .+6 ; 0x3f36 <ParameterZuordnung+0x3f4> |
| 3f30: 10 92 89 01 sts 0x0189, r1 |
| 3f34: 04 c0 rjmp .+8 ; 0x3f3e <ParameterZuordnung+0x3fc> |
| 3f36: 8f 3f cpi r24, 0xFF ; 255 |
| 3f38: 11 f4 brne .+4 ; 0x3f3e <ParameterZuordnung+0x3fc> |
| 3f3a: 80 93 89 01 sts 0x0189, r24 |
| 3f3e: 9b 3f cpi r25, 0xFB ; 251 |
| 3f40: b0 f0 brcs .+44 ; 0x3f6e <ParameterZuordnung+0x42c> |
| 3f42: 9b 3f cpi r25, 0xFB ; 251 |
| 3f44: 19 f4 brne .+6 ; 0x3f4c <ParameterZuordnung+0x40a> |
| 3f46: 80 91 14 02 lds r24, 0x0214 |
| 3f4a: 04 c0 rjmp .+8 ; 0x3f54 <ParameterZuordnung+0x412> |
| 3f4c: 9c 3f cpi r25, 0xFC ; 252 |
| 3f4e: 29 f4 brne .+10 ; 0x3f5a <ParameterZuordnung+0x418> |
| 3f50: 80 91 16 02 lds r24, 0x0216 |
| 3f54: 80 93 89 01 sts 0x0189, r24 |
| 3f58: 0c c0 rjmp .+24 ; 0x3f72 <ParameterZuordnung+0x430> |
| 3f5a: 9d 3f cpi r25, 0xFD ; 253 |
| 3f5c: 19 f4 brne .+6 ; 0x3f64 <ParameterZuordnung+0x422> |
| 3f5e: 80 91 18 02 lds r24, 0x0218 |
| 3f62: f8 cf rjmp .-16 ; 0x3f54 <ParameterZuordnung+0x412> |
| 3f64: 9e 3f cpi r25, 0xFE ; 254 |
| 3f66: 29 f4 brne .+10 ; 0x3f72 <ParameterZuordnung+0x430> |
| 3f68: 80 91 1a 02 lds r24, 0x021A |
| 3f6c: f3 cf rjmp .-26 ; 0x3f54 <ParameterZuordnung+0x412> |
| 3f6e: 90 93 89 01 sts 0x0189, r25 |
| 3f72: 80 91 89 01 lds r24, 0x0189 |
| 3f76: 88 23 and r24, r24 |
| 3f78: 19 f4 brne .+6 ; 0x3f80 <ParameterZuordnung+0x43e> |
| 3f7a: 10 92 89 01 sts 0x0189, r1 |
| 3f7e: 04 c0 rjmp .+8 ; 0x3f88 <ParameterZuordnung+0x446> |
| 3f80: 8f 3f cpi r24, 0xFF ; 255 |
| 3f82: 11 f4 brne .+4 ; 0x3f88 <ParameterZuordnung+0x446> |
| 3f84: 80 93 89 01 sts 0x0189, r24 |
| 3f88: 10 91 88 01 lds r17, 0x0188 |
| 3f8c: 61 2f mov r22, r17 |
| 3f8e: 77 27 eor r23, r23 |
| 3f90: 67 fd sbrc r22, 7 |
| 3f92: 70 95 com r23 |
| 3f94: 87 2f mov r24, r23 |
| 3f96: 97 2f mov r25, r23 |
| 3f98: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 3f9c: 17 ff sbrs r17, 7 |
| 3f9e: 06 c0 rjmp .+12 ; 0x3fac <ParameterZuordnung+0x46a> |
| 3fa0: 20 e0 ldi r18, 0x00 ; 0 |
| 3fa2: 30 e0 ldi r19, 0x00 ; 0 |
| 3fa4: 40 e8 ldi r20, 0x80 ; 128 |
| 3fa6: 53 e4 ldi r21, 0x43 ; 67 |
| 3fa8: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 3fac: 27 e1 ldi r18, 0x17 ; 23 |
| 3fae: 37 eb ldi r19, 0xB7 ; 183 |
| 3fb0: 41 ed ldi r20, 0xD1 ; 209 |
| 3fb2: 58 e3 ldi r21, 0x38 ; 56 |
| 3fb4: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 3fb8: 60 93 7c 01 sts 0x017C, r22 |
| 3fbc: 70 93 7d 01 sts 0x017D, r23 |
| 3fc0: 80 93 7e 01 sts 0x017E, r24 |
| 3fc4: 90 93 7f 01 sts 0x017F, r25 |
| 3fc8: 80 91 ed 04 lds r24, 0x04ED |
| 3fcc: 80 93 29 05 sts 0x0529, r24 |
| 3fd0: 80 91 ec 04 lds r24, 0x04EC |
| 3fd4: 80 93 18 05 sts 0x0518, r24 |
| 3fd8: 1f 91 pop r17 |
| 3fda: 08 95 ret |
| 00003fdc <DefaultKonstanten2>: |
| 3fdc: 81 e0 ldi r24, 0x01 ; 1 |
| 3fde: 80 93 da 04 sts 0x04DA, r24 |
| 3fe2: 42 e0 ldi r20, 0x02 ; 2 |
| 3fe4: 40 93 db 04 sts 0x04DB, r20 |
| 3fe8: 83 e0 ldi r24, 0x03 ; 3 |
| 3fea: 80 93 dc 04 sts 0x04DC, r24 |
| 3fee: 94 e0 ldi r25, 0x04 ; 4 |
| 3ff0: 90 93 dd 04 sts 0x04DD, r25 |
| 3ff4: 35 e0 ldi r19, 0x05 ; 5 |
| 3ff6: 30 93 de 04 sts 0x04DE, r19 |
| 3ffa: 86 e0 ldi r24, 0x06 ; 6 |
| 3ffc: 80 93 df 04 sts 0x04DF, r24 |
| 4000: 87 e0 ldi r24, 0x07 ; 7 |
| 4002: 80 93 e0 04 sts 0x04E0, r24 |
| 4006: 10 92 e2 04 sts 0x04E2, r1 |
| 400a: 8e e1 ldi r24, 0x1E ; 30 |
| 400c: 80 93 e3 04 sts 0x04E3, r24 |
| 4010: 8b ef ldi r24, 0xFB ; 251 |
| 4012: 80 93 e5 04 sts 0x04E5, r24 |
| 4016: 8a e0 ldi r24, 0x0A ; 10 |
| 4018: 80 93 e6 04 sts 0x04E6, r24 |
| 401c: 22 e3 ldi r18, 0x32 ; 50 |
| 401e: 20 93 e4 04 sts 0x04E4, r18 |
| 4022: 20 93 e8 04 sts 0x04E8, r18 |
| 4026: 40 93 e7 04 sts 0x04E7, r20 |
| 402a: 90 93 e9 04 sts 0x04E9, r25 |
| 402e: 10 92 ea 04 sts 0x04EA, r1 |
| 4032: 90 e1 ldi r25, 0x10 ; 16 |
| 4034: 90 93 eb 04 sts 0x04EB, r25 |
| 4038: 8f e0 ldi r24, 0x0F ; 15 |
| 403a: 80 93 ec 04 sts 0x04EC, r24 |
| 403e: 8a ef ldi r24, 0xFA ; 250 |
| 4040: 80 93 ed 04 sts 0x04ED, r24 |
| 4044: 8a e1 ldi r24, 0x1A ; 26 |
| 4046: 80 93 ee 04 sts 0x04EE, r24 |
| 404a: 90 93 ef 04 sts 0x04EF, r25 |
| 404e: 8f ea ldi r24, 0xAF ; 175 |
| 4050: 80 93 f0 04 sts 0x04F0, r24 |
| 4054: 80 93 f1 04 sts 0x04F1, r24 |
| 4058: 8a e5 ldi r24, 0x5A ; 90 |
| 405a: 80 93 f2 04 sts 0x04F2, r24 |
| 405e: 83 e2 ldi r24, 0x23 ; 35 |
| 4060: 80 93 f3 04 sts 0x04F3, r24 |
| 4064: 84 e1 ldi r24, 0x14 ; 20 |
| 4066: 80 93 f4 04 sts 0x04F4, r24 |
| 406a: 10 92 f5 04 sts 0x04F5, r1 |
| 406e: 30 93 f6 04 sts 0x04F6, r19 |
| 4072: 82 eb ldi r24, 0xB2 ; 178 |
| 4074: 80 93 f7 04 sts 0x04F7, r24 |
| 4078: 10 92 f8 04 sts 0x04F8, r1 |
| 407c: 10 92 f9 04 sts 0x04F9, r1 |
| 4080: 10 92 fa 04 sts 0x04FA, r1 |
| 4084: 84 e6 ldi r24, 0x64 ; 100 |
| 4086: 80 93 fb 04 sts 0x04FB, r24 |
| 408a: 88 e2 ldi r24, 0x28 ; 40 |
| 408c: 80 93 fc 04 sts 0x04FC, r24 |
| 4090: 10 92 00 05 sts 0x0500, r1 |
| 4094: 20 93 fd 04 sts 0x04FD, r18 |
| 4098: 86 e9 ldi r24, 0x96 ; 150 |
| 409a: 80 93 fe 04 sts 0x04FE, r24 |
| 409e: 30 93 ff 04 sts 0x04FF, r19 |
| 40a2: a8 e0 ldi r26, 0x08 ; 8 |
| 40a4: b5 e0 ldi r27, 0x05 ; 5 |
| 40a6: e8 e6 ldi r30, 0x68 ; 104 |
| 40a8: f1 e0 ldi r31, 0x01 ; 1 |
| 40aa: 8c e0 ldi r24, 0x0C ; 12 |
| 40ac: 01 90 ld r0, Z+ |
| 40ae: 0d 92 st X+, r0 |
| 40b0: 81 50 subi r24, 0x01 ; 1 |
| 40b2: e1 f7 brne .-8 ; 0x40ac <DefaultKonstanten2+0xd0> |
| 40b4: 08 95 ret |
| 000040b6 <DefaultKonstanten1>: |
| 40b6: 81 e0 ldi r24, 0x01 ; 1 |
| 40b8: 80 93 da 04 sts 0x04DA, r24 |
| 40bc: 52 e0 ldi r21, 0x02 ; 2 |
| 40be: 50 93 db 04 sts 0x04DB, r21 |
| 40c2: 83 e0 ldi r24, 0x03 ; 3 |
| 40c4: 80 93 dc 04 sts 0x04DC, r24 |
| 40c8: 44 e0 ldi r20, 0x04 ; 4 |
| 40ca: 40 93 dd 04 sts 0x04DD, r20 |
| 40ce: 35 e0 ldi r19, 0x05 ; 5 |
| 40d0: 30 93 de 04 sts 0x04DE, r19 |
| 40d4: 86 e0 ldi r24, 0x06 ; 6 |
| 40d6: 80 93 df 04 sts 0x04DF, r24 |
| 40da: 87 e0 ldi r24, 0x07 ; 7 |
| 40dc: 80 93 e0 04 sts 0x04E0, r24 |
| 40e0: 28 e0 ldi r18, 0x08 ; 8 |
| 40e2: 20 93 e1 04 sts 0x04E1, r18 |
| 40e6: 10 92 e2 04 sts 0x04E2, r1 |
| 40ea: 9e e1 ldi r25, 0x1E ; 30 |
| 40ec: 90 93 e3 04 sts 0x04E3, r25 |
| 40f0: 8b ef ldi r24, 0xFB ; 251 |
| 40f2: 80 93 e5 04 sts 0x04E5, r24 |
| 40f6: 8a e0 ldi r24, 0x0A ; 10 |
| 40f8: 80 93 e6 04 sts 0x04E6, r24 |
| 40fc: 86 e4 ldi r24, 0x46 ; 70 |
| 40fe: 80 93 e4 04 sts 0x04E4, r24 |
| 4102: 90 93 e8 04 sts 0x04E8, r25 |
| 4106: 50 93 e7 04 sts 0x04E7, r21 |
| 410a: 40 93 e9 04 sts 0x04E9, r20 |
| 410e: 20 93 ea 04 sts 0x04EA, r18 |
| 4112: 90 e1 ldi r25, 0x10 ; 16 |
| 4114: 90 93 eb 04 sts 0x04EB, r25 |
| 4118: 8f e0 ldi r24, 0x0F ; 15 |
| 411a: 80 93 ec 04 sts 0x04EC, r24 |
| 411e: 8a ef ldi r24, 0xFA ; 250 |
| 4120: 80 93 ed 04 sts 0x04ED, r24 |
| 4124: 8a e1 ldi r24, 0x1A ; 26 |
| 4126: 80 93 ee 04 sts 0x04EE, r24 |
| 412a: 90 93 ef 04 sts 0x04EF, r25 |
| 412e: 88 e7 ldi r24, 0x78 ; 120 |
| 4130: 80 93 f0 04 sts 0x04F0, r24 |
| 4134: 96 e9 ldi r25, 0x96 ; 150 |
| 4136: 90 93 f1 04 sts 0x04F1, r25 |
| 413a: 8a e5 ldi r24, 0x5A ; 90 |
| 413c: 80 93 f2 04 sts 0x04F2, r24 |
| 4140: 83 e2 ldi r24, 0x23 ; 35 |
| 4142: 80 93 f3 04 sts 0x04F3, r24 |
| 4146: 84 e1 ldi r24, 0x14 ; 20 |
| 4148: 80 93 f4 04 sts 0x04F4, r24 |
| 414c: 10 92 f5 04 sts 0x04F5, r1 |
| 4150: 30 93 f6 04 sts 0x04F6, r19 |
| 4154: 82 eb ldi r24, 0xB2 ; 178 |
| 4156: 80 93 f7 04 sts 0x04F7, r24 |
| 415a: 10 92 f8 04 sts 0x04F8, r1 |
| 415e: 10 92 f9 04 sts 0x04F9, r1 |
| 4162: 10 92 fa 04 sts 0x04FA, r1 |
| 4166: 84 e6 ldi r24, 0x64 ; 100 |
| 4168: 80 93 fb 04 sts 0x04FB, r24 |
| 416c: 88 e2 ldi r24, 0x28 ; 40 |
| 416e: 80 93 fc 04 sts 0x04FC, r24 |
| 4172: 10 92 00 05 sts 0x0500, r1 |
| 4176: 82 e3 ldi r24, 0x32 ; 50 |
| 4178: 80 93 fd 04 sts 0x04FD, r24 |
| 417c: 90 93 fe 04 sts 0x04FE, r25 |
| 4180: 30 93 ff 04 sts 0x04FF, r19 |
| 4184: a8 e0 ldi r26, 0x08 ; 8 |
| 4186: b5 e0 ldi r27, 0x05 ; 5 |
| 4188: e0 e7 ldi r30, 0x70 ; 112 |
| 418a: f1 e0 ldi r31, 0x01 ; 1 |
| 418c: 8c e0 ldi r24, 0x0C ; 12 |
| 418e: 01 90 ld r0, Z+ |
| 4190: 0d 92 st X+, r0 |
| 4192: 81 50 subi r24, 0x01 ; 1 |
| 4194: e1 f7 brne .-8 ; 0x418e <DefaultKonstanten1+0xd8> |
| 4196: 08 95 ret |
| 00004198 <SendMotorData>: |
| 4198: 80 91 23 02 lds r24, 0x0223 |
| 419c: 88 23 and r24, r24 |
| 419e: 01 f5 brne .+64 ; 0x41e0 <SendMotorData+0x48> |
| 41a0: 10 92 66 02 sts 0x0266, r1 |
| 41a4: 10 92 65 02 sts 0x0265, r1 |
| 41a8: 10 92 69 02 sts 0x0269, r1 |
| 41ac: 10 92 6b 02 sts 0x026B, r1 |
| 41b0: 80 91 96 01 lds r24, 0x0196 |
| 41b4: 88 23 and r24, r24 |
| 41b6: 11 f0 breq .+4 ; 0x41bc <SendMotorData+0x24> |
| 41b8: 80 93 65 02 sts 0x0265, r24 |
| 41bc: 80 91 97 01 lds r24, 0x0197 |
| 41c0: 88 23 and r24, r24 |
| 41c2: 11 f0 breq .+4 ; 0x41c8 <SendMotorData+0x30> |
| 41c4: 80 93 66 02 sts 0x0266, r24 |
| 41c8: 80 91 98 01 lds r24, 0x0198 |
| 41cc: 88 23 and r24, r24 |
| 41ce: 11 f0 breq .+4 ; 0x41d4 <SendMotorData+0x3c> |
| 41d0: 80 93 6b 02 sts 0x026B, r24 |
| 41d4: 80 91 99 01 lds r24, 0x0199 |
| 41d8: 88 23 and r24, r24 |
| 41da: 11 f0 breq .+4 ; 0x41e0 <SendMotorData+0x48> |
| 41dc: 80 93 69 02 sts 0x0269, r24 |
| 41e0: 80 91 65 02 lds r24, 0x0265 |
| 41e4: 99 27 eor r25, r25 |
| 41e6: 90 93 79 04 sts 0x0479, r25 |
| 41ea: 80 93 78 04 sts 0x0478, r24 |
| 41ee: 80 91 66 02 lds r24, 0x0266 |
| 41f2: 99 27 eor r25, r25 |
| 41f4: 90 93 7b 04 sts 0x047B, r25 |
| 41f8: 80 93 7a 04 sts 0x047A, r24 |
| 41fc: 80 91 6b 02 lds r24, 0x026B |
| 4200: 99 27 eor r25, r25 |
| 4202: 90 93 7d 04 sts 0x047D, r25 |
| 4206: 80 93 7c 04 sts 0x047C, r24 |
| 420a: 80 91 69 02 lds r24, 0x0269 |
| 420e: 99 27 eor r25, r25 |
| 4210: 90 93 7f 04 sts 0x047F, r25 |
| 4214: 80 93 7e 04 sts 0x047E, r24 |
| 4218: 10 92 cb 01 sts 0x01CB, r1 |
| 421c: 10 92 cc 01 sts 0x01CC, r1 |
| 4220: 0e 94 4c 18 call 0x3098 ; 0x3098 <i2c_start> |
| 4224: 08 95 ret |
| 00004226 <SetNeutral>: |
| 4226: cf 93 push r28 |
| 4228: df 93 push r29 |
| 422a: 10 92 20 05 sts 0x0520, r1 |
| 422e: 10 92 1f 05 sts 0x051F, r1 |
| 4232: 10 92 22 05 sts 0x0522, r1 |
| 4236: 10 92 21 05 sts 0x0521, r1 |
| 423a: 80 e0 ldi r24, 0x00 ; 0 |
| 423c: 90 e0 ldi r25, 0x00 ; 0 |
| 423e: a0 e0 ldi r26, 0x00 ; 0 |
| 4240: b0 e0 ldi r27, 0x00 ; 0 |
| 4242: 80 93 23 05 sts 0x0523, r24 |
| 4246: 90 93 24 05 sts 0x0524, r25 |
| 424a: a0 93 25 05 sts 0x0525, r26 |
| 424e: b0 93 26 05 sts 0x0526, r27 |
| 4252: 10 92 d4 01 sts 0x01D4, r1 |
| 4256: 10 92 d3 01 sts 0x01D3, r1 |
| 425a: 10 92 d6 01 sts 0x01D6, r1 |
| 425e: 10 92 d5 01 sts 0x01D5, r1 |
| 4262: 10 92 d8 01 sts 0x01D8, r1 |
| 4266: 10 92 d7 01 sts 0x01D7, r1 |
| 426a: 0e 94 05 1c call 0x380a ; 0x380a <CalibrierMittelwert> |
| 426e: 85 e0 ldi r24, 0x05 ; 5 |
| 4270: 90 e0 ldi r25, 0x00 ; 0 |
| 4272: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| 4276: ec 01 movw r28, r24 |
| 4278: ce 01 movw r24, r28 |
| 427a: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| 427e: 88 23 and r24, r24 |
| 4280: d9 f3 breq .-10 ; 0x4278 <SetNeutral+0x52> |
| 4282: 0e 94 05 1c call 0x380a ; 0x380a <CalibrierMittelwert> |
| 4286: 80 91 e2 04 lds r24, 0x04E2 |
| 428a: 80 ff sbrs r24, 0 |
| 428c: 10 c0 rjmp .+32 ; 0x42ae <SetNeutral+0x88> |
| 428e: 80 91 0a 01 lds r24, 0x010A |
| 4292: 90 91 0b 01 lds r25, 0x010B |
| 4296: 87 5b subi r24, 0xB7 ; 183 |
| 4298: 93 40 sbci r25, 0x03 ; 3 |
| 429a: 38 f4 brcc .+14 ; 0x42aa <SetNeutral+0x84> |
| 429c: 80 91 0a 01 lds r24, 0x010A |
| 42a0: 90 91 0b 01 lds r25, 0x010B |
| 42a4: 8e 5e subi r24, 0xEE ; 238 |
| 42a6: 92 40 sbci r25, 0x02 ; 2 |
| 42a8: 10 f4 brcc .+4 ; 0x42ae <SetNeutral+0x88> |
| 42aa: 0e 94 0e 10 call 0x201c ; 0x201c <SucheLuftruckOffset> |
| 42ae: 80 91 16 05 lds r24, 0x0516 |
| 42b2: 90 91 17 05 lds r25, 0x0517 |
| 42b6: 97 ff sbrs r25, 7 |
| 42b8: 03 c0 rjmp .+6 ; 0x42c0 <SetNeutral+0x9a> |
| 42ba: 90 95 com r25 |
| 42bc: 81 95 neg r24 |
| 42be: 9f 4f sbci r25, 0xFF ; 255 |
| 42c0: 90 93 d4 01 sts 0x01D4, r25 |
| 42c4: 80 93 d3 01 sts 0x01D3, r24 |
| 42c8: 80 91 14 05 lds r24, 0x0514 |
| 42cc: 90 91 15 05 lds r25, 0x0515 |
| 42d0: 97 ff sbrs r25, 7 |
| 42d2: 03 c0 rjmp .+6 ; 0x42da <SetNeutral+0xb4> |
| 42d4: 90 95 com r25 |
| 42d6: 81 95 neg r24 |
| 42d8: 9f 4f sbci r25, 0xFF ; 255 |
| 42da: 90 93 d6 01 sts 0x01D6, r25 |
| 42de: 80 93 d5 01 sts 0x01D5, r24 |
| 42e2: 80 91 2a 05 lds r24, 0x052A |
| 42e6: 90 91 2b 05 lds r25, 0x052B |
| 42ea: 97 ff sbrs r25, 7 |
| 42ec: 03 c0 rjmp .+6 ; 0x42f4 <SetNeutral+0xce> |
| 42ee: 90 95 com r25 |
| 42f0: 81 95 neg r24 |
| 42f2: 9f 4f sbci r25, 0xFF ; 255 |
| 42f4: 90 93 d8 01 sts 0x01D8, r25 |
| 42f8: 80 93 d7 01 sts 0x01D7, r24 |
| 42fc: 88 e0 ldi r24, 0x08 ; 8 |
| 42fe: ef e1 ldi r30, 0x1F ; 31 |
| 4300: f5 e0 ldi r31, 0x05 ; 5 |
| 4302: a5 e3 ldi r26, 0x35 ; 53 |
| 4304: b1 e0 ldi r27, 0x01 ; 1 |
| 4306: 18 2e mov r1, r24 |
| 4308: 0e 94 27 2f call 0x5e4e ; 0x5e4e <__eeprom_read_block_1F2021> |
| 430c: 10 92 ef 01 sts 0x01EF, r1 |
| 4310: 10 92 f0 01 sts 0x01F0, r1 |
| 4314: 10 92 f1 01 sts 0x01F1, r1 |
| 4318: 10 92 f2 01 sts 0x01F2, r1 |
| 431c: 10 92 f3 01 sts 0x01F3, r1 |
| 4320: 10 92 f4 01 sts 0x01F4, r1 |
| 4324: 10 92 f5 01 sts 0x01F5, r1 |
| 4328: 10 92 f6 01 sts 0x01F6, r1 |
| 432c: 10 92 f7 01 sts 0x01F7, r1 |
| 4330: 10 92 f8 01 sts 0x01F8, r1 |
| 4334: 10 92 f9 01 sts 0x01F9, r1 |
| 4338: 10 92 fa 01 sts 0x01FA, r1 |
| 433c: 10 92 fb 01 sts 0x01FB, r1 |
| 4340: 10 92 fc 01 sts 0x01FC, r1 |
| 4344: 10 92 fd 01 sts 0x01FD, r1 |
| 4348: 10 92 fe 01 sts 0x01FE, r1 |
| 434c: 10 92 ff 01 sts 0x01FF, r1 |
| 4350: 10 92 00 02 sts 0x0200, r1 |
| 4354: 10 92 01 02 sts 0x0201, r1 |
| 4358: 10 92 02 02 sts 0x0202, r1 |
| 435c: 10 92 17 05 sts 0x0517, r1 |
| 4360: 10 92 16 05 sts 0x0516, r1 |
| 4364: 10 92 15 05 sts 0x0515, r1 |
| 4368: 10 92 14 05 sts 0x0514, r1 |
| 436c: 10 92 2b 05 sts 0x052B, r1 |
| 4370: 10 92 2a 05 sts 0x052A, r1 |
| 4374: 80 91 06 01 lds r24, 0x0106 |
| 4378: 90 91 07 01 lds r25, 0x0107 |
| 437c: a0 91 08 01 lds r26, 0x0108 |
| 4380: b0 91 09 01 lds r27, 0x0109 |
| 4384: 90 93 86 04 sts 0x0486, r25 |
| 4388: 80 93 85 04 sts 0x0485, r24 |
| 438c: 10 92 c0 01 sts 0x01C0, r1 |
| 4390: 10 92 bf 01 sts 0x01BF, r1 |
| 4394: 10 92 07 02 sts 0x0207, r1 |
| 4398: 10 92 08 02 sts 0x0208, r1 |
| 439c: 10 92 09 02 sts 0x0209, r1 |
| 43a0: 10 92 0a 02 sts 0x020A, r1 |
| 43a4: 80 91 0b 02 lds r24, 0x020B |
| 43a8: 90 91 0c 02 lds r25, 0x020C |
| 43ac: 90 93 0e 02 sts 0x020E, r25 |
| 43b0: 80 93 0d 02 sts 0x020D, r24 |
| 43b4: 0e 94 c0 2c call 0x5980 ; 0x5980 <GPS_Neutral> |
| 43b8: 82 e3 ldi r24, 0x32 ; 50 |
| 43ba: 90 e0 ldi r25, 0x00 ; 0 |
| 43bc: 90 93 a7 01 sts 0x01A7, r25 |
| 43c0: 80 93 a6 01 sts 0x01A6, r24 |
| 43c4: df 91 pop r29 |
| 43c6: cf 91 pop r28 |
| 43c8: 08 95 ret |
| 000043ca <calib_acc>: |
| 43ca: cf 93 push r28 |
| 43cc: df 93 push r29 |
| 43ce: 10 92 20 05 sts 0x0520, r1 |
| 43d2: 10 92 1f 05 sts 0x051F, r1 |
| 43d6: 10 92 22 05 sts 0x0522, r1 |
| 43da: 10 92 21 05 sts 0x0521, r1 |
| 43de: 80 e0 ldi r24, 0x00 ; 0 |
| 43e0: 90 e0 ldi r25, 0x00 ; 0 |
| 43e2: a0 e0 ldi r26, 0x00 ; 0 |
| 43e4: b0 e0 ldi r27, 0x00 ; 0 |
| 43e6: 80 93 23 05 sts 0x0523, r24 |
| 43ea: 90 93 24 05 sts 0x0524, r25 |
| 43ee: a0 93 25 05 sts 0x0525, r26 |
| 43f2: b0 93 26 05 sts 0x0526, r27 |
| 43f6: 0e 94 05 1c call 0x380a ; 0x380a <CalibrierMittelwert> |
| 43fa: 85 e0 ldi r24, 0x05 ; 5 |
| 43fc: 90 e0 ldi r25, 0x00 ; 0 |
| 43fe: 0e 94 9d 0b call 0x173a ; 0x173a <SetDelay> |
| 4402: ec 01 movw r28, r24 |
| 4404: ce 01 movw r24, r28 |
| 4406: 0e 94 a6 0b call 0x174c ; 0x174c <CheckDelay> |
| 440a: 88 23 and r24, r24 |
| 440c: d9 f3 breq .-10 ; 0x4404 <calib_acc+0x3a> |
| 440e: 0e 94 05 1c call 0x380a ; 0x380a <CalibrierMittelwert> |
| 4412: 80 91 27 05 lds r24, 0x0527 |
| 4416: 90 91 28 05 lds r25, 0x0528 |
| 441a: 97 ff sbrs r25, 7 |
| 441c: 03 c0 rjmp .+6 ; 0x4424 <calib_acc+0x5a> |
| 441e: 90 95 com r25 |
| 4420: 81 95 neg r24 |
| 4422: 9f 4f sbci r25, 0xFF ; 255 |
| 4424: 60 e1 ldi r22, 0x10 ; 16 |
| 4426: 70 e0 ldi r23, 0x00 ; 0 |
| 4428: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 442c: cf e1 ldi r28, 0x1F ; 31 |
| 442e: d5 e0 ldi r29, 0x05 ; 5 |
| 4430: 70 93 20 05 sts 0x0520, r23 |
| 4434: 60 93 1f 05 sts 0x051F, r22 |
| 4438: 80 91 30 05 lds r24, 0x0530 |
| 443c: 90 91 31 05 lds r25, 0x0531 |
| 4440: 97 ff sbrs r25, 7 |
| 4442: 03 c0 rjmp .+6 ; 0x444a <calib_acc+0x80> |
| 4444: 90 95 com r25 |
| 4446: 81 95 neg r24 |
| 4448: 9f 4f sbci r25, 0xFF ; 255 |
| 444a: 60 e1 ldi r22, 0x10 ; 16 |
| 444c: 70 e0 ldi r23, 0x00 ; 0 |
| 444e: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 4452: 70 93 22 05 sts 0x0522, r23 |
| 4456: 60 93 21 05 sts 0x0521, r22 |
| 445a: 60 91 83 04 lds r22, 0x0483 |
| 445e: 70 91 84 04 lds r23, 0x0484 |
| 4462: 88 27 eor r24, r24 |
| 4464: 77 fd sbrc r23, 7 |
| 4466: 80 95 com r24 |
| 4468: 98 2f mov r25, r24 |
| 446a: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 446e: 60 93 23 05 sts 0x0523, r22 |
| 4472: 70 93 24 05 sts 0x0524, r23 |
| 4476: 80 93 25 05 sts 0x0525, r24 |
| 447a: 90 93 26 05 sts 0x0526, r25 |
| 447e: 88 e0 ldi r24, 0x08 ; 8 |
| 4480: a5 e3 ldi r26, 0x35 ; 53 |
| 4482: b1 e0 ldi r27, 0x01 ; 1 |
| 4484: fe 01 movw r30, r28 |
| 4486: 18 2e mov r1, r24 |
| 4488: 0e 94 38 2f call 0x5e70 ; 0x5e70 <__eeprom_write_block_1F2021> |
| 448c: df 91 pop r29 |
| 448e: cf 91 pop r28 |
| 4490: 08 95 ret |
| 00004492 <Piep>: |
| 4492: 1f 93 push r17 |
| 4494: 18 2f mov r17, r24 |
| 4496: 0e c0 rjmp .+28 ; 0x44b4 <Piep+0x22> |
| 4498: 80 91 23 02 lds r24, 0x0223 |
| 449c: 88 23 and r24, r24 |
| 449e: 61 f4 brne .+24 ; 0x44b8 <Piep+0x26> |
| 44a0: 84 e6 ldi r24, 0x64 ; 100 |
| 44a2: 90 e0 ldi r25, 0x00 ; 0 |
| 44a4: 90 93 a7 01 sts 0x01A7, r25 |
| 44a8: 80 93 a6 01 sts 0x01A6, r24 |
| 44ac: 8a ef ldi r24, 0xFA ; 250 |
| 44ae: 90 e0 ldi r25, 0x00 ; 0 |
| 44b0: 0e 94 e0 0c call 0x19c0 ; 0x19c0 <Delay_ms> |
| 44b4: 11 50 subi r17, 0x01 ; 1 |
| 44b6: 80 f7 brcc .-32 ; 0x4498 <Piep+0x6> |
| 44b8: 1f 91 pop r17 |
| 44ba: 08 95 ret |
| 000044bc <MotorRegler>: |
| 44bc: a4 e0 ldi r26, 0x04 ; 4 |
| 44be: b0 e0 ldi r27, 0x00 ; 0 |
| 44c0: e4 e6 ldi r30, 0x64 ; 100 |
| 44c2: f2 e2 ldi r31, 0x22 ; 34 |
| 44c4: 0c 94 e2 2e jmp 0x5dc4 ; 0x5dc4 <__prologue_saves__> |
| 44c8: 0e 94 a6 19 call 0x334c ; 0x334c <Mittelwert> |
| 44cc: 29 9a sbi 0x05, 1 ; 5 |
| 44ce: e0 91 dc 04 lds r30, 0x04DC |
| 44d2: ae 2f mov r26, r30 |
| 44d4: bb 27 eor r27, r27 |
| 44d6: aa 0f add r26, r26 |
| 44d8: bb 1f adc r27, r27 |
| 44da: a2 55 subi r26, 0x52 ; 82 |
| 44dc: bb 4f sbci r27, 0xFB ; 251 |
| 44de: 0d 90 ld r0, X+ |
| 44e0: bc 91 ld r27, X |
| 44e2: a0 2d mov r26, r0 |
| 44e4: 9d 01 movw r18, r26 |
| 44e6: 28 58 subi r18, 0x88 ; 136 |
| 44e8: 3f 4f sbci r19, 0xFF ; 255 |
| 44ea: 3a 83 std Y+2, r19 ; 0x02 |
| 44ec: 29 83 std Y+1, r18 ; 0x01 |
| 44ee: 37 ff sbrs r19, 7 |
| 44f0: 02 c0 rjmp .+4 ; 0x44f6 <MotorRegler+0x3a> |
| 44f2: 1a 82 std Y+2, r1 ; 0x02 |
| 44f4: 19 82 std Y+1, r1 ; 0x01 |
| 44f6: 80 91 1c 02 lds r24, 0x021C |
| 44fa: 84 36 cpi r24, 0x64 ; 100 |
| 44fc: 08 f0 brcs .+2 ; 0x4500 <MotorRegler+0x44> |
| 44fe: 4a c0 rjmp .+148 ; 0x4594 <MotorRegler+0xd8> |
| 4500: 80 91 01 01 lds r24, 0x0101 |
| 4504: 88 23 and r24, r24 |
| 4506: 31 f4 brne .+12 ; 0x4514 <MotorRegler+0x58> |
| 4508: 84 ef ldi r24, 0xF4 ; 244 |
| 450a: 91 e0 ldi r25, 0x01 ; 1 |
| 450c: 90 93 a7 01 sts 0x01A7, r25 |
| 4510: 80 93 a6 01 sts 0x01A6, r24 |
| 4514: 80 91 35 02 lds r24, 0x0235 |
| 4518: 90 91 36 02 lds r25, 0x0236 |
| 451c: 00 97 sbiw r24, 0x00 ; 0 |
| 451e: 31 f0 breq .+12 ; 0x452c <MotorRegler+0x70> |
| 4520: 01 97 sbiw r24, 0x01 ; 1 |
| 4522: 90 93 36 02 sts 0x0236, r25 |
| 4526: 80 93 35 02 sts 0x0235, r24 |
| 452a: 04 c0 rjmp .+8 ; 0x4534 <MotorRegler+0x78> |
| 452c: 10 92 23 02 sts 0x0223, r1 |
| 4530: 10 92 12 02 sts 0x0212, r1 |
| 4534: 28 9a sbi 0x05, 0 ; 5 |
| 4536: 80 91 30 02 lds r24, 0x0230 |
| 453a: 90 91 31 02 lds r25, 0x0231 |
| 453e: 81 5d subi r24, 0xD1 ; 209 |
| 4540: 97 40 sbci r25, 0x07 ; 7 |
| 4542: 28 f1 brcs .+74 ; 0x458e <MotorRegler+0xd2> |
| 4544: 80 91 f3 04 lds r24, 0x04F3 |
| 4548: 48 2f mov r20, r24 |
| 454a: 55 27 eor r21, r21 |
| 454c: 5a 83 std Y+2, r21 ; 0x02 |
| 454e: 49 83 std Y+1, r20 ; 0x01 |
| 4550: 81 e0 ldi r24, 0x01 ; 1 |
| 4552: 80 93 12 02 sts 0x0212, r24 |
| 4556: e0 91 da 04 lds r30, 0x04DA |
| 455a: ff 27 eor r31, r31 |
| 455c: ee 0f add r30, r30 |
| 455e: ff 1f adc r31, r31 |
| 4560: e2 55 subi r30, 0x52 ; 82 |
| 4562: fb 4f sbci r31, 0xFB ; 251 |
| 4564: 11 82 std Z+1, r1 ; 0x01 |
| 4566: 10 82 st Z, r1 |
| 4568: e0 91 db 04 lds r30, 0x04DB |
| 456c: ff 27 eor r31, r31 |
| 456e: ee 0f add r30, r30 |
| 4570: ff 1f adc r31, r31 |
| 4572: e2 55 subi r30, 0x52 ; 82 |
| 4574: fb 4f sbci r31, 0xFB ; 251 |
| 4576: 11 82 std Z+1, r1 ; 0x01 |
| 4578: 10 82 st Z, r1 |
| 457a: e0 91 dd 04 lds r30, 0x04DD |
| 457e: ff 27 eor r31, r31 |
| 4580: ee 0f add r30, r30 |
| 4582: ff 1f adc r31, r31 |
| 4584: e2 55 subi r30, 0x52 ; 82 |
| 4586: fb 4f sbci r31, 0xFB ; 251 |
| 4588: 11 82 std Z+1, r1 ; 0x01 |
| 458a: 10 82 st Z, r1 |
| 458c: ce c1 rjmp .+924 ; 0x492a <MotorRegler+0x46e> |
| 458e: 10 92 23 02 sts 0x0223, r1 |
| 4592: cb c1 rjmp .+918 ; 0x492a <MotorRegler+0x46e> |
| 4594: 80 91 1c 02 lds r24, 0x021C |
| 4598: 8d 38 cpi r24, 0x8D ; 141 |
| 459a: 08 f4 brcc .+2 ; 0x459e <MotorRegler+0xe2> |
| 459c: c6 c1 rjmp .+908 ; 0x492a <MotorRegler+0x46e> |
| 459e: 10 92 12 02 sts 0x0212, r1 |
| 45a2: 80 91 f4 04 lds r24, 0x04F4 |
| 45a6: 22 e3 ldi r18, 0x32 ; 50 |
| 45a8: 82 9f mul r24, r18 |
| 45aa: c0 01 movw r24, r0 |
| 45ac: 11 24 eor r1, r1 |
| 45ae: 90 93 36 02 sts 0x0236, r25 |
| 45b2: 80 93 35 02 sts 0x0235, r24 |
| 45b6: 69 81 ldd r22, Y+1 ; 0x01 |
| 45b8: 7a 81 ldd r23, Y+2 ; 0x02 |
| 45ba: 69 32 cpi r22, 0x29 ; 41 |
| 45bc: 71 05 cpc r23, r1 |
| 45be: 6c f0 brlt .+26 ; 0x45da <MotorRegler+0x11e> |
| 45c0: 80 91 30 02 lds r24, 0x0230 |
| 45c4: 90 91 31 02 lds r25, 0x0231 |
| 45c8: 7f ef ldi r23, 0xFF ; 255 |
| 45ca: 8f 3f cpi r24, 0xFF ; 255 |
| 45cc: 97 07 cpc r25, r23 |
| 45ce: 81 f1 breq .+96 ; 0x4630 <MotorRegler+0x174> |
| 45d0: 01 96 adiw r24, 0x01 ; 1 |
| 45d2: 90 93 31 02 sts 0x0231, r25 |
| 45d6: 80 93 30 02 sts 0x0230, r24 |
| 45da: 80 91 30 02 lds r24, 0x0230 |
| 45de: 90 91 31 02 lds r25, 0x0231 |
| 45e2: 88 3c cpi r24, 0xC8 ; 200 |
| 45e4: 91 05 cpc r25, r1 |
| 45e6: 20 f0 brcs .+8 ; 0x45f0 <MotorRegler+0x134> |
| 45e8: 89 81 ldd r24, Y+1 ; 0x01 |
| 45ea: 9a 81 ldd r25, Y+2 ; 0x02 |
| 45ec: 88 97 sbiw r24, 0x28 ; 40 |
| 45ee: 04 f5 brge .+64 ; 0x4630 <MotorRegler+0x174> |
| 45f0: 10 92 4b 02 sts 0x024B, r1 |
| 45f4: 10 92 4c 02 sts 0x024C, r1 |
| 45f8: 10 92 4d 02 sts 0x024D, r1 |
| 45fc: 10 92 4e 02 sts 0x024E, r1 |
| 4600: 10 92 47 02 sts 0x0247, r1 |
| 4604: 10 92 48 02 sts 0x0248, r1 |
| 4608: 10 92 49 02 sts 0x0249, r1 |
| 460c: 10 92 4a 02 sts 0x024A, r1 |
| 4610: 10 92 ff 01 sts 0x01FF, r1 |
| 4614: 10 92 00 02 sts 0x0200, r1 |
| 4618: 10 92 01 02 sts 0x0201, r1 |
| 461c: 10 92 02 02 sts 0x0202, r1 |
| 4620: 10 92 03 02 sts 0x0203, r1 |
| 4624: 10 92 04 02 sts 0x0204, r1 |
| 4628: 10 92 05 02 sts 0x0205, r1 |
| 462c: 10 92 06 02 sts 0x0206, r1 |
| 4630: e9 81 ldd r30, Y+1 ; 0x01 |
| 4632: fa 81 ldd r31, Y+2 ; 0x02 |
| 4634: e9 3c cpi r30, 0xC9 ; 201 |
| 4636: f1 05 cpc r31, r1 |
| 4638: 0c f4 brge .+2 ; 0x463c <MotorRegler+0x180> |
| 463a: d6 c0 rjmp .+428 ; 0x47e8 <MotorRegler+0x32c> |
| 463c: 80 91 23 02 lds r24, 0x0223 |
| 4640: 88 23 and r24, r24 |
| 4642: 09 f0 breq .+2 ; 0x4646 <MotorRegler+0x18a> |
| 4644: 72 c1 rjmp .+740 ; 0x492a <MotorRegler+0x46e> |
| 4646: e0 91 dd 04 lds r30, 0x04DD |
| 464a: ff 27 eor r31, r31 |
| 464c: ee 0f add r30, r30 |
| 464e: ff 1f adc r31, r31 |
| 4650: e2 55 subi r30, 0x52 ; 82 |
| 4652: fb 4f sbci r31, 0xFB ; 251 |
| 4654: 80 81 ld r24, Z |
| 4656: 91 81 ldd r25, Z+1 ; 0x01 |
| 4658: 8c 34 cpi r24, 0x4C ; 76 |
| 465a: 91 05 cpc r25, r1 |
| 465c: 0c f4 brge .+2 ; 0x4660 <MotorRegler+0x1a4> |
| 465e: c1 c0 rjmp .+386 ; 0x47e2 <MotorRegler+0x326> |
| 4660: 80 91 34 02 lds r24, 0x0234 |
| 4664: 8f 5f subi r24, 0xFF ; 255 |
| 4666: 80 93 34 02 sts 0x0234, r24 |
| 466a: 89 3c cpi r24, 0xC9 ; 201 |
| 466c: 08 f4 brcc .+2 ; 0x4670 <MotorRegler+0x1b4> |
| 466e: 5d c1 rjmp .+698 ; 0x492a <MotorRegler+0x46e> |
| 4670: 29 98 cbi 0x05, 1 ; 5 |
| 4672: 0e 94 13 21 call 0x4226 ; 0x4226 <SetNeutral> |
| 4676: 10 92 23 02 sts 0x0223, r1 |
| 467a: 10 92 34 02 sts 0x0234, r1 |
| 467e: 10 92 31 02 sts 0x0231, r1 |
| 4682: 10 92 30 02 sts 0x0230, r1 |
| 4686: 80 91 da 04 lds r24, 0x04DA |
| 468a: 28 2f mov r18, r24 |
| 468c: 33 27 eor r19, r19 |
| 468e: f9 01 movw r30, r18 |
| 4690: ee 0f add r30, r30 |
| 4692: ff 1f adc r31, r31 |
| 4694: e2 55 subi r30, 0x52 ; 82 |
| 4696: fb 4f sbci r31, 0xFB ; 251 |
| 4698: 80 81 ld r24, Z |
| 469a: 91 81 ldd r25, Z+1 ; 0x01 |
| 469c: 87 34 cpi r24, 0x47 ; 71 |
| 469e: 91 05 cpc r25, r1 |
| 46a0: 9c f4 brge .+38 ; 0x46c8 <MotorRegler+0x20c> |
| 46a2: e0 91 db 04 lds r30, 0x04DB |
| 46a6: ff 27 eor r31, r31 |
| 46a8: ee 0f add r30, r30 |
| 46aa: ff 1f adc r31, r31 |
| 46ac: e2 55 subi r30, 0x52 ; 82 |
| 46ae: fb 4f sbci r31, 0xFB ; 251 |
| 46b0: 01 90 ld r0, Z+ |
| 46b2: f0 81 ld r31, Z |
| 46b4: e0 2d mov r30, r0 |
| 46b6: f7 ff sbrs r31, 7 |
| 46b8: 03 c0 rjmp .+6 ; 0x46c0 <MotorRegler+0x204> |
| 46ba: f0 95 com r31 |
| 46bc: e1 95 neg r30 |
| 46be: ff 4f sbci r31, 0xFF ; 255 |
| 46c0: e7 34 cpi r30, 0x47 ; 71 |
| 46c2: f1 05 cpc r31, r1 |
| 46c4: 0c f4 brge .+2 ; 0x46c8 <MotorRegler+0x20c> |
| 46c6: 6c c0 rjmp .+216 ; 0x47a0 <MotorRegler+0x2e4> |
| 46c8: 80 91 db 04 lds r24, 0x04DB |
| 46cc: 68 2f mov r22, r24 |
| 46ce: 77 27 eor r23, r23 |
| 46d0: db 01 movw r26, r22 |
| 46d2: aa 0f add r26, r26 |
| 46d4: bb 1f adc r27, r27 |
| 46d6: a2 55 subi r26, 0x52 ; 82 |
| 46d8: bb 4f sbci r27, 0xFB ; 251 |
| 46da: 8d 91 ld r24, X+ |
| 46dc: 9c 91 ld r25, X |
| 46de: 11 97 sbiw r26, 0x01 ; 1 |
| 46e0: 87 34 cpi r24, 0x47 ; 71 |
| 46e2: 91 05 cpc r25, r1 |
| 46e4: 3c f0 brlt .+14 ; 0x46f4 <MotorRegler+0x238> |
| 46e6: f9 01 movw r30, r18 |
| 46e8: ee 0f add r30, r30 |
| 46ea: ff 1f adc r31, r31 |
| 46ec: e2 55 subi r30, 0x52 ; 82 |
| 46ee: fb 4f sbci r31, 0xFB ; 251 |
| 46f0: 80 81 ld r24, Z |
| 46f2: 91 81 ldd r25, Z+1 ; 0x01 |
| 46f4: 8d 91 ld r24, X+ |
| 46f6: 9c 91 ld r25, X |
| 46f8: 87 34 cpi r24, 0x47 ; 71 |
| 46fa: 91 05 cpc r25, r1 |
| 46fc: 64 f0 brlt .+24 ; 0x4716 <MotorRegler+0x25a> |
| 46fe: f9 01 movw r30, r18 |
| 4700: ee 0f add r30, r30 |
| 4702: ff 1f adc r31, r31 |
| 4704: e2 55 subi r30, 0x52 ; 82 |
| 4706: fb 4f sbci r31, 0xFB ; 251 |
| 4708: 80 81 ld r24, Z |
| 470a: 91 81 ldd r25, Z+1 ; 0x01 |
| 470c: 87 34 cpi r24, 0x47 ; 71 |
| 470e: 91 05 cpc r25, r1 |
| 4710: 14 f0 brlt .+4 ; 0x4716 <MotorRegler+0x25a> |
| 4712: 42 e0 ldi r20, 0x02 ; 2 |
| 4714: 01 c0 rjmp .+2 ; 0x4718 <MotorRegler+0x25c> |
| 4716: 41 e0 ldi r20, 0x01 ; 1 |
| 4718: fb 01 movw r30, r22 |
| 471a: ee 0f add r30, r30 |
| 471c: ff 1f adc r31, r31 |
| 471e: e2 55 subi r30, 0x52 ; 82 |
| 4720: fb 4f sbci r31, 0xFB ; 251 |
| 4722: 80 81 ld r24, Z |
| 4724: 91 81 ldd r25, Z+1 ; 0x01 |
| 4726: 86 34 cpi r24, 0x46 ; 70 |
| 4728: 91 05 cpc r25, r1 |
| 472a: 5c f4 brge .+22 ; 0x4742 <MotorRegler+0x286> |
| 472c: f9 01 movw r30, r18 |
| 472e: ee 0f add r30, r30 |
| 4730: ff 1f adc r31, r31 |
| 4732: e2 55 subi r30, 0x52 ; 82 |
| 4734: fb 4f sbci r31, 0xFB ; 251 |
| 4736: 80 81 ld r24, Z |
| 4738: 91 81 ldd r25, Z+1 ; 0x01 |
| 473a: 87 34 cpi r24, 0x47 ; 71 |
| 473c: 91 05 cpc r25, r1 |
| 473e: 0c f0 brlt .+2 ; 0x4742 <MotorRegler+0x286> |
| 4740: 43 e0 ldi r20, 0x03 ; 3 |
| 4742: fb 01 movw r30, r22 |
| 4744: ee 0f add r30, r30 |
| 4746: ff 1f adc r31, r31 |
| 4748: e2 55 subi r30, 0x52 ; 82 |
| 474a: fb 4f sbci r31, 0xFB ; 251 |
| 474c: 80 81 ld r24, Z |
| 474e: 91 81 ldd r25, Z+1 ; 0x01 |
| 4750: 8a 5b subi r24, 0xBA ; 186 |
| 4752: 9f 4f sbci r25, 0xFF ; 255 |
| 4754: 5c f4 brge .+22 ; 0x476c <MotorRegler+0x2b0> |
| 4756: f9 01 movw r30, r18 |
| 4758: ee 0f add r30, r30 |
| 475a: ff 1f adc r31, r31 |
| 475c: e2 55 subi r30, 0x52 ; 82 |
| 475e: fb 4f sbci r31, 0xFB ; 251 |
| 4760: 80 81 ld r24, Z |
| 4762: 91 81 ldd r25, Z+1 ; 0x01 |
| 4764: 87 34 cpi r24, 0x47 ; 71 |
| 4766: 91 05 cpc r25, r1 |
| 4768: 0c f0 brlt .+2 ; 0x476c <MotorRegler+0x2b0> |
| 476a: 44 e0 ldi r20, 0x04 ; 4 |
| 476c: 66 0f add r22, r22 |
| 476e: 77 1f adc r23, r23 |
| 4770: 62 55 subi r22, 0x52 ; 82 |
| 4772: 7b 4f sbci r23, 0xFB ; 251 |
| 4774: fb 01 movw r30, r22 |
| 4776: 80 81 ld r24, Z |
| 4778: 91 81 ldd r25, Z+1 ; 0x01 |
| 477a: 8a 5b subi r24, 0xBA ; 186 |
| 477c: 9f 4f sbci r25, 0xFF ; 255 |
| 477e: 5c f4 brge .+22 ; 0x4796 <MotorRegler+0x2da> |
| 4780: 22 0f add r18, r18 |
| 4782: 33 1f adc r19, r19 |
| 4784: 22 55 subi r18, 0x52 ; 82 |
| 4786: 3b 4f sbci r19, 0xFB ; 251 |
| 4788: f9 01 movw r30, r18 |
| 478a: 80 81 ld r24, Z |
| 478c: 91 81 ldd r25, Z+1 ; 0x01 |
| 478e: 86 34 cpi r24, 0x46 ; 70 |
| 4790: 91 05 cpc r25, r1 |
| 4792: 0c f4 brge .+2 ; 0x4796 <MotorRegler+0x2da> |
| 4794: 45 e0 ldi r20, 0x05 ; 5 |
| 4796: a2 e0 ldi r26, 0x02 ; 2 |
| 4798: b0 e0 ldi r27, 0x00 ; 0 |
| 479a: 04 2e mov r0, r20 |
| 479c: 0e 94 2c 2f call 0x5e58 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 47a0: 0e 94 b1 03 call 0x762 ; 0x762 <GetActiveParamSetNumber> |
| 47a4: 4a e3 ldi r20, 0x3A ; 58 |
| 47a6: 6a ed ldi r22, 0xDA ; 218 |
| 47a8: 74 e0 ldi r23, 0x04 ; 4 |
| 47aa: 0e 94 d2 03 call 0x7a4 ; 0x7a4 <ReadParameterSet> |
| 47ae: 0e 94 b1 03 call 0x762 ; 0x762 <GetActiveParamSetNumber> |
| 47b2: 0e 94 49 22 call 0x4492 ; 0x4492 <Piep> |
| 47b6: 80 91 e2 04 lds r24, 0x04E2 |
| 47ba: 80 ff sbrs r24, 0 |
| 47bc: b6 c0 rjmp .+364 ; 0x492a <MotorRegler+0x46e> |
| 47be: 80 91 0a 01 lds r24, 0x010A |
| 47c2: 90 91 0b 01 lds r25, 0x010B |
| 47c6: 87 5b subi r24, 0xB7 ; 183 |
| 47c8: 93 40 sbci r25, 0x03 ; 3 |
| 47ca: 40 f4 brcc .+16 ; 0x47dc <MotorRegler+0x320> |
| 47cc: 80 91 0a 01 lds r24, 0x010A |
| 47d0: 90 91 0b 01 lds r25, 0x010B |
| 47d4: 8e 5e subi r24, 0xEE ; 238 |
| 47d6: 92 40 sbci r25, 0x02 ; 2 |
| 47d8: 08 f0 brcs .+2 ; 0x47dc <MotorRegler+0x320> |
| 47da: a7 c0 rjmp .+334 ; 0x492a <MotorRegler+0x46e> |
| 47dc: 0e 94 0e 10 call 0x201c ; 0x201c <SucheLuftruckOffset> |
| 47e0: a4 c0 rjmp .+328 ; 0x492a <MotorRegler+0x46e> |
| 47e2: 10 92 34 02 sts 0x0234, r1 |
| 47e6: a1 c0 rjmp .+322 ; 0x492a <MotorRegler+0x46e> |
| 47e8: 49 81 ldd r20, Y+1 ; 0x01 |
| 47ea: 5a 81 ldd r21, Y+2 ; 0x02 |
| 47ec: 43 32 cpi r20, 0x23 ; 35 |
| 47ee: 51 05 cpc r21, r1 |
| 47f0: 0c f0 brlt .+2 ; 0x47f4 <MotorRegler+0x338> |
| 47f2: 9b c0 rjmp .+310 ; 0x492a <MotorRegler+0x46e> |
| 47f4: 80 91 dd 04 lds r24, 0x04DD |
| 47f8: 48 2f mov r20, r24 |
| 47fa: 55 27 eor r21, r21 |
| 47fc: fa 01 movw r30, r20 |
| 47fe: ee 0f add r30, r30 |
| 4800: ff 1f adc r31, r31 |
| 4802: e2 55 subi r30, 0x52 ; 82 |
| 4804: fb 4f sbci r31, 0xFB ; 251 |
| 4806: 80 81 ld r24, Z |
| 4808: 91 81 ldd r25, Z+1 ; 0x01 |
| 480a: 85 5b subi r24, 0xB5 ; 181 |
| 480c: 9f 4f sbci r25, 0xFF ; 255 |
| 480e: 0c f0 brlt .+2 ; 0x4812 <MotorRegler+0x356> |
| 4810: 6d c0 rjmp .+218 ; 0x48ec <MotorRegler+0x430> |
| 4812: 80 91 33 02 lds r24, 0x0233 |
| 4816: 8f 5f subi r24, 0xFF ; 255 |
| 4818: 80 93 33 02 sts 0x0233, r24 |
| 481c: 89 3c cpi r24, 0xC9 ; 201 |
| 481e: 08 f4 brcc .+2 ; 0x4822 <MotorRegler+0x366> |
| 4820: 67 c0 rjmp .+206 ; 0x48f0 <MotorRegler+0x434> |
| 4822: 88 ec ldi r24, 0xC8 ; 200 |
| 4824: 80 93 33 02 sts 0x0233, r24 |
| 4828: 81 e0 ldi r24, 0x01 ; 1 |
| 482a: 90 e0 ldi r25, 0x00 ; 0 |
| 482c: 90 93 31 02 sts 0x0231, r25 |
| 4830: 80 93 30 02 sts 0x0230, r24 |
| 4834: 81 e0 ldi r24, 0x01 ; 1 |
| 4836: 80 93 23 02 sts 0x0223, r24 |
| 483a: 10 92 43 02 sts 0x0243, r1 |
| 483e: 10 92 44 02 sts 0x0244, r1 |
| 4842: 10 92 45 02 sts 0x0245, r1 |
| 4846: 10 92 46 02 sts 0x0246, r1 |
| 484a: 10 92 ff 01 sts 0x01FF, r1 |
| 484e: 10 92 00 02 sts 0x0200, r1 |
| 4852: 10 92 01 02 sts 0x0201, r1 |
| 4856: 10 92 02 02 sts 0x0202, r1 |
| 485a: 10 92 03 02 sts 0x0203, r1 |
| 485e: 10 92 04 02 sts 0x0204, r1 |
| 4862: 10 92 05 02 sts 0x0205, r1 |
| 4866: 10 92 06 02 sts 0x0206, r1 |
| 486a: 10 92 ef 01 sts 0x01EF, r1 |
| 486e: 10 92 f0 01 sts 0x01F0, r1 |
| 4872: 10 92 f1 01 sts 0x01F1, r1 |
| 4876: 10 92 f2 01 sts 0x01F2, r1 |
| 487a: 10 92 f7 01 sts 0x01F7, r1 |
| 487e: 10 92 f8 01 sts 0x01F8, r1 |
| 4882: 10 92 f9 01 sts 0x01F9, r1 |
| 4886: 10 92 fa 01 sts 0x01FA, r1 |
| 488a: 80 91 db 01 lds r24, 0x01DB |
| 488e: 90 91 dc 01 lds r25, 0x01DC |
| 4892: a0 91 dd 01 lds r26, 0x01DD |
| 4896: b0 91 de 01 lds r27, 0x01DE |
| 489a: 80 93 f3 01 sts 0x01F3, r24 |
| 489e: 90 93 f4 01 sts 0x01F4, r25 |
| 48a2: a0 93 f5 01 sts 0x01F5, r26 |
| 48a6: b0 93 f6 01 sts 0x01F6, r27 |
| 48aa: 80 91 e3 01 lds r24, 0x01E3 |
| 48ae: 90 91 e4 01 lds r25, 0x01E4 |
| 48b2: a0 91 e5 01 lds r26, 0x01E5 |
| 48b6: b0 91 e6 01 lds r27, 0x01E6 |
| 48ba: 80 93 fb 01 sts 0x01FB, r24 |
| 48be: 90 93 fc 01 sts 0x01FC, r25 |
| 48c2: a0 93 fd 01 sts 0x01FD, r26 |
| 48c6: b0 93 fe 01 sts 0x01FE, r27 |
| 48ca: 10 92 4b 02 sts 0x024B, r1 |
| 48ce: 10 92 4c 02 sts 0x024C, r1 |
| 48d2: 10 92 4d 02 sts 0x024D, r1 |
| 48d6: 10 92 4e 02 sts 0x024E, r1 |
| 48da: 10 92 47 02 sts 0x0247, r1 |
| 48de: 10 92 48 02 sts 0x0248, r1 |
| 48e2: 10 92 49 02 sts 0x0249, r1 |
| 48e6: 10 92 4a 02 sts 0x024A, r1 |
| 48ea: 02 c0 rjmp .+4 ; 0x48f0 <MotorRegler+0x434> |
| 48ec: 10 92 33 02 sts 0x0233, r1 |
| 48f0: 44 0f add r20, r20 |
| 48f2: 55 1f adc r21, r21 |
| 48f4: 42 55 subi r20, 0x52 ; 82 |
| 48f6: 5b 4f sbci r21, 0xFB ; 251 |
| 48f8: fa 01 movw r30, r20 |
| 48fa: 80 81 ld r24, Z |
| 48fc: 91 81 ldd r25, Z+1 ; 0x01 |
| 48fe: 8c 34 cpi r24, 0x4C ; 76 |
| 4900: 91 05 cpc r25, r1 |
| 4902: 8c f0 brlt .+34 ; 0x4926 <MotorRegler+0x46a> |
| 4904: 80 91 32 02 lds r24, 0x0232 |
| 4908: 8f 5f subi r24, 0xFF ; 255 |
| 490a: 80 93 32 02 sts 0x0232, r24 |
| 490e: 89 3c cpi r24, 0xC9 ; 201 |
| 4910: 60 f0 brcs .+24 ; 0x492a <MotorRegler+0x46e> |
| 4912: 10 92 23 02 sts 0x0223, r1 |
| 4916: 88 ec ldi r24, 0xC8 ; 200 |
| 4918: 80 93 32 02 sts 0x0232, r24 |
| 491c: 10 92 31 02 sts 0x0231, r1 |
| 4920: 10 92 30 02 sts 0x0230, r1 |
| 4924: 02 c0 rjmp .+4 ; 0x492a <MotorRegler+0x46e> |
| 4926: 10 92 32 02 sts 0x0232, r1 |
| 492a: 80 91 67 01 lds r24, 0x0167 |
| 492e: 81 50 subi r24, 0x01 ; 1 |
| 4930: 80 93 67 01 sts 0x0167, r24 |
| 4934: 80 91 67 01 lds r24, 0x0167 |
| 4938: 8f 3f cpi r24, 0xFF ; 255 |
| 493a: 29 f0 breq .+10 ; 0x4946 <MotorRegler+0x48a> |
| 493c: 80 91 12 02 lds r24, 0x0212 |
| 4940: 88 23 and r24, r24 |
| 4942: 09 f4 brne .+2 ; 0x4946 <MotorRegler+0x48a> |
| 4944: 12 c1 rjmp .+548 ; 0x4b6a <MotorRegler+0x6ae> |
| 4946: 0e 94 a1 1d call 0x3b42 ; 0x3b42 <ParameterZuordnung> |
| 494a: e0 91 da 04 lds r30, 0x04DA |
| 494e: ff 27 eor r31, r31 |
| 4950: ee 0f add r30, r30 |
| 4952: ff 1f adc r31, r31 |
| 4954: df 01 movw r26, r30 |
| 4956: a2 55 subi r26, 0x52 ; 82 |
| 4958: bb 4f sbci r27, 0xFB ; 251 |
| 495a: 8d 91 ld r24, X+ |
| 495c: 9c 91 ld r25, X |
| 495e: 60 91 e9 04 lds r22, 0x04E9 |
| 4962: 77 27 eor r23, r23 |
| 4964: ec 53 subi r30, 0x3C ; 60 |
| 4966: fb 4f sbci r31, 0xFB ; 251 |
| 4968: 20 81 ld r18, Z |
| 496a: 31 81 ldd r19, Z+1 ; 0x01 |
| 496c: 40 91 ea 04 lds r20, 0x04EA |
| 4970: 55 27 eor r21, r21 |
| 4972: fc 01 movw r30, r24 |
| 4974: e6 9f mul r30, r22 |
| 4976: c0 01 movw r24, r0 |
| 4978: e7 9f mul r30, r23 |
| 497a: 90 0d add r25, r0 |
| 497c: f6 9f mul r31, r22 |
| 497e: 90 0d add r25, r0 |
| 4980: 11 24 eor r1, r1 |
| 4982: f9 01 movw r30, r18 |
| 4984: e4 9f mul r30, r20 |
| 4986: 90 01 movw r18, r0 |
| 4988: e5 9f mul r30, r21 |
| 498a: 30 0d add r19, r0 |
| 498c: f4 9f mul r31, r20 |
| 498e: 30 0d add r19, r0 |
| 4990: 11 24 eor r1, r1 |
| 4992: 82 0f add r24, r18 |
| 4994: 93 1f adc r25, r19 |
| 4996: 90 93 1e 02 sts 0x021E, r25 |
| 499a: 80 93 1d 02 sts 0x021D, r24 |
| 499e: e0 91 db 04 lds r30, 0x04DB |
| 49a2: ff 27 eor r31, r31 |
| 49a4: ee 0f add r30, r30 |
| 49a6: ff 1f adc r31, r31 |
| 49a8: df 01 movw r26, r30 |
| 49aa: a2 55 subi r26, 0x52 ; 82 |
| 49ac: bb 4f sbci r27, 0xFB ; 251 |
| 49ae: 8d 91 ld r24, X+ |
| 49b0: 9c 91 ld r25, X |
| 49b2: ec 53 subi r30, 0x3C ; 60 |
| 49b4: fb 4f sbci r31, 0xFB ; 251 |
| 49b6: 20 81 ld r18, Z |
| 49b8: 31 81 ldd r19, Z+1 ; 0x01 |
| 49ba: fc 01 movw r30, r24 |
| 49bc: e6 9f mul r30, r22 |
| 49be: c0 01 movw r24, r0 |
| 49c0: e7 9f mul r30, r23 |
| 49c2: 90 0d add r25, r0 |
| 49c4: f6 9f mul r31, r22 |
| 49c6: 90 0d add r25, r0 |
| 49c8: 11 24 eor r1, r1 |
| 49ca: b9 01 movw r22, r18 |
| 49cc: 64 9f mul r22, r20 |
| 49ce: 90 01 movw r18, r0 |
| 49d0: 65 9f mul r22, r21 |
| 49d2: 30 0d add r19, r0 |
| 49d4: 74 9f mul r23, r20 |
| 49d6: 30 0d add r19, r0 |
| 49d8: 11 24 eor r1, r1 |
| 49da: 82 0f add r24, r18 |
| 49dc: 93 1f adc r25, r19 |
| 49de: 90 93 20 02 sts 0x0220, r25 |
| 49e2: 80 93 1f 02 sts 0x021F, r24 |
| 49e6: e0 91 dd 04 lds r30, 0x04DD |
| 49ea: ff 27 eor r31, r31 |
| 49ec: ee 0f add r30, r30 |
| 49ee: ff 1f adc r31, r31 |
| 49f0: e2 55 subi r30, 0x52 ; 82 |
| 49f2: fb 4f sbci r31, 0xFB ; 251 |
| 49f4: 80 81 ld r24, Z |
| 49f6: 91 81 ldd r25, Z+1 ; 0x01 |
| 49f8: 90 95 com r25 |
| 49fa: 81 95 neg r24 |
| 49fc: 9f 4f sbci r25, 0xFF ; 255 |
| 49fe: 90 93 22 02 sts 0x0222, r25 |
| 4a02: 80 93 21 02 sts 0x0221, r24 |
| 4a06: 10 91 85 01 lds r17, 0x0185 |
| 4a0a: 61 2f mov r22, r17 |
| 4a0c: 77 27 eor r23, r23 |
| 4a0e: 67 fd sbrc r22, 7 |
| 4a10: 70 95 com r23 |
| 4a12: 87 2f mov r24, r23 |
| 4a14: 97 2f mov r25, r23 |
| 4a16: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 4a1a: 17 ff sbrs r17, 7 |
| 4a1c: 06 c0 rjmp .+12 ; 0x4a2a <MotorRegler+0x56e> |
| 4a1e: 20 e0 ldi r18, 0x00 ; 0 |
| 4a20: 30 e0 ldi r19, 0x00 ; 0 |
| 4a22: 40 e8 ldi r20, 0x80 ; 128 |
| 4a24: 53 e4 ldi r21, 0x43 ; 67 |
| 4a26: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 4a2a: 20 e0 ldi r18, 0x00 ; 0 |
| 4a2c: 30 e0 ldi r19, 0x00 ; 0 |
| 4a2e: 40 e2 ldi r20, 0x20 ; 32 |
| 4a30: 51 e4 ldi r21, 0x41 ; 65 |
| 4a32: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 4a36: 20 e0 ldi r18, 0x00 ; 0 |
| 4a38: 30 e0 ldi r19, 0x00 ; 0 |
| 4a3a: 40 e8 ldi r20, 0x80 ; 128 |
| 4a3c: 5b e3 ldi r21, 0x3B ; 59 |
| 4a3e: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 4a42: 5b 01 movw r10, r22 |
| 4a44: 6c 01 movw r12, r24 |
| 4a46: 60 93 2c 05 sts 0x052C, r22 |
| 4a4a: 70 93 2d 05 sts 0x052D, r23 |
| 4a4e: 80 93 2e 05 sts 0x052E, r24 |
| 4a52: 90 93 2f 05 sts 0x052F, r25 |
| 4a56: 10 91 86 01 lds r17, 0x0186 |
| 4a5a: 61 2f mov r22, r17 |
| 4a5c: 77 27 eor r23, r23 |
| 4a5e: 67 fd sbrc r22, 7 |
| 4a60: 70 95 com r23 |
| 4a62: 87 2f mov r24, r23 |
| 4a64: 97 2f mov r25, r23 |
| 4a66: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 4a6a: 17 ff sbrs r17, 7 |
| 4a6c: 06 c0 rjmp .+12 ; 0x4a7a <MotorRegler+0x5be> |
| 4a6e: 20 e0 ldi r18, 0x00 ; 0 |
| 4a70: 30 e0 ldi r19, 0x00 ; 0 |
| 4a72: 40 e8 ldi r20, 0x80 ; 128 |
| 4a74: 53 e4 ldi r21, 0x43 ; 67 |
| 4a76: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 4a7a: 20 e0 ldi r18, 0x00 ; 0 |
| 4a7c: 30 ee ldi r19, 0xE0 ; 224 |
| 4a7e: 4b e2 ldi r20, 0x2B ; 43 |
| 4a80: 57 e4 ldi r21, 0x47 ; 71 |
| 4a82: 0e 94 3a 2d call 0x5a74 ; 0x5a74 <__divsf3> |
| 4a86: 60 93 1b 05 sts 0x051B, r22 |
| 4a8a: 70 93 1c 05 sts 0x051C, r23 |
| 4a8e: 80 93 1d 05 sts 0x051D, r24 |
| 4a92: 90 93 1e 05 sts 0x051E, r25 |
| 4a96: 80 91 e2 04 lds r24, 0x04E2 |
| 4a9a: 82 ff sbrs r24, 2 |
| 4a9c: 0c c0 rjmp .+24 ; 0x4ab6 <MotorRegler+0x5fa> |
| 4a9e: 80 e0 ldi r24, 0x00 ; 0 |
| 4aa0: 90 e0 ldi r25, 0x00 ; 0 |
| 4aa2: a0 e0 ldi r26, 0x00 ; 0 |
| 4aa4: b0 e0 ldi r27, 0x00 ; 0 |
| 4aa6: 80 93 1b 05 sts 0x051B, r24 |
| 4aaa: 90 93 1c 05 sts 0x051C, r25 |
| 4aae: a0 93 1d 05 sts 0x051D, r26 |
| 4ab2: b0 93 1e 05 sts 0x051E, r27 |
| 4ab6: 20 e0 ldi r18, 0x00 ; 0 |
| 4ab8: 30 e0 ldi r19, 0x00 ; 0 |
| 4aba: 40 e0 ldi r20, 0x00 ; 0 |
| 4abc: 50 e0 ldi r21, 0x00 ; 0 |
| 4abe: c6 01 movw r24, r12 |
| 4ac0: b5 01 movw r22, r10 |
| 4ac2: 0e 94 a7 2d call 0x5b4e ; 0x5b4e <__eqsf2> |
| 4ac6: 88 23 and r24, r24 |
| 4ac8: 64 f4 brge .+24 ; 0x4ae2 <MotorRegler+0x626> |
| 4aca: 80 e0 ldi r24, 0x00 ; 0 |
| 4acc: 90 e0 ldi r25, 0x00 ; 0 |
| 4ace: a0 e0 ldi r26, 0x00 ; 0 |
| 4ad0: b0 e0 ldi r27, 0x00 ; 0 |
| 4ad2: 80 93 2c 05 sts 0x052C, r24 |
| 4ad6: 90 93 2d 05 sts 0x052D, r25 |
| 4ada: a0 93 2e 05 sts 0x052E, r26 |
| 4ade: b0 93 2f 05 sts 0x052F, r27 |
| 4ae2: 20 e0 ldi r18, 0x00 ; 0 |
| 4ae4: 30 e0 ldi r19, 0x00 ; 0 |
| 4ae6: 40 e0 ldi r20, 0x00 ; 0 |
| 4ae8: 50 e0 ldi r21, 0x00 ; 0 |
| 4aea: 60 91 1b 05 lds r22, 0x051B |
| 4aee: 70 91 1c 05 lds r23, 0x051C |
| 4af2: 80 91 1d 05 lds r24, 0x051D |
| 4af6: 90 91 1e 05 lds r25, 0x051E |
| 4afa: 0e 94 a7 2d call 0x5b4e ; 0x5b4e <__eqsf2> |
| 4afe: 88 23 and r24, r24 |
| 4b00: 64 f4 brge .+24 ; 0x4b1a <MotorRegler+0x65e> |
| 4b02: 80 e0 ldi r24, 0x00 ; 0 |
| 4b04: 90 e0 ldi r25, 0x00 ; 0 |
| 4b06: a0 e0 ldi r26, 0x00 ; 0 |
| 4b08: b0 e0 ldi r27, 0x00 ; 0 |
| 4b0a: 80 93 1b 05 sts 0x051B, r24 |
| 4b0e: 90 93 1c 05 sts 0x051C, r25 |
| 4b12: a0 93 1d 05 sts 0x051D, r26 |
| 4b16: b0 93 1e 05 sts 0x051E, r27 |
| 4b1a: 80 91 12 02 lds r24, 0x0212 |
| 4b1e: 88 23 and r24, r24 |
| 4b20: 21 f1 breq .+72 ; 0x4b6a <MotorRegler+0x6ae> |
| 4b22: 10 92 22 02 sts 0x0222, r1 |
| 4b26: 10 92 21 02 sts 0x0221, r1 |
| 4b2a: 10 92 1e 02 sts 0x021E, r1 |
| 4b2e: 10 92 1d 02 sts 0x021D, r1 |
| 4b32: 10 92 20 02 sts 0x0220, r1 |
| 4b36: 10 92 1f 02 sts 0x021F, r1 |
| 4b3a: 8d ec ldi r24, 0xCD ; 205 |
| 4b3c: 9c ec ldi r25, 0xCC ; 204 |
| 4b3e: ac ec ldi r26, 0xCC ; 204 |
| 4b40: bd e3 ldi r27, 0x3D ; 61 |
| 4b42: 80 93 2c 05 sts 0x052C, r24 |
| 4b46: 90 93 2d 05 sts 0x052D, r25 |
| 4b4a: a0 93 2e 05 sts 0x052E, r26 |
| 4b4e: b0 93 2f 05 sts 0x052F, r27 |
| 4b52: 8a e0 ldi r24, 0x0A ; 10 |
| 4b54: 97 ed ldi r25, 0xD7 ; 215 |
| 4b56: a3 ea ldi r26, 0xA3 ; 163 |
| 4b58: bb e3 ldi r27, 0x3B ; 59 |
| 4b5a: 80 93 1b 05 sts 0x051B, r24 |
| 4b5e: 90 93 1c 05 sts 0x051C, r25 |
| 4b62: a0 93 1d 05 sts 0x051D, r26 |
| 4b66: b0 93 1e 05 sts 0x051E, r27 |
| 4b6a: 80 91 c1 01 lds r24, 0x01C1 |
| 4b6e: 90 91 c2 01 lds r25, 0x01C2 |
| 4b72: 8d 54 subi r24, 0x4D ; 77 |
| 4b74: 91 40 sbci r25, 0x01 ; 1 |
| 4b76: 08 f4 brcc .+2 ; 0x4b7a <MotorRegler+0x6be> |
| 4b78: 90 c0 rjmp .+288 ; 0x4c9a <MotorRegler+0x7de> |
| 4b7a: 20 91 df 01 lds r18, 0x01DF |
| 4b7e: 30 91 e0 01 lds r19, 0x01E0 |
| 4b82: 40 91 e1 01 lds r20, 0x01E1 |
| 4b86: 50 91 e2 01 lds r21, 0x01E2 |
| 4b8a: 80 91 db 01 lds r24, 0x01DB |
| 4b8e: 90 91 dc 01 lds r25, 0x01DC |
| 4b92: a0 91 dd 01 lds r26, 0x01DD |
| 4b96: b0 91 de 01 lds r27, 0x01DE |
| 4b9a: b9 01 movw r22, r18 |
| 4b9c: 68 1b sub r22, r24 |
| 4b9e: 79 0b sbc r23, r25 |
| 4ba0: 70 93 3a 02 sts 0x023A, r23 |
| 4ba4: 60 93 39 02 sts 0x0239, r22 |
| 4ba8: 20 91 e7 01 lds r18, 0x01E7 |
| 4bac: 30 91 e8 01 lds r19, 0x01E8 |
| 4bb0: 40 91 e9 01 lds r20, 0x01E9 |
| 4bb4: 50 91 ea 01 lds r21, 0x01EA |
| 4bb8: 80 91 e3 01 lds r24, 0x01E3 |
| 4bbc: 90 91 e4 01 lds r25, 0x01E4 |
| 4bc0: a0 91 e5 01 lds r26, 0x01E5 |
| 4bc4: b0 91 e6 01 lds r27, 0x01E6 |
| 4bc8: 28 1b sub r18, r24 |
| 4bca: 39 0b sbc r19, r25 |
| 4bcc: 30 93 38 02 sts 0x0238, r19 |
| 4bd0: 20 93 37 02 sts 0x0237, r18 |
| 4bd4: 10 92 c2 01 sts 0x01C2, r1 |
| 4bd8: 10 92 c1 01 sts 0x01C1, r1 |
| 4bdc: 67 3a cpi r22, 0xA7 ; 167 |
| 4bde: 71 05 cpc r23, r1 |
| 4be0: 34 f0 brlt .+12 ; 0x4bee <MotorRegler+0x732> |
| 4be2: 80 91 d3 01 lds r24, 0x01D3 |
| 4be6: 90 91 d4 01 lds r25, 0x01D4 |
| 4bea: 01 96 adiw r24, 0x01 ; 1 |
| 4bec: 08 c0 rjmp .+16 ; 0x4bfe <MotorRegler+0x742> |
| 4bee: 6a 55 subi r22, 0x5A ; 90 |
| 4bf0: 7f 4f sbci r23, 0xFF ; 255 |
| 4bf2: 4c f4 brge .+18 ; 0x4c06 <MotorRegler+0x74a> |
| 4bf4: 80 91 d3 01 lds r24, 0x01D3 |
| 4bf8: 90 91 d4 01 lds r25, 0x01D4 |
| 4bfc: 01 97 sbiw r24, 0x01 ; 1 |
| 4bfe: 90 93 d4 01 sts 0x01D4, r25 |
| 4c02: 80 93 d3 01 sts 0x01D3, r24 |
| 4c06: 27 3a cpi r18, 0xA7 ; 167 |
| 4c08: 31 05 cpc r19, r1 |
| 4c0a: 34 f0 brlt .+12 ; 0x4c18 <MotorRegler+0x75c> |
| 4c0c: 80 91 d5 01 lds r24, 0x01D5 |
| 4c10: 90 91 d6 01 lds r25, 0x01D6 |
| 4c14: 01 96 adiw r24, 0x01 ; 1 |
| 4c16: 08 c0 rjmp .+16 ; 0x4c28 <MotorRegler+0x76c> |
| 4c18: 2a 55 subi r18, 0x5A ; 90 |
| 4c1a: 3f 4f sbci r19, 0xFF ; 255 |
| 4c1c: 4c f4 brge .+18 ; 0x4c30 <MotorRegler+0x774> |
| 4c1e: 80 91 d5 01 lds r24, 0x01D5 |
| 4c22: 90 91 d6 01 lds r25, 0x01D6 |
| 4c26: 01 97 sbiw r24, 0x01 ; 1 |
| 4c28: 90 93 d6 01 sts 0x01D6, r25 |
| 4c2c: 80 93 d5 01 sts 0x01D5, r24 |
| 4c30: 10 92 7a 00 sts 0x007A, r1 |
| 4c34: 80 91 db 01 lds r24, 0x01DB |
| 4c38: 90 91 dc 01 lds r25, 0x01DC |
| 4c3c: a0 91 dd 01 lds r26, 0x01DD |
| 4c40: b0 91 de 01 lds r27, 0x01DE |
| 4c44: 80 93 f3 01 sts 0x01F3, r24 |
| 4c48: 90 93 f4 01 sts 0x01F4, r25 |
| 4c4c: a0 93 f5 01 sts 0x01F5, r26 |
| 4c50: b0 93 f6 01 sts 0x01F6, r27 |
| 4c54: 80 91 e3 01 lds r24, 0x01E3 |
| 4c58: 90 91 e4 01 lds r25, 0x01E4 |
| 4c5c: a0 91 e5 01 lds r26, 0x01E5 |
| 4c60: b0 91 e6 01 lds r27, 0x01E6 |
| 4c64: 80 93 fb 01 sts 0x01FB, r24 |
| 4c68: 90 93 fc 01 sts 0x01FC, r25 |
| 4c6c: a0 93 fd 01 sts 0x01FD, r26 |
| 4c70: b0 93 fe 01 sts 0x01FE, r27 |
| 4c74: 80 91 eb 01 lds r24, 0x01EB |
| 4c78: 90 91 ec 01 lds r25, 0x01EC |
| 4c7c: a0 91 ed 01 lds r26, 0x01ED |
| 4c80: b0 91 ee 01 lds r27, 0x01EE |
| 4c84: 80 93 03 02 sts 0x0203, r24 |
| 4c88: 90 93 04 02 sts 0x0204, r25 |
| 4c8c: a0 93 05 02 sts 0x0205, r26 |
| 4c90: b0 93 06 02 sts 0x0206, r27 |
| 4c94: 8f ec ldi r24, 0xCF ; 207 |
| 4c96: 80 93 7a 00 sts 0x007A, r24 |
| 4c9a: 60 91 db 01 lds r22, 0x01DB |
| 4c9e: 70 91 dc 01 lds r23, 0x01DC |
| 4ca2: 80 91 dd 01 lds r24, 0x01DD |
| 4ca6: 90 91 de 01 lds r25, 0x01DE |
| 4caa: a0 90 ee 04 lds r10, 0x04EE |
| 4cae: bb 24 eor r11, r11 |
| 4cb0: cc 24 eor r12, r12 |
| 4cb2: dd 24 eor r13, r13 |
| 4cb4: e0 90 27 05 lds r14, 0x0527 |
| 4cb8: f0 90 28 05 lds r15, 0x0528 |
| 4cbc: a6 01 movw r20, r12 |
| 4cbe: 95 01 movw r18, r10 |
| 4cc0: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4cc4: 00 27 eor r16, r16 |
| 4cc6: f7 fc sbrc r15, 7 |
| 4cc8: 00 95 com r16 |
| 4cca: 10 2f mov r17, r16 |
| 4ccc: 2e 19 sub r18, r14 |
| 4cce: 3f 09 sbc r19, r15 |
| 4cd0: 40 0b sbc r20, r16 |
| 4cd2: 51 0b sbc r21, r17 |
| 4cd4: ca 01 movw r24, r20 |
| 4cd6: b9 01 movw r22, r18 |
| 4cd8: 20 e1 ldi r18, 0x10 ; 16 |
| 4cda: 30 e0 ldi r19, 0x00 ; 0 |
| 4cdc: 40 e0 ldi r20, 0x00 ; 0 |
| 4cde: 50 e0 ldi r21, 0x00 ; 0 |
| 4ce0: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4ce4: 39 01 movw r6, r18 |
| 4ce6: 4a 01 movw r8, r20 |
| 4ce8: 20 93 3f 02 sts 0x023F, r18 |
| 4cec: 30 93 40 02 sts 0x0240, r19 |
| 4cf0: 40 93 41 02 sts 0x0241, r20 |
| 4cf4: 50 93 42 02 sts 0x0242, r21 |
| 4cf8: 60 91 e3 01 lds r22, 0x01E3 |
| 4cfc: 70 91 e4 01 lds r23, 0x01E4 |
| 4d00: 80 91 e5 01 lds r24, 0x01E5 |
| 4d04: 90 91 e6 01 lds r25, 0x01E6 |
| 4d08: e0 90 30 05 lds r14, 0x0530 |
| 4d0c: f0 90 31 05 lds r15, 0x0531 |
| 4d10: a6 01 movw r20, r12 |
| 4d12: 95 01 movw r18, r10 |
| 4d14: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4d18: 00 27 eor r16, r16 |
| 4d1a: f7 fc sbrc r15, 7 |
| 4d1c: 00 95 com r16 |
| 4d1e: 10 2f mov r17, r16 |
| 4d20: 2e 19 sub r18, r14 |
| 4d22: 3f 09 sbc r19, r15 |
| 4d24: 40 0b sbc r20, r16 |
| 4d26: 51 0b sbc r21, r17 |
| 4d28: ca 01 movw r24, r20 |
| 4d2a: b9 01 movw r22, r18 |
| 4d2c: 20 e1 ldi r18, 0x10 ; 16 |
| 4d2e: 30 e0 ldi r19, 0x00 ; 0 |
| 4d30: 40 e0 ldi r20, 0x00 ; 0 |
| 4d32: 50 e0 ldi r21, 0x00 ; 0 |
| 4d34: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4d38: 20 93 3b 02 sts 0x023B, r18 |
| 4d3c: 30 93 3c 02 sts 0x023C, r19 |
| 4d40: 40 93 3d 02 sts 0x023D, r20 |
| 4d44: 50 93 3e 02 sts 0x023E, r21 |
| 4d48: e5 ef ldi r30, 0xF5 ; 245 |
| 4d4a: 6e 16 cp r6, r30 |
| 4d4c: e1 e0 ldi r30, 0x01 ; 1 |
| 4d4e: 7e 06 cpc r7, r30 |
| 4d50: e0 e0 ldi r30, 0x00 ; 0 |
| 4d52: 8e 06 cpc r8, r30 |
| 4d54: e0 e0 ldi r30, 0x00 ; 0 |
| 4d56: 9e 06 cpc r9, r30 |
| 4d58: 2c f0 brlt .+10 ; 0x4d64 <MotorRegler+0x8a8> |
| 4d5a: 84 ef ldi r24, 0xF4 ; 244 |
| 4d5c: 91 e0 ldi r25, 0x01 ; 1 |
| 4d5e: a0 e0 ldi r26, 0x00 ; 0 |
| 4d60: b0 e0 ldi r27, 0x00 ; 0 |
| 4d62: 0d c0 rjmp .+26 ; 0x4d7e <MotorRegler+0x8c2> |
| 4d64: fc e0 ldi r31, 0x0C ; 12 |
| 4d66: 6f 16 cp r6, r31 |
| 4d68: fe ef ldi r31, 0xFE ; 254 |
| 4d6a: 7f 06 cpc r7, r31 |
| 4d6c: ff ef ldi r31, 0xFF ; 255 |
| 4d6e: 8f 06 cpc r8, r31 |
| 4d70: ff ef ldi r31, 0xFF ; 255 |
| 4d72: 9f 06 cpc r9, r31 |
| 4d74: 64 f4 brge .+24 ; 0x4d8e <MotorRegler+0x8d2> |
| 4d76: 8c e0 ldi r24, 0x0C ; 12 |
| 4d78: 9e ef ldi r25, 0xFE ; 254 |
| 4d7a: af ef ldi r26, 0xFF ; 255 |
| 4d7c: bf ef ldi r27, 0xFF ; 255 |
| 4d7e: 80 93 3f 02 sts 0x023F, r24 |
| 4d82: 90 93 40 02 sts 0x0240, r25 |
| 4d86: a0 93 41 02 sts 0x0241, r26 |
| 4d8a: b0 93 42 02 sts 0x0242, r27 |
| 4d8e: 25 3f cpi r18, 0xF5 ; 245 |
| 4d90: 61 e0 ldi r22, 0x01 ; 1 |
| 4d92: 36 07 cpc r19, r22 |
| 4d94: 60 e0 ldi r22, 0x00 ; 0 |
| 4d96: 46 07 cpc r20, r22 |
| 4d98: 60 e0 ldi r22, 0x00 ; 0 |
| 4d9a: 56 07 cpc r21, r22 |
| 4d9c: 2c f0 brlt .+10 ; 0x4da8 <MotorRegler+0x8ec> |
| 4d9e: 84 ef ldi r24, 0xF4 ; 244 |
| 4da0: 91 e0 ldi r25, 0x01 ; 1 |
| 4da2: a0 e0 ldi r26, 0x00 ; 0 |
| 4da4: b0 e0 ldi r27, 0x00 ; 0 |
| 4da6: 09 c0 rjmp .+18 ; 0x4dba <MotorRegler+0x8fe> |
| 4da8: 2c 50 subi r18, 0x0C ; 12 |
| 4daa: 3e 4f sbci r19, 0xFE ; 254 |
| 4dac: 4f 4f sbci r20, 0xFF ; 255 |
| 4dae: 5f 4f sbci r21, 0xFF ; 255 |
| 4db0: 64 f4 brge .+24 ; 0x4dca <MotorRegler+0x90e> |
| 4db2: 8c e0 ldi r24, 0x0C ; 12 |
| 4db4: 9e ef ldi r25, 0xFE ; 254 |
| 4db6: af ef ldi r26, 0xFF ; 255 |
| 4db8: bf ef ldi r27, 0xFF ; 255 |
| 4dba: 80 93 3b 02 sts 0x023B, r24 |
| 4dbe: 90 93 3c 02 sts 0x023C, r25 |
| 4dc2: a0 93 3d 02 sts 0x023D, r26 |
| 4dc6: b0 93 3e 02 sts 0x023E, r27 |
| 4dca: 10 92 7a 00 sts 0x007A, r1 |
| 4dce: 80 91 ef 01 lds r24, 0x01EF |
| 4dd2: 90 91 f0 01 lds r25, 0x01F0 |
| 4dd6: a0 91 f1 01 lds r26, 0x01F1 |
| 4dda: b0 91 f2 01 lds r27, 0x01F2 |
| 4dde: 20 91 3f 02 lds r18, 0x023F |
| 4de2: 30 91 40 02 lds r19, 0x0240 |
| 4de6: 40 91 41 02 lds r20, 0x0241 |
| 4dea: 50 91 42 02 lds r21, 0x0242 |
| 4dee: 82 1b sub r24, r18 |
| 4df0: 93 0b sbc r25, r19 |
| 4df2: a4 0b sbc r26, r20 |
| 4df4: b5 0b sbc r27, r21 |
| 4df6: 80 93 ef 01 sts 0x01EF, r24 |
| 4dfa: 90 93 f0 01 sts 0x01F0, r25 |
| 4dfe: a0 93 f1 01 sts 0x01F1, r26 |
| 4e02: b0 93 f2 01 sts 0x01F2, r27 |
| 4e06: 80 91 f7 01 lds r24, 0x01F7 |
| 4e0a: 90 91 f8 01 lds r25, 0x01F8 |
| 4e0e: a0 91 f9 01 lds r26, 0x01F9 |
| 4e12: b0 91 fa 01 lds r27, 0x01FA |
| 4e16: 20 91 3b 02 lds r18, 0x023B |
| 4e1a: 30 91 3c 02 lds r19, 0x023C |
| 4e1e: 40 91 3d 02 lds r20, 0x023D |
| 4e22: 50 91 3e 02 lds r21, 0x023E |
| 4e26: 82 1b sub r24, r18 |
| 4e28: 93 0b sbc r25, r19 |
| 4e2a: a4 0b sbc r26, r20 |
| 4e2c: b5 0b sbc r27, r21 |
| 4e2e: 80 93 f7 01 sts 0x01F7, r24 |
| 4e32: 90 93 f8 01 sts 0x01F8, r25 |
| 4e36: a0 93 f9 01 sts 0x01F9, r26 |
| 4e3a: b0 93 fa 01 sts 0x01FA, r27 |
| 4e3e: 80 91 21 02 lds r24, 0x0221 |
| 4e42: 90 91 22 02 lds r25, 0x0222 |
| 4e46: 5c 01 movw r10, r24 |
| 4e48: cc 24 eor r12, r12 |
| 4e4a: b7 fc sbrc r11, 7 |
| 4e4c: c0 94 com r12 |
| 4e4e: dc 2c mov r13, r12 |
| 4e50: a0 92 43 02 sts 0x0243, r10 |
| 4e54: b0 92 44 02 sts 0x0244, r11 |
| 4e58: c0 92 45 02 sts 0x0245, r12 |
| 4e5c: d0 92 46 02 sts 0x0246, r13 |
| 4e60: 97 ff sbrs r25, 7 |
| 4e62: 03 c0 rjmp .+6 ; 0x4e6a <MotorRegler+0x9ae> |
| 4e64: 90 95 com r25 |
| 4e66: 81 95 neg r24 |
| 4e68: 9f 4f sbci r25, 0xFF ; 255 |
| 4e6a: 84 97 sbiw r24, 0x24 ; 36 |
| 4e6c: 3c f0 brlt .+14 ; 0x4e7c <MotorRegler+0x9c0> |
| 4e6e: 80 91 e2 04 lds r24, 0x04E2 |
| 4e72: 84 fd sbrc r24, 4 |
| 4e74: 03 c0 rjmp .+6 ; 0x4e7c <MotorRegler+0x9c0> |
| 4e76: 81 e0 ldi r24, 0x01 ; 1 |
| 4e78: 80 93 8a 01 sts 0x018A, r24 |
| 4e7c: 60 90 ff 01 lds r6, 0x01FF |
| 4e80: 70 90 00 02 lds r7, 0x0200 |
| 4e84: 80 90 01 02 lds r8, 0x0201 |
| 4e88: 90 90 02 02 lds r9, 0x0202 |
| 4e8c: c5 01 movw r24, r10 |
| 4e8e: b7 fe sbrs r11, 7 |
| 4e90: 03 c0 rjmp .+6 ; 0x4e98 <MotorRegler+0x9dc> |
| 4e92: 90 95 com r25 |
| 4e94: 81 95 neg r24 |
| 4e96: 9f 4f sbci r25, 0xFF ; 255 |
| 4e98: 7c 01 movw r14, r24 |
| 4e9a: 00 27 eor r16, r16 |
| 4e9c: f7 fc sbrc r15, 7 |
| 4e9e: 00 95 com r16 |
| 4ea0: 10 2f mov r17, r16 |
| 4ea2: 20 91 eb 04 lds r18, 0x04EB |
| 4ea6: 33 27 eor r19, r19 |
| 4ea8: 44 27 eor r20, r20 |
| 4eaa: 55 27 eor r21, r21 |
| 4eac: c6 01 movw r24, r12 |
| 4eae: b5 01 movw r22, r10 |
| 4eb0: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 4eb4: 9b 01 movw r18, r22 |
| 4eb6: ac 01 movw r20, r24 |
| 4eb8: c8 01 movw r24, r16 |
| 4eba: b7 01 movw r22, r14 |
| 4ebc: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 4ec0: 20 e0 ldi r18, 0x00 ; 0 |
| 4ec2: 31 e0 ldi r19, 0x01 ; 1 |
| 4ec4: 40 e0 ldi r20, 0x00 ; 0 |
| 4ec6: 50 e0 ldi r21, 0x00 ; 0 |
| 4ec8: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4ecc: 44 27 eor r20, r20 |
| 4ece: 37 fd sbrc r19, 7 |
| 4ed0: 40 95 com r20 |
| 4ed2: 54 2f mov r21, r20 |
| 4ed4: 62 1a sub r6, r18 |
| 4ed6: 73 0a sbc r7, r19 |
| 4ed8: 84 0a sbc r8, r20 |
| 4eda: 95 0a sbc r9, r21 |
| 4edc: 60 92 ff 01 sts 0x01FF, r6 |
| 4ee0: 70 92 00 02 sts 0x0200, r7 |
| 4ee4: 80 92 01 02 sts 0x0201, r8 |
| 4ee8: 90 92 02 02 sts 0x0202, r9 |
| 4eec: 80 91 ff 01 lds r24, 0x01FF |
| 4ef0: 90 91 00 02 lds r25, 0x0200 |
| 4ef4: a0 91 01 02 lds r26, 0x0201 |
| 4ef8: b0 91 02 02 lds r27, 0x0202 |
| 4efc: 81 53 subi r24, 0x31 ; 49 |
| 4efe: 95 47 sbci r25, 0x75 ; 117 |
| 4f00: a0 40 sbci r26, 0x00 ; 0 |
| 4f02: b0 40 sbci r27, 0x00 ; 0 |
| 4f04: 64 f0 brlt .+24 ; 0x4f1e <MotorRegler+0xa62> |
| 4f06: 80 e3 ldi r24, 0x30 ; 48 |
| 4f08: 95 e7 ldi r25, 0x75 ; 117 |
| 4f0a: a0 e0 ldi r26, 0x00 ; 0 |
| 4f0c: b0 e0 ldi r27, 0x00 ; 0 |
| 4f0e: 80 93 ff 01 sts 0x01FF, r24 |
| 4f12: 90 93 00 02 sts 0x0200, r25 |
| 4f16: a0 93 01 02 sts 0x0201, r26 |
| 4f1a: b0 93 02 02 sts 0x0202, r27 |
| 4f1e: 80 91 ff 01 lds r24, 0x01FF |
| 4f22: 90 91 00 02 lds r25, 0x0200 |
| 4f26: a0 91 01 02 lds r26, 0x0201 |
| 4f2a: b0 91 02 02 lds r27, 0x0202 |
| 4f2e: 80 5d subi r24, 0xD0 ; 208 |
| 4f30: 9a 48 sbci r25, 0x8A ; 138 |
| 4f32: af 4f sbci r26, 0xFF ; 255 |
| 4f34: bf 4f sbci r27, 0xFF ; 255 |
| 4f36: 64 f4 brge .+24 ; 0x4f50 <MotorRegler+0xa94> |
| 4f38: 80 ed ldi r24, 0xD0 ; 208 |
| 4f3a: 9a e8 ldi r25, 0x8A ; 138 |
| 4f3c: af ef ldi r26, 0xFF ; 255 |
| 4f3e: bf ef ldi r27, 0xFF ; 255 |
| 4f40: 80 93 ff 01 sts 0x01FF, r24 |
| 4f44: 90 93 00 02 sts 0x0200, r25 |
| 4f48: a0 93 01 02 sts 0x0201, r26 |
| 4f4c: b0 93 02 02 sts 0x0202, r27 |
| 4f50: 8f ec ldi r24, 0xCF ; 207 |
| 4f52: 80 93 7a 00 sts 0x007A, r24 |
| 4f56: 80 91 e2 04 lds r24, 0x04E2 |
| 4f5a: 83 ff sbrs r24, 3 |
| 4f5c: ae c0 rjmp .+348 ; 0x50ba <MotorRegler+0xbfe> |
| 4f5e: 80 91 11 02 lds r24, 0x0211 |
| 4f62: 81 50 subi r24, 0x01 ; 1 |
| 4f64: 80 93 11 02 sts 0x0211, r24 |
| 4f68: 8f 3f cpi r24, 0xFF ; 255 |
| 4f6a: d9 f4 brne .+54 ; 0x4fa2 <MotorRegler+0xae6> |
| 4f6c: 0e 94 c4 14 call 0x2988 ; 0x2988 <heading_MM3> |
| 4f70: 90 93 0c 02 sts 0x020C, r25 |
| 4f74: 80 93 0b 02 sts 0x020B, r24 |
| 4f78: 20 91 0d 02 lds r18, 0x020D |
| 4f7c: 30 91 0e 02 lds r19, 0x020E |
| 4f80: 82 1b sub r24, r18 |
| 4f82: 93 0b sbc r25, r19 |
| 4f84: 84 5e subi r24, 0xE4 ; 228 |
| 4f86: 9d 4f sbci r25, 0xFD ; 253 |
| 4f88: 68 e6 ldi r22, 0x68 ; 104 |
| 4f8a: 71 e0 ldi r23, 0x01 ; 1 |
| 4f8c: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 4f90: 84 5b subi r24, 0xB4 ; 180 |
| 4f92: 90 40 sbci r25, 0x00 ; 0 |
| 4f94: 90 93 10 02 sts 0x0210, r25 |
| 4f98: 80 93 0f 02 sts 0x020F, r24 |
| 4f9c: 82 e3 ldi r24, 0x32 ; 50 |
| 4f9e: 80 93 11 02 sts 0x0211, r24 |
| 4fa2: 60 91 db 01 lds r22, 0x01DB |
| 4fa6: 70 91 dc 01 lds r23, 0x01DC |
| 4faa: 80 91 dd 01 lds r24, 0x01DD |
| 4fae: 90 91 de 01 lds r25, 0x01DE |
| 4fb2: 20 e0 ldi r18, 0x00 ; 0 |
| 4fb4: 34 e0 ldi r19, 0x04 ; 4 |
| 4fb6: 40 e0 ldi r20, 0x00 ; 0 |
| 4fb8: 50 e0 ldi r21, 0x00 ; 0 |
| 4fba: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4fbe: 89 01 movw r16, r18 |
| 4fc0: 37 ff sbrs r19, 7 |
| 4fc2: 03 c0 rjmp .+6 ; 0x4fca <MotorRegler+0xb0e> |
| 4fc4: 10 95 com r17 |
| 4fc6: 01 95 neg r16 |
| 4fc8: 1f 4f sbci r17, 0xFF ; 255 |
| 4fca: 60 91 e3 01 lds r22, 0x01E3 |
| 4fce: 70 91 e4 01 lds r23, 0x01E4 |
| 4fd2: 80 91 e5 01 lds r24, 0x01E5 |
| 4fd6: 90 91 e6 01 lds r25, 0x01E6 |
| 4fda: 20 e0 ldi r18, 0x00 ; 0 |
| 4fdc: 34 e0 ldi r19, 0x04 ; 4 |
| 4fde: 40 e0 ldi r20, 0x00 ; 0 |
| 4fe0: 50 e0 ldi r21, 0x00 ; 0 |
| 4fe2: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 4fe6: b9 01 movw r22, r18 |
| 4fe8: 37 ff sbrs r19, 7 |
| 4fea: 03 c0 rjmp .+6 ; 0x4ff2 <MotorRegler+0xb36> |
| 4fec: 70 95 com r23 |
| 4fee: 61 95 neg r22 |
| 4ff0: 7f 4f sbci r23, 0xFF ; 255 |
| 4ff2: 60 17 cp r22, r16 |
| 4ff4: 71 07 cpc r23, r17 |
| 4ff6: 0c f4 brge .+2 ; 0x4ffa <MotorRegler+0xb3e> |
| 4ff8: b8 01 movw r22, r16 |
| 4ffa: 63 32 cpi r22, 0x23 ; 35 |
| 4ffc: 71 05 cpc r23, r1 |
| 4ffe: 94 f4 brge .+36 ; 0x5024 <MotorRegler+0xb68> |
| 5000: 80 91 8a 01 lds r24, 0x018A |
| 5004: 88 23 and r24, r24 |
| 5006: 71 f0 breq .+28 ; 0x5024 <MotorRegler+0xb68> |
| 5008: 80 91 2c 02 lds r24, 0x022C |
| 500c: 88 23 and r24, r24 |
| 500e: 51 f4 brne .+20 ; 0x5024 <MotorRegler+0xb68> |
| 5010: 80 91 0b 02 lds r24, 0x020B |
| 5014: 90 91 0c 02 lds r25, 0x020C |
| 5018: 90 93 0e 02 sts 0x020E, r25 |
| 501c: 80 93 0d 02 sts 0x020D, r24 |
| 5020: 10 92 8a 01 sts 0x018A, r1 |
| 5024: 20 91 84 01 lds r18, 0x0184 |
| 5028: 33 27 eor r19, r19 |
| 502a: 62 9f mul r22, r18 |
| 502c: c0 01 movw r24, r0 |
| 502e: 63 9f mul r22, r19 |
| 5030: 90 0d add r25, r0 |
| 5032: 72 9f mul r23, r18 |
| 5034: 90 0d add r25, r0 |
| 5036: 11 24 eor r1, r1 |
| 5038: 60 e4 ldi r22, 0x40 ; 64 |
| 503a: 70 e0 ldi r23, 0x00 ; 0 |
| 503c: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 5040: a9 01 movw r20, r18 |
| 5042: 46 1b sub r20, r22 |
| 5044: 57 0b sbc r21, r23 |
| 5046: 14 16 cp r1, r20 |
| 5048: 15 06 cpc r1, r21 |
| 504a: a4 f5 brge .+104 ; 0x50b4 <MotorRegler+0xbf8> |
| 504c: 80 91 2c 02 lds r24, 0x022C |
| 5050: 88 23 and r24, r24 |
| 5052: 71 f5 brne .+92 ; 0x50b0 <MotorRegler+0xbf4> |
| 5054: 10 92 7a 00 sts 0x007A, r1 |
| 5058: 00 91 ff 01 lds r16, 0x01FF |
| 505c: 10 91 00 02 lds r17, 0x0200 |
| 5060: 20 91 01 02 lds r18, 0x0201 |
| 5064: 30 91 02 02 lds r19, 0x0202 |
| 5068: 80 91 0f 02 lds r24, 0x020F |
| 506c: 90 91 10 02 lds r25, 0x0210 |
| 5070: bc 01 movw r22, r24 |
| 5072: 46 9f mul r20, r22 |
| 5074: c0 01 movw r24, r0 |
| 5076: 47 9f mul r20, r23 |
| 5078: 90 0d add r25, r0 |
| 507a: 56 9f mul r21, r22 |
| 507c: 90 0d add r25, r0 |
| 507e: 11 24 eor r1, r1 |
| 5080: 60 e2 ldi r22, 0x20 ; 32 |
| 5082: 70 e0 ldi r23, 0x00 ; 0 |
| 5084: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 5088: 88 27 eor r24, r24 |
| 508a: 77 fd sbrc r23, 7 |
| 508c: 80 95 com r24 |
| 508e: 98 2f mov r25, r24 |
| 5090: 06 0f add r16, r22 |
| 5092: 17 1f adc r17, r23 |
| 5094: 28 1f adc r18, r24 |
| 5096: 39 1f adc r19, r25 |
| 5098: 00 93 ff 01 sts 0x01FF, r16 |
| 509c: 10 93 00 02 sts 0x0200, r17 |
| 50a0: 20 93 01 02 sts 0x0201, r18 |
| 50a4: 30 93 02 02 sts 0x0202, r19 |
| 50a8: 8f ec ldi r24, 0xCF ; 207 |
| 50aa: 80 93 7a 00 sts 0x007A, r24 |
| 50ae: 05 c0 rjmp .+10 ; 0x50ba <MotorRegler+0xbfe> |
| 50b0: 81 50 subi r24, 0x01 ; 1 |
| 50b2: 01 c0 rjmp .+2 ; 0x50b6 <MotorRegler+0xbfa> |
| 50b4: 8a ef ldi r24, 0xFA ; 250 |
| 50b6: 80 93 2c 02 sts 0x022C, r24 |
| 50ba: 80 91 5f 04 lds r24, 0x045F |
| 50be: 8f 5f subi r24, 0xFF ; 255 |
| 50c0: 80 93 5f 04 sts 0x045F, r24 |
| 50c4: 80 91 2d 02 lds r24, 0x022D |
| 50c8: 81 50 subi r24, 0x01 ; 1 |
| 50ca: 80 93 2d 02 sts 0x022D, r24 |
| 50ce: 8f 3f cpi r24, 0xFF ; 255 |
| 50d0: 09 f0 breq .+2 ; 0x50d4 <MotorRegler+0xc18> |
| 50d2: 68 c0 rjmp .+208 ; 0x51a4 <MotorRegler+0xce8> |
| 50d4: 81 e3 ldi r24, 0x31 ; 49 |
| 50d6: 80 93 2d 02 sts 0x022D, r24 |
| 50da: 60 91 db 01 lds r22, 0x01DB |
| 50de: 70 91 dc 01 lds r23, 0x01DC |
| 50e2: 80 91 dd 01 lds r24, 0x01DD |
| 50e6: 90 91 de 01 lds r25, 0x01DE |
| 50ea: e0 90 ee 04 lds r14, 0x04EE |
| 50ee: ff 24 eor r15, r15 |
| 50f0: 00 27 eor r16, r16 |
| 50f2: 11 27 eor r17, r17 |
| 50f4: a8 01 movw r20, r16 |
| 50f6: 97 01 movw r18, r14 |
| 50f8: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 50fc: 30 93 61 04 sts 0x0461, r19 |
| 5100: 20 93 60 04 sts 0x0460, r18 |
| 5104: 60 91 e3 01 lds r22, 0x01E3 |
| 5108: 70 91 e4 01 lds r23, 0x01E4 |
| 510c: 80 91 e5 01 lds r24, 0x01E5 |
| 5110: 90 91 e6 01 lds r25, 0x01E6 |
| 5114: a8 01 movw r20, r16 |
| 5116: 97 01 movw r18, r14 |
| 5118: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 511c: 30 93 63 04 sts 0x0463, r19 |
| 5120: 20 93 62 04 sts 0x0462, r18 |
| 5124: 80 91 27 05 lds r24, 0x0527 |
| 5128: 90 91 28 05 lds r25, 0x0528 |
| 512c: 90 93 65 04 sts 0x0465, r25 |
| 5130: 80 93 64 04 sts 0x0464, r24 |
| 5134: 80 91 30 05 lds r24, 0x0530 |
| 5138: 90 91 31 05 lds r25, 0x0531 |
| 513c: 90 93 67 04 sts 0x0467, r25 |
| 5140: 80 93 66 04 sts 0x0466, r24 |
| 5144: 80 91 2a 05 lds r24, 0x052A |
| 5148: 90 91 2b 05 lds r25, 0x052B |
| 514c: 90 93 69 04 sts 0x0469, r25 |
| 5150: 80 93 68 04 sts 0x0468, r24 |
| 5154: 80 91 24 02 lds r24, 0x0224 |
| 5158: 90 91 25 02 lds r25, 0x0225 |
| 515c: 90 93 6b 04 sts 0x046B, r25 |
| 5160: 80 93 6a 04 sts 0x046A, r24 |
| 5164: 60 91 07 02 lds r22, 0x0207 |
| 5168: 70 91 08 02 lds r23, 0x0208 |
| 516c: 80 91 09 02 lds r24, 0x0209 |
| 5170: 90 91 0a 02 lds r25, 0x020A |
| 5174: 20 e0 ldi r18, 0x00 ; 0 |
| 5176: 32 e0 ldi r19, 0x02 ; 2 |
| 5178: 40 e0 ldi r20, 0x00 ; 0 |
| 517a: 50 e0 ldi r21, 0x00 ; 0 |
| 517c: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 5180: 30 93 6d 04 sts 0x046D, r19 |
| 5184: 20 93 6c 04 sts 0x046C, r18 |
| 5188: 89 81 ldd r24, Y+1 ; 0x01 |
| 518a: 9a 81 ldd r25, Y+2 ; 0x02 |
| 518c: 90 93 6f 04 sts 0x046F, r25 |
| 5190: 80 93 6e 04 sts 0x046E, r24 |
| 5194: 80 91 0b 02 lds r24, 0x020B |
| 5198: 90 91 0c 02 lds r25, 0x020C |
| 519c: 90 93 71 04 sts 0x0471, r25 |
| 51a0: 80 93 70 04 sts 0x0470, r24 |
| 51a4: 60 91 db 01 lds r22, 0x01DB |
| 51a8: 70 91 dc 01 lds r23, 0x01DC |
| 51ac: 80 91 dd 01 lds r24, 0x01DD |
| 51b0: 90 91 de 01 lds r25, 0x01DE |
| 51b4: 20 90 1b 05 lds r2, 0x051B |
| 51b8: 30 90 1c 05 lds r3, 0x051C |
| 51bc: 40 90 1d 05 lds r4, 0x051D |
| 51c0: 50 90 1e 05 lds r5, 0x051E |
| 51c4: e0 90 16 05 lds r14, 0x0516 |
| 51c8: f0 90 17 05 lds r15, 0x0517 |
| 51cc: 60 90 2c 05 lds r6, 0x052C |
| 51d0: 70 90 2d 05 lds r7, 0x052D |
| 51d4: 80 90 2e 05 lds r8, 0x052E |
| 51d8: 90 90 2f 05 lds r9, 0x052F |
| 51dc: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 51e0: a2 01 movw r20, r4 |
| 51e2: 91 01 movw r18, r2 |
| 51e4: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 51e8: 5b 01 movw r10, r22 |
| 51ea: 6c 01 movw r12, r24 |
| 51ec: 00 27 eor r16, r16 |
| 51ee: f7 fc sbrc r15, 7 |
| 51f0: 00 95 com r16 |
| 51f2: 10 2f mov r17, r16 |
| 51f4: c8 01 movw r24, r16 |
| 51f6: b7 01 movw r22, r14 |
| 51f8: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 51fc: a4 01 movw r20, r8 |
| 51fe: 93 01 movw r18, r6 |
| 5200: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 5204: 9b 01 movw r18, r22 |
| 5206: ac 01 movw r20, r24 |
| 5208: c6 01 movw r24, r12 |
| 520a: b5 01 movw r22, r10 |
| 520c: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 5210: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 5214: 70 93 17 05 sts 0x0517, r23 |
| 5218: 60 93 16 05 sts 0x0516, r22 |
| 521c: 60 91 e3 01 lds r22, 0x01E3 |
| 5220: 70 91 e4 01 lds r23, 0x01E4 |
| 5224: 80 91 e5 01 lds r24, 0x01E5 |
| 5228: 90 91 e6 01 lds r25, 0x01E6 |
| 522c: e0 90 14 05 lds r14, 0x0514 |
| 5230: f0 90 15 05 lds r15, 0x0515 |
| 5234: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 5238: a2 01 movw r20, r4 |
| 523a: 91 01 movw r18, r2 |
| 523c: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 5240: 5b 01 movw r10, r22 |
| 5242: 6c 01 movw r12, r24 |
| 5244: 00 27 eor r16, r16 |
| 5246: f7 fc sbrc r15, 7 |
| 5248: 00 95 com r16 |
| 524a: 10 2f mov r17, r16 |
| 524c: c8 01 movw r24, r16 |
| 524e: b7 01 movw r22, r14 |
| 5250: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 5254: a4 01 movw r20, r8 |
| 5256: 93 01 movw r18, r6 |
| 5258: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 525c: 9b 01 movw r18, r22 |
| 525e: ac 01 movw r20, r24 |
| 5260: c6 01 movw r24, r12 |
| 5262: b5 01 movw r22, r10 |
| 5264: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 5268: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 526c: 70 93 15 05 sts 0x0515, r23 |
| 5270: 60 93 14 05 sts 0x0514, r22 |
| 5274: 60 91 2a 05 lds r22, 0x052A |
| 5278: 70 91 2b 05 lds r23, 0x052B |
| 527c: a0 90 eb 01 lds r10, 0x01EB |
| 5280: b0 90 ec 01 lds r11, 0x01EC |
| 5284: c0 90 ed 01 lds r12, 0x01ED |
| 5288: d0 90 ee 01 lds r13, 0x01EE |
| 528c: 88 27 eor r24, r24 |
| 528e: 77 fd sbrc r23, 7 |
| 5290: 80 95 com r24 |
| 5292: 98 2f mov r25, r24 |
| 5294: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 5298: 7b 01 movw r14, r22 |
| 529a: 8c 01 movw r16, r24 |
| 529c: 20 e0 ldi r18, 0x00 ; 0 |
| 529e: 30 e0 ldi r19, 0x00 ; 0 |
| 52a0: 40 e0 ldi r20, 0x00 ; 0 |
| 52a2: 5f e3 ldi r21, 0x3F ; 63 |
| 52a4: c4 01 movw r24, r8 |
| 52a6: b3 01 movw r22, r6 |
| 52a8: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 52ac: 9b 01 movw r18, r22 |
| 52ae: ac 01 movw r20, r24 |
| 52b0: c8 01 movw r24, r16 |
| 52b2: b7 01 movw r22, r14 |
| 52b4: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 52b8: 7b 01 movw r14, r22 |
| 52ba: 8c 01 movw r16, r24 |
| 52bc: c6 01 movw r24, r12 |
| 52be: b5 01 movw r22, r10 |
| 52c0: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 52c4: a2 01 movw r20, r4 |
| 52c6: 91 01 movw r18, r2 |
| 52c8: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 52cc: 9b 01 movw r18, r22 |
| 52ce: ac 01 movw r20, r24 |
| 52d0: c8 01 movw r24, r16 |
| 52d2: b7 01 movw r22, r14 |
| 52d4: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 52d8: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 52dc: 70 93 2b 05 sts 0x052B, r23 |
| 52e0: 60 93 2a 05 sts 0x052A, r22 |
| 52e4: 80 91 16 05 lds r24, 0x0516 |
| 52e8: 90 91 17 05 lds r25, 0x0517 |
| 52ec: 81 50 subi r24, 0x01 ; 1 |
| 52ee: 98 40 sbci r25, 0x08 ; 8 |
| 52f0: 34 f0 brlt .+12 ; 0x52fe <MotorRegler+0xe42> |
| 52f2: 80 e0 ldi r24, 0x00 ; 0 |
| 52f4: 98 e0 ldi r25, 0x08 ; 8 |
| 52f6: 90 93 17 05 sts 0x0517, r25 |
| 52fa: 80 93 16 05 sts 0x0516, r24 |
| 52fe: 80 91 16 05 lds r24, 0x0516 |
| 5302: 90 91 17 05 lds r25, 0x0517 |
| 5306: 80 50 subi r24, 0x00 ; 0 |
| 5308: 98 4f sbci r25, 0xF8 ; 248 |
| 530a: 34 f4 brge .+12 ; 0x5318 <MotorRegler+0xe5c> |
| 530c: 80 e0 ldi r24, 0x00 ; 0 |
| 530e: 98 ef ldi r25, 0xF8 ; 248 |
| 5310: 90 93 17 05 sts 0x0517, r25 |
| 5314: 80 93 16 05 sts 0x0516, r24 |
| 5318: 80 91 14 05 lds r24, 0x0514 |
| 531c: 90 91 15 05 lds r25, 0x0515 |
| 5320: 81 50 subi r24, 0x01 ; 1 |
| 5322: 98 40 sbci r25, 0x08 ; 8 |
| 5324: 34 f0 brlt .+12 ; 0x5332 <MotorRegler+0xe76> |
| 5326: 80 e0 ldi r24, 0x00 ; 0 |
| 5328: 98 e0 ldi r25, 0x08 ; 8 |
| 532a: 90 93 15 05 sts 0x0515, r25 |
| 532e: 80 93 14 05 sts 0x0514, r24 |
| 5332: 80 91 14 05 lds r24, 0x0514 |
| 5336: 90 91 15 05 lds r25, 0x0515 |
| 533a: 80 50 subi r24, 0x00 ; 0 |
| 533c: 98 4f sbci r25, 0xF8 ; 248 |
| 533e: 34 f4 brge .+12 ; 0x534c <MotorRegler+0xe90> |
| 5340: 80 e0 ldi r24, 0x00 ; 0 |
| 5342: 98 ef ldi r25, 0xF8 ; 248 |
| 5344: 90 93 15 05 sts 0x0515, r25 |
| 5348: 80 93 14 05 sts 0x0514, r24 |
| 534c: 80 91 2a 05 lds r24, 0x052A |
| 5350: 90 91 2b 05 lds r25, 0x052B |
| 5354: 81 50 subi r24, 0x01 ; 1 |
| 5356: 98 40 sbci r25, 0x08 ; 8 |
| 5358: 34 f0 brlt .+12 ; 0x5366 <MotorRegler+0xeaa> |
| 535a: 80 e0 ldi r24, 0x00 ; 0 |
| 535c: 98 e0 ldi r25, 0x08 ; 8 |
| 535e: 90 93 2b 05 sts 0x052B, r25 |
| 5362: 80 93 2a 05 sts 0x052A, r24 |
| 5366: 80 91 2a 05 lds r24, 0x052A |
| 536a: 90 91 2b 05 lds r25, 0x052B |
| 536e: 80 50 subi r24, 0x00 ; 0 |
| 5370: 98 4f sbci r25, 0xF8 ; 248 |
| 5372: 34 f4 brge .+12 ; 0x5380 <MotorRegler+0xec4> |
| 5374: 80 e0 ldi r24, 0x00 ; 0 |
| 5376: 98 ef ldi r25, 0xF8 ; 248 |
| 5378: 90 93 2b 05 sts 0x052B, r25 |
| 537c: 80 93 2a 05 sts 0x052A, r24 |
| 5380: 80 91 e2 04 lds r24, 0x04E2 |
| 5384: 99 27 eor r25, r25 |
| 5386: 80 ff sbrs r24, 0 |
| 5388: cd c0 rjmp .+410 ; 0x5524 <MotorRegler+0x1068> |
| 538a: 20 91 81 01 lds r18, 0x0181 |
| 538e: 81 ff sbrs r24, 1 |
| 5390: 0e c0 rjmp .+28 ; 0x53ae <MotorRegler+0xef2> |
| 5392: 22 33 cpi r18, 0x32 ; 50 |
| 5394: b0 f4 brcc .+44 ; 0x53c2 <MotorRegler+0xf06> |
| 5396: 80 91 24 02 lds r24, 0x0224 |
| 539a: 90 91 25 02 lds r25, 0x0225 |
| 539e: 44 97 sbiw r24, 0x14 ; 20 |
| 53a0: 90 93 27 02 sts 0x0227, r25 |
| 53a4: 80 93 26 02 sts 0x0226, r24 |
| 53a8: 10 92 13 02 sts 0x0213, r1 |
| 53ac: 0d c0 rjmp .+26 ; 0x53c8 <MotorRegler+0xf0c> |
| 53ae: 80 91 e7 04 lds r24, 0x04E7 |
| 53b2: 28 9f mul r18, r24 |
| 53b4: c0 01 movw r24, r0 |
| 53b6: 11 24 eor r1, r1 |
| 53b8: 44 97 sbiw r24, 0x14 ; 20 |
| 53ba: 90 93 27 02 sts 0x0227, r25 |
| 53be: 80 93 26 02 sts 0x0226, r24 |
| 53c2: 81 e0 ldi r24, 0x01 ; 1 |
| 53c4: 80 93 13 02 sts 0x0213, r24 |
| 53c8: 80 91 12 02 lds r24, 0x0212 |
| 53cc: 88 23 and r24, r24 |
| 53ce: 21 f0 breq .+8 ; 0x53d8 <MotorRegler+0xf1c> |
| 53d0: 10 92 27 02 sts 0x0227, r1 |
| 53d4: 10 92 26 02 sts 0x0226, r1 |
| 53d8: 20 91 24 02 lds r18, 0x0224 |
| 53dc: 30 91 25 02 lds r19, 0x0225 |
| 53e0: 40 91 26 02 lds r20, 0x0226 |
| 53e4: 50 91 27 02 lds r21, 0x0227 |
| 53e8: 42 17 cp r20, r18 |
| 53ea: 53 07 cpc r21, r19 |
| 53ec: 0c f0 brlt .+2 ; 0x53f0 <MotorRegler+0xf34> |
| 53ee: 9a c0 rjmp .+308 ; 0x5524 <MotorRegler+0x1068> |
| 53f0: 80 91 13 02 lds r24, 0x0213 |
| 53f4: 88 23 and r24, r24 |
| 53f6: 09 f4 brne .+2 ; 0x53fa <MotorRegler+0xf3e> |
| 53f8: 95 c0 rjmp .+298 ; 0x5524 <MotorRegler+0x1068> |
| 53fa: 24 1b sub r18, r20 |
| 53fc: 35 0b sbc r19, r21 |
| 53fe: 80 91 82 01 lds r24, 0x0182 |
| 5402: 99 27 eor r25, r25 |
| 5404: bc 01 movw r22, r24 |
| 5406: 26 9f mul r18, r22 |
| 5408: c0 01 movw r24, r0 |
| 540a: 27 9f mul r18, r23 |
| 540c: 90 0d add r25, r0 |
| 540e: 36 9f mul r19, r22 |
| 5410: 90 0d add r25, r0 |
| 5412: 11 24 eor r1, r1 |
| 5414: 60 e1 ldi r22, 0x10 ; 16 |
| 5416: 70 e0 ldi r23, 0x00 ; 0 |
| 5418: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 541c: 09 81 ldd r16, Y+1 ; 0x01 |
| 541e: 1a 81 ldd r17, Y+2 ; 0x02 |
| 5420: 06 1b sub r16, r22 |
| 5422: 17 0b sbc r17, r23 |
| 5424: 20 91 bf 01 lds r18, 0x01BF |
| 5428: 30 91 c0 01 lds r19, 0x01C0 |
| 542c: 80 91 80 01 lds r24, 0x0180 |
| 5430: 99 27 eor r25, r25 |
| 5432: fc 01 movw r30, r24 |
| 5434: 2e 9f mul r18, r30 |
| 5436: c0 01 movw r24, r0 |
| 5438: 2f 9f mul r18, r31 |
| 543a: 90 0d add r25, r0 |
| 543c: 3e 9f mul r19, r30 |
| 543e: 90 0d add r25, r0 |
| 5440: 11 24 eor r1, r1 |
| 5442: 68 e0 ldi r22, 0x08 ; 8 |
| 5444: 70 e0 ldi r23, 0x00 ; 0 |
| 5446: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 544a: 06 1b sub r16, r22 |
| 544c: 17 0b sbc r17, r23 |
| 544e: 60 91 07 02 lds r22, 0x0207 |
| 5452: 70 91 08 02 lds r23, 0x0208 |
| 5456: 80 91 09 02 lds r24, 0x0209 |
| 545a: 90 91 0a 02 lds r25, 0x020A |
| 545e: 20 e0 ldi r18, 0x00 ; 0 |
| 5460: 32 e0 ldi r19, 0x02 ; 2 |
| 5462: 40 e0 ldi r20, 0x00 ; 0 |
| 5464: 50 e0 ldi r21, 0x00 ; 0 |
| 5466: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 546a: ca 01 movw r24, r20 |
| 546c: b9 01 movw r22, r18 |
| 546e: 20 91 83 01 lds r18, 0x0183 |
| 5472: 33 27 eor r19, r19 |
| 5474: 44 27 eor r20, r20 |
| 5476: 55 27 eor r21, r21 |
| 5478: 0e 94 5f 2e call 0x5cbe ; 0x5cbe <__mulsi3> |
| 547c: 20 e2 ldi r18, 0x20 ; 32 |
| 547e: 30 e0 ldi r19, 0x00 ; 0 |
| 5480: 40 e0 ldi r20, 0x00 ; 0 |
| 5482: 50 e0 ldi r21, 0x00 ; 0 |
| 5484: 0e 94 c7 2e call 0x5d8e ; 0x5d8e <__divmodsi4> |
| 5488: ff ef ldi r31, 0xFF ; 255 |
| 548a: 2e 3c cpi r18, 0xCE ; 206 |
| 548c: 3f 07 cpc r19, r31 |
| 548e: 14 f4 brge .+4 ; 0x5494 <MotorRegler+0xfd8> |
| 5490: 2e ec ldi r18, 0xCE ; 206 |
| 5492: 3f ef ldi r19, 0xFF ; 255 |
| 5494: 80 91 2e 02 lds r24, 0x022E |
| 5498: 90 91 2f 02 lds r25, 0x022F |
| 549c: ac 01 movw r20, r24 |
| 549e: 64 e0 ldi r22, 0x04 ; 4 |
| 54a0: 44 0f add r20, r20 |
| 54a2: 55 1f adc r21, r21 |
| 54a4: 6a 95 dec r22 |
| 54a6: e1 f7 brne .-8 ; 0x54a0 <MotorRegler+0xfe4> |
| 54a8: 48 1b sub r20, r24 |
| 54aa: 59 0b sbc r21, r25 |
| 54ac: 23 33 cpi r18, 0x33 ; 51 |
| 54ae: 31 05 cpc r19, r1 |
| 54b0: 14 f0 brlt .+4 ; 0x54b6 <MotorRegler+0xffa> |
| 54b2: 22 e3 ldi r18, 0x32 ; 50 |
| 54b4: 30 e0 ldi r19, 0x00 ; 0 |
| 54b6: 02 1b sub r16, r18 |
| 54b8: 13 0b sbc r17, r19 |
| 54ba: ca 01 movw r24, r20 |
| 54bc: 80 0f add r24, r16 |
| 54be: 91 1f adc r25, r17 |
| 54c0: 60 e1 ldi r22, 0x10 ; 16 |
| 54c2: 70 e0 ldi r23, 0x00 ; 0 |
| 54c4: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 54c8: 70 93 2f 02 sts 0x022F, r23 |
| 54cc: 60 93 2e 02 sts 0x022E, r22 |
| 54d0: 80 91 e3 04 lds r24, 0x04E3 |
| 54d4: 99 27 eor r25, r25 |
| 54d6: 68 17 cp r22, r24 |
| 54d8: 79 07 cpc r23, r25 |
| 54da: 8c f4 brge .+34 ; 0x54fe <MotorRegler+0x1042> |
| 54dc: 29 81 ldd r18, Y+1 ; 0x01 |
| 54de: 3a 81 ldd r19, Y+2 ; 0x02 |
| 54e0: 28 17 cp r18, r24 |
| 54e2: 39 07 cpc r19, r25 |
| 54e4: 2c f0 brlt .+10 ; 0x54f0 <MotorRegler+0x1034> |
| 54e6: 90 93 2f 02 sts 0x022F, r25 |
| 54ea: 80 93 2e 02 sts 0x022E, r24 |
| 54ee: 07 c0 rjmp .+14 ; 0x54fe <MotorRegler+0x1042> |
| 54f0: 49 81 ldd r20, Y+1 ; 0x01 |
| 54f2: 5a 81 ldd r21, Y+2 ; 0x02 |
| 54f4: 50 93 2f 02 sts 0x022F, r21 |
| 54f8: 40 93 2e 02 sts 0x022E, r20 |
| 54fc: 0d c0 rjmp .+26 ; 0x5518 <MotorRegler+0x105c> |
| 54fe: 80 91 2e 02 lds r24, 0x022E |
| 5502: 90 91 2f 02 lds r25, 0x022F |
| 5506: 69 81 ldd r22, Y+1 ; 0x01 |
| 5508: 7a 81 ldd r23, Y+2 ; 0x02 |
| 550a: 68 17 cp r22, r24 |
| 550c: 79 07 cpc r23, r25 |
| 550e: 24 f4 brge .+8 ; 0x5518 <MotorRegler+0x105c> |
| 5510: 70 93 2f 02 sts 0x022F, r23 |
| 5514: 60 93 2e 02 sts 0x022E, r22 |
| 5518: 80 91 2e 02 lds r24, 0x022E |
| 551c: 90 91 2f 02 lds r25, 0x022F |
| 5520: 9a 83 std Y+2, r25 ; 0x02 |
| 5522: 89 83 std Y+1, r24 ; 0x01 |
| 5524: c0 90 2a 05 lds r12, 0x052A |
| 5528: d0 90 2b 05 lds r13, 0x052B |
| 552c: 80 91 43 02 lds r24, 0x0243 |
| 5530: 90 91 44 02 lds r25, 0x0244 |
| 5534: c8 1a sub r12, r24 |
| 5536: d9 0a sbc r13, r25 |
| 5538: 95 e6 ldi r25, 0x65 ; 101 |
| 553a: c9 16 cp r12, r25 |
| 553c: d1 04 cpc r13, r1 |
| 553e: 24 f0 brlt .+8 ; 0x5548 <MotorRegler+0x108c> |
| 5540: 14 e6 ldi r17, 0x64 ; 100 |
| 5542: c1 2e mov r12, r17 |
| 5544: d1 2c mov r13, r1 |
| 5546: 09 c0 rjmp .+18 ; 0x555a <MotorRegler+0x109e> |
| 5548: ec e9 ldi r30, 0x9C ; 156 |
| 554a: ce 16 cp r12, r30 |
| 554c: ef ef ldi r30, 0xFF ; 255 |
| 554e: de 06 cpc r13, r30 |
| 5550: 24 f4 brge .+8 ; 0x555a <MotorRegler+0x109e> |
| 5552: bc e9 ldi r27, 0x9C ; 156 |
| 5554: cb 2e mov r12, r27 |
| 5556: bf ef ldi r27, 0xFF ; 255 |
| 5558: db 2e mov r13, r27 |
| 555a: 40 90 78 01 lds r4, 0x0178 |
| 555e: 50 90 79 01 lds r5, 0x0179 |
| 5562: 60 90 7a 01 lds r6, 0x017A |
| 5566: 70 90 7b 01 lds r7, 0x017B |
| 556a: 60 91 16 05 lds r22, 0x0516 |
| 556e: 70 91 17 05 lds r23, 0x0517 |
| 5572: 20 91 1d 02 lds r18, 0x021D |
| 5576: 30 91 1e 02 lds r19, 0x021E |
| 557a: 40 91 4f 02 lds r20, 0x024F |
| 557e: 50 91 50 02 lds r21, 0x0250 |
| 5582: 24 1b sub r18, r20 |
| 5584: 35 0b sbc r19, r21 |
| 5586: 62 1b sub r22, r18 |
| 5588: 73 0b sbc r23, r19 |
| 558a: 88 27 eor r24, r24 |
| 558c: 77 fd sbrc r23, 7 |
| 558e: 80 95 com r24 |
| 5590: 98 2f mov r25, r24 |
| 5592: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 5596: 9b 01 movw r18, r22 |
| 5598: ac 01 movw r20, r24 |
| 559a: c3 01 movw r24, r6 |
| 559c: b2 01 movw r22, r4 |
| 559e: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 55a2: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 55a6: 70 93 68 02 sts 0x0268, r23 |
| 55aa: 60 93 67 02 sts 0x0267, r22 |
| 55ae: 80 91 67 02 lds r24, 0x0267 |
| 55b2: 90 91 68 02 lds r25, 0x0268 |
| 55b6: 8c 01 movw r16, r24 |
| 55b8: 22 27 eor r18, r18 |
| 55ba: 17 fd sbrc r17, 7 |
| 55bc: 20 95 com r18 |
| 55be: 32 2f mov r19, r18 |
| 55c0: 80 91 4b 02 lds r24, 0x024B |
| 55c4: 90 91 4c 02 lds r25, 0x024C |
| 55c8: a0 91 4d 02 lds r26, 0x024D |
| 55cc: b0 91 4e 02 lds r27, 0x024E |
| 55d0: 08 0f add r16, r24 |
| 55d2: 19 1f adc r17, r25 |
| 55d4: 2a 1f adc r18, r26 |
| 55d6: 3b 1f adc r19, r27 |
| 55d8: 00 93 4b 02 sts 0x024B, r16 |
| 55dc: 10 93 4c 02 sts 0x024C, r17 |
| 55e0: 20 93 4d 02 sts 0x024D, r18 |
| 55e4: 30 93 4e 02 sts 0x024E, r19 |
| 55e8: 10 16 cp r1, r16 |
| 55ea: 11 06 cpc r1, r17 |
| 55ec: 12 06 cpc r1, r18 |
| 55ee: 13 06 cpc r1, r19 |
| 55f0: ac f4 brge .+42 ; 0x561c <MotorRegler+0x1160> |
| 55f2: c8 01 movw r24, r16 |
| 55f4: 17 ff sbrs r17, 7 |
| 55f6: 03 c0 rjmp .+6 ; 0x55fe <MotorRegler+0x1142> |
| 55f8: 90 95 com r25 |
| 55fa: 81 95 neg r24 |
| 55fc: 9f 4f sbci r25, 0xFF ; 255 |
| 55fe: 60 e0 ldi r22, 0x00 ; 0 |
| 5600: 71 e0 ldi r23, 0x01 ; 1 |
| 5602: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 5606: 6f 5f subi r22, 0xFF ; 255 |
| 5608: 7f 4f sbci r23, 0xFF ; 255 |
| 560a: 88 27 eor r24, r24 |
| 560c: 77 fd sbrc r23, 7 |
| 560e: 80 95 com r24 |
| 5610: 98 2f mov r25, r24 |
| 5612: 06 1b sub r16, r22 |
| 5614: 17 0b sbc r17, r23 |
| 5616: 28 0b sbc r18, r24 |
| 5618: 39 0b sbc r19, r25 |
| 561a: 14 c0 rjmp .+40 ; 0x5644 <MotorRegler+0x1188> |
| 561c: c8 01 movw r24, r16 |
| 561e: 17 ff sbrs r17, 7 |
| 5620: 03 c0 rjmp .+6 ; 0x5628 <MotorRegler+0x116c> |
| 5622: 90 95 com r25 |
| 5624: 81 95 neg r24 |
| 5626: 9f 4f sbci r25, 0xFF ; 255 |
| 5628: 60 e0 ldi r22, 0x00 ; 0 |
| 562a: 71 e0 ldi r23, 0x01 ; 1 |
| 562c: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 5630: 6f 5f subi r22, 0xFF ; 255 |
| 5632: 7f 4f sbci r23, 0xFF ; 255 |
| 5634: 88 27 eor r24, r24 |
| 5636: 77 fd sbrc r23, 7 |
| 5638: 80 95 com r24 |
| 563a: 98 2f mov r25, r24 |
| 563c: 06 0f add r16, r22 |
| 563e: 17 1f adc r17, r23 |
| 5640: 28 1f adc r18, r24 |
| 5642: 39 1f adc r19, r25 |
| 5644: 00 93 4b 02 sts 0x024B, r16 |
| 5648: 10 93 4c 02 sts 0x024C, r17 |
| 564c: 20 93 4d 02 sts 0x024D, r18 |
| 5650: 30 93 4e 02 sts 0x024E, r19 |
| 5654: 80 91 4b 02 lds r24, 0x024B |
| 5658: 90 91 4c 02 lds r25, 0x024C |
| 565c: a0 91 4d 02 lds r26, 0x024D |
| 5660: b0 91 4e 02 lds r27, 0x024E |
| 5664: 81 38 cpi r24, 0x81 ; 129 |
| 5666: fe e3 ldi r31, 0x3E ; 62 |
| 5668: 9f 07 cpc r25, r31 |
| 566a: f0 e0 ldi r31, 0x00 ; 0 |
| 566c: af 07 cpc r26, r31 |
| 566e: f0 e0 ldi r31, 0x00 ; 0 |
| 5670: bf 07 cpc r27, r31 |
| 5672: 2c f0 brlt .+10 ; 0x567e <MotorRegler+0x11c2> |
| 5674: 80 e8 ldi r24, 0x80 ; 128 |
| 5676: 9e e3 ldi r25, 0x3E ; 62 |
| 5678: a0 e0 ldi r26, 0x00 ; 0 |
| 567a: b0 e0 ldi r27, 0x00 ; 0 |
| 567c: 09 c0 rjmp .+18 ; 0x5690 <MotorRegler+0x11d4> |
| 567e: 80 58 subi r24, 0x80 ; 128 |
| 5680: 91 4c sbci r25, 0xC1 ; 193 |
| 5682: af 4f sbci r26, 0xFF ; 255 |
| 5684: bf 4f sbci r27, 0xFF ; 255 |
| 5686: 64 f4 brge .+24 ; 0x56a0 <MotorRegler+0x11e4> |
| 5688: 80 e8 ldi r24, 0x80 ; 128 |
| 568a: 91 ec ldi r25, 0xC1 ; 193 |
| 568c: af ef ldi r26, 0xFF ; 255 |
| 568e: bf ef ldi r27, 0xFF ; 255 |
| 5690: 80 93 4b 02 sts 0x024B, r24 |
| 5694: 90 93 4c 02 sts 0x024C, r25 |
| 5698: a0 93 4d 02 sts 0x024D, r26 |
| 569c: b0 93 4e 02 sts 0x024E, r27 |
| 56a0: 60 91 67 02 lds r22, 0x0267 |
| 56a4: 70 91 68 02 lds r23, 0x0268 |
| 56a8: 80 90 7c 01 lds r8, 0x017C |
| 56ac: 90 90 7d 01 lds r9, 0x017D |
| 56b0: a0 90 7e 01 lds r10, 0x017E |
| 56b4: b0 90 7f 01 lds r11, 0x017F |
| 56b8: 88 27 eor r24, r24 |
| 56ba: 77 fd sbrc r23, 7 |
| 56bc: 80 95 com r24 |
| 56be: 98 2f mov r25, r24 |
| 56c0: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 56c4: 7b 01 movw r14, r22 |
| 56c6: 8c 01 movw r16, r24 |
| 56c8: 60 91 4b 02 lds r22, 0x024B |
| 56cc: 70 91 4c 02 lds r23, 0x024C |
| 56d0: 80 91 4d 02 lds r24, 0x024D |
| 56d4: 90 91 4e 02 lds r25, 0x024E |
| 56d8: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 56dc: 9b 01 movw r18, r22 |
| 56de: ac 01 movw r20, r24 |
| 56e0: c5 01 movw r24, r10 |
| 56e2: b4 01 movw r22, r8 |
| 56e4: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 56e8: 9b 01 movw r18, r22 |
| 56ea: ac 01 movw r20, r24 |
| 56ec: c8 01 movw r24, r16 |
| 56ee: b7 01 movw r22, r14 |
| 56f0: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 56f4: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 56f8: 96 01 movw r18, r12 |
| 56fa: 26 0f add r18, r22 |
| 56fc: 37 1f adc r19, r23 |
| 56fe: 49 81 ldd r20, Y+1 ; 0x01 |
| 5700: 5a 81 ldd r21, Y+2 ; 0x02 |
| 5702: 24 0f add r18, r20 |
| 5704: 35 1f adc r19, r21 |
| 5706: 22 24 eor r2, r2 |
| 5708: 4a 30 cpi r20, 0x0A ; 10 |
| 570a: 51 05 cpc r21, r1 |
| 570c: 14 f4 brge .+4 ; 0x5712 <MotorRegler+0x1256> |
| 570e: a1 e0 ldi r26, 0x01 ; 1 |
| 5710: 2a 2e mov r2, r26 |
| 5712: 37 fd sbrc r19, 7 |
| 5714: 02 c0 rjmp .+4 ; 0x571a <MotorRegler+0x125e> |
| 5716: 22 20 and r2, r2 |
| 5718: 19 f0 breq .+6 ; 0x5720 <MotorRegler+0x1264> |
| 571a: 40 e0 ldi r20, 0x00 ; 0 |
| 571c: 50 e0 ldi r21, 0x00 ; 0 |
| 571e: 08 c0 rjmp .+16 ; 0x5730 <MotorRegler+0x1274> |
| 5720: 80 91 29 05 lds r24, 0x0529 |
| 5724: 48 2f mov r20, r24 |
| 5726: 55 27 eor r21, r21 |
| 5728: 24 17 cp r18, r20 |
| 572a: 35 07 cpc r19, r21 |
| 572c: 0c f4 brge .+2 ; 0x5730 <MotorRegler+0x1274> |
| 572e: a9 01 movw r20, r18 |
| 5730: 80 91 18 05 lds r24, 0x0518 |
| 5734: e8 2f mov r30, r24 |
| 5736: ff 27 eor r31, r31 |
| 5738: fc 83 std Y+4, r31 ; 0x04 |
| 573a: eb 83 std Y+3, r30 ; 0x03 |
| 573c: 9f 01 movw r18, r30 |
| 573e: e4 17 cp r30, r20 |
| 5740: f5 07 cpc r31, r21 |
| 5742: 0c f4 brge .+2 ; 0x5746 <MotorRegler+0x128a> |
| 5744: 9a 01 movw r18, r20 |
| 5746: 20 93 65 02 sts 0x0265, r18 |
| 574a: 29 81 ldd r18, Y+1 ; 0x01 |
| 574c: 3a 81 ldd r19, Y+2 ; 0x02 |
| 574e: 26 1b sub r18, r22 |
| 5750: 37 0b sbc r19, r23 |
| 5752: b9 01 movw r22, r18 |
| 5754: 6c 0d add r22, r12 |
| 5756: 7d 1d adc r23, r13 |
| 5758: 77 fd sbrc r23, 7 |
| 575a: 02 c0 rjmp .+4 ; 0x5760 <MotorRegler+0x12a4> |
| 575c: 22 20 and r2, r2 |
| 575e: 19 f0 breq .+6 ; 0x5766 <MotorRegler+0x12aa> |
| 5760: 80 e0 ldi r24, 0x00 ; 0 |
| 5762: 90 e0 ldi r25, 0x00 ; 0 |
| 5764: 07 c0 rjmp .+14 ; 0x5774 <MotorRegler+0x12b8> |
| 5766: 80 91 29 05 lds r24, 0x0529 |
| 576a: 99 27 eor r25, r25 |
| 576c: 68 17 cp r22, r24 |
| 576e: 79 07 cpc r23, r25 |
| 5770: 0c f4 brge .+2 ; 0x5774 <MotorRegler+0x12b8> |
| 5772: cb 01 movw r24, r22 |
| 5774: 2b 81 ldd r18, Y+3 ; 0x03 |
| 5776: 3c 81 ldd r19, Y+4 ; 0x04 |
| 5778: 28 17 cp r18, r24 |
| 577a: 39 07 cpc r19, r25 |
| 577c: 0c f4 brge .+2 ; 0x5780 <MotorRegler+0x12c4> |
| 577e: 9c 01 movw r18, r24 |
| 5780: 20 93 66 02 sts 0x0266, r18 |
| 5784: 60 91 14 05 lds r22, 0x0514 |
| 5788: 70 91 15 05 lds r23, 0x0515 |
| 578c: 20 91 1f 02 lds r18, 0x021F |
| 5790: 30 91 20 02 lds r19, 0x0220 |
| 5794: 40 91 51 02 lds r20, 0x0251 |
| 5798: 50 91 52 02 lds r21, 0x0252 |
| 579c: 24 1b sub r18, r20 |
| 579e: 35 0b sbc r19, r21 |
| 57a0: 62 1b sub r22, r18 |
| 57a2: 73 0b sbc r23, r19 |
| 57a4: 88 27 eor r24, r24 |
| 57a6: 77 fd sbrc r23, 7 |
| 57a8: 80 95 com r24 |
| 57aa: 98 2f mov r25, r24 |
| 57ac: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 57b0: 9b 01 movw r18, r22 |
| 57b2: ac 01 movw r20, r24 |
| 57b4: c3 01 movw r24, r6 |
| 57b6: b2 01 movw r22, r4 |
| 57b8: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 57bc: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 57c0: 70 93 64 02 sts 0x0264, r23 |
| 57c4: 60 93 63 02 sts 0x0263, r22 |
| 57c8: 80 91 63 02 lds r24, 0x0263 |
| 57cc: 90 91 64 02 lds r25, 0x0264 |
| 57d0: 8c 01 movw r16, r24 |
| 57d2: 22 27 eor r18, r18 |
| 57d4: 17 fd sbrc r17, 7 |
| 57d6: 20 95 com r18 |
| 57d8: 32 2f mov r19, r18 |
| 57da: 80 91 47 02 lds r24, 0x0247 |
| 57de: 90 91 48 02 lds r25, 0x0248 |
| 57e2: a0 91 49 02 lds r26, 0x0249 |
| 57e6: b0 91 4a 02 lds r27, 0x024A |
| 57ea: 08 0f add r16, r24 |
| 57ec: 19 1f adc r17, r25 |
| 57ee: 2a 1f adc r18, r26 |
| 57f0: 3b 1f adc r19, r27 |
| 57f2: 00 93 47 02 sts 0x0247, r16 |
| 57f6: 10 93 48 02 sts 0x0248, r17 |
| 57fa: 20 93 49 02 sts 0x0249, r18 |
| 57fe: 30 93 4a 02 sts 0x024A, r19 |
| 5802: 10 16 cp r1, r16 |
| 5804: 11 06 cpc r1, r17 |
| 5806: 12 06 cpc r1, r18 |
| 5808: 13 06 cpc r1, r19 |
| 580a: ac f4 brge .+42 ; 0x5836 <MotorRegler+0x137a> |
| 580c: c8 01 movw r24, r16 |
| 580e: 17 ff sbrs r17, 7 |
| 5810: 03 c0 rjmp .+6 ; 0x5818 <MotorRegler+0x135c> |
| 5812: 90 95 com r25 |
| 5814: 81 95 neg r24 |
| 5816: 9f 4f sbci r25, 0xFF ; 255 |
| 5818: 60 e0 ldi r22, 0x00 ; 0 |
| 581a: 71 e0 ldi r23, 0x01 ; 1 |
| 581c: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 5820: 6f 5f subi r22, 0xFF ; 255 |
| 5822: 7f 4f sbci r23, 0xFF ; 255 |
| 5824: 88 27 eor r24, r24 |
| 5826: 77 fd sbrc r23, 7 |
| 5828: 80 95 com r24 |
| 582a: 98 2f mov r25, r24 |
| 582c: 06 1b sub r16, r22 |
| 582e: 17 0b sbc r17, r23 |
| 5830: 28 0b sbc r18, r24 |
| 5832: 39 0b sbc r19, r25 |
| 5834: 14 c0 rjmp .+40 ; 0x585e <MotorRegler+0x13a2> |
| 5836: c8 01 movw r24, r16 |
| 5838: 17 ff sbrs r17, 7 |
| 583a: 03 c0 rjmp .+6 ; 0x5842 <MotorRegler+0x1386> |
| 583c: 90 95 com r25 |
| 583e: 81 95 neg r24 |
| 5840: 9f 4f sbci r25, 0xFF ; 255 |
| 5842: 60 e0 ldi r22, 0x00 ; 0 |
| 5844: 71 e0 ldi r23, 0x01 ; 1 |
| 5846: 0e 94 92 2e call 0x5d24 ; 0x5d24 <__divmodhi4> |
| 584a: 6f 5f subi r22, 0xFF ; 255 |
| 584c: 7f 4f sbci r23, 0xFF ; 255 |
| 584e: 88 27 eor r24, r24 |
| 5850: 77 fd sbrc r23, 7 |
| 5852: 80 95 com r24 |
| 5854: 98 2f mov r25, r24 |
| 5856: 06 0f add r16, r22 |
| 5858: 17 1f adc r17, r23 |
| 585a: 28 1f adc r18, r24 |
| 585c: 39 1f adc r19, r25 |
| 585e: 00 93 47 02 sts 0x0247, r16 |
| 5862: 10 93 48 02 sts 0x0248, r17 |
| 5866: 20 93 49 02 sts 0x0249, r18 |
| 586a: 30 93 4a 02 sts 0x024A, r19 |
| 586e: 80 91 47 02 lds r24, 0x0247 |
| 5872: 90 91 48 02 lds r25, 0x0248 |
| 5876: a0 91 49 02 lds r26, 0x0249 |
| 587a: b0 91 4a 02 lds r27, 0x024A |
| 587e: 81 38 cpi r24, 0x81 ; 129 |
| 5880: 3e e3 ldi r19, 0x3E ; 62 |
| 5882: 93 07 cpc r25, r19 |
| 5884: 30 e0 ldi r19, 0x00 ; 0 |
| 5886: a3 07 cpc r26, r19 |
| 5888: 30 e0 ldi r19, 0x00 ; 0 |
| 588a: b3 07 cpc r27, r19 |
| 588c: 2c f0 brlt .+10 ; 0x5898 <MotorRegler+0x13dc> |
| 588e: 80 e8 ldi r24, 0x80 ; 128 |
| 5890: 9e e3 ldi r25, 0x3E ; 62 |
| 5892: a0 e0 ldi r26, 0x00 ; 0 |
| 5894: b0 e0 ldi r27, 0x00 ; 0 |
| 5896: 09 c0 rjmp .+18 ; 0x58aa <MotorRegler+0x13ee> |
| 5898: 80 58 subi r24, 0x80 ; 128 |
| 589a: 91 4c sbci r25, 0xC1 ; 193 |
| 589c: af 4f sbci r26, 0xFF ; 255 |
| 589e: bf 4f sbci r27, 0xFF ; 255 |
| 58a0: 64 f4 brge .+24 ; 0x58ba <MotorRegler+0x13fe> |
| 58a2: 80 e8 ldi r24, 0x80 ; 128 |
| 58a4: 91 ec ldi r25, 0xC1 ; 193 |
| 58a6: af ef ldi r26, 0xFF ; 255 |
| 58a8: bf ef ldi r27, 0xFF ; 255 |
| 58aa: 80 93 47 02 sts 0x0247, r24 |
| 58ae: 90 93 48 02 sts 0x0248, r25 |
| 58b2: a0 93 49 02 sts 0x0249, r26 |
| 58b6: b0 93 4a 02 sts 0x024A, r27 |
| 58ba: 60 91 63 02 lds r22, 0x0263 |
| 58be: 70 91 64 02 lds r23, 0x0264 |
| 58c2: 88 27 eor r24, r24 |
| 58c4: 77 fd sbrc r23, 7 |
| 58c6: 80 95 com r24 |
| 58c8: 98 2f mov r25, r24 |
| 58ca: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 58ce: 7b 01 movw r14, r22 |
| 58d0: 8c 01 movw r16, r24 |
| 58d2: 60 91 47 02 lds r22, 0x0247 |
| 58d6: 70 91 48 02 lds r23, 0x0248 |
| 58da: 80 91 49 02 lds r24, 0x0249 |
| 58de: 90 91 4a 02 lds r25, 0x024A |
| 58e2: 0e 94 9d 2d call 0x5b3a ; 0x5b3a <__floatsisf> |
| 58e6: 9b 01 movw r18, r22 |
| 58e8: ac 01 movw r20, r24 |
| 58ea: c5 01 movw r24, r10 |
| 58ec: b4 01 movw r22, r8 |
| 58ee: 0e 94 17 2e call 0x5c2e ; 0x5c2e <__mulsf3> |
| 58f2: 9b 01 movw r18, r22 |
| 58f4: ac 01 movw r20, r24 |
| 58f6: c8 01 movw r24, r16 |
| 58f8: b7 01 movw r22, r14 |
| 58fa: 0e 94 f8 2c call 0x59f0 ; 0x59f0 <__addsf3> |
| 58fe: 0e 94 80 2d call 0x5b00 ; 0x5b00 <__fixsfsi> |
| 5902: 29 81 ldd r18, Y+1 ; 0x01 |
| 5904: 3a 81 ldd r19, Y+2 ; 0x02 |
| 5906: 26 0f add r18, r22 |
| 5908: 37 1f adc r19, r23 |
| 590a: 2c 19 sub r18, r12 |
| 590c: 3d 09 sbc r19, r13 |
| 590e: 37 fd sbrc r19, 7 |
| 5910: 02 c0 rjmp .+4 ; 0x5916 <MotorRegler+0x145a> |
| 5912: 22 20 and r2, r2 |
| 5914: 19 f0 breq .+6 ; 0x591c <MotorRegler+0x1460> |
| 5916: 40 e0 ldi r20, 0x00 ; 0 |
| 5918: 50 e0 ldi r21, 0x00 ; 0 |
| 591a: 08 c0 rjmp .+16 ; 0x592c <MotorRegler+0x1470> |
| 591c: 80 91 29 05 lds r24, 0x0529 |
| 5920: 48 2f mov r20, r24 |
| 5922: 55 27 eor r21, r21 |
| 5924: 24 17 cp r18, r20 |
| 5926: 35 07 cpc r19, r21 |
| 5928: 0c f4 brge .+2 ; 0x592c <MotorRegler+0x1470> |
| 592a: a9 01 movw r20, r18 |
| 592c: 2b 81 ldd r18, Y+3 ; 0x03 |
| 592e: 3c 81 ldd r19, Y+4 ; 0x04 |
| 5930: 24 17 cp r18, r20 |
| 5932: 35 07 cpc r19, r21 |
| 5934: 0c f4 brge .+2 ; 0x5938 <MotorRegler+0x147c> |
| 5936: 9a 01 movw r18, r20 |
| 5938: 20 93 6b 02 sts 0x026B, r18 |
| 593c: 89 81 ldd r24, Y+1 ; 0x01 |
| 593e: 9a 81 ldd r25, Y+2 ; 0x02 |
| 5940: 86 1b sub r24, r22 |
| 5942: 97 0b sbc r25, r23 |
| 5944: bc 01 movw r22, r24 |
| 5946: 6c 19 sub r22, r12 |
| 5948: 7d 09 sbc r23, r13 |
| 594a: 77 fd sbrc r23, 7 |
| 594c: 02 c0 rjmp .+4 ; 0x5952 <MotorRegler+0x1496> |
| 594e: 22 20 and r2, r2 |
| 5950: 19 f0 breq .+6 ; 0x5958 <MotorRegler+0x149c> |
| 5952: 20 e0 ldi r18, 0x00 ; 0 |
| 5954: 30 e0 ldi r19, 0x00 ; 0 |
| 5956: 08 c0 rjmp .+16 ; 0x5968 <MotorRegler+0x14ac> |
| 5958: 80 91 29 05 lds r24, 0x0529 |
| 595c: 28 2f mov r18, r24 |
| 595e: 33 27 eor r19, r19 |
| 5960: 62 17 cp r22, r18 |
| 5962: 73 07 cpc r23, r19 |
| 5964: 0c f4 brge .+2 ; 0x5968 <MotorRegler+0x14ac> |
| 5966: 9b 01 movw r18, r22 |
| 5968: 8b 81 ldd r24, Y+3 ; 0x03 |
| 596a: 9c 81 ldd r25, Y+4 ; 0x04 |
| 596c: 82 17 cp r24, r18 |
| 596e: 93 07 cpc r25, r19 |
| 5970: 0c f4 brge .+2 ; 0x5974 <MotorRegler+0x14b8> |
| 5972: c9 01 movw r24, r18 |
| 5974: 80 93 69 02 sts 0x0269, r24 |
| 5978: e2 e1 ldi r30, 0x12 ; 18 |
| 597a: cc 5f subi r28, 0xFC ; 252 |
| 597c: 0c 94 fe 2e jmp 0x5dfc ; 0x5dfc <__epilogue_restores__> |
| 00005980 <GPS_Neutral>: |
| 5980: 80 91 53 02 lds r24, 0x0253 |
| 5984: 90 91 54 02 lds r25, 0x0254 |
| 5988: a0 91 55 02 lds r26, 0x0255 |
| 598c: b0 91 56 02 lds r27, 0x0256 |
| 5990: 80 93 5b 02 sts 0x025B, r24 |
| 5994: 90 93 5c 02 sts 0x025C, r25 |
| 5998: a0 93 5d 02 sts 0x025D, r26 |
| 599c: b0 93 5e 02 sts 0x025E, r27 |
| 59a0: 80 91 57 02 lds r24, 0x0257 |
| 59a4: 90 91 58 02 lds r25, 0x0258 |
| 59a8: a0 91 59 02 lds r26, 0x0259 |
| 59ac: b0 91 5a 02 lds r27, 0x025A |
| 59b0: 80 93 5f 02 sts 0x025F, r24 |
| 59b4: 90 93 60 02 sts 0x0260, r25 |
| 59b8: a0 93 61 02 sts 0x0261, r26 |
| 59bc: b0 93 62 02 sts 0x0262, r27 |
| 59c0: 08 95 ret |
| 000059c2 <GPS_BerechneZielrichtung>: |
| 59c2: 10 92 50 02 sts 0x0250, r1 |
| 59c6: 10 92 4f 02 sts 0x024F, r1 |
| 59ca: 10 92 52 02 sts 0x0252, r1 |
| 59ce: 10 92 51 02 sts 0x0251, r1 |
| 59d2: 08 95 ret |
| 000059d4 <memchr>: |
| 59d4: fc 01 movw r30, r24 |
| 59d6: 41 50 subi r20, 0x01 ; 1 |
| 59d8: 50 40 sbci r21, 0x00 ; 0 |
| 59da: 30 f0 brcs .+12 ; 0x59e8 <memchr+0x14> |
| 59dc: 01 90 ld r0, Z+ |
| 59de: 06 16 cp r0, r22 |
| 59e0: d1 f7 brne .-12 ; 0x59d6 <memchr+0x2> |
| 59e2: 31 97 sbiw r30, 0x01 ; 1 |
| 59e4: cf 01 movw r24, r30 |
| 59e6: 08 95 ret |
| 59e8: 88 27 eor r24, r24 |
| 59ea: 99 27 eor r25, r25 |
| 59ec: 08 95 ret |
| 000059ee <__subsf3>: |
| 59ee: 50 58 subi r21, 0x80 ; 128 |
| 000059f0 <__addsf3>: |
| 59f0: 19 2e mov r1, r25 |
| 59f2: ef d0 rcall .+478 ; 0x5bd2 <__fp_split3> |
| 59f4: 01 d0 rcall .+2 ; 0x59f8 <__addsf3x> |
| 59f6: d2 c0 rjmp .+420 ; 0x5b9c <__fp_merge> |
| 000059f8 <__addsf3x>: |
| 59f8: ba 17 cp r27, r26 |
| 59fa: 62 07 cpc r22, r18 |
| 59fc: 73 07 cpc r23, r19 |
| 59fe: 84 07 cpc r24, r20 |
| 5a00: 95 07 cpc r25, r21 |
| 5a02: b1 f1 breq .+108 ; 0x5a70 <__addsf3x+0x78> |
| 5a04: 88 f4 brcc .+34 ; 0x5a28 <__addsf3x+0x30> |
| 5a06: 0e f4 brtc .+2 ; 0x5a0a <__addsf3x+0x12> |
| 5a08: 10 94 com r1 |
| 5a0a: 0b 2e mov r0, r27 |
| 5a0c: ba 2f mov r27, r26 |
| 5a0e: a0 2d mov r26, r0 |
| 5a10: 06 2e mov r0, r22 |
| 5a12: 62 2f mov r22, r18 |
| 5a14: 20 2d mov r18, r0 |
| 5a16: 07 2e mov r0, r23 |
| 5a18: 73 2f mov r23, r19 |
| 5a1a: 30 2d mov r19, r0 |
| 5a1c: 08 2e mov r0, r24 |
| 5a1e: 84 2f mov r24, r20 |
| 5a20: 40 2d mov r20, r0 |
| 5a22: 09 2e mov r0, r25 |
| 5a24: 95 2f mov r25, r21 |
| 5a26: 50 2d mov r21, r0 |
| 5a28: ff 27 eor r31, r31 |
| 5a2a: 55 23 and r21, r21 |
| 5a2c: b9 f0 breq .+46 ; 0x5a5c <__addsf3x+0x64> |
| 5a2e: 59 1b sub r21, r25 |
| 5a30: 49 f0 breq .+18 ; 0x5a44 <__addsf3x+0x4c> |
| 5a32: 57 3e cpi r21, 0xE7 ; 231 |
| 5a34: 98 f0 brcs .+38 ; 0x5a5c <__addsf3x+0x64> |
| 5a36: 46 95 lsr r20 |
| 5a38: 37 95 ror r19 |
| 5a3a: 27 95 ror r18 |
| 5a3c: a7 95 ror r26 |
| 5a3e: f0 40 sbci r31, 0x00 ; 0 |
| 5a40: 53 95 inc r21 |
| 5a42: c9 f7 brne .-14 ; 0x5a36 <__addsf3x+0x3e> |
| 5a44: 76 f0 brts .+28 ; 0x5a62 <__addsf3x+0x6a> |
| 5a46: ba 0f add r27, r26 |
| 5a48: 62 1f adc r22, r18 |
| 5a4a: 73 1f adc r23, r19 |
| 5a4c: 84 1f adc r24, r20 |
| 5a4e: 30 f4 brcc .+12 ; 0x5a5c <__addsf3x+0x64> |
| 5a50: 87 95 ror r24 |
| 5a52: 77 95 ror r23 |
| 5a54: 67 95 ror r22 |
| 5a56: b7 95 ror r27 |
| 5a58: f0 40 sbci r31, 0x00 ; 0 |
| 5a5a: 93 95 inc r25 |
| 5a5c: 17 fa bst r1, 7 |
| 5a5e: 0f 2e mov r0, r31 |
| 5a60: 08 95 ret |
| 5a62: bf 1b sub r27, r31 |
| 5a64: bb 27 eor r27, r27 |
| 5a66: ba 0b sbc r27, r26 |
| 5a68: 62 0b sbc r22, r18 |
| 5a6a: 73 0b sbc r23, r19 |
| 5a6c: 84 0b sbc r24, r20 |
| 5a6e: f6 cf rjmp .-20 ; 0x5a5c <__addsf3x+0x64> |
| 5a70: de f6 brtc .-74 ; 0x5a28 <__addsf3x+0x30> |
| 5a72: db c0 rjmp .+438 ; 0x5c2a <__fp_zerox> |
| 00005a74 <__divsf3>: |
| 5a74: ae d0 rcall .+348 ; 0x5bd2 <__fp_split3> |
| 5a76: 01 d0 rcall .+2 ; 0x5a7a <__divsf3x> |
| 5a78: 91 c0 rjmp .+290 ; 0x5b9c <__fp_merge> |
| 00005a7a <__divsf3x>: |
| 5a7a: 55 23 and r21, r21 |
| 5a7c: 59 f0 breq .+22 ; 0x5a94 <__divsf3x+0x1a> |
| 5a7e: 99 23 and r25, r25 |
| 5a80: 69 f0 breq .+26 ; 0x5a9c <__divsf3x+0x22> |
| 5a82: 9f 57 subi r25, 0x7F ; 127 |
| 5a84: 5f 57 subi r21, 0x7F ; 127 |
| 5a86: 95 1b sub r25, r21 |
| 5a88: 33 f4 brvc .+12 ; 0x5a96 <__divsf3x+0x1c> |
| 5a8a: 42 f4 brpl .+16 ; 0x5a9c <__divsf3x+0x22> |
| 5a8c: 90 38 cpi r25, 0x80 ; 128 |
| 5a8e: 11 f4 brne .+4 ; 0x5a94 <__divsf3x+0x1a> |
| 5a90: 91 58 subi r25, 0x81 ; 129 |
| 5a92: 05 c0 rjmp .+10 ; 0x5a9e <__divsf3x+0x24> |
| 5a94: 9b c0 rjmp .+310 ; 0x5bcc <__fp_nan> |
| 5a96: 91 58 subi r25, 0x81 ; 129 |
| 5a98: 9f 3f cpi r25, 0xFF ; 255 |
| 5a9a: 09 f4 brne .+2 ; 0x5a9e <__divsf3x+0x24> |
| 5a9c: c6 c0 rjmp .+396 ; 0x5c2a <__fp_zerox> |
| 5a9e: bb 27 eor r27, r27 |
| 5aa0: 11 24 eor r1, r1 |
| 5aa2: 62 17 cp r22, r18 |
| 5aa4: 73 07 cpc r23, r19 |
| 5aa6: 84 07 cpc r24, r20 |
| 5aa8: 30 f4 brcc .+12 ; 0x5ab6 <__divsf3x+0x3c> |
| 5aaa: 66 0f add r22, r22 |
| 5aac: 77 1f adc r23, r23 |
| 5aae: 88 1f adc r24, r24 |
| 5ab0: bb 1f adc r27, r27 |
| 5ab2: 91 50 subi r25, 0x01 ; 1 |
| 5ab4: 98 f3 brcs .-26 ; 0x5a9c <__divsf3x+0x22> |
| 5ab6: 11 d0 rcall .+34 ; 0x5ada <__divsf3x+0x60> |
| 5ab8: 0f 92 push r0 |
| 5aba: 0f d0 rcall .+30 ; 0x5ada <__divsf3x+0x60> |
| 5abc: 0f 92 push r0 |
| 5abe: 0d d0 rcall .+26 ; 0x5ada <__divsf3x+0x60> |
| 5ac0: a0 e8 ldi r26, 0x80 ; 128 |
| 5ac2: 26 17 cp r18, r22 |
| 5ac4: 37 07 cpc r19, r23 |
| 5ac6: 48 07 cpc r20, r24 |
| 5ac8: 1b 06 cpc r1, r27 |
| 5aca: 09 f0 breq .+2 ; 0x5ace <__divsf3x+0x54> |
| 5acc: a0 48 sbci r26, 0x80 ; 128 |
| 5ace: ba 2f mov r27, r26 |
| 5ad0: 60 2d mov r22, r0 |
| 5ad2: 7f 91 pop r23 |
| 5ad4: 8f 91 pop r24 |
| 5ad6: 00 24 eor r0, r0 |
| 5ad8: 08 95 ret |
| 5ada: a0 e8 ldi r26, 0x80 ; 128 |
| 5adc: 00 24 eor r0, r0 |
| 5ade: 62 17 cp r22, r18 |
| 5ae0: 73 07 cpc r23, r19 |
| 5ae2: 84 07 cpc r24, r20 |
| 5ae4: b1 05 cpc r27, r1 |
| 5ae6: 28 f0 brcs .+10 ; 0x5af2 <__divsf3x+0x78> |
| 5ae8: 62 1b sub r22, r18 |
| 5aea: 73 0b sbc r23, r19 |
| 5aec: 84 0b sbc r24, r20 |
| 5aee: b1 09 sbc r27, r1 |
| 5af0: 0a 2a or r0, r26 |
| 5af2: 66 0f add r22, r22 |
| 5af4: 77 1f adc r23, r23 |
| 5af6: 88 1f adc r24, r24 |
| 5af8: bb 1f adc r27, r27 |
| 5afa: a6 95 lsr r26 |
| 5afc: 81 f7 brne .-32 ; 0x5ade <__divsf3x+0x64> |
| 5afe: 08 95 ret |
| 00005b00 <__fixsfsi>: |
| 5b00: 97 fb bst r25, 7 |
| 5b02: 73 d0 rcall .+230 ; 0x5bea <__fp_split1> |
| 5b04: 9f 37 cpi r25, 0x7F ; 127 |
| 5b06: 38 f0 brcs .+14 ; 0x5b16 <__fixsfsi+0x16> |
| 5b08: fe e9 ldi r31, 0x9E ; 158 |
| 5b0a: f9 1b sub r31, r25 |
| 5b0c: 98 2f mov r25, r24 |
| 5b0e: 87 2f mov r24, r23 |
| 5b10: 76 2f mov r23, r22 |
| 5b12: 6b 2f mov r22, r27 |
| 5b14: 05 c0 rjmp .+10 ; 0x5b20 <__fixsfsi+0x20> |
| 5b16: 86 c0 rjmp .+268 ; 0x5c24 <__fp_zero> |
| 5b18: 96 95 lsr r25 |
| 5b1a: 87 95 ror r24 |
| 5b1c: 77 95 ror r23 |
| 5b1e: 67 95 ror r22 |
| 5b20: f1 50 subi r31, 0x01 ; 1 |
| 5b22: d0 f7 brcc .-12 ; 0x5b18 <__fixsfsi+0x18> |
| 5b24: 3e f4 brtc .+14 ; 0x5b34 <__fp_lneg+0xe> |
| 00005b26 <__fp_lneg>: |
| 5b26: 90 95 com r25 |
| 5b28: 80 95 com r24 |
| 5b2a: 70 95 com r23 |
| 5b2c: 61 95 neg r22 |
| 5b2e: 7f 4f sbci r23, 0xFF ; 255 |
| 5b30: 8f 4f sbci r24, 0xFF ; 255 |
| 5b32: 9f 4f sbci r25, 0xFF ; 255 |
| 5b34: 08 95 ret |
| 00005b36 <__floatunssisf>: |
| 5b36: e8 94 clt |
| 5b38: 03 c0 rjmp .+6 ; 0x5b40 <__floatsisf+0x6> |
| 00005b3a <__floatsisf>: |
| 5b3a: 97 fb bst r25, 7 |
| 5b3c: 0e f4 brtc .+2 ; 0x5b40 <__floatsisf+0x6> |
| 5b3e: f3 df rcall .-26 ; 0x5b26 <__fp_lneg> |
| 5b40: b6 2f mov r27, r22 |
| 5b42: 67 2f mov r22, r23 |
| 5b44: 78 2f mov r23, r24 |
| 5b46: 89 2f mov r24, r25 |
| 5b48: 9e e9 ldi r25, 0x9E ; 158 |
| 5b4a: 00 24 eor r0, r0 |
| 5b4c: 27 c0 rjmp .+78 ; 0x5b9c <__fp_merge> |
| 00005b4e <__eqsf2>: |
| 5b4e: 0e d0 rcall .+28 ; 0x5b6c <.fp_cmp> |
| 5b50: 5e f0 brts .+22 ; 0x5b68 <__cmpsf2+0xe> |
| 5b52: 04 c0 rjmp .+8 ; 0x5b5c <__cmpsf2+0x2> |
| 00005b54 <__gesf2>: |
| 5b54: 0b d0 rcall .+22 ; 0x5b6c <.fp_cmp> |
| 5b56: 26 f0 brts .+8 ; 0x5b60 <__cmpsf2+0x6> |
| 5b58: 01 c0 rjmp .+2 ; 0x5b5c <__cmpsf2+0x2> |
| 00005b5a <__cmpsf2>: |
| 5b5a: 08 d0 rcall .+16 ; 0x5b6c <.fp_cmp> |
| 5b5c: 19 f0 breq .+6 ; 0x5b64 <__cmpsf2+0xa> |
| 5b5e: 20 f4 brcc .+8 ; 0x5b68 <__cmpsf2+0xe> |
| 5b60: 8f ef ldi r24, 0xFF ; 255 |
| 5b62: 08 95 ret |
| 5b64: 80 e0 ldi r24, 0x00 ; 0 |
| 5b66: 08 95 ret |
| 5b68: 81 e0 ldi r24, 0x01 ; 1 |
| 5b6a: 08 95 ret |
| 00005b6c <.fp_cmp>: |
| 5b6c: 97 fb bst r25, 7 |
| 5b6e: 09 2e mov r0, r25 |
| 5b70: 05 26 eor r0, r21 |
| 5b72: 00 f8 bld r0, 0 |
| 5b74: 68 94 set |
| 5b76: 30 d0 rcall .+96 ; 0x5bd8 <__fp_split2> |
| 5b78: e8 94 clt |
| 5b7a: 07 fc sbrc r0, 7 |
| 5b7c: 07 c0 rjmp .+14 ; 0x5b8c <.fp_cmp+0x20> |
| 5b7e: 62 17 cp r22, r18 |
| 5b80: 73 07 cpc r23, r19 |
| 5b82: 84 07 cpc r24, r20 |
| 5b84: 95 07 cpc r25, r21 |
| 5b86: 21 f0 breq .+8 ; 0x5b90 <.fp_cmp+0x24> |
| 5b88: 08 f4 brcc .+2 ; 0x5b8c <.fp_cmp+0x20> |
| 5b8a: 00 94 com r0 |
| 5b8c: 07 94 ror r0 |
| 5b8e: 98 94 clz |
| 5b90: 08 95 ret |
| 5b92: 9a 95 dec r25 |
| 5b94: bb 0f add r27, r27 |
| 5b96: 66 1f adc r22, r22 |
| 5b98: 77 1f adc r23, r23 |
| 5b9a: 88 1f adc r24, r24 |
| 00005b9c <__fp_merge>: |
| 5b9c: 11 24 eor r1, r1 |
| 5b9e: 99 23 and r25, r25 |
| 5ba0: a1 f0 breq .+40 ; 0x5bca <__fp_merge+0x2e> |
| 5ba2: 88 23 and r24, r24 |
| 5ba4: b2 f7 brpl .-20 ; 0x5b92 <.fp_cmp+0x26> |
| 5ba6: 9f 3f cpi r25, 0xFF ; 255 |
| 5ba8: 59 f0 breq .+22 ; 0x5bc0 <__fp_merge+0x24> |
| 5baa: bb 0f add r27, r27 |
| 5bac: 48 f4 brcc .+18 ; 0x5bc0 <__fp_merge+0x24> |
| 5bae: 21 f4 brne .+8 ; 0x5bb8 <__fp_merge+0x1c> |
| 5bb0: 00 20 and r0, r0 |
| 5bb2: 11 f4 brne .+4 ; 0x5bb8 <__fp_merge+0x1c> |
| 5bb4: 60 ff sbrs r22, 0 |
| 5bb6: 04 c0 rjmp .+8 ; 0x5bc0 <__fp_merge+0x24> |
| 5bb8: 6f 5f subi r22, 0xFF ; 255 |
| 5bba: 7f 4f sbci r23, 0xFF ; 255 |
| 5bbc: 8f 4f sbci r24, 0xFF ; 255 |
| 5bbe: 9f 4f sbci r25, 0xFF ; 255 |
| 5bc0: 88 1f adc r24, r24 |
| 5bc2: 97 95 ror r25 |
| 5bc4: 87 95 ror r24 |
| 5bc6: 97 f9 bld r25, 7 |
| 5bc8: 08 95 ret |
| 5bca: 2c c0 rjmp .+88 ; 0x5c24 <__fp_zero> |
| 00005bcc <__fp_nan>: |
| 5bcc: 9f ef ldi r25, 0xFF ; 255 |
| 5bce: 80 ec ldi r24, 0xC0 ; 192 |
| 5bd0: 08 95 ret |
| 00005bd2 <__fp_split3>: |
| 5bd2: 05 2e mov r0, r21 |
| 5bd4: 09 26 eor r0, r25 |
| 5bd6: 07 fa bst r0, 7 |
| 00005bd8 <__fp_split2>: |
| 5bd8: 44 0f add r20, r20 |
| 5bda: 55 1f adc r21, r21 |
| 5bdc: 5f 3f cpi r21, 0xFF ; 255 |
| 5bde: 79 f0 breq .+30 ; 0x5bfe <__fp_split1+0x14> |
| 5be0: aa 27 eor r26, r26 |
| 5be2: a5 17 cp r26, r21 |
| 5be4: 08 f0 brcs .+2 ; 0x5be8 <__fp_split2+0x10> |
| 5be6: 51 e0 ldi r21, 0x01 ; 1 |
| 5be8: 47 95 ror r20 |
| 00005bea <__fp_split1>: |
| 5bea: 88 0f add r24, r24 |
| 5bec: 99 1f adc r25, r25 |
| 5bee: 9f 3f cpi r25, 0xFF ; 255 |
| 5bf0: 31 f0 breq .+12 ; 0x5bfe <__fp_split1+0x14> |
| 5bf2: bb 27 eor r27, r27 |
| 5bf4: b9 17 cp r27, r25 |
| 5bf6: 08 f0 brcs .+2 ; 0x5bfa <__fp_split1+0x10> |
| 5bf8: 91 e0 ldi r25, 0x01 ; 1 |
| 5bfa: 87 95 ror r24 |
| 5bfc: 08 95 ret |
| 5bfe: 9f 91 pop r25 |
| 5c00: 9f 91 pop r25 |
| 5c02: 11 24 eor r1, r1 |
| 5c04: e3 cf rjmp .-58 ; 0x5bcc <__fp_nan> |
| 00005c06 <__fp_split_a>: |
| 5c06: 97 fb bst r25, 7 |
| 5c08: 88 0f add r24, r24 |
| 5c0a: 99 1f adc r25, r25 |
| 5c0c: 9f 3f cpi r25, 0xFF ; 255 |
| 5c0e: 31 f0 breq .+12 ; 0x5c1c <__fp_split_a+0x16> |
| 5c10: bb 27 eor r27, r27 |
| 5c12: b9 17 cp r27, r25 |
| 5c14: 08 f0 brcs .+2 ; 0x5c18 <__fp_split_a+0x12> |
| 5c16: 91 e0 ldi r25, 0x01 ; 1 |
| 5c18: 87 95 ror r24 |
| 5c1a: 08 95 ret |
| 5c1c: 9f 91 pop r25 |
| 5c1e: 9f 91 pop r25 |
| 5c20: 11 24 eor r1, r1 |
| 5c22: d4 cf rjmp .-88 ; 0x5bcc <__fp_nan> |
| 00005c24 <__fp_zero>: |
| 5c24: 66 27 eor r22, r22 |
| 5c26: 77 27 eor r23, r23 |
| 5c28: 88 27 eor r24, r24 |
| 00005c2a <__fp_zerox>: |
| 5c2a: 99 27 eor r25, r25 |
| 5c2c: 08 95 ret |
| 00005c2e <__mulsf3>: |
| 5c2e: d1 df rcall .-94 ; 0x5bd2 <__fp_split3> |
| 5c30: 01 d0 rcall .+2 ; 0x5c34 <__mulsf3x> |
| 5c32: b4 cf rjmp .-152 ; 0x5b9c <__fp_merge> |
| 00005c34 <__mulsf3x>: |
| 5c34: 99 23 and r25, r25 |
| 5c36: 39 f0 breq .+14 ; 0x5c46 <__mulsf3x+0x12> |
| 5c38: 55 23 and r21, r21 |
| 5c3a: 29 f0 breq .+10 ; 0x5c46 <__mulsf3x+0x12> |
| 5c3c: 9f 57 subi r25, 0x7F ; 127 |
| 5c3e: 5f 57 subi r21, 0x7F ; 127 |
| 5c40: 95 0f add r25, r21 |
| 5c42: 13 f4 brvc .+4 ; 0x5c48 <__mulsf3x+0x14> |
| 5c44: 9a f1 brmi .+102 ; 0x5cac <__mulsf3x+0x78> |
| 5c46: f1 cf rjmp .-30 ; 0x5c2a <__fp_zerox> |
| 5c48: 91 58 subi r25, 0x81 ; 129 |
| 5c4a: 9f 3f cpi r25, 0xFF ; 255 |
| 5c4c: e1 f3 breq .-8 ; 0x5c46 <__mulsf3x+0x12> |
| 5c4e: 62 9f mul r22, r18 |
| 5c50: a1 2d mov r26, r1 |
| 5c52: 0f 92 push r0 |
| 5c54: bb 27 eor r27, r27 |
| 5c56: 63 9f mul r22, r19 |
| 5c58: a0 0d add r26, r0 |
| 5c5a: b1 1d adc r27, r1 |
| 5c5c: ee 27 eor r30, r30 |
| 5c5e: 72 9f mul r23, r18 |
| 5c60: a0 0d add r26, r0 |
| 5c62: b1 1d adc r27, r1 |
| 5c64: ee 1f adc r30, r30 |
| 5c66: af 93 push r26 |
| 5c68: aa 27 eor r26, r26 |
| 5c6a: 64 9f mul r22, r20 |
| 5c6c: b0 0d add r27, r0 |
| 5c6e: e1 1d adc r30, r1 |
| 5c70: 73 9f mul r23, r19 |
| 5c72: b0 0d add r27, r0 |
| 5c74: e1 1d adc r30, r1 |
| 5c76: aa 1f adc r26, r26 |
| 5c78: 66 27 eor r22, r22 |
| 5c7a: 82 9f mul r24, r18 |
| 5c7c: b0 0d add r27, r0 |
| 5c7e: e1 1d adc r30, r1 |
| 5c80: a6 1f adc r26, r22 |
| 5c82: 55 27 eor r21, r21 |
| 5c84: 74 9f mul r23, r20 |
| 5c86: e0 0d add r30, r0 |
| 5c88: a1 1d adc r26, r1 |
| 5c8a: 55 1f adc r21, r21 |
| 5c8c: 83 9f mul r24, r19 |
| 5c8e: e0 0d add r30, r0 |
| 5c90: a1 1d adc r26, r1 |
| 5c92: 56 1f adc r21, r22 |
| 5c94: 84 9f mul r24, r20 |
| 5c96: a0 0d add r26, r0 |
| 5c98: 51 1d adc r21, r1 |
| 5c9a: 85 2f mov r24, r21 |
| 5c9c: 7a 2f mov r23, r26 |
| 5c9e: 6e 2f mov r22, r30 |
| 5ca0: 1f 90 pop r1 |
| 5ca2: 0f 90 pop r0 |
| 5ca4: 88 23 and r24, r24 |
| 5ca6: 1a f4 brpl .+6 ; 0x5cae <__mulsf3x+0x7a> |
| 5ca8: 93 95 inc r25 |
| 5caa: 39 f4 brne .+14 ; 0x5cba <__mulsf3x+0x86> |
| 5cac: 8f cf rjmp .-226 ; 0x5bcc <__fp_nan> |
| 5cae: 00 0c add r0, r0 |
| 5cb0: 11 1c adc r1, r1 |
| 5cb2: bb 1f adc r27, r27 |
| 5cb4: 66 1f adc r22, r22 |
| 5cb6: 77 1f adc r23, r23 |
| 5cb8: 88 1f adc r24, r24 |
| 5cba: 01 28 or r0, r1 |
| 5cbc: 08 95 ret |
| 00005cbe <__mulsi3>: |
| 5cbe: 62 9f mul r22, r18 |
| 5cc0: d0 01 movw r26, r0 |
| 5cc2: 73 9f mul r23, r19 |
| 5cc4: f0 01 movw r30, r0 |
| 5cc6: 82 9f mul r24, r18 |
| 5cc8: e0 0d add r30, r0 |
| 5cca: f1 1d adc r31, r1 |
| 5ccc: 64 9f mul r22, r20 |
| 5cce: e0 0d add r30, r0 |
| 5cd0: f1 1d adc r31, r1 |
| 5cd2: 92 9f mul r25, r18 |
| 5cd4: f0 0d add r31, r0 |
| 5cd6: 83 9f mul r24, r19 |
| 5cd8: f0 0d add r31, r0 |
| 5cda: 74 9f mul r23, r20 |
| 5cdc: f0 0d add r31, r0 |
| 5cde: 65 9f mul r22, r21 |
| 5ce0: f0 0d add r31, r0 |
| 5ce2: 99 27 eor r25, r25 |
| 5ce4: 72 9f mul r23, r18 |
| 5ce6: b0 0d add r27, r0 |
| 5ce8: e1 1d adc r30, r1 |
| 5cea: f9 1f adc r31, r25 |
| 5cec: 63 9f mul r22, r19 |
| 5cee: b0 0d add r27, r0 |
| 5cf0: e1 1d adc r30, r1 |
| 5cf2: f9 1f adc r31, r25 |
| 5cf4: bd 01 movw r22, r26 |
| 5cf6: cf 01 movw r24, r30 |
| 5cf8: 11 24 eor r1, r1 |
| 5cfa: 08 95 ret |
| 00005cfc <__udivmodhi4>: |
| 5cfc: aa 1b sub r26, r26 |
| 5cfe: bb 1b sub r27, r27 |
| 5d00: 51 e1 ldi r21, 0x11 ; 17 |
| 5d02: 07 c0 rjmp .+14 ; 0x5d12 <__udivmodhi4_ep> |
| 00005d04 <__udivmodhi4_loop>: |
| 5d04: aa 1f adc r26, r26 |
| 5d06: bb 1f adc r27, r27 |
| 5d08: a6 17 cp r26, r22 |
| 5d0a: b7 07 cpc r27, r23 |
| 5d0c: 10 f0 brcs .+4 ; 0x5d12 <__udivmodhi4_ep> |
| 5d0e: a6 1b sub r26, r22 |
| 5d10: b7 0b sbc r27, r23 |
| 00005d12 <__udivmodhi4_ep>: |
| 5d12: 88 1f adc r24, r24 |
| 5d14: 99 1f adc r25, r25 |
| 5d16: 5a 95 dec r21 |
| 5d18: a9 f7 brne .-22 ; 0x5d04 <__udivmodhi4_loop> |
| 5d1a: 80 95 com r24 |
| 5d1c: 90 95 com r25 |
| 5d1e: bc 01 movw r22, r24 |
| 5d20: cd 01 movw r24, r26 |
| 5d22: 08 95 ret |
| 00005d24 <__divmodhi4>: |
| 5d24: 97 fb bst r25, 7 |
| 5d26: 09 2e mov r0, r25 |
| 5d28: 07 26 eor r0, r23 |
| 5d2a: 0a d0 rcall .+20 ; 0x5d40 <__divmodhi4_neg1> |
| 5d2c: 77 fd sbrc r23, 7 |
| 5d2e: 04 d0 rcall .+8 ; 0x5d38 <__divmodhi4_neg2> |
| 5d30: e5 df rcall .-54 ; 0x5cfc <__udivmodhi4> |
| 5d32: 06 d0 rcall .+12 ; 0x5d40 <__divmodhi4_neg1> |
| 5d34: 00 20 and r0, r0 |
| 5d36: 1a f4 brpl .+6 ; 0x5d3e <__divmodhi4_exit> |
| 00005d38 <__divmodhi4_neg2>: |
| 5d38: 70 95 com r23 |
| 5d3a: 61 95 neg r22 |
| 5d3c: 7f 4f sbci r23, 0xFF ; 255 |
| 00005d3e <__divmodhi4_exit>: |
| 5d3e: 08 95 ret |
| 00005d40 <__divmodhi4_neg1>: |
| 5d40: f6 f7 brtc .-4 ; 0x5d3e <__divmodhi4_exit> |
| 5d42: 90 95 com r25 |
| 5d44: 81 95 neg r24 |
| 5d46: 9f 4f sbci r25, 0xFF ; 255 |
| 5d48: 08 95 ret |
| 00005d4a <__udivmodsi4>: |
| 5d4a: a1 e2 ldi r26, 0x21 ; 33 |
| 5d4c: 1a 2e mov r1, r26 |
| 5d4e: aa 1b sub r26, r26 |
| 5d50: bb 1b sub r27, r27 |
| 5d52: fd 01 movw r30, r26 |
| 5d54: 0d c0 rjmp .+26 ; 0x5d70 <__udivmodsi4_ep> |
| 00005d56 <__udivmodsi4_loop>: |
| 5d56: aa 1f adc r26, r26 |
| 5d58: bb 1f adc r27, r27 |
| 5d5a: ee 1f adc r30, r30 |
| 5d5c: ff 1f adc r31, r31 |
| 5d5e: a2 17 cp r26, r18 |
| 5d60: b3 07 cpc r27, r19 |
| 5d62: e4 07 cpc r30, r20 |
| 5d64: f5 07 cpc r31, r21 |
| 5d66: 20 f0 brcs .+8 ; 0x5d70 <__udivmodsi4_ep> |
| 5d68: a2 1b sub r26, r18 |
| 5d6a: b3 0b sbc r27, r19 |
| 5d6c: e4 0b sbc r30, r20 |
| 5d6e: f5 0b sbc r31, r21 |
| 00005d70 <__udivmodsi4_ep>: |
| 5d70: 66 1f adc r22, r22 |
| 5d72: 77 1f adc r23, r23 |
| 5d74: 88 1f adc r24, r24 |
| 5d76: 99 1f adc r25, r25 |
| 5d78: 1a 94 dec r1 |
| 5d7a: 69 f7 brne .-38 ; 0x5d56 <__udivmodsi4_loop> |
| 5d7c: 60 95 com r22 |
| 5d7e: 70 95 com r23 |
| 5d80: 80 95 com r24 |
| 5d82: 90 95 com r25 |
| 5d84: 9b 01 movw r18, r22 |
| 5d86: ac 01 movw r20, r24 |
| 5d88: bd 01 movw r22, r26 |
| 5d8a: cf 01 movw r24, r30 |
| 5d8c: 08 95 ret |
| 00005d8e <__divmodsi4>: |
| 5d8e: 97 fb bst r25, 7 |
| 5d90: 09 2e mov r0, r25 |
| 5d92: 05 26 eor r0, r21 |
| 5d94: 0e d0 rcall .+28 ; 0x5db2 <__divmodsi4_neg1> |
| 5d96: 57 fd sbrc r21, 7 |
| 5d98: 04 d0 rcall .+8 ; 0x5da2 <__divmodsi4_neg2> |
| 5d9a: d7 df rcall .-82 ; 0x5d4a <__udivmodsi4> |
| 5d9c: 0a d0 rcall .+20 ; 0x5db2 <__divmodsi4_neg1> |
| 5d9e: 00 1c adc r0, r0 |
| 5da0: 38 f4 brcc .+14 ; 0x5db0 <__divmodsi4_exit> |
| 00005da2 <__divmodsi4_neg2>: |
| 5da2: 50 95 com r21 |
| 5da4: 40 95 com r20 |
| 5da6: 30 95 com r19 |
| 5da8: 21 95 neg r18 |
| 5daa: 3f 4f sbci r19, 0xFF ; 255 |
| 5dac: 4f 4f sbci r20, 0xFF ; 255 |
| 5dae: 5f 4f sbci r21, 0xFF ; 255 |
| 00005db0 <__divmodsi4_exit>: |
| 5db0: 08 95 ret |
| 00005db2 <__divmodsi4_neg1>: |
| 5db2: f6 f7 brtc .-4 ; 0x5db0 <__divmodsi4_exit> |
| 5db4: 90 95 com r25 |
| 5db6: 80 95 com r24 |
| 5db8: 70 95 com r23 |
| 5dba: 61 95 neg r22 |
| 5dbc: 7f 4f sbci r23, 0xFF ; 255 |
| 5dbe: 8f 4f sbci r24, 0xFF ; 255 |
| 5dc0: 9f 4f sbci r25, 0xFF ; 255 |
| 5dc2: 08 95 ret |
| 00005dc4 <__prologue_saves__>: |
| 5dc4: 2f 92 push r2 |
| 5dc6: 3f 92 push r3 |
| 5dc8: 4f 92 push r4 |
| 5dca: 5f 92 push r5 |
| 5dcc: 6f 92 push r6 |
| 5dce: 7f 92 push r7 |
| 5dd0: 8f 92 push r8 |
| 5dd2: 9f 92 push r9 |
| 5dd4: af 92 push r10 |
| 5dd6: bf 92 push r11 |
| 5dd8: cf 92 push r12 |
| 5dda: df 92 push r13 |
| 5ddc: ef 92 push r14 |
| 5dde: ff 92 push r15 |
| 5de0: 0f 93 push r16 |
| 5de2: 1f 93 push r17 |
| 5de4: cf 93 push r28 |
| 5de6: df 93 push r29 |
| 5de8: cd b7 in r28, 0x3d ; 61 |
| 5dea: de b7 in r29, 0x3e ; 62 |
| 5dec: ca 1b sub r28, r26 |
| 5dee: db 0b sbc r29, r27 |
| 5df0: 0f b6 in r0, 0x3f ; 63 |
| 5df2: f8 94 cli |
| 5df4: de bf out 0x3e, r29 ; 62 |
| 5df6: 0f be out 0x3f, r0 ; 63 |
| 5df8: cd bf out 0x3d, r28 ; 61 |
| 5dfa: 09 94 ijmp |
| 00005dfc <__epilogue_restores__>: |
| 5dfc: 2a 88 ldd r2, Y+18 ; 0x12 |
| 5dfe: 39 88 ldd r3, Y+17 ; 0x11 |
| 5e00: 48 88 ldd r4, Y+16 ; 0x10 |
| 5e02: 5f 84 ldd r5, Y+15 ; 0x0f |
| 5e04: 6e 84 ldd r6, Y+14 ; 0x0e |
| 5e06: 7d 84 ldd r7, Y+13 ; 0x0d |
| 5e08: 8c 84 ldd r8, Y+12 ; 0x0c |
| 5e0a: 9b 84 ldd r9, Y+11 ; 0x0b |
| 5e0c: aa 84 ldd r10, Y+10 ; 0x0a |
| 5e0e: b9 84 ldd r11, Y+9 ; 0x09 |
| 5e10: c8 84 ldd r12, Y+8 ; 0x08 |
| 5e12: df 80 ldd r13, Y+7 ; 0x07 |
| 5e14: ee 80 ldd r14, Y+6 ; 0x06 |
| 5e16: fd 80 ldd r15, Y+5 ; 0x05 |
| 5e18: 0c 81 ldd r16, Y+4 ; 0x04 |
| 5e1a: 1b 81 ldd r17, Y+3 ; 0x03 |
| 5e1c: aa 81 ldd r26, Y+2 ; 0x02 |
| 5e1e: b9 81 ldd r27, Y+1 ; 0x01 |
| 5e20: ce 0f add r28, r30 |
| 5e22: d1 1d adc r29, r1 |
| 5e24: 0f b6 in r0, 0x3f ; 63 |
| 5e26: f8 94 cli |
| 5e28: de bf out 0x3e, r29 ; 62 |
| 5e2a: 0f be out 0x3f, r0 ; 63 |
| 5e2c: cd bf out 0x3d, r28 ; 61 |
| 5e2e: ed 01 movw r28, r26 |
| 5e30: 08 95 ret |
| 00005e32 <__tablejump2__>: |
| 5e32: ee 0f add r30, r30 |
| 5e34: ff 1f adc r31, r31 |
| 00005e36 <__tablejump__>: |
| 5e36: 05 90 lpm r0, Z+ |
| 5e38: f4 91 lpm r31, Z |
| 5e3a: e0 2d mov r30, r0 |
| 5e3c: 09 94 ijmp |
| 00005e3e <__eeprom_read_byte_1F2021>: |
| 5e3e: f9 99 sbic 0x1f, 1 ; 31 |
| 5e40: fe cf rjmp .-4 ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 5e42: b2 bd out 0x22, r27 ; 34 |
| 5e44: a1 bd out 0x21, r26 ; 33 |
| 5e46: f8 9a sbi 0x1f, 0 ; 31 |
| 5e48: 11 96 adiw r26, 0x01 ; 1 |
| 5e4a: 00 b4 in r0, 0x20 ; 32 |
| 5e4c: 08 95 ret |
| 00005e4e <__eeprom_read_block_1F2021>: |
| 5e4e: f7 df rcall .-18 ; 0x5e3e <__eeprom_read_byte_1F2021> |
| 5e50: 01 92 st Z+, r0 |
| 5e52: 1a 94 dec r1 |
| 5e54: e1 f7 brne .-8 ; 0x5e4e <__eeprom_read_block_1F2021> |
| 5e56: 08 95 ret |
| 00005e58 <__eeprom_write_byte_1F2021>: |
| 5e58: f9 99 sbic 0x1f, 1 ; 31 |
| 5e5a: fe cf rjmp .-4 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 5e5c: b2 bd out 0x22, r27 ; 34 |
| 5e5e: a1 bd out 0x21, r26 ; 33 |
| 5e60: 00 bc out 0x20, r0 ; 32 |
| 5e62: 11 96 adiw r26, 0x01 ; 1 |
| 5e64: 0f b6 in r0, 0x3f ; 63 |
| 5e66: f8 94 cli |
| 5e68: fa 9a sbi 0x1f, 2 ; 31 |
| 5e6a: f9 9a sbi 0x1f, 1 ; 31 |
| 5e6c: 0f be out 0x3f, r0 ; 63 |
| 5e6e: 08 95 ret |
| 00005e70 <__eeprom_write_block_1F2021>: |
| 5e70: 01 90 ld r0, Z+ |
| 5e72: f2 df rcall .-28 ; 0x5e58 <__eeprom_write_byte_1F2021> |
| 5e74: 1a 94 dec r1 |
| 5e76: e1 f7 brne .-8 ; 0x5e70 <__eeprom_write_block_1F2021> |
| 5e78: 08 95 ret |
| 00005e7a <_exit>: |
| 5e7a: ff cf rjmp .-2 ; 0x5e7a <_exit> |
| /branches/v0.60_MicroMag3_Nick666/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.map |
|---|
| 0,0 → 1,1754 |
| 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) |
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| 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) |
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| 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) |
| analog.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(_prologue.o) |
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| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| uart.o (__epilogue_restores__) |
| 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(_tablejump.o) |
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| 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/../../../../avr/lib/avr5\libc.a(memchr.o) |
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| 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_rblk.1F2021.o) |
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| 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) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| compass.o (__eeprom_write_block_1F2021) |
| Allocating common symbols |
| Common symbol size file |
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| EE_Parameter 0x3a fc.o |
| DiffRoll 0x2 main.o |
| MesswertRoll 0x2 fc.o |
| Motor_Vorne 0x1 main.o |
| Motor_Hinten 0x1 main.o |
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| Aktuell_ay 0x2 analog.o |
| MIN_GAS 0x1 fc.o |
| SendeBuffer 0x96 uart.o |
| NMEABuffer 0x96 uart.o |
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| DebugIn 0xb uart.o |
| VersionInfo 0xa uart.o |
| motor_rx 0x8 twimaster.o |
| MM3_calib 0x9 compass.o |
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| IntegralFaktor 0x4 fc.o |
| Motor_Rechts 0x1 main.o |
| Count 0x1 main.o |
| Aktuell_az 0x2 analog.o |
| StartLuftdruck 0x2 analog.o |
| RxdBuffer 0x96 uart.o |
| acc_neutral 0x8 fc.o |
| PrintZiel 0x1 printf_P.o |
| Aktuell_Nick 0x2 analog.o |
| messanzahl_Druck 0x1 analog.o |
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| Aktuell_ax 0x2 analog.o |
| s 0x1 main.o |
| h 0x1 main.o |
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| DebugOut 0x32 uart.o |
| DruckOffsetSetting 0x1 analog.o |
| Aktuell_Gier 0x2 analog.o |
| MM3 0xa compass.o |
| MAX_GAS 0x1 fc.o |
| MesswertGier 0x2 fc.o |
| GyroFaktor 0x4 fc.o |
| m 0x1 main.o |
| Mittelwert_AccRoll 0x2 fc.o |
| MotorWert 0x5 main.o |
| PPM_diff 0x16 rc.o |
| tmpLuftdruck 0x2 analog.o |
| Discarded input sections |
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| LOAD main.o |
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| LOAD analog.o |
| LOAD menu.o |
| LOAD compass.o |
| LOAD math.o |
| LOAD twimaster.o |
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| .text 0x00001196 0x5a4 printf_P.o |
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| .text 0x0000173a 0x2aa timer0.o |
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| .text 0x000019e4 0x6c0 analog.o |
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| 0x0000201c SucheLuftruckOffset |
| .text 0x000020a4 0x848 menu.o |
| 0x000020a4 LcdClear |
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| .text 0x000028ec 0x580 compass.o |
| 0x00002c54 timer0_MM3 |
| 0x00002cb8 calib_MM3 |
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| 0x00002988 heading_MM3 |
| 0x00002e44 init_MM3 |
| .text 0x00002e6c 0x220 math.o |
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| 0x00002fa8 pgm_read_float |
| 0x00002fbc sin_f |
| .text 0x0000308c 0x158 twimaster.o |
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| .text 0x000031e4 0x168 rc.o |
| 0x0000320e __vector_12 |
| 0x000031e4 rc_sum_init |
| .text 0x0000334c 0x2634 fc.o |
| 0x000040b6 DefaultKonstanten1 |
| 0x00004198 SendMotorData |
| 0x0000334c Mittelwert |
| 0x00004492 Piep |
| 0x0000380a CalibrierMittelwert |
| 0x00004226 SetNeutral |
| 0x000043ca calib_acc |
| 0x00003fdc DefaultKonstanten2 |
| 0x00003b42 ParameterZuordnung |
| 0x000044bc MotorRegler |
| .text 0x00005980 0x54 GPS.o |
| 0x00005980 GPS_Neutral |
| 0x000059c2 GPS_BerechneZielrichtung |
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| 0x0080025f GpsZiel_Y |
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| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_prologue.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_tablejump.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| .bss 0x00800263 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| *(.bss*) |
| *(COMMON) |
| COMMON 0x00800263 0x11 main.o |
| 0x00800263 DiffRoll |
| 0x00800265 Motor_Vorne |
| 0x00800266 Motor_Hinten |
| 0x00800267 DiffNick |
| 0x00800269 Motor_Rechts |
| 0x0080026a Count |
| 0x0080026b Motor_Links |
| 0x0080026c s |
| 0x0080026d h |
| 0x0080026e m |
| 0x0080026f MotorWert |
| COMMON 0x00800274 0x20c uart.o |
| 0x00800274 MeineSlaveAdresse |
| 0x00800275 SendeBuffer |
| 0x0080030b NMEABuffer |
| 0x008003a1 Debug_Timer |
| 0x008003a3 DebugIn |
| 0x008003ae VersionInfo |
| 0x008003b8 RxdBuffer |
| 0x0080044e DebugOut |
| COMMON 0x00800480 0x1 printf_P.o |
| 0x00800480 PrintZiel |
| COMMON 0x00800481 0x12 analog.o |
| 0x00800481 Aktuell_ay |
| 0x00800483 Aktuell_az |
| 0x00800485 StartLuftdruck |
| 0x00800487 Aktuell_Nick |
| 0x00800489 messanzahl_Druck |
| 0x0080048a Aktuell_Roll |
| 0x0080048c Aktuell_ax |
| 0x0080048e DruckOffsetSetting |
| 0x0080048f Aktuell_Gier |
| 0x00800491 tmpLuftdruck |
| COMMON 0x00800493 0x13 compass.o |
| 0x00800493 MM3_calib |
| 0x0080049c MM3 |
| COMMON 0x008004a6 0x8 twimaster.o |
| 0x008004a6 motor_rx |
| COMMON 0x008004ae 0x2c rc.o |
| 0x008004ae PPM_in |
| 0x008004c4 PPM_diff |
| COMMON 0x008004da 0x58 fc.o |
| 0x008004da EE_Parameter |
| 0x00800514 MesswertRoll |
| 0x00800516 MesswertNick |
| 0x00800518 MIN_GAS |
| 0x00800519 Mittelwert_AccHoch |
| 0x0080051b IntegralFaktor |
| 0x0080051f acc_neutral |
| 0x00800527 Mittelwert_AccNick |
| 0x00800529 MAX_GAS |
| 0x0080052a MesswertGier |
| 0x0080052c GyroFaktor |
| 0x00800530 Mittelwert_AccRoll |
| 0x00800532 PROVIDE (__bss_end, .) |
| 0x00005e7c __data_load_start = LOADADDR (.data) |
| 0x00005f08 __data_load_end = (__data_load_start + SIZEOF (.data)) |
| .noinit 0x00800532 0x0 |
| 0x00800532 PROVIDE (__noinit_start, .) |
| *(.noinit*) |
| 0x00800532 PROVIDE (__noinit_end, .) |
| 0x00800532 _end = . |
| 0x00800532 PROVIDE (__heap_start, .) |
| .eeprom 0x00810000 0x13d |
| *(.eeprom*) |
| .eeprom 0x00810000 0x12c main.o |
| 0x00810000 EEPromArray |
| 0x0081000a EEParameterArray |
| .eeprom 0x0081012c 0x9 compass.o |
| 0x0081012c ee_calib |
| .eeprom 0x00810135 0x8 fc.o |
| 0x00810135 ee_acc_neutral |
| 0x0081013d __eeprom_end = . |
| .stab 0x00000000 0x378 |
| *(.stab) |
| .stab 0x00000000 0x378 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stabstr 0x00000000 0x71 |
| *(.stabstr) |
| .stabstr 0x00000000 0x71 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stab.excl |
| *(.stab.excl) |
| .stab.exclstr |
| *(.stab.exclstr) |
| .stab.index |
| *(.stab.index) |
| .stab.indexstr |
| *(.stab.indexstr) |
| .comment |
| *(.comment) |
| .debug |
| *(.debug) |
| .line |
| *(.line) |
| .debug_srcinfo |
| *(.debug_srcinfo) |
| .debug_sfnames |
| *(.debug_sfnames) |
| .debug_aranges |
| *(.debug_aranges) |
| .debug_pubnames |
| *(.debug_pubnames) |
| .debug_info |
| *(.debug_info) |
| *(.gnu.linkonce.wi.*) |
| .debug_abbrev |
| *(.debug_abbrev) |
| .debug_line |
| *(.debug_line) |
| .debug_frame |
| *(.debug_frame) |
| .debug_str |
| *(.debug_str) |
| .debug_loc |
| *(.debug_loc) |
| .debug_macinfo |
| *(.debug_macinfo) |
| OUTPUT(Flight-Ctrl_MEGA644_V0_60_MM3.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 |
| CalibrierMittelwert fc.o |
| CheckDelay timer0.o |
| fc.o |
| compass.o |
| uart.o |
| main.o |
| CntCrcError uart.o |
| CosinusNickWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CosinusRollWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Count GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CountMilliseconds timer0.o |
| DatenUebertragung uart.o |
| main.o |
| DebugDataAnforderung uart.o |
| DebugDisplayAnforderung uart.o |
| DebugGetAnforderung uart.o |
| DebugIn uart.o |
| main.o |
| DebugOut fc.o |
| compass.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 |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DiffRoll GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.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 |
| EEParameterArray main.o |
| EEPromArray main.o |
| fc.o |
| analog.o |
| uart.o |
| EE_Parameter fc.o |
| compass.o |
| menu.o |
| timer0.o |
| uart.o |
| main.o |
| GPS_BerechneZielrichtung GPS.o |
| GPS_Neutral GPS.o |
| fc.o |
| GPS_Nick GPS.o |
| fc.o |
| GPS_Roll GPS.o |
| fc.o |
| GetActiveParamSetNumber main.o |
| fc.o |
| menu.o |
| uart.o |
| GetVersionAnforderung uart.o |
| GpsAktuell_X GPS.o |
| GpsAktuell_Y GPS.o |
| GpsZiel_X GPS.o |
| GpsZiel_Y GPS.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 |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Integral_Gier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Ki fc.o |
| KompassRichtung fc.o |
| menu.o |
| KompassStartwert fc.o |
| menu.o |
| KompassValue fc.o |
| menu.o |
| Kp fc.o |
| LcdClear menu.o |
| main.o |
| Luftdruck analog.o |
| fc.o |
| MAX_GAS fc.o |
| MIN_GAS fc.o |
| MM3 compass.o |
| MM3_calib compass.o |
| menu.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 |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.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 |
| math.o |
| compass.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 |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Hinten GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Links GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Rechts GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Vorne GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| MotorenEin fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| NMEABuffer uart.o |
| NeueKoordinateEmpfangen uart.o |
| NeuerDatensatzEmpfangen uart.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 |
| compass.o |
| menu.o |
| main.o |
| PRINT printf_P.o |
| PRINTP printf_P.o |
| ParameterZuordnung fc.o |
| Parameter_Gier_P fc.o |
| Parameter_Gyro_I fc.o |
| Parameter_Gyro_P fc.o |
| Parameter_Hoehe_ACC_Wirkung fc.o |
| Parameter_Hoehe_P fc.o |
| Parameter_I_Faktor fc.o |
| Parameter_KompassWirkung fc.o |
| Parameter_Luftdruck_D fc.o |
| Parameter_MaxHoehe fc.o |
| Parameter_ServoNickControl fc.o |
| menu.o |
| timer0.o |
| Parameter_UserParam1 fc.o |
| Parameter_UserParam2 fc.o |
| Parameter_UserParam3 fc.o |
| Parameter_UserParam4 fc.o |
| PcZugriff uart.o |
| fc.o |
| main.o |
| Piep fc.o |
| uart.o |
| Poti1 fc.o |
| menu.o |
| Poti2 fc.o |
| menu.o |
| Poti3 fc.o |
| menu.o |
| Poti4 fc.o |
| menu.o |
| PrintZiel printf_P.o |
| Putchar printf_P.o |
| ReadParameterSet main.o |
| fc.o |
| uart.o |
| RemoteTasten menu.o |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.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 |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| ServoValue timer0.o |
| menu.o |
| SetDelay timer0.o |
| fc.o |
| compass.o |
| uart.o |
| main.o |
| SetNeutral fc.o |
| main.o |
| SioTmp uart.o |
| SollHoehe fc.o |
| menu.o |
| StartLuftdruck fc.o |
| analog.o |
| StickGier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| StickNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| StickRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| SucheLuftruckOffset analog.o |
| fc.o |
| main.o |
| TestInt menu.o |
| Timeout fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.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) |
| fc.o |
| compass.o |
| analog.o |
| __addsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __bad_interrupt c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __bss_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __bss_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __cmpsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __data_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_load_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __divmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| fc.o |
| rc.o |
| compass.o |
| menu.o |
| analog.o |
| __divmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| fc.o |
| math.o |
| compass.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) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __do_copy_data c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __eeprom_read_block_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| fc.o |
| compass.o |
| __eeprom_read_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| analog.o |
| main.o |
| __eeprom_write_block_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| fc.o |
| compass.o |
| __eeprom_write_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| fc.o |
| analog.o |
| uart.o |
| main.o |
| __epilogue_restores__ c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_epilogue.o) |
| fc.o |
| math.o |
| compass.o |
| printf_P.o |
| uart.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) |
| fc.o |
| compass.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) |
| fc.o |
| math.o |
| compass.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) |
| fc.o |
| math.o |
| compass.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) |
| fc.o |
| math.o |
| compass.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) |
| fc.o |
| math.o |
| compass.o |
| printf_P.o |
| uart.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) |
| compass.o |
| analog.o |
| __tablejump2__ c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_tablejump.o) |
| twimaster.o |
| menu.o |
| analog.o |
| uart.o |
| __tablejump__ c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_tablejump.o) |
| __udivmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| analog.o |
| __udivmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| printf_P.o |
| __vector_1 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_10 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_11 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_12 rc.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_13 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_14 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_15 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_16 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_17 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_18 timer0.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_19 compass.o |
| 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 |
| acc_neutral fc.o |
| menu.o |
| analog.o |
| accumulate_AccHoch analog.o |
| fc.o |
| accumulate_AccNick analog.o |
| fc.o |
| menu.o |
| accumulate_AccRoll analog.o |
| fc.o |
| menu.o |
| atan2_i math.o |
| compass.o |
| beeptime timer0.o |
| fc.o |
| compass.o |
| main.o |
| calib_MM3 compass.o |
| main.o |
| calib_acc fc.o |
| main.o |
| cos_f math.o |
| compass.o |
| ee_acc_neutral fc.o |
| ee_calib compass.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 |
| h GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| heading_MM3 compass.o |
| fc.o |
| i2c_init twimaster.o |
| main.o |
| i2c_start twimaster.o |
| fc.o |
| i2c_stop twimaster.o |
| i2c_write_byte twimaster.o |
| init_MM3 compass.o |
| main.o |
| m GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| main main.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| memchr c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o |
| messanzahl_AccHoch analog.o |
| fc.o |
| messanzahl_AccNick analog.o |
| fc.o |
| menu.o |
| messanzahl_AccRoll analog.o |
| fc.o |
| menu.o |
| messanzahl_Druck analog.o |
| motor twimaster.o |
| fc.o |
| motor_rx twimaster.o |
| motorread twimaster.o |
| pgm_atan math.o |
| pgm_read_float math.o |
| pgm_sinus_f math.o |
| rc_sum_init rc.o |
| main.o |
| s GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| math.o |
| compass.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| sin_f math.o |
| compass.o |
| timer0_MM3 compass.o |
| timer0.o |
| tmpLuftdruck analog.o |
| twi_state twimaster.o |
| fc.o |
| uart_putchar uart.o |
| printf_P.o |
| updKompass fc.o |
| /branches/v0.60_MicroMag3_Nick666/v0.60/Flight-Ctrl_MEGA644_V0_60_MM3.sym |
|---|
| 0,0 → 1,482 |
| 00000000 W __heap_end |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 a __tmp_reg__ |
| 00000000 W __vector_default |
| 00000000 T __vectors |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 00000001 a __zero_reg__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003d a __SP_L__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003e a __SP_H__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 0000003f a __SREG__ |
| 000000d2 t __c.2043 |
| 000000d6 t __c.2041 |
| 000000de t __c.2039 |
| 000000ea t __c.2037 |
| 000000f8 t __c.2035 |
| 000000fd t __c.2030 |
| 0000011a t __c.2028 |
| 00000133 t __c.2026 |
| 00000148 t __c.2021 |
| 00000163 t __c.2015 |
| 00000192 t __c.2013 |
| 000001b3 t __c.2011 |
| 000001cb t __c.2013 |
| 000001cd t __c.2113 |
| 000001db t __c.2111 |
| 000001e9 t __c.2109 |
| 000001f7 t __c.2107 |
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|---|
| 0,0 → 1,2 |
| GPS.o GPS.d : GPS.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/analog.d |
|---|
| 0,0 → 1,2 |
| analog.o analog.d : analog.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/compass.d |
|---|
| 0,0 → 1,2 |
| compass.o compass.d : compass.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/fc.d |
|---|
| 0,0 → 1,2 |
| fc.o fc.d : fc.c main.h old_macros.h _settings.h printf_P.h compass.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/main.d |
|---|
| 0,0 → 1,2 |
| main.o main.d : main.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/math.d |
|---|
| 0,0 → 1,2 |
| math.o math.d : math.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/menu.d |
|---|
| 0,0 → 1,2 |
| menu.o menu.d : menu.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/printf_P.d |
|---|
| 0,0 → 1,3 |
| printf_P.o printf_P.d : printf_P.c main.h old_macros.h _settings.h printf_P.h \ |
| compass.h timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h \ |
| math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/rc.d |
|---|
| 0,0 → 1,2 |
| rc.o rc.d : rc.c rc.h main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/timer0.d |
|---|
| 0,0 → 1,2 |
| timer0.o timer0.d : timer0.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/twimaster.d |
|---|
| 0,0 → 1,3 |
| twimaster.o twimaster.d : twimaster.c main.h old_macros.h _settings.h printf_P.h \ |
| compass.h timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h \ |
| math.h |
| /branches/v0.60_MicroMag3_Nick666/v0.60/uart.d |
|---|
| 0,0 → 1,2 |
| uart.o uart.d : uart.c main.h old_macros.h _settings.h printf_P.h compass.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h math.h |