| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/Flight-Ctrl_MEGA644_V0_76g_SVN.elf |
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| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/Flight-Ctrl_MEGA644_V0_76g_SVN.hex |
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| :10BBB200726F6C6C65724420204164576572744EDA |
| :10BBC20069636B2020202020206D6178636F6E7482 |
| :10BBD200726F6C6C65725020206D696E636F6E744B |
| :10BBE200726F6C6C657250202050504D5F696E5BB5 |
| :10BBF200345D2047696572202050504D5F696E5B4D |
| :10BC0200335D204E69636B202050504D5F696E5B3F |
| :10BC1200325D20526F6C6C202050504D5F696E5B1C |
| :10BC2200315D20476173202020C8000164FF0100BC |
| :00000001FF |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/Flight-Ctrl_MEGA644_V0_76g_SVN.map |
|---|
| 0,0 → 1,1884 |
| Archive member included because of file (symbol) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| analog.o (__subsf3) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| analog.o (__ltsf2) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| analog.o (__fixsfsi) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| fc.o (__fixunssfsi) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| fc.o (__floatsisf) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) (__fp_cmp) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_inf) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_nan) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_pscA) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_pscB) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_round.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_round) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_split3) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_zero) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| analog.o (__gtsf2) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| analog.o (__mulsi3) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| main.o (__udivmodqi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| analog.o (__udivmodhi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| fc.o (__divmodhi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| printf_P.o (__udivmodsi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| fc.o (__divmodsi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| fc.o (__prologue_saves__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| analog.o (__epilogue_restores__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_exit.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o (exit) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| analog.o (__tablejump2__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| main.o (__do_copy_data) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| main.o (__do_clear_bss) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o (memchr) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| main.o (__eerd_block) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| main.o (__eewr_block) |
| Allocating common symbols |
| Common symbol size file |
| KopplungsteilNickRoll |
| 0x2 fc.o |
| MesswertGierBias 0x2 fc.o |
| motorOutFront 0x2 fc.o |
| KopplungsteilRollNick |
| 0x2 fc.o |
| EE_Parameter 0x65 fc.o |
| DiffRoll 0x2 fc.o |
| MesswertRoll 0x2 fc.o |
| TrimNick 0x2 fc.o |
| Parameter_NaviGpsP 0x1 fc.o |
| ErsatzKompassInGrad |
| 0x2 fc.o |
| motor_rx2 0x10 twimaster.o |
| GyroFaktorGier 0x1 fc.o |
| MittelIntegralRoll2 |
| 0x4 fc.o |
| Parameter_NaviGpsModeControl |
| 0x1 fc.o |
| TrimRoll 0x2 fc.o |
| MesswertNick 0x2 fc.o |
| Aktuell_ay 0x2 analog.o |
| motorOutRear 0x2 fc.o |
| Data3D 0xe uart.o |
| Parameter_NaviGpsI 0x1 fc.o |
| Timer3D 0x2 uart.o |
| RohMesswertRoll 0x2 fc.o |
| MIN_GAS 0x1 fc.o |
| SendeBuffer 0x96 uart.o |
| NMEABuffer 0x96 uart.o |
| Parameter_NaviGpsACC |
| 0x1 fc.o |
| MittelIntegralNick2 |
| 0x4 fc.o |
| Channels 0x1 rc.o |
| Debug_Timer 0x2 uart.o |
| Mittelwert_AccHoch 0x2 fc.o |
| RohMesswertNick 0x2 fc.o |
| IntegralFaktorGier 0x1 fc.o |
| DiffNick 0x2 fc.o |
| MittelIntegralNick 0x4 fc.o |
| MotorError 0x2 twimaster.o |
| desiredAngle 0x2 fc.o |
| VersionInfo 0xa uart.o |
| MotorTest 0x10 uart.o |
| NaviAccNick 0x2 fc.o |
| Parameter_J16Timing |
| 0x1 fc.o |
| MittelIntegralRoll 0x4 fc.o |
| motor_rx 0x10 twimaster.o |
| AdNeutralGierBias 0x2 fc.o |
| PPM_in 0x16 rc.o |
| WinkelOut 0x8 uart.o |
| ExternControl 0xb uart.o |
| IntegralFaktor 0x1 fc.o |
| Aktuell_az 0x2 analog.o |
| StartLuftdruck 0x2 analog.o |
| tmp_motorwert 0x4 fc.o |
| Kompass_Timer 0x2 uart.o |
| RxdBuffer 0x96 uart.o |
| Mixer 0x4d main.o |
| angle 0x2 fc.o |
| Parameter_NaviOperatingRadius |
| 0x1 fc.o |
| PrintZiel 0x1 printf_P.o |
| Aktuell_Nick 0x2 analog.o |
| Aktuell_Roll 0x2 analog.o |
| thrust 0x2 fc.o |
| Aktuell_ax 0x2 analog.o |
| Parameter_NaviWindCorrection |
| 0x1 fc.o |
| MotorPresent 0x2 twimaster.o |
| s 0x1 fc.o |
| h 0x1 fc.o |
| Mittelwert_AccNick 0x2 fc.o |
| Parameter_NaviSpeedCompensation |
| 0x1 fc.o |
| DebugOut 0x42 uart.o |
| DruckOffsetSetting 0x1 analog.o |
| Motor 0x2 fc.o |
| Aktuell_Gier 0x2 analog.o |
| Parameter_J17Timing |
| 0x1 fc.o |
| MAX_GAS 0x1 fc.o |
| MesswertGier 0x2 fc.o |
| Parameter_J16Bitmask |
| 0x1 fc.o |
| ConfirmFrame 0x1 uart.o |
| NaviAccRoll 0x2 fc.o |
| GyroFaktor 0x1 fc.o |
| m 0x1 fc.o |
| ErsatzKompass 0x4 fc.o |
| Mittelwert_AccRoll 0x2 fc.o |
| Parameter_NaviGpsGain |
| 0x1 fc.o |
| PPM_diff 0x16 rc.o |
| Parameter_ExternalControl |
| 0x1 fc.o |
| Parameter_J17Bitmask |
| 0x1 fc.o |
| Parameter_NaviGpsD 0x1 fc.o |
| Memory Configuration |
| Name Origin Length Attributes |
| text 0x00000000 0x00020000 xr |
| data 0x00800060 0x0000ffa0 rw !x |
| eeprom 0x00810000 0x00010000 rw !x |
| fuse 0x00820000 0x00000400 rw !x |
| lock 0x00830000 0x00000400 rw !x |
| signature 0x00840000 0x00000400 rw !x |
| *default* 0x00000000 0xffffffff |
| Linker script and memory map |
| Address of section .data set to 0x800100 |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| LOAD main.o |
| LOAD analog.o |
| LOAD fc.o |
| LOAD led.o |
| LOAD menu.o |
| LOAD printf_P.o |
| LOAD twimaster.o |
| LOAD rc.o |
| LOAD mymath.o |
| LOAD timer0.o |
| LOAD uart.o |
| LOAD isqrt.o |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a |
| LOAD C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a |
| LOAD C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
| .hash |
| *(.hash) |
| .dynsym |
| *(.dynsym) |
| .dynstr |
| *(.dynstr) |
| .gnu.version |
| *(.gnu.version) |
| .gnu.version_d |
| *(.gnu.version_d) |
| .gnu.version_r |
| *(.gnu.version_r) |
| .rel.init |
| *(.rel.init) |
| .rela.init |
| *(.rela.init) |
| .rel.text |
| *(.rel.text) |
| *(.rel.text.*) |
| *(.rel.gnu.linkonce.t*) |
| .rela.text |
| *(.rela.text) |
| *(.rela.text.*) |
| *(.rela.gnu.linkonce.t*) |
| .rel.fini |
| *(.rel.fini) |
| .rela.fini |
| *(.rela.fini) |
| .rel.rodata |
| *(.rel.rodata) |
| *(.rel.rodata.*) |
| *(.rel.gnu.linkonce.r*) |
| .rela.rodata |
| *(.rela.rodata) |
| *(.rela.rodata.*) |
| *(.rela.gnu.linkonce.r*) |
| .rel.data |
| *(.rel.data) |
| *(.rel.data.*) |
| *(.rel.gnu.linkonce.d*) |
| .rela.data |
| *(.rela.data) |
| *(.rela.data.*) |
| *(.rela.gnu.linkonce.d*) |
| .rel.ctors |
| *(.rel.ctors) |
| .rela.ctors |
| *(.rela.ctors) |
| .rel.dtors |
| *(.rel.dtors) |
| .rela.dtors |
| *(.rela.dtors) |
| .rel.got |
| *(.rel.got) |
| .rela.got |
| *(.rela.got) |
| .rel.bss |
| *(.rel.bss) |
| .rela.bss |
| *(.rela.bss) |
| .rel.plt |
| *(.rel.plt) |
| .rela.plt |
| *(.rela.plt) |
| .text 0x00000000 0xb962 |
| *(.vectors) |
| .vectors 0x00000000 0x70 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| 0x00000000 __vectors |
| 0x00000000 __vector_default |
| *(.vectors) |
| *(.progmem.gcc*) |
| .progmem.gcc_sw_table |
| 0x00000070 0x24 analog.o |
| .progmem.gcc_sw_table |
| 0x00000094 0x1e menu.o |
| .progmem.gcc_sw_table |
| 0x000000b2 0x2e twimaster.o |
| .progmem.gcc_sw_table |
| 0x000000e0 0x58 uart.o |
| *(.progmem*) |
| .progmem.data 0x00000138 0x280 main.o |
| .progmem.data 0x000003b8 0x39 analog.o |
| .progmem.data 0x000003f1 0x34b menu.o |
| .progmem.data 0x0000073c 0x210 mymath.o |
| 0x0000073c pgm_atanlookup |
| 0x00000896 pgm_sinlookup |
| 0x0000094c . = ALIGN (0x2) |
| 0x0000094c __trampolines_start = . |
| *(.trampolines) |
| .trampolines 0x0000094c 0x0 linker stubs |
| *(.trampolines*) |
| 0x0000094c __trampolines_end = . |
| *(.jumptables) |
| *(.jumptables*) |
| *(.lowtext) |
| *(.lowtext*) |
| 0x0000094c __ctors_start = . |
| *(.ctors) |
| 0x0000094c __ctors_end = . |
| 0x0000094c __dtors_start = . |
| *(.dtors) |
| 0x0000094c __dtors_end = . |
| SORT(*)(.ctors) |
| SORT(*)(.dtors) |
| *(.init0) |
| .init0 0x0000094c 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| 0x0000094c __init |
| *(.init0) |
| *(.init1) |
| *(.init1) |
| *(.init2) |
| .init2 0x0000094c 0xc C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| *(.init2) |
| *(.init3) |
| *(.init3) |
| *(.init4) |
| .init4 0x00000958 0x16 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| 0x00000958 __do_copy_data |
| .init4 0x0000096e 0x10 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| 0x0000096e __do_clear_bss |
| *(.init4) |
| *(.init5) |
| *(.init5) |
| *(.init6) |
| *(.init6) |
| *(.init7) |
| *(.init7) |
| *(.init8) |
| *(.init8) |
| *(.init9) |
| .init9 0x0000097e 0x8 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| *(.init9) |
| *(.text) |
| .text 0x00000986 0x4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| 0x00000986 __vector_1 |
| 0x00000986 __bad_interrupt |
| 0x00000986 __vector_6 |
| 0x00000986 __vector_3 |
| 0x00000986 __vector_23 |
| 0x00000986 __vector_25 |
| 0x00000986 __vector_11 |
| 0x00000986 __vector_13 |
| 0x00000986 __vector_17 |
| 0x00000986 __vector_19 |
| 0x00000986 __vector_7 |
| 0x00000986 __vector_27 |
| 0x00000986 __vector_5 |
| 0x00000986 __vector_4 |
| 0x00000986 __vector_2 |
| 0x00000986 __vector_21 |
| 0x00000986 __vector_15 |
| 0x00000986 __vector_8 |
| 0x00000986 __vector_14 |
| 0x00000986 __vector_10 |
| 0x00000986 __vector_16 |
| .text 0x0000098a 0xbf0 main.o |
| 0x00000a24 LipoDetection |
| 0x000009b2 CalMk3Mag |
| 0x00000b32 main |
| .text 0x0000157a 0xab4 analog.o |
| 0x000017ee __vector_24 |
| 0x0000163e SucheGyroOffset |
| 0x0000157a ADC_Init |
| 0x00001586 SucheLuftruckOffset |
| .text 0x0000202e 0x63a4 fc.o |
| 0x000025b0 WriteParameterSet |
| 0x00002056 DefaultStickMapping |
| 0x00002660 MotorSmoothing |
| 0x00002088 DefaultKonstanten3 |
| 0x000023b2 DefaultKonstanten1 |
| 0x000041f4 SendMotorData |
| 0x00002586 SetActiveParamSetNumber |
| 0x0000254c ReadParameterSet |
| 0x000026d8 Mittelwert |
| 0x00002636 GetActiveParamSetNumber |
| 0x0000268c Piep |
| 0x000039b8 CalibrierMittelwert |
| 0x00003cc8 SetNeutral |
| 0x0000221c DefaultKonstanten2 |
| 0x0000427e ParameterZuordnung |
| 0x000049f8 MotorRegler |
| .text 0x000083d2 0x15e led.o |
| 0x000083d2 LED_Init |
| 0x000083f0 LED_Update |
| .text 0x00008530 0xb94 menu.o |
| 0x00008530 LcdClear |
| 0x00008542 Menu |
| .text 0x000090c4 0x5aa printf_P.o |
| 0x000090c4 Putchar |
| 0x00009196 _printf_P |
| 0x0000917e PAD_0 |
| 0x0000912c PRINTP |
| 0x000090f6 PRINT |
| 0x00009166 PAD_SP |
| .text 0x0000966e 0x2fc twimaster.o |
| 0x0000967a i2c_start |
| 0x0000969a i2c_reset |
| 0x000096e8 I2C_ReceiveLastByte |
| 0x00009682 i2c_stop |
| 0x000096e0 I2C_ReceiveByte |
| 0x000096d4 I2C_WriteByte |
| 0x0000966e i2c_init |
| 0x000096f0 __vector_26 |
| 0x0000968a i2c_write_byte |
| .text 0x0000996a 0x222 rc.o |
| 0x00009994 __vector_12 |
| 0x0000996a rc_sum_init |
| .text 0x00009b8c 0x29e mymath.o |
| 0x00009d7c c_sqrt |
| 0x00009c26 c_cos_8192 |
| 0x00009b8c c_sin_8192 |
| 0x00009c36 c_atan2 |
| .text 0x00009e2a 0x5aa timer0.o |
| 0x00009e2a SetDelay |
| 0x0000a070 TIMER2_Init |
| 0x00009e3c Timer_Init |
| 0x00009e6a CheckDelay |
| 0x00009e82 Delay_ms |
| 0x00009e9c Delay_ms_Mess |
| 0x0000a0ce __vector_9 |
| 0x00009ed0 __vector_18 |
| .text 0x0000a3d4 0xfac uart.o |
| 0x0000a464 __vector_22 |
| 0x0000a3ec UART_Init |
| 0x0000a980 BearbeiteRxDaten |
| 0x0000a6a4 AddCRC |
| 0x0000aec4 DatenUebertragung |
| 0x0000a8a0 Decode64 |
| 0x0000a70c SendOutData |
| 0x0000a4d6 __vector_20 |
| 0x0000ae9e uart_putchar |
| .text 0x0000b380 0x100 isqrt.o |
| 0x0000b380 isqrt32 |
| 0x0000b42c ihypot |
| 0x0000b3ea isqrt16 |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .text 0x0000b480 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
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| .data 0x00800100 0xc main.o |
| 0x00800102 PlatinenVersion |
| 0x00800100 BattLowVoltageWarning |
| 0x00800101 SendVersionToNavi |
| .data 0x0080010c 0x10 analog.o |
| 0x0080011a UBat |
| 0x0080010f AnalogOffsetNick |
| 0x0080010d AnalogOffsetGier |
| 0x00800116 HiResRoll |
| 0x0080010c AdReady |
| 0x0080010e AnalogOffsetRoll |
| 0x00800110 MessLuftdruck |
| 0x00800112 Luftdruck |
| 0x00800118 HiResNick |
| .data 0x0080011c 0x4a fc.o |
| 0x0080011f RequiredMotors |
| 0x00800127 Parameter_CouplingYawCorrection |
| 0x00800140 Umschlag180Nick |
| 0x0080013a Ki |
| 0x00800139 Parameter_Luftdruck_D |
| 0x00800126 Parameter_DynamicStability |
| 0x00800130 Parameter_Gyro_Gier_P |
| 0x00800135 Parameter_KompassWirkung |
| 0x0080012c Parameter_ServoNickControl |
| 0x0080011d ucflg2 |
| 0x00800132 Parameter_Gyro_P |
| 0x00800133 Parameter_Gyro_D |
| 0x00800137 Parameter_Hoehe_P |
| 0x00800128 Parameter_AchsKopplung2 |
| 0x00800124 ExternHoehenValue |
| 0x0080011e ucflg1 |
| 0x00800136 Parameter_Hoehe_ACC_Wirkung |
| 0x00800120 GIER_GRAD_FAKTOR |
| 0x0080012a Parameter_LoopGasLimit |
| 0x00800129 Parameter_AchsKopplung1 |
| 0x0080011c ucflg3 |
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| 0x0080013c Umschlag180Roll |
| 0x00800138 Parameter_MaxHoehe |
| 0x0080012d Parameter_I_Faktor |
| 0x00800134 Parameter_Hoehe_GPS_Z |
| 0x0080012b Parameter_ServoRollControl |
| 0x00800144 KompassSignalSchlecht |
| 0x0080012e Parameter_Gier_P |
| .data 0x00800166 0x2 led.o |
| 0x00800167 J16Mask |
| 0x00800166 J17Mask |
| .data 0x00800168 0x5b menu.o |
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| .data 0x008001c3 0x0 twimaster.o |
| .data 0x008001c3 0x1 rc.o |
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| .data 0x008001c4 0x0 mymath.o |
| .data 0x008001c4 0x5 timer0.o |
| 0x008001c4 BeepMuster |
| .data 0x008001c9 0x206 uart.o |
| 0x008003cb MeineSlaveAdresse |
| 0x008001c9 ANALOG_TEXT |
| 0x008003cc PcZugriff |
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| .data 0x008003cf 0x0 isqrt.o |
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| *(.data*) |
| *(.rodata) |
| *(.rodata*) |
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| 0x008003d0 PROVIDE (__bss_start, .) |
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| .bss 0x008003d0 0x4 main.o |
| 0x008003d2 FlugMinuten |
| 0x008003d0 FlugMinutenGesamt |
| .bss 0x008003d4 0x34 analog.o |
| 0x008003e0 messanzahl_AccHoch |
| 0x008003d7 ZaehlMessungen |
| 0x008003d9 VarioMeter |
| 0x008003db ExpandBaro |
| 0x008003d5 GyroDefektR |
| 0x008003e9 AdWertRoll |
| 0x008003e3 AdWertAccNick |
| 0x008003d4 GyroDefektG |
| 0x008003eb AdWertNick |
| 0x008003ed AdWertGierFilter |
| 0x008003e7 AdWertGier |
| 0x008003d6 GyroDefektN |
| 0x008003f1 AdWertNickFilter |
| 0x008003e5 AdWertAccRoll |
| 0x008003dc SummenHoehe |
| 0x008003ef AdWertRollFilter |
| 0x008003e1 AdWertAccHoch |
| .bss 0x00800408 0x123 fc.o |
| 0x00800477 Mess_Integral_Gier2 |
| 0x0080044c LageKorrekturRoll |
| 0x00800408 filterDD |
| 0x00800420 controllerP |
| 0x00800458 StickGier |
| 0x00800444 Looping_Oben |
| 0x00800424 kd |
| 0x00800487 Mess_IntegralNick2 |
| 0x008004a7 IntegralNick2 |
| 0x00800422 kdd |
| 0x0080045f SenderOkay |
| 0x0080043f Parameter_UserParam5 |
| 0x00800493 IntegralAccZ |
| 0x00800428 ipk |
| 0x0080048f Integral_Gier |
| 0x0080045c StickNick |
| 0x00800464 Poti2 |
| 0x0080041c mincontrollerP |
| 0x0080046c MotorenEin |
| 0x00800449 Looping_Nick |
| 0x0080049b IntegralAccNick |
| 0x008004b0 CosinusNickWinkel |
| 0x00800452 HoehenWert |
| 0x0080047f Mess_IntegralRoll2 |
| 0x00800436 ExternStickGier |
| 0x00800462 Poti3 |
| 0x00800445 Looping_Unten |
| 0x0080041a controllerD |
| 0x00800432 MaxStickRoll |
| 0x00800430 modell_fliegt |
| 0x00800443 Parameter_UserParam1 |
| 0x008004c1 AdNeutralRoll |
| 0x00800447 Looping_Links |
| 0x00800416 mincontrollerD |
| 0x008004ab IntegralNick |
| 0x00800473 Mess_Integral_Hoch |
| 0x0080043d Parameter_UserParam7 |
| 0x0080040e gyroScaledOld |
| 0x008004c5 BaroExpandActive |
| 0x008004b5 NaviCntAcc |
| 0x0080046a TrichterFlug |
| 0x008004b9 NeutralAccX |
| 0x00800412 maxcontrollerDD |
| 0x0080047b Mess_Integral_Gier |
| 0x0080042e LoadHandler |
| 0x0080044a LageKorrekturNick |
| 0x00800440 Parameter_UserParam4 |
| 0x0080046f KompassStartwert |
| 0x00800456 StickGas |
| 0x00800418 maxcontrollerD |
| 0x00800448 Looping_Roll |
| 0x0080040c gyroScaled |
| 0x0080040a filtersum |
| 0x0080043a ExternStickNick |
| 0x00800442 Parameter_UserParam2 |
| 0x008004bb StartNeutralNick |
| 0x00800471 KompassValue |
| 0x00800497 IntegralAccRoll |
| 0x0080046d KompassRichtung |
| 0x00800483 Mess_IntegralRoll |
| 0x00800410 mincontrollerDD |
| 0x0080045a StickRoll |
| 0x008004c3 AdNeutralNick |
| 0x008004b7 NeutralAccY |
| 0x0080042f MikroKopterFlags |
| 0x0080041e maxcontrollerP |
| 0x008004b1 NeutralAccZ |
| 0x0080043e Parameter_UserParam6 |
| 0x0080045e SenderRSSI |
| 0x0080049f IntegralRoll2 |
| 0x00800434 MaxStickNick |
| 0x00800466 Poti1 |
| 0x00800441 Parameter_UserParam3 |
| 0x008004bf AdNeutralGier |
| 0x008004bd StartNeutralRoll |
| 0x00800446 Looping_Rechts |
| 0x00800414 controllerDD |
| 0x00800438 ExternStickRoll |
| 0x008004af CosinusRollWinkel |
| 0x0080046b HoehenReglerAktiv |
| 0x0080044e SollHoehe |
| 0x0080043c Parameter_UserParam8 |
| 0x00800426 kp |
| 0x00800468 GierGyroFehler |
| 0x0080048b Mess_IntegralNick |
| 0x00800460 Poti4 |
| 0x008004a3 IntegralRoll |
| .bss 0x0080052b 0x9 led.o |
| 0x0080052d LED2_Timing |
| 0x0080052f LED1_Timing |
| 0x0080052b J17Blinkcount |
| 0x0080052c J16Blinkcount |
| .bss 0x00800534 0x5 menu.o |
| 0x00800536 DispPtr |
| 0x00800535 MenuePunkt |
| 0x00800534 RemoteKeys |
| 0x00800537 TestInt |
| .bss 0x00800539 0x0 printf_P.o |
| .bss 0x00800539 0x7 twimaster.o |
| 0x0080053e twi_state |
| 0x00800539 I2CError |
| 0x0080053b MissingMotor |
| 0x0080053c motorread |
| 0x0080053d motor |
| .bss 0x00800540 0x5 rc.o |
| 0x00800540 tmpChannels |
| .bss 0x00800545 0x0 mymath.o |
| .bss 0x00800545 0x15 timer0.o |
| 0x0080054a SendSPI |
| 0x0080054b beeptime |
| 0x00800547 ServoNickValue |
| 0x00800550 CountMilliseconds |
| 0x00800549 ServoActive |
| 0x0080054d cntKompass |
| 0x0080054f UpdateMotor |
| 0x00800545 ServoRollValue |
| .bss 0x0080055a 0x1b uart.o |
| 0x00800565 SioTmp |
| 0x0080055d PC_DebugTimeout |
| 0x00800568 GetVersionAnforderung |
| 0x00800563 NeueKoordinateEmpfangen |
| 0x0080055a Intervall3D |
| 0x00800569 DebugDataAnforderung |
| 0x0080055c PC_MotortestActive |
| 0x00800564 NeuerDatensatzEmpfangen |
| 0x0080056a DebugDisplayAnforderung |
| 0x00800562 CntCrcError |
| 0x00800567 GetPPMChannelAnforderung |
| 0x0080056b DebugDisplayAnforderung1 |
| 0x00800566 DisplayLine |
| 0x0080056c GetExternalControl |
| 0x0080055f pRxData |
| 0x0080055e RxDataLen |
| 0x00800561 AnzahlEmpfangsBytes |
| .bss 0x00800575 0x0 isqrt.o |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_round.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_exit.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| .bss 0x00800575 0x0 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .bss 0x00800575 0x0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| *(.bss*) |
| *(COMMON) |
| COMMON 0x00800575 0x4d main.o |
| 0x00800575 Mixer |
| COMMON 0x008005c2 0xf analog.o |
| 0x008005c2 Aktuell_ay |
| 0x008005c4 Aktuell_az |
| 0x008005c6 StartLuftdruck |
| 0x008005c8 Aktuell_Nick |
| 0x008005ca Aktuell_Roll |
| 0x008005cc Aktuell_ax |
| 0x008005ce DruckOffsetSetting |
| 0x008005cf Aktuell_Gier |
| COMMON 0x008005d1 0xc6 fc.o |
| 0x008005d1 KopplungsteilNickRoll |
| 0x008005d3 MesswertGierBias |
| 0x008005d5 motorOutFront |
| 0x008005d7 KopplungsteilRollNick |
| 0x008005d9 EE_Parameter |
| 0x0080063e DiffRoll |
| 0x00800640 MesswertRoll |
| 0x00800642 TrimNick |
| 0x00800644 Parameter_NaviGpsP |
| 0x00800645 ErsatzKompassInGrad |
| 0x00800647 GyroFaktorGier |
| 0x00800648 MittelIntegralRoll2 |
| 0x0080064c Parameter_NaviGpsModeControl |
| 0x0080064d TrimRoll |
| 0x0080064f MesswertNick |
| 0x00800651 motorOutRear |
| 0x00800653 Parameter_NaviGpsI |
| 0x00800654 RohMesswertRoll |
| 0x00800656 MIN_GAS |
| 0x00800657 Parameter_NaviGpsACC |
| 0x00800658 MittelIntegralNick2 |
| 0x0080065c Mittelwert_AccHoch |
| 0x0080065e RohMesswertNick |
| 0x00800660 IntegralFaktorGier |
| 0x00800661 DiffNick |
| 0x00800663 MittelIntegralNick |
| 0x00800667 desiredAngle |
| 0x00800669 NaviAccNick |
| 0x0080066b Parameter_J16Timing |
| 0x0080066c MittelIntegralRoll |
| 0x00800670 AdNeutralGierBias |
| 0x00800672 IntegralFaktor |
| 0x00800673 tmp_motorwert |
| 0x00800677 angle |
| 0x00800679 Parameter_NaviOperatingRadius |
| 0x0080067a thrust |
| 0x0080067c Parameter_NaviWindCorrection |
| 0x0080067d s |
| 0x0080067e h |
| 0x0080067f Mittelwert_AccNick |
| 0x00800681 Parameter_NaviSpeedCompensation |
| 0x00800682 Motor |
| 0x00800684 Parameter_J17Timing |
| 0x00800685 MAX_GAS |
| 0x00800686 MesswertGier |
| 0x00800688 Parameter_J16Bitmask |
| 0x00800689 NaviAccRoll |
| 0x0080068b GyroFaktor |
| 0x0080068c m |
| 0x0080068d ErsatzKompass |
| 0x00800691 Mittelwert_AccRoll |
| 0x00800693 Parameter_NaviGpsGain |
| 0x00800694 Parameter_ExternalControl |
| 0x00800695 Parameter_J17Bitmask |
| 0x00800696 Parameter_NaviGpsD |
| COMMON 0x00800697 0x1 printf_P.o |
| 0x00800697 PrintZiel |
| COMMON 0x00800698 0x24 twimaster.o |
| 0x00800698 motor_rx2 |
| 0x008006a8 MotorError |
| 0x008006aa motor_rx |
| 0x008006ba MotorPresent |
| COMMON 0x008006bc 0x2d rc.o |
| 0x008006bc Channels |
| 0x008006bd PPM_in |
| 0x008006d3 PPM_diff |
| COMMON 0x008006e9 0x246 uart.o |
| 0x008006e9 Data3D |
| 0x008006f7 Timer3D |
| 0x008006f9 SendeBuffer |
| 0x0080078f NMEABuffer |
| 0x00800825 Debug_Timer |
| 0x00800827 VersionInfo |
| 0x00800831 MotorTest |
| 0x00800841 WinkelOut |
| 0x00800849 ExternControl |
| 0x00800854 Kompass_Timer |
| 0x00800856 RxdBuffer |
| 0x008008ec DebugOut |
| 0x0080092e ConfirmFrame |
| 0x0080092f PROVIDE (__bss_end, .) |
| 0x0000b962 __data_load_start = LOADADDR (.data) |
| 0x0000bc32 __data_load_end = (__data_load_start + SIZEOF (.data)) |
| .noinit 0x0080092f 0x0 |
| 0x0080092f PROVIDE (__noinit_start, .) |
| *(.noinit*) |
| 0x0080092f PROVIDE (__noinit_end, .) |
| 0x0080092f _end = . |
| 0x0080092f PROVIDE (__heap_start, .) |
| .eeprom 0x00810000 0x800 |
| *(.eeprom*) |
| .eeprom 0x00810000 0x800 fc.o |
| 0x00810000 EEPromArray |
| 0x00810800 __eeprom_end = . |
| .fuse |
| *(.fuse) |
| *(.lfuse) |
| *(.hfuse) |
| *(.efuse) |
| .lock |
| *(.lock*) |
| .signature |
| *(.signature*) |
| .stab 0x00000000 0x20dc |
| *(.stab) |
| .stab 0x00000000 0x6b4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| .stab 0x000006b4 0x66c isqrt.o |
| 0x678 (size before relaxing) |
| .stab 0x00000d20 0x78 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| 0x84 (size before relaxing) |
| .stab 0x00000d98 0x4bc C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| 0x4c8 (size before relaxing) |
| .stab 0x00001254 0x90 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| 0x9c (size before relaxing) |
| .stab 0x000012e4 0x6c C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| 0x78 (size before relaxing) |
| .stab 0x00001350 0x240 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| 0x24c (size before relaxing) |
| .stab 0x00001590 0x318 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| 0x324 (size before relaxing) |
| .stab 0x000018a8 0x1e0 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| 0x1ec (size before relaxing) |
| .stab 0x00001a88 0x78 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
| 0x84 (size before relaxing) |
| .stab 0x00001b00 0x54 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| 0x60 (size before relaxing) |
| .stab 0x00001b54 0x84 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
| 0x90 (size before relaxing) |
| .stab 0x00001bd8 0x84 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
| 0x90 (size before relaxing) |
| .stab 0x00001c5c 0xfc C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_round.o) |
| 0x108 (size before relaxing) |
| .stab 0x00001d58 0x1d4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
| 0x1e0 (size before relaxing) |
| .stab 0x00001f2c 0x90 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| 0x9c (size before relaxing) |
| .stab 0x00001fbc 0x6c C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| 0x78 (size before relaxing) |
| .stab 0x00002028 0xb4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| 0xc0 (size before relaxing) |
| .stabstr 0x00000000 0x566 |
| *(.stabstr) |
| .stabstr 0x00000000 0x566 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../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 0x00000000 0x28 |
| *(.debug_aranges) |
| .debug_aranges |
| 0x00000000 0x14 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .debug_aranges |
| 0x00000014 0x14 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| .debug_pubnames |
| 0x00000000 0x46 |
| *(.debug_pubnames) |
| .debug_pubnames |
| 0x00000000 0x23 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .debug_pubnames |
| 0x00000023 0x23 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| .debug_info 0x00000000 0x1f6 |
| *(.debug_info) |
| .debug_info 0x00000000 0xfd C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .debug_info 0x000000fd 0xf9 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| *(.gnu.linkonce.wi.*) |
| .debug_abbrev 0x00000000 0x12b |
| *(.debug_abbrev) |
| .debug_abbrev 0x00000000 0x9a C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .debug_abbrev 0x0000009a 0x91 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| .debug_line 0x00000000 0x1aa |
| *(.debug_line) |
| .debug_line 0x00000000 0xd5 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| .debug_line 0x000000d5 0xd5 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| .debug_frame |
| *(.debug_frame) |
| .debug_str 0x00000000 0xe7 |
| *(.debug_str) |
| .debug_str 0x00000000 0xb5 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| 0xe9 (size before relaxing) |
| .debug_str 0x000000b5 0x32 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| 0xe9 (size before relaxing) |
| .debug_loc |
| *(.debug_loc) |
| .debug_macinfo |
| *(.debug_macinfo) |
| OUTPUT(Flight-Ctrl_MEGA644_V0_76g_SVN.elf elf32-avr) |
| LOAD linker stubs |
| Cross Reference Table |
| Symbol File |
| ADC_Init analog.o |
| main.o |
| ANALOG_TEXT uart.o |
| AdNeutralGier fc.o |
| rc.o |
| menu.o |
| AdNeutralGierBias fc.o |
| AdNeutralNick fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralRoll fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdReady analog.o |
| timer0.o |
| fc.o |
| main.o |
| AdWertAccHoch analog.o |
| fc.o |
| AdWertAccNick analog.o |
| menu.o |
| fc.o |
| AdWertAccRoll analog.o |
| menu.o |
| fc.o |
| AdWertGier analog.o |
| menu.o |
| fc.o |
| AdWertGierFilter analog.o |
| AdWertNick analog.o |
| menu.o |
| fc.o |
| AdWertNickFilter analog.o |
| fc.o |
| AdWertRoll analog.o |
| menu.o |
| fc.o |
| AdWertRollFilter analog.o |
| fc.o |
| AddCRC uart.o |
| Aktuell_Gier analog.o |
| Aktuell_Nick analog.o |
| Aktuell_Roll analog.o |
| Aktuell_ax analog.o |
| Aktuell_ay analog.o |
| Aktuell_az fc.o |
| analog.o |
| AnalogOffsetGier analog.o |
| twimaster.o |
| menu.o |
| AnalogOffsetNick analog.o |
| twimaster.o |
| menu.o |
| AnalogOffsetRoll analog.o |
| twimaster.o |
| menu.o |
| AnzahlEmpfangsBytes uart.o |
| Array menu.o |
| BaroExpandActive fc.o |
| BattLowVoltageWarning main.o |
| fc.o |
| BearbeiteRxDaten uart.o |
| main.o |
| BeepMuster timer0.o |
| main.o |
| CalMk3Mag main.o |
| CalibrierMittelwert fc.o |
| Channels rc.o |
| CheckDelay timer0.o |
| uart.o |
| analog.o |
| main.o |
| CntCrcError uart.o |
| ConfirmFrame uart.o |
| CosinusNickWinkel fc.o |
| CosinusRollWinkel fc.o |
| CountMilliseconds timer0.o |
| Data3D uart.o |
| DatenUebertragung uart.o |
| main.o |
| DebugDataAnforderung uart.o |
| DebugDataIntervall uart.o |
| DebugDisplayAnforderung uart.o |
| DebugDisplayAnforderung1 uart.o |
| DebugOut uart.o |
| fc.o |
| main.o |
| DebugTextAnforderung uart.o |
| Debug_Timer uart.o |
| Decode64 uart.o |
| DefaultKonstanten1 fc.o |
| main.o |
| DefaultKonstanten2 fc.o |
| main.o |
| DefaultKonstanten3 fc.o |
| main.o |
| DefaultStickMapping fc.o |
| main.o |
| Delay_ms timer0.o |
| fc.o |
| Delay_ms_Mess timer0.o |
| fc.o |
| analog.o |
| DiffNick fc.o |
| DiffRoll fc.o |
| DispPtr menu.o |
| printf_P.o |
| DisplayBuff menu.o |
| uart.o |
| printf_P.o |
| DisplayLine uart.o |
| DruckOffsetSetting menu.o |
| fc.o |
| analog.o |
| EEPromArray fc.o |
| uart.o |
| menu.o |
| analog.o |
| main.o |
| EE_Parameter uart.o |
| timer0.o |
| menu.o |
| led.o |
| fc.o |
| main.o |
| ErsatzKompass uart.o |
| fc.o |
| ErsatzKompassInGrad fc.o |
| ExpandBaro analog.o |
| fc.o |
| ExternControl uart.o |
| fc.o |
| main.o |
| ExternHoehenValue fc.o |
| ExternStickGier fc.o |
| main.o |
| ExternStickNick fc.o |
| main.o |
| ExternStickRoll fc.o |
| main.o |
| FlugMinuten main.o |
| menu.o |
| FlugMinutenGesamt main.o |
| menu.o |
| GIER_GRAD_FAKTOR fc.o |
| uart.o |
| main.o |
| GetActiveParamSetNumber fc.o |
| uart.o |
| menu.o |
| main.o |
| GetExternalControl uart.o |
| GetPPMChannelAnforderung uart.o |
| GetVersionAnforderung uart.o |
| GierGyroFehler fc.o |
| GyroDefektG analog.o |
| GyroDefektN analog.o |
| GyroDefektR analog.o |
| GyroFaktor fc.o |
| GyroFaktorGier fc.o |
| HiResNick analog.o |
| fc.o |
| HiResRoll analog.o |
| fc.o |
| HoehenReglerAktiv fc.o |
| HoehenWert fc.o |
| menu.o |
| analog.o |
| I2CError twimaster.o |
| I2CTimeout fc.o |
| twimaster.o |
| menu.o |
| main.o |
| I2C_ReceiveByte twimaster.o |
| I2C_ReceiveLastByte twimaster.o |
| I2C_WriteByte twimaster.o |
| IntegralAccNick fc.o |
| IntegralAccRoll fc.o |
| IntegralAccZ fc.o |
| IntegralFaktor fc.o |
| IntegralFaktorGier fc.o |
| IntegralNick fc.o |
| uart.o |
| timer0.o |
| IntegralNick2 fc.o |
| IntegralRoll fc.o |
| uart.o |
| IntegralRoll2 fc.o |
| Integral_Gier fc.o |
| Intervall3D uart.o |
| J16Blinkcount led.o |
| J16Mask led.o |
| J17Blinkcount led.o |
| J17Mask led.o |
| Ki fc.o |
| KompassRichtung fc.o |
| uart.o |
| timer0.o |
| menu.o |
| KompassSignalSchlecht fc.o |
| KompassStartwert fc.o |
| uart.o |
| timer0.o |
| menu.o |
| KompassValue fc.o |
| uart.o |
| timer0.o |
| menu.o |
| Kompass_Timer uart.o |
| KopplungsteilNickRoll fc.o |
| KopplungsteilRollNick fc.o |
| LED1_Timing led.o |
| LED2_Timing led.o |
| LED_Init led.o |
| fc.o |
| LED_Update led.o |
| main.o |
| LageKorrekturNick fc.o |
| LageKorrekturRoll fc.o |
| LcdClear menu.o |
| main.o |
| LipoDetection main.o |
| uart.o |
| LoadHandler fc.o |
| Looping_Links fc.o |
| Looping_Nick fc.o |
| Looping_Oben fc.o |
| Looping_Rechts fc.o |
| Looping_Roll fc.o |
| Looping_Unten fc.o |
| Luftdruck analog.o |
| fc.o |
| MAX_GAS fc.o |
| MIN_GAS fc.o |
| MaxMenue menu.o |
| uart.o |
| MaxStickNick fc.o |
| MaxStickRoll fc.o |
| MeineSlaveAdresse uart.o |
| Menu menu.o |
| uart.o |
| MenuePunkt menu.o |
| uart.o |
| MessLuftdruck analog.o |
| menu.o |
| fc.o |
| Mess_IntegralNick fc.o |
| Mess_IntegralNick2 fc.o |
| Mess_IntegralRoll fc.o |
| Mess_IntegralRoll2 fc.o |
| Mess_Integral_Gier fc.o |
| Mess_Integral_Gier2 fc.o |
| Mess_Integral_Hoch fc.o |
| analog.o |
| MesswertGier fc.o |
| MesswertGierBias fc.o |
| MesswertNick fc.o |
| MesswertRoll fc.o |
| MikroKopterFlags fc.o |
| led.o |
| main.o |
| MissingMotor twimaster.o |
| menu.o |
| fc.o |
| main.o |
| MittelIntegralNick fc.o |
| MittelIntegralNick2 fc.o |
| MittelIntegralRoll fc.o |
| MittelIntegralRoll2 fc.o |
| Mittelwert fc.o |
| Mittelwert_AccHoch menu.o |
| fc.o |
| Mittelwert_AccNick fc.o |
| Mittelwert_AccRoll fc.o |
| Mixer uart.o |
| timer0.o |
| rc.o |
| twimaster.o |
| printf_P.o |
| menu.o |
| led.o |
| fc.o |
| analog.o |
| main.o |
| Motor twimaster.o |
| fc.o |
| MotorError twimaster.o |
| menu.o |
| main.o |
| MotorPresent twimaster.o |
| menu.o |
| main.o |
| MotorRegler fc.o |
| main.o |
| MotorSmoothing fc.o |
| MotorTest uart.o |
| fc.o |
| MotorenEin fc.o |
| led.o |
| main.o |
| NMEABuffer uart.o |
| NaviAccNick fc.o |
| NaviAccRoll fc.o |
| NaviCntAcc fc.o |
| NeueKoordinateEmpfangen uart.o |
| NeuerDatensatzEmpfangen uart.o |
| NeutralAccX fc.o |
| menu.o |
| analog.o |
| NeutralAccY fc.o |
| menu.o |
| analog.o |
| NeutralAccZ fc.o |
| menu.o |
| analog.o |
| NewPpmData rc.o |
| fc.o |
| PAD_0 printf_P.o |
| PAD_SP printf_P.o |
| PC_DebugTimeout uart.o |
| PC_MotortestActive uart.o |
| fc.o |
| PPM_diff rc.o |
| fc.o |
| PPM_in uart.o |
| rc.o |
| menu.o |
| fc.o |
| main.o |
| PRINT printf_P.o |
| PRINTP printf_P.o |
| ParameterZuordnung fc.o |
| Parameter_AchsKopplung1 fc.o |
| Parameter_AchsKopplung2 fc.o |
| Parameter_CouplingYawCorrection fc.o |
| Parameter_DynamicStability fc.o |
| Parameter_ExternalControl fc.o |
| Parameter_Gier_P fc.o |
| Parameter_Gyro_D fc.o |
| Parameter_Gyro_Gier_I fc.o |
| Parameter_Gyro_Gier_P fc.o |
| Parameter_Gyro_I fc.o |
| Parameter_Gyro_P fc.o |
| Parameter_Hoehe_ACC_Wirkung fc.o |
| Parameter_Hoehe_GPS_Z fc.o |
| Parameter_Hoehe_P fc.o |
| Parameter_I_Faktor fc.o |
| Parameter_J16Bitmask fc.o |
| Parameter_J16Timing led.o |
| fc.o |
| Parameter_J17Bitmask fc.o |
| Parameter_J17Timing led.o |
| fc.o |
| Parameter_KompassWirkung fc.o |
| Parameter_LoopGasLimit fc.o |
| Parameter_Luftdruck_D fc.o |
| Parameter_MaxHoehe fc.o |
| Parameter_NaviGpsACC fc.o |
| Parameter_NaviGpsD fc.o |
| Parameter_NaviGpsGain fc.o |
| Parameter_NaviGpsI fc.o |
| Parameter_NaviGpsModeControl fc.o |
| Parameter_NaviGpsP fc.o |
| Parameter_NaviOperatingRadius fc.o |
| Parameter_NaviSpeedCompensation fc.o |
| Parameter_NaviWindCorrection fc.o |
| Parameter_ServoNickControl fc.o |
| timer0.o |
| menu.o |
| Parameter_ServoRollControl fc.o |
| Parameter_UserParam1 fc.o |
| uart.o |
| Parameter_UserParam2 fc.o |
| uart.o |
| Parameter_UserParam3 fc.o |
| Parameter_UserParam4 fc.o |
| Parameter_UserParam5 fc.o |
| Parameter_UserParam6 fc.o |
| Parameter_UserParam7 fc.o |
| Parameter_UserParam8 fc.o |
| PcZugriff uart.o |
| main.o |
| Piep fc.o |
| uart.o |
| main.o |
| PlatinenVersion main.o |
| menu.o |
| fc.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 fc.o |
| uart.o |
| main.o |
| RemoteKeys menu.o |
| uart.o |
| RequiredMotors fc.o |
| main.o |
| RohMesswertNick fc.o |
| RohMesswertRoll fc.o |
| RxDataLen uart.o |
| RxdBuffer uart.o |
| SendMotorData fc.o |
| main.o |
| SendOutData uart.o |
| SendSPI timer0.o |
| main.o |
| SendVersionToNavi main.o |
| fc.o |
| SendeBuffer uart.o |
| SenderOkay fc.o |
| rc.o |
| menu.o |
| led.o |
| main.o |
| SenderRSSI fc.o |
| ServoActive timer0.o |
| uart.o |
| fc.o |
| main.o |
| ServoNickValue timer0.o |
| ServoRollValue timer0.o |
| SetActiveParamSetNumber fc.o |
| uart.o |
| main.o |
| SetDelay timer0.o |
| uart.o |
| analog.o |
| main.o |
| SetNeutral fc.o |
| main.o |
| SioTmp uart.o |
| SollHoehe fc.o |
| menu.o |
| StartLuftdruck fc.o |
| analog.o |
| StartNeutralNick fc.o |
| StartNeutralRoll fc.o |
| StickGas fc.o |
| StickGier fc.o |
| main.o |
| StickNick fc.o |
| main.o |
| StickRoll fc.o |
| main.o |
| SucheGyroOffset analog.o |
| fc.o |
| SucheLuftruckOffset analog.o |
| fc.o |
| main.o |
| SummenHoehe analog.o |
| fc.o |
| TIMER2_Init timer0.o |
| main.o |
| TestInt menu.o |
| Timer3D uart.o |
| Timer_Init timer0.o |
| main.o |
| TrichterFlug fc.o |
| TrimNick fc.o |
| TrimRoll fc.o |
| UART_Init uart.o |
| main.o |
| UBat analog.o |
| menu.o |
| fc.o |
| main.o |
| UebertragungAbgeschlossen uart.o |
| Umschlag180Nick fc.o |
| uart.o |
| Umschlag180Roll fc.o |
| uart.o |
| UpdateMotor timer0.o |
| main.o |
| VarioMeter analog.o |
| fc.o |
| VersionInfo uart.o |
| WinkelOut uart.o |
| fc.o |
| main.o |
| WriteParameterSet fc.o |
| uart.o |
| main.o |
| ZaehlMessungen analog.o |
| fc.o |
| __addsf3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| fc.o |
| analog.o |
| __addsf3x C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __bad_interrupt C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __bss_end C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| __bss_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| __cmpsf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| __data_end C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __data_load_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __data_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __divmodhi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| uart.o |
| timer0.o |
| mymath.o |
| rc.o |
| fc.o |
| __divmodsi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| uart.o |
| mymath.o |
| fc.o |
| __do_clear_bss C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| uart.o |
| timer0.o |
| mymath.o |
| rc.o |
| twimaster.o |
| printf_P.o |
| menu.o |
| led.o |
| fc.o |
| analog.o |
| main.o |
| __do_copy_data C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| uart.o |
| timer0.o |
| mymath.o |
| rc.o |
| twimaster.o |
| printf_P.o |
| menu.o |
| led.o |
| fc.o |
| analog.o |
| main.o |
| __eerd_block C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| fc.o |
| main.o |
| __eewr_block C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| uart.o |
| fc.o |
| main.o |
| __epilogue_restores__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| uart.o |
| mymath.o |
| printf_P.o |
| fc.o |
| analog.o |
| __eqsf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| __fixsfsi C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| menu.o |
| fc.o |
| analog.o |
| __fixunssfsi C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| fc.o |
| __floatsisf C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| fc.o |
| __floatunsisf C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_cmp C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| __fp_inf C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __fp_nan C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __fp_pscA C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __fp_pscB C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __fp_round C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_round.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_split3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __fp_splitA C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| __fp_szero C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_zero C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __gesf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| __gtsf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(gesf2.o) |
| analog.o |
| __heap_end C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __init C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __lesf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| __ltsf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| analog.o |
| __mulsi3 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| uart.o |
| timer0.o |
| fc.o |
| analog.o |
| __nesf2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(cmpsf2.o) |
| __prologue_saves__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eewr_block.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(eerd_block.o) |
| uart.o |
| printf_P.o |
| fc.o |
| __stack C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| main.o |
| __subsf3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| fc.o |
| analog.o |
| __tablejump2__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| uart.o |
| twimaster.o |
| menu.o |
| analog.o |
| __tablejump__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| __udivmodhi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| timer0.o |
| fc.o |
| analog.o |
| __udivmodqi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| menu.o |
| main.o |
| __udivmodsi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| printf_P.o |
| __vector_1 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_10 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_11 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_12 rc.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_13 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_14 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_15 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_16 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_17 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_18 timer0.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_19 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_20 uart.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_21 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_22 uart.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_23 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_24 analog.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_25 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_26 twimaster.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_27 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_5 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_6 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_7 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_8 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_9 timer0.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vector_default C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| __vectors C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| _div C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| _exit C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_exit.o) |
| _printf_P printf_P.o |
| menu.o |
| analog.o |
| main.o |
| angle fc.o |
| beeptime timer0.o |
| fc.o |
| main.o |
| c_atan2 mymath.o |
| c_cos_8192 mymath.o |
| fc.o |
| c_sin_8192 mymath.o |
| c_sqrt mymath.o |
| cntKompass timer0.o |
| controllerD fc.o |
| controllerDD fc.o |
| controllerP fc.o |
| desiredAngle fc.o |
| exit C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_exit.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| filterDD fc.o |
| filtersum fc.o |
| gyroScaled fc.o |
| gyroScaledOld fc.o |
| h fc.o |
| i2c_init twimaster.o |
| main.o |
| i2c_reset twimaster.o |
| main.o |
| i2c_start twimaster.o |
| fc.o |
| analog.o |
| i2c_stop twimaster.o |
| i2c_write_byte twimaster.o |
| ihypot isqrt.o |
| fc.o |
| ipk fc.o |
| isqrt16 isqrt.o |
| isqrt32 isqrt.o |
| kd fc.o |
| kdd fc.o |
| kp fc.o |
| m fc.o |
| main main.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644.o |
| maxcontrollerD fc.o |
| maxcontrollerDD fc.o |
| maxcontrollerP fc.o |
| memchr C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o |
| messanzahl_AccHoch analog.o |
| mincontrollerD fc.o |
| mincontrollerDD fc.o |
| mincontrollerP fc.o |
| modell_fliegt fc.o |
| analog.o |
| motor twimaster.o |
| fc.o |
| motorOutFront fc.o |
| motorOutRear fc.o |
| motor_rx twimaster.o |
| motor_rx2 twimaster.o |
| motorread twimaster.o |
| main.o |
| pRxData uart.o |
| pgm_atanlookup mymath.o |
| pgm_sinlookup mymath.o |
| rc_sum_init rc.o |
| main.o |
| s fc.o |
| thrust fc.o |
| tmpChannels rc.o |
| tmp_motorwert fc.o |
| twi_state twimaster.o |
| fc.o |
| analog.o |
| uart_putchar uart.o |
| printf_P.o |
| ucflg1 fc.o |
| ucflg2 fc.o |
| ucflg3 fc.o |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/Settings.h |
|---|
| --- V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/_Settings.h (nonexistent) |
| +++ V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/_Settings.h (revision 2248) |
| @@ -0,0 +1,18 @@ |
| +// -------------------------------------- |
| +// for fine tuning of amplfier |
| +// -------------------------------------- |
| +#define ACC_AMPLIFY 6 |
| + |
| +// -------------------------------------- |
| +// Radio Control Setup |
| +// -------------------------------------- |
| + #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 |
| + |
| +// *** EOF ****************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/analog.c |
|---|
| 0,0 → 1,316 |
| /***************************************************************************************************************************** |
| * File: analog.c |
| * |
| * Purpose: collecting ADC analog inputs from PORTA |
| * |
| * Functions: void ADC_Init(void) |
| * void SucheLuftruckOffset(void) |
| * void SucheGyroOffset(void) |
| * ISR(ADC_vect) |
| * |
| *****************************************************************************************************************************/ |
| #include "analog.h" |
| #include "main.h" |
| volatile int Aktuell_Nick, Aktuell_Roll, Aktuell_Gier, Aktuell_ax, Aktuell_ay, Aktuell_az, UBat = 100; |
| volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| volatile int HiResNick = 2500, HiResRoll = 2500; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0, AdWertAccNick = 0, AdWertAccHoch = 0; |
| volatile char messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long SummenHoehe = 0; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int VarioMeter = 0; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetGier = 115; |
| unsigned char GyroDefektN = 0, GyroDefektR = 0, GyroDefektG = 0; |
| volatile unsigned char AdReady = 1; |
| // ************************************************************************************************************************************* |
| // initialize the analog digital converter ADC |
| // ------------------------------------------------------------------------------------------------------------------------------------- |
| void ADC_Init(void) |
| { |
| // ADMUX = ADC Multiplexer Selection Register –> REFS1 REFS0 ADLAR MUX4 MUX3 MUX2 MUX1 MUX0 |
| // ----------------------------------------------------------------------------------------- |
| // REFS1:0 = Reference Selection Bits |
| // ADLAR = ADC Left Adjust Result |
| // MUX4:0 = Analog Channel and Gain Selection Bits |
| // |
| ADMUX = 0; // AREF, Internal Vref is turned off |
| // // the result is right adjusted |
| // // MUX = 00000 = ADC0 |
| // ADCSRA = Analog Digital Conversion Status Register A -> ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 |
| // --------------------------------------------------------------------------------------------------- |
| // ADEN = Writing this bit to one enables the ADC |
| // ADSC = start conversion |
| // ADATE = When this bit is written to one, Auto Triggering of the ADC is enabled |
| // ADIE = ADC Interrupt Enable. When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated. |
| // ADPS = These bits determine the division factor between the XTAL frequency and the input clock to the ADC. |
| // Prescaler with ADPS2 ADPS1 ADPS0 = 111 = Division Factor 128 = 156.25 kHz |
| // |
| ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0) |
| } |
| // *** EOF: void ADC_Init(void) ************************************************************************************ |
| #define DESIRED_H_ADC 800 |
| // ********************************************************************************************************************************* |
| // initialize the air pressure offset |
| // ------------------------------------ |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; // Timer/Counter0 Output Compare Register A |
| ExpandBaro = 0; |
| Delay_ms_Mess(100); // -> timer0.c |
| if(MessLuftdruck < DESIRED_H_ADC) off = 0; // #define DESIRED_H_ADC 800 |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| // *** EOF: SucheLuftruckOffset(void) ********************************************************************************************** |
| // ********************************************************************************************************************************* |
| // initialize the Gyro-Offset |
| // --------------------------- |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
| timeout = SetDelay(2000); |
| for(i=140; i != 0; i--) |
| { |
| if(ready==3 && i>10) i = 9; |
| ready = 0; |
| if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| twi_state = 8; |
| i2c_start(); |
| if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| AdReady = 0; |
| ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| // *** EOF: SucheGyroOffset(void) ************************************************************************************************** |
| // ********************************************************************************************************************************* |
| // read analog input with the following sequence: |
| // --------------------------------------------------------------------------------------------------- |
| // case: |
| // 0 nick-gyro |
| // 1 roll-gyro |
| // 2 gier-gyro |
| // 3 y acc roll |
| // 4 x acc nick |
| // 5 nick-gyro |
| // 6 roll-gyro |
| // 7 voltage V |
| // 8 z acc |
| // 9 air pressure |
| // 10 nick-gyro |
| // 11 roll-gyro |
| // 12 gier-gyro |
| // 13 y acc roll |
| // 14 x acc nick |
| // 15 nick-gyro |
| // 16 roll-gyro |
| // 17 air pressure |
| // --------------------------------------------------------------------------------------------------- |
| ISR(ADC_vect) |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| static long tmpLuftdruck = 0; |
| static char messanzahl_Druck = 0; |
| switch(state++) |
| { |
| case 0: // nick gyro |
| nick1 = ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| case 1: // roll gyro |
| roll1 = 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
| kanal = AD_GIER; // #define AD_GIER 0 |
| break; |
| case 2: // gier gyro |
| gier1 = 512; // Messwert Gier aus dem Gyroskop (drehen um Hochachse) |
| kanal = AD_ACC_Y; // #define AD_ACC_Y 6 // Rollen |
| break; |
| case 3: // y acc roll |
| Aktuell_ay = NeutralAccY - 512; |
| accy = Aktuell_ay; // Messwert Y=Roll des ACC Sensors |
| kanal = AD_ACC_X; // #define AD_ACC_X 7 // Nicken |
| break; |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; // Messwert X=Nick des ACC Sensors |
| accx = Aktuell_ax; |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| case 5: |
| nick1 += ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| case 6: |
| roll1 += 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
| kanal = AD_UBAT; // #define AD_UBAT 4 |
| break; |
| case 7: |
| UBat = (3 * UBat + ADC / 3) / 4; // Voltage |
| kanal = AD_ACC_Z; // #define AD_ACC_Z 5 |
| break; |
| case 8: // Z acc Sensor |
| AdWertAccHoch = 512 - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| NeutralAccZ += 0.02; |
| if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| messanzahl_AccHoch = 1; // Messwert Z des ACC Sensors |
| Aktuell_az = 512; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 9:" fehlt hier absichtlich |
| case 10: |
| nick1 += ADC; |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| case 11: |
| roll1 += 512; |
| kanal = AD_GIER; // #define AD_GIER 0 |
| break; |
| case 12: |
| AdWertGier = (512 + gier1); // AdWertGier müsste so um die 1020 liegen |
| kanal = AD_ACC_Y; // #define AD_ACC_Y 6 |
| break; |
| case 13: |
| Aktuell_ay = NeutralAccY - 512; |
| AdWertAccRoll = (Aktuell_ay + accy); // Messwert Roll des ACC Sensors |
| kanal = AD_ACC_X; // #define AD_ACC_X 7 |
| break; |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); // 2nd measure of ACC Nick Sensor 0...512 |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| case 15: |
| nick1 += ADC; |
| nick1 *= 4; |
| AdWertNick = nick1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
| nick_filter = (nick_filter + nick1) / 2; // nick_filter müsste mit ca 500 passen |
| HiResNick = nick_filter - AdNeutralNick; // der Wert wird hier auf den Nullpunkt normiert |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // und gefiltert |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| case 16: |
| roll1 += 512; |
| roll1 *= 4; |
| AdWertRoll = roll1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
| roll_filter = (roll_filter + roll1) / 2; // ähnlich wie bei Nick in case 15 |
| HiResRoll = roll_filter - AdNeutralRoll; // der Wert wird hier auf den Nullpunkt normiert |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // und gefiltert |
| kanal = AD_DRUCK; // #define AD_DRUCK 3 |
| break; |
| case 17: |
| state = 0; |
| AdReady = 1; // alle Analogeingänge sind nun bedient worden |
| ZaehlMessungen++; // counts one up as all cases have been passed through |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = 512; |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 18) |
| { |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe / SM_FILTER; // #define SM_FILTER 16 |
| SummenHoehe += HoehenWert; |
| VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 18/2; |
| } |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| } |
| // EOF : ISR(ADC_vect) **************************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/analog.d |
|---|
| 0,0 → 1,2 |
| analog.o analog.d : analog.c analog.h main.h old_macros.h _Settings.h printf_P.h \ |
| timer0.h uart.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/analog.h |
|---|
| 0,0 → 1,54 |
| /***************************************************************************************************************************** |
| * File: analog.h |
| * Purpose: header of analog.c |
| *****************************************************************************************************************************/ |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| #define SM_FILTER 16 |
| extern volatile int UBat; // Voltage |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int HiResNick, HiResRoll; |
| extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile char MessanzahlNick; |
| extern unsigned char AnalogOffsetNick, AnalogOffsetRoll, AnalogOffsetGier; // to be passed to DAC |
| extern volatile unsigned char AdReady; // ready with ADC in analog.c |
| extern volatile int StartLuftdruck; |
| extern volatile long Luftdruck; |
| extern volatile long SummenHoehe; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int VarioMeter; |
| extern volatile unsigned int MessLuftdruck; |
| // ----------------------------------------------- functions ------------------------------------ |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| void SucheGyroOffset(void); |
| //------------------------------------ definitions ---------------------------------------------- |
| #define AD_GIER 0 |
| #define AD_ROLL 1 |
| #define AD_NICK 2 |
| #define AD_DRUCK 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_Y 6 |
| #define AD_ACC_X 7 |
| #define ANALOG_OFF ADCSRA=0 |
| // switch on ADCs at Single trigger Mode, Interrupt on |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| #endif |
| // *** EOF: _ANALOG_H ****************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/analog.lst |
|---|
| 0,0 → 1,1393 |
| 1 .file "analog.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global AdReady |
| 11 .data |
| 14 AdReady: |
| 15 0000 01 .byte 1 |
| 16 .global GyroDefektG |
| 17 .global GyroDefektG |
| 18 .section .bss |
| 21 GyroDefektG: |
| 22 0000 00 .skip 1,0 |
| 23 .global GyroDefektR |
| 24 .global GyroDefektR |
| 27 GyroDefektR: |
| 28 0001 00 .skip 1,0 |
| 29 .global GyroDefektN |
| 30 .global GyroDefektN |
| 33 GyroDefektN: |
| 34 0002 00 .skip 1,0 |
| 35 .global AnalogOffsetGier |
| 36 .data |
| 39 AnalogOffsetGier: |
| 40 0001 73 .byte 115 |
| 41 .global AnalogOffsetRoll |
| 44 AnalogOffsetRoll: |
| 45 0002 73 .byte 115 |
| 46 .global AnalogOffsetNick |
| 49 AnalogOffsetNick: |
| 50 0003 73 .byte 115 |
| 51 .global ZaehlMessungen |
| 52 .global ZaehlMessungen |
| 53 .section .bss |
| 56 ZaehlMessungen: |
| 57 0003 0000 .skip 2,0 |
| 58 .global VarioMeter |
| 59 .global VarioMeter |
| 62 VarioMeter: |
| 63 0005 0000 .skip 2,0 |
| 64 .global ExpandBaro |
| 65 .global ExpandBaro |
| 68 ExpandBaro: |
| 69 0007 00 .skip 1,0 |
| 70 .global MessLuftdruck |
| 71 .data |
| 74 MessLuftdruck: |
| 75 0004 FF03 .word 1023 |
| 76 .global SummenHoehe |
| 77 .global SummenHoehe |
| 78 .section .bss |
| 81 SummenHoehe: |
| 82 0008 0000 0000 .skip 4,0 |
| 83 .global Luftdruck |
| 84 .data |
| 87 Luftdruck: |
| 88 0006 007D 0000 .long 32000 |
| 89 .global messanzahl_AccHoch |
| 90 .global messanzahl_AccHoch |
| 91 .section .bss |
| 94 messanzahl_AccHoch: |
| 95 000c 00 .skip 1,0 |
| 96 .global AdWertAccHoch |
| 97 .global AdWertAccHoch |
| 100 AdWertAccHoch: |
| 101 000d 0000 .skip 2,0 |
| 102 .global AdWertAccNick |
| 103 .global AdWertAccNick |
| 106 AdWertAccNick: |
| 107 000f 0000 .skip 2,0 |
| 108 .global AdWertAccRoll |
| 109 .global AdWertAccRoll |
| 112 AdWertAccRoll: |
| 113 0011 0000 .skip 2,0 |
| 114 .global AdWertGier |
| 115 .global AdWertGier |
| 118 AdWertGier: |
| 119 0013 0000 .skip 2,0 |
| 120 .global AdWertRoll |
| 121 .global AdWertRoll |
| 124 AdWertRoll: |
| 125 0015 0000 .skip 2,0 |
| 126 .global AdWertNick |
| 127 .global AdWertNick |
| 130 AdWertNick: |
| 131 0017 0000 .skip 2,0 |
| 132 .global HiResRoll |
| 133 .data |
| 136 HiResRoll: |
| 137 000a C409 .word 2500 |
| 138 .global HiResNick |
| 141 HiResNick: |
| 142 000c C409 .word 2500 |
| 143 .global AdWertGierFilter |
| 144 .global AdWertGierFilter |
| 145 .section .bss |
| 148 AdWertGierFilter: |
| 149 0019 0000 .skip 2,0 |
| 150 .global AdWertRollFilter |
| 151 .global AdWertRollFilter |
| 154 AdWertRollFilter: |
| 155 001b 0000 .skip 2,0 |
| 156 .global AdWertNickFilter |
| 157 .global AdWertNickFilter |
| 160 AdWertNickFilter: |
| 161 001d 0000 .skip 2,0 |
| 162 .global UBat |
| 163 .data |
| 166 UBat: |
| 167 000e 6400 .word 100 |
| 168 .text |
| 169 .global ADC_Init |
| 171 ADC_Init: |
| 172 /* prologue: frame size=0 */ |
| 173 /* prologue end (size=0) */ |
| 174 0000 1092 7C00 sts 124,__zero_reg__ |
| 175 0004 8FEC ldi r24,lo8(-49) |
| 176 0006 8093 7A00 sts 122,r24 |
| 177 /* epilogue: frame size=0 */ |
| 178 000a 0895 ret |
| 179 /* epilogue end (size=1) */ |
| 180 /* function ADC_Init size 6 (5) */ |
| 182 .section .progmem.data,"a",@progbits |
| 185 __c.12: |
| 186 0000 2E00 .string "." |
| 187 .text |
| 188 .global SucheLuftruckOffset |
| 190 SucheLuftruckOffset: |
| 191 /* prologue: frame size=0 */ |
| 192 000c 0F93 push r16 |
| 193 000e 1F93 push r17 |
| 194 0010 CF93 push r28 |
| 195 0012 DF93 push r29 |
| 196 /* prologue end (size=4) */ |
| 197 .L3: |
| 198 0014 8FB3 in r24,63-0x20 |
| 199 0016 9927 clr r25 |
| 200 0018 8C01 movw r16,r24 |
| 201 001a 0270 andi r16,lo8(2) |
| 202 001c 1070 andi r17,hi8(2) |
| 203 001e 81FD sbrc r24,1 |
| 204 0020 00C0 rjmp .L3 |
| 205 0022 80E0 ldi r24,lo8(EEPromArray+3) |
| 206 0024 90E0 ldi r25,hi8(EEPromArray+3) |
| 207 0026 92BD out (65)+1-0x20,r25 |
| 208 0028 81BD out 65-0x20,r24 |
| 209 /* #APP */ |
| 210 /* START EEPROM READ CRITICAL SECTION */ |
| 211 002a F89A sbi 31, 0 |
| 212 002c 80B5 in r24, 32 |
| 213 /* END EEPROM READ CRITICAL SECTION */ |
| 214 |
| 215 /* #NOAPP */ |
| 216 002e C82F mov r28,r24 |
| 217 0030 DD27 clr r29 |
| 218 0032 C531 cpi r28,21 |
| 219 0034 D105 cpc r29,__zero_reg__ |
| 220 0036 00F0 brlo .L7 |
| 221 0038 2A97 sbiw r28,10 |
| 222 .L7: |
| 223 003a C7BD out 71-0x20,r28 |
| 224 003c 1092 0000 sts ExpandBaro,__zero_reg__ |
| 225 0040 84E6 ldi r24,lo8(100) |
| 226 0042 90E0 ldi r25,hi8(100) |
| 227 0044 0E94 0000 call Delay_ms_Mess |
| 228 0048 8091 0000 lds r24,MessLuftdruck |
| 229 004c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 230 0050 8052 subi r24,lo8(800) |
| 231 0052 9340 sbci r25,hi8(800) |
| 232 0054 00F4 brsh .L8 |
| 233 0056 E801 movw r28,r16 |
| 234 .L8: |
| 235 0058 CA3F cpi r28,250 |
| 236 005a D105 cpc r29,__zero_reg__ |
| 237 005c 00F4 brsh .L10 |
| 238 005e 00E0 ldi r16,lo8(__c.12) |
| 239 0060 10E0 ldi r17,hi8(__c.12) |
| 240 .L13: |
| 241 0062 C7BD out 71-0x20,r28 |
| 242 0064 82E3 ldi r24,lo8(50) |
| 243 0066 90E0 ldi r25,hi8(50) |
| 244 0068 0E94 0000 call Delay_ms_Mess |
| 245 006c 1F93 push r17 |
| 246 006e 0F93 push r16 |
| 247 0070 1F92 push __zero_reg__ |
| 248 0072 0E94 0000 call _printf_P |
| 249 0076 8091 0000 lds r24,MessLuftdruck |
| 250 007a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 251 007e 0F90 pop __tmp_reg__ |
| 252 0080 0F90 pop __tmp_reg__ |
| 253 0082 0F90 pop __tmp_reg__ |
| 254 0084 8052 subi r24,lo8(800) |
| 255 0086 9340 sbci r25,hi8(800) |
| 256 0088 00F0 brlo .L10 |
| 257 008a 2196 adiw r28,1 |
| 258 008c CA3F cpi r28,250 |
| 259 008e D105 cpc r29,__zero_reg__ |
| 260 0090 00F0 brlo .L13 |
| 261 .L10: |
| 262 0092 2C2F mov r18,r28 |
| 263 .L14: |
| 264 0094 F999 sbic 63-0x20,1 |
| 265 0096 00C0 rjmp .L14 |
| 266 0098 1FBA out 63-0x20,__zero_reg__ |
| 267 009a 80E0 ldi r24,lo8(EEPromArray+3) |
| 268 009c 90E0 ldi r25,hi8(EEPromArray+3) |
| 269 009e 92BD out (65)+1-0x20,r25 |
| 270 00a0 81BD out 65-0x20,r24 |
| 271 00a2 20BD out 64-0x20,r18 |
| 272 /* #APP */ |
| 273 /* START EEPROM WRITE CRITICAL SECTION */ |
| 274 00a4 0FB6 in r0, 63 |
| 275 00a6 F894 cli |
| 276 00a8 FA9A sbi 31, 2 |
| 277 00aa F99A sbi 31, 1 |
| 278 00ac 0FBE out 63, r0 |
| 279 /* END EEPROM WRITE CRITICAL SECTION */ |
| 280 /* #NOAPP */ |
| 281 00ae C093 0000 sts DruckOffsetSetting,r28 |
| 282 00b2 8CE2 ldi r24,lo8(300) |
| 283 00b4 91E0 ldi r25,hi8(300) |
| 284 00b6 0E94 0000 call Delay_ms_Mess |
| 285 /* epilogue: frame size=0 */ |
| 286 00ba DF91 pop r29 |
| 287 00bc CF91 pop r28 |
| 288 00be 1F91 pop r17 |
| 289 00c0 0F91 pop r16 |
| 290 00c2 0895 ret |
| 291 /* epilogue end (size=5) */ |
| 292 /* function SucheLuftruckOffset size 111 (102) */ |
| 294 .section .progmem.data |
| 297 __c.11: |
| 298 0002 0A0D 2044 .string "\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl" |
| 298 4143 206F |
| 298 7220 4932 |
| 298 4320 4552 |
| 298 524F 5221 |
| 299 .text |
| 300 .global SucheGyroOffset |
| 302 SucheGyroOffset: |
| 303 /* prologue: frame size=0 */ |
| 304 00c4 EF92 push r14 |
| 305 00c6 FF92 push r15 |
| 306 00c8 0F93 push r16 |
| 307 00ca 1F93 push r17 |
| 308 00cc CF93 push r28 |
| 309 00ce DF93 push r29 |
| 310 /* prologue end (size=6) */ |
| 311 00d0 00E0 ldi r16,lo8(0) |
| 312 00d2 0093 0000 sts GyroDefektN,r16 |
| 313 00d6 0093 0000 sts GyroDefektR,r16 |
| 314 00da 0093 0000 sts GyroDefektG,r16 |
| 315 00de 80ED ldi r24,lo8(2000) |
| 316 00e0 97E0 ldi r25,hi8(2000) |
| 317 00e2 0E94 0000 call SetDelay |
| 318 00e6 EC01 movw r28,r24 |
| 319 00e8 1CE8 ldi r17,lo8(-116) |
| 320 00ea 91E0 ldi r25,lo8(1) |
| 321 00ec F92E mov r15,r25 |
| 322 00ee 85EF ldi r24,lo8(-11) |
| 323 00f0 E82E mov r14,r24 |
| 324 .L51: |
| 325 00f2 0330 cpi r16,lo8(3) |
| 326 00f4 01F4 brne .+2 |
| 327 00f6 00C0 rjmp .L59 |
| 328 .L24: |
| 329 00f8 00E0 ldi r16,lo8(0) |
| 330 00fa 8091 0000 lds r24,AdWertNick |
| 331 00fe 9091 0000 lds r25,(AdWertNick)+1 |
| 332 0102 8C5F subi r24,lo8(1020) |
| 333 0104 9340 sbci r25,hi8(1020) |
| 334 0106 04F0 brlt .+2 |
| 335 0108 00C0 rjmp .L25 |
| 336 010a 8091 0000 lds r24,AnalogOffsetNick |
| 337 010e 8150 subi r24,lo8(-(-1)) |
| 338 .L56: |
| 339 0110 8093 0000 sts AnalogOffsetNick,r24 |
| 340 .L26: |
| 341 0114 8091 0000 lds r24,AdWertRoll |
| 342 0118 9091 0000 lds r25,(AdWertRoll)+1 |
| 343 011c 8C5F subi r24,lo8(1020) |
| 344 011e 9340 sbci r25,hi8(1020) |
| 345 0120 04F0 brlt .+2 |
| 346 0122 00C0 rjmp .L29 |
| 347 0124 8091 0000 lds r24,AnalogOffsetRoll |
| 348 0128 8150 subi r24,lo8(-(-1)) |
| 349 .L57: |
| 350 012a 8093 0000 sts AnalogOffsetRoll,r24 |
| 351 .L30: |
| 352 012e 8091 0000 lds r24,AdWertGier |
| 353 0132 9091 0000 lds r25,(AdWertGier)+1 |
| 354 0136 8C5F subi r24,lo8(1020) |
| 355 0138 9340 sbci r25,hi8(1020) |
| 356 013a 04F0 brlt .+2 |
| 357 013c 00C0 rjmp .L33 |
| 358 013e 8091 0000 lds r24,AnalogOffsetGier |
| 359 0142 8150 subi r24,lo8(-(-1)) |
| 360 .L58: |
| 361 0144 8093 0000 sts AnalogOffsetGier,r24 |
| 362 .L34: |
| 363 0148 88E0 ldi r24,lo8(8) |
| 364 014a 8093 0000 sts twi_state,r24 |
| 365 014e 0E94 0000 call i2c_start |
| 366 0152 8091 0000 lds r24,AnalogOffsetNick |
| 367 0156 8A30 cpi r24,lo8(10) |
| 368 0158 00F0 brlo .+2 |
| 369 015a 00C0 rjmp .L37 |
| 370 015c F092 0000 sts GyroDefektN,r15 |
| 371 0160 8AE0 ldi r24,lo8(10) |
| 372 0162 8093 0000 sts AnalogOffsetNick,r24 |
| 373 .L38: |
| 374 0166 8091 0000 lds r24,AnalogOffsetRoll |
| 375 016a 8A30 cpi r24,lo8(10) |
| 376 016c 00F0 brlo .+2 |
| 377 016e 00C0 rjmp .L39 |
| 378 0170 F092 0000 sts GyroDefektR,r15 |
| 379 0174 8AE0 ldi r24,lo8(10) |
| 380 0176 8093 0000 sts AnalogOffsetRoll,r24 |
| 381 .L40: |
| 382 017a 8091 0000 lds r24,AnalogOffsetGier |
| 383 017e 8A30 cpi r24,lo8(10) |
| 384 0180 00F4 brsh .L41 |
| 385 0182 F092 0000 sts GyroDefektG,r15 |
| 386 0186 8AE0 ldi r24,lo8(10) |
| 387 0188 8093 0000 sts AnalogOffsetGier,r24 |
| 388 .L42: |
| 389 018c 8091 0000 lds r24,twi_state |
| 390 0190 8823 tst r24 |
| 391 0192 01F0 breq .L44 |
| 392 0194 CE01 movw r24,r28 |
| 393 0196 0E94 0000 call CheckDelay |
| 394 019a 8823 tst r24 |
| 395 019c 01F0 breq .L42 |
| 396 019e 80E0 ldi r24,lo8(__c.11) |
| 397 01a0 90E0 ldi r25,hi8(__c.11) |
| 398 01a2 9F93 push r25 |
| 399 01a4 8F93 push r24 |
| 400 01a6 1F92 push __zero_reg__ |
| 401 01a8 0E94 0000 call _printf_P |
| 402 01ac 0F90 pop __tmp_reg__ |
| 403 01ae 0F90 pop __tmp_reg__ |
| 404 01b0 0F90 pop __tmp_reg__ |
| 405 .L44: |
| 406 01b2 1092 0000 sts AdReady,__zero_reg__ |
| 407 01b6 8FEC ldi r24,lo8(-49) |
| 408 01b8 8093 7A00 sts 122,r24 |
| 409 .L47: |
| 410 01bc 8091 0000 lds r24,AdReady |
| 411 01c0 8823 tst r24 |
| 412 01c2 01F0 breq .L47 |
| 413 01c4 1A30 cpi r17,lo8(10) |
| 414 01c6 00F4 brsh .+2 |
| 415 01c8 00C0 rjmp .L60 |
| 416 .L23: |
| 417 01ca 1150 subi r17,lo8(-(-1)) |
| 418 01cc 01F0 breq .+2 |
| 419 01ce 00C0 rjmp .L51 |
| 420 01d0 00C0 rjmp .L61 |
| 421 .L33: |
| 422 01d2 8091 0000 lds r24,AdWertGier |
| 423 01d6 9091 0000 lds r25,(AdWertGier)+1 |
| 424 01da 8750 subi r24,lo8(1031) |
| 425 01dc 9440 sbci r25,hi8(1031) |
| 426 01de 04F0 brlt .L35 |
| 427 01e0 8091 0000 lds r24,AnalogOffsetGier |
| 428 01e4 8F5F subi r24,lo8(-(1)) |
| 429 01e6 00C0 rjmp .L58 |
| 430 .L41: |
| 431 01e8 863F cpi r24,lo8(-10) |
| 432 01ea 00F0 brlo .L42 |
| 433 01ec F092 0000 sts GyroDefektG,r15 |
| 434 01f0 E092 0000 sts AnalogOffsetGier,r14 |
| 435 01f4 00C0 rjmp .L42 |
| 436 .L39: |
| 437 01f6 863F cpi r24,lo8(-10) |
| 438 01f8 00F4 brsh .+2 |
| 439 01fa 00C0 rjmp .L40 |
| 440 01fc F092 0000 sts GyroDefektR,r15 |
| 441 0200 E092 0000 sts AnalogOffsetRoll,r14 |
| 442 0204 00C0 rjmp .L40 |
| 443 .L37: |
| 444 0206 863F cpi r24,lo8(-10) |
| 445 0208 00F4 brsh .+2 |
| 446 020a 00C0 rjmp .L38 |
| 447 020c F092 0000 sts GyroDefektN,r15 |
| 448 0210 E092 0000 sts AnalogOffsetNick,r14 |
| 449 0214 00C0 rjmp .L38 |
| 450 .L29: |
| 451 0216 8091 0000 lds r24,AdWertRoll |
| 452 021a 9091 0000 lds r25,(AdWertRoll)+1 |
| 453 021e 8750 subi r24,lo8(1031) |
| 454 0220 9440 sbci r25,hi8(1031) |
| 455 0222 04F0 brlt .L31 |
| 456 0224 8091 0000 lds r24,AnalogOffsetRoll |
| 457 0228 8F5F subi r24,lo8(-(1)) |
| 458 022a 00C0 rjmp .L57 |
| 459 .L25: |
| 460 022c 8091 0000 lds r24,AdWertNick |
| 461 0230 9091 0000 lds r25,(AdWertNick)+1 |
| 462 0234 8750 subi r24,lo8(1031) |
| 463 0236 9440 sbci r25,hi8(1031) |
| 464 0238 04F0 brlt .L27 |
| 465 023a 8091 0000 lds r24,AnalogOffsetNick |
| 466 023e 8F5F subi r24,lo8(-(1)) |
| 467 0240 00C0 rjmp .L56 |
| 468 .L35: |
| 469 0242 0F5F subi r16,lo8(-(1)) |
| 470 0244 00C0 rjmp .L34 |
| 471 .L31: |
| 472 0246 0F5F subi r16,lo8(-(1)) |
| 473 0248 00C0 rjmp .L30 |
| 474 .L27: |
| 475 024a 01E0 ldi r16,lo8(1) |
| 476 024c 00C0 rjmp .L26 |
| 477 .L59: |
| 478 024e 1B30 cpi r17,lo8(11) |
| 479 0250 00F4 brsh .+2 |
| 480 0252 00C0 rjmp .L24 |
| 481 0254 19E0 ldi r17,lo8(9) |
| 482 0256 00C0 rjmp .L24 |
| 483 .L60: |
| 484 0258 8AE0 ldi r24,lo8(10) |
| 485 025a 90E0 ldi r25,hi8(10) |
| 486 025c 0E94 0000 call Delay_ms_Mess |
| 487 0260 00C0 rjmp .L23 |
| 488 .L61: |
| 489 0262 86E4 ldi r24,lo8(70) |
| 490 0264 90E0 ldi r25,hi8(70) |
| 491 0266 0E94 0000 call Delay_ms_Mess |
| 492 /* epilogue: frame size=0 */ |
| 493 026a E6E0 ldi r30,6 |
| 494 026c CDB7 in r28,__SP_L__ |
| 495 026e DEB7 in r29,__SP_H__ |
| 496 0270 0C94 0000 jmp __epilogue_restores__+24 |
| 497 /* epilogue end (size=5) */ |
| 498 /* function SucheGyroOffset size 223 (212) */ |
| 500 .lcomm kanal.0,1 |
| 501 .lcomm state.1,1 |
| 502 .lcomm gier1.2,2 |
| 503 .lcomm roll1.3,2 |
| 504 .lcomm nick1.4,2 |
| 505 .lcomm nick_filter.5,2 |
| 506 .lcomm roll_filter.6,2 |
| 507 .lcomm accy.7,2 |
| 508 .lcomm accx.8,2 |
| 509 .lcomm tmpLuftdruck.9,4 |
| 510 .lcomm messanzahl_Druck.10,1 |
| 511 .global __vector_24 |
| 513 __vector_24: |
| 514 /* prologue: frame size=0 */ |
| 515 0274 1F92 push __zero_reg__ |
| 516 0276 0F92 push __tmp_reg__ |
| 517 0278 0FB6 in __tmp_reg__,__SREG__ |
| 518 027a 0F92 push __tmp_reg__ |
| 519 027c 1124 clr __zero_reg__ |
| 520 027e AF92 push r10 |
| 521 0280 BF92 push r11 |
| 522 0282 CF92 push r12 |
| 523 0284 DF92 push r13 |
| 524 0286 EF92 push r14 |
| 525 0288 FF92 push r15 |
| 526 028a 0F93 push r16 |
| 527 028c 1F93 push r17 |
| 528 028e 2F93 push r18 |
| 529 0290 3F93 push r19 |
| 530 0292 4F93 push r20 |
| 531 0294 5F93 push r21 |
| 532 0296 6F93 push r22 |
| 533 0298 7F93 push r23 |
| 534 029a 8F93 push r24 |
| 535 029c 9F93 push r25 |
| 536 029e AF93 push r26 |
| 537 02a0 BF93 push r27 |
| 538 02a2 EF93 push r30 |
| 539 02a4 FF93 push r31 |
| 540 /* prologue end (size=25) */ |
| 541 02a6 2091 0000 lds r18,state.1 |
| 542 02aa 822F mov r24,r18 |
| 543 02ac 9927 clr r25 |
| 544 02ae AA27 clr r26 |
| 545 02b0 BB27 clr r27 |
| 546 02b2 2F5F subi r18,lo8(-(1)) |
| 547 02b4 FC01 movw r30,r24 |
| 548 02b6 4297 sbiw r24,18 |
| 549 02b8 00F4 brsh .L104 |
| 550 02ba E050 subi r30,lo8(-(pm(.L105))) |
| 551 02bc F040 sbci r31,hi8(-(pm(.L105))) |
| 552 02be 0C94 0000 jmp __tablejump2__ |
| 553 .data |
| 554 .section .progmem.gcc_sw_table, "a", @progbits |
| 555 .p2align 1 |
| 556 .L105: |
| 557 0000 0000 .word pm(.L64) |
| 558 0002 0000 .word pm(.L65) |
| 559 0004 0000 .word pm(.L66) |
| 560 0006 0000 .word pm(.L67) |
| 561 0008 0000 .word pm(.L68) |
| 562 000a 0000 .word pm(.L69) |
| 563 000c 0000 .word pm(.L70) |
| 564 000e 0000 .word pm(.L71) |
| 565 0010 0000 .word pm(.L72) |
| 566 0012 0000 .word pm(.L107) |
| 567 0014 0000 .word pm(.L69) |
| 568 0016 0000 .word pm(.L84) |
| 569 0018 0000 .word pm(.L85) |
| 570 001a 0000 .word pm(.L86) |
| 571 001c 0000 .word pm(.L87) |
| 572 001e 0000 .word pm(.L88) |
| 573 0020 0000 .word pm(.L92) |
| 574 0022 0000 .word pm(.L96) |
| 575 .text |
| 576 .L104: |
| 577 02c2 1092 0000 sts state.1,__zero_reg__ |
| 578 02c6 82E0 ldi r24,lo8(2) |
| 579 .L111: |
| 580 02c8 8093 0000 sts kanal.0,r24 |
| 581 .L63: |
| 582 02cc 8091 0000 lds r24,kanal.0 |
| 583 02d0 8093 7C00 sts 124,r24 |
| 584 02d4 8091 0000 lds r24,state.1 |
| 585 02d8 8823 tst r24 |
| 586 02da 01F4 brne .+2 |
| 587 02dc 00C0 rjmp .L62 |
| 588 02de 8FEC ldi r24,lo8(-49) |
| 589 02e0 8093 7A00 sts 122,r24 |
| 590 02e4 00C0 rjmp .L62 |
| 591 .L69: |
| 592 02e6 2093 0000 sts state.1,r18 |
| 593 02ea 8091 7800 lds r24,120 |
| 594 02ee 9091 7900 lds r25,(120)+1 |
| 595 02f2 2091 0000 lds r18,nick1.4 |
| 596 02f6 3091 0000 lds r19,(nick1.4)+1 |
| 597 02fa 820F add r24,r18 |
| 598 02fc 931F adc r25,r19 |
| 599 .L113: |
| 600 02fe 9093 0000 sts (nick1.4)+1,r25 |
| 601 0302 8093 0000 sts nick1.4,r24 |
| 602 0306 81E0 ldi r24,lo8(1) |
| 603 0308 00C0 rjmp .L111 |
| 604 .L70: |
| 605 030a 2093 0000 sts state.1,r18 |
| 606 030e 8091 0000 lds r24,roll1.3 |
| 607 0312 9091 0000 lds r25,(roll1.3)+1 |
| 608 0316 8050 subi r24,lo8(-(512)) |
| 609 0318 9E4F sbci r25,hi8(-(512)) |
| 610 031a 9093 0000 sts (roll1.3)+1,r25 |
| 611 031e 8093 0000 sts roll1.3,r24 |
| 612 0322 84E0 ldi r24,lo8(4) |
| 613 0324 00C0 rjmp .L111 |
| 614 .L68: |
| 615 0326 2093 0000 sts state.1,r18 |
| 616 032a 8091 7800 lds r24,120 |
| 617 032e 9091 7900 lds r25,(120)+1 |
| 618 0332 2091 0000 lds r18,NeutralAccX |
| 619 0336 3091 0000 lds r19,(NeutralAccX)+1 |
| 620 033a 821B sub r24,r18 |
| 621 033c 930B sbc r25,r19 |
| 622 033e 9093 0000 sts (Aktuell_ax)+1,r25 |
| 623 0342 8093 0000 sts Aktuell_ax,r24 |
| 624 0346 8091 0000 lds r24,Aktuell_ax |
| 625 034a 9091 0000 lds r25,(Aktuell_ax)+1 |
| 626 034e 9093 0000 sts (accx.8)+1,r25 |
| 627 0352 8093 0000 sts accx.8,r24 |
| 628 0356 82E0 ldi r24,lo8(2) |
| 629 0358 00C0 rjmp .L111 |
| 630 .L67: |
| 631 035a 2093 0000 sts state.1,r18 |
| 632 035e 8091 0000 lds r24,NeutralAccY |
| 633 0362 9091 0000 lds r25,(NeutralAccY)+1 |
| 634 0366 8050 subi r24,lo8(-(-512)) |
| 635 0368 9240 sbci r25,hi8(-(-512)) |
| 636 036a 9093 0000 sts (Aktuell_ay)+1,r25 |
| 637 036e 8093 0000 sts Aktuell_ay,r24 |
| 638 0372 8091 0000 lds r24,Aktuell_ay |
| 639 0376 9091 0000 lds r25,(Aktuell_ay)+1 |
| 640 037a 9093 0000 sts (accy.7)+1,r25 |
| 641 037e 8093 0000 sts accy.7,r24 |
| 642 0382 87E0 ldi r24,lo8(7) |
| 643 0384 00C0 rjmp .L111 |
| 644 .L66: |
| 645 0386 2093 0000 sts state.1,r18 |
| 646 038a 80E0 ldi r24,lo8(512) |
| 647 038c 92E0 ldi r25,hi8(512) |
| 648 038e 9093 0000 sts (gier1.2)+1,r25 |
| 649 0392 8093 0000 sts gier1.2,r24 |
| 650 0396 86E0 ldi r24,lo8(6) |
| 651 0398 00C0 rjmp .L111 |
| 652 .L65: |
| 653 039a 2093 0000 sts state.1,r18 |
| 654 039e 80E0 ldi r24,lo8(512) |
| 655 03a0 92E0 ldi r25,hi8(512) |
| 656 .L112: |
| 657 03a2 9093 0000 sts (roll1.3)+1,r25 |
| 658 03a6 8093 0000 sts roll1.3,r24 |
| 659 03aa 1092 0000 sts kanal.0,__zero_reg__ |
| 660 03ae 00C0 rjmp .L63 |
| 661 .L64: |
| 662 03b0 2093 0000 sts state.1,r18 |
| 663 03b4 8091 7800 lds r24,120 |
| 664 03b8 9091 7900 lds r25,(120)+1 |
| 665 03bc 00C0 rjmp .L113 |
| 666 .L96: |
| 667 03be 1092 0000 sts state.1,__zero_reg__ |
| 668 03c2 81E0 ldi r24,lo8(1) |
| 669 03c4 8093 0000 sts AdReady,r24 |
| 670 03c8 8091 0000 lds r24,ZaehlMessungen |
| 671 03cc 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 672 03d0 0196 adiw r24,1 |
| 673 03d2 9093 0000 sts (ZaehlMessungen)+1,r25 |
| 674 03d6 8093 0000 sts ZaehlMessungen,r24 |
| 675 .L97: |
| 676 03da 80E0 ldi r24,lo8(512) |
| 677 03dc 92E0 ldi r25,hi8(512) |
| 678 03de 9093 0000 sts (MessLuftdruck)+1,r25 |
| 679 03e2 8093 0000 sts MessLuftdruck,r24 |
| 680 03e6 8091 0000 lds r24,MessLuftdruck |
| 681 03ea 9091 0000 lds r25,(MessLuftdruck)+1 |
| 682 03ee 5C01 movw r10,r24 |
| 683 03f0 CC24 clr r12 |
| 684 03f2 DD24 clr r13 |
| 685 03f4 8091 0000 lds r24,tmpLuftdruck.9 |
| 686 03f8 9091 0000 lds r25,(tmpLuftdruck.9)+1 |
| 687 03fc A091 0000 lds r26,(tmpLuftdruck.9)+2 |
| 688 0400 B091 0000 lds r27,(tmpLuftdruck.9)+3 |
| 689 0404 A80E add r10,r24 |
| 690 0406 B91E adc r11,r25 |
| 691 0408 CA1E adc r12,r26 |
| 692 040a DB1E adc r13,r27 |
| 693 040c 8091 0000 lds r24,messanzahl_Druck.10 |
| 694 0410 8F5F subi r24,lo8(-(1)) |
| 695 0412 8231 cpi r24,lo8(18) |
| 696 0414 00F4 brsh .+2 |
| 697 0416 00C0 rjmp .L108 |
| 698 0418 8091 0000 lds r24,Luftdruck |
| 699 041c 9091 0000 lds r25,(Luftdruck)+1 |
| 700 0420 A091 0000 lds r26,(Luftdruck)+2 |
| 701 0424 B091 0000 lds r27,(Luftdruck)+3 |
| 702 0428 7C01 movw r14,r24 |
| 703 042a 8D01 movw r16,r26 |
| 704 042c 23E0 ldi r18,3 |
| 705 042e EE0C 1: lsl r14 |
| 706 0430 FF1C rol r15 |
| 707 0432 001F rol r16 |
| 708 0434 111F rol r17 |
| 709 0436 2A95 dec r18 |
| 710 0438 01F4 brne 1b |
| 711 043a E81A sub r14,r24 |
| 712 043c F90A sbc r15,r25 |
| 713 043e 0A0B sbc r16,r26 |
| 714 0440 1B0B sbc r17,r27 |
| 715 0442 EA0C add r14,r10 |
| 716 0444 FB1C adc r15,r11 |
| 717 0446 0C1D adc r16,r12 |
| 718 0448 1D1D adc r17,r13 |
| 719 044a 8091 0000 lds r24,ExpandBaro |
| 720 044e 9927 clr r25 |
| 721 0450 87FD sbrc r24,7 |
| 722 0452 9095 com r25 |
| 723 0454 A92F mov r26,r25 |
| 724 0456 B92F mov r27,r25 |
| 725 0458 BC01 movw r22,r24 |
| 726 045a CD01 movw r24,r26 |
| 727 045c 26EC ldi r18,lo8(9414) |
| 728 045e 34E2 ldi r19,hi8(9414) |
| 729 0460 40E0 ldi r20,hlo8(9414) |
| 730 0462 50E0 ldi r21,hhi8(9414) |
| 731 0464 0E94 0000 call __mulsi3 |
| 732 0468 DC01 movw r26,r24 |
| 733 046a CB01 movw r24,r22 |
| 734 046c E81A sub r14,r24 |
| 735 046e F90A sbc r15,r25 |
| 736 0470 0A0B sbc r16,r26 |
| 737 0472 1B0B sbc r17,r27 |
| 738 0474 D801 movw r26,r16 |
| 739 0476 C701 movw r24,r14 |
| 740 0478 0496 adiw r24,4 |
| 741 047a A11D adc r26,__zero_reg__ |
| 742 047c B11D adc r27,__zero_reg__ |
| 743 047e B7FD sbrc r27,7 |
| 744 0480 00C0 rjmp .L118 |
| 745 .L99: |
| 746 0482 13E0 ldi r17,3 |
| 747 0484 B595 1: asr r27 |
| 748 0486 A795 ror r26 |
| 749 0488 9795 ror r25 |
| 750 048a 8795 ror r24 |
| 751 048c 1A95 dec r17 |
| 752 048e 01F4 brne 1b |
| 753 0490 8093 0000 sts Luftdruck,r24 |
| 754 0494 9093 0000 sts (Luftdruck)+1,r25 |
| 755 0498 A093 0000 sts (Luftdruck)+2,r26 |
| 756 049c B093 0000 sts (Luftdruck)+3,r27 |
| 757 04a0 8091 0000 lds r24,StartLuftdruck |
| 758 04a4 9091 0000 lds r25,(StartLuftdruck)+1 |
| 759 04a8 7C01 movw r14,r24 |
| 760 04aa 0027 clr r16 |
| 761 04ac F7FC sbrc r15,7 |
| 762 04ae 0095 com r16 |
| 763 04b0 102F mov r17,r16 |
| 764 04b2 8091 0000 lds r24,Luftdruck |
| 765 04b6 9091 0000 lds r25,(Luftdruck)+1 |
| 766 04ba A091 0000 lds r26,(Luftdruck)+2 |
| 767 04be B091 0000 lds r27,(Luftdruck)+3 |
| 768 04c2 E81A sub r14,r24 |
| 769 04c4 F90A sbc r15,r25 |
| 770 04c6 0A0B sbc r16,r26 |
| 771 04c8 1B0B sbc r17,r27 |
| 772 04ca E092 0000 sts HoehenWert,r14 |
| 773 04ce F092 0000 sts (HoehenWert)+1,r15 |
| 774 04d2 0093 0000 sts (HoehenWert)+2,r16 |
| 775 04d6 1093 0000 sts (HoehenWert)+3,r17 |
| 776 04da 2091 0000 lds r18,SummenHoehe |
| 777 04de 3091 0000 lds r19,(SummenHoehe)+1 |
| 778 04e2 4091 0000 lds r20,(SummenHoehe)+2 |
| 779 04e6 5091 0000 lds r21,(SummenHoehe)+3 |
| 780 04ea 57FD sbrc r21,7 |
| 781 04ec 00C0 rjmp .L119 |
| 782 .L100: |
| 783 04ee A4E0 ldi r26,4 |
| 784 04f0 5595 1: asr r21 |
| 785 04f2 4795 ror r20 |
| 786 04f4 3795 ror r19 |
| 787 04f6 2795 ror r18 |
| 788 04f8 AA95 dec r26 |
| 789 04fa 01F4 brne 1b |
| 790 04fc 8091 0000 lds r24,SummenHoehe |
| 791 0500 9091 0000 lds r25,(SummenHoehe)+1 |
| 792 0504 A091 0000 lds r26,(SummenHoehe)+2 |
| 793 0508 B091 0000 lds r27,(SummenHoehe)+3 |
| 794 050c 821B sub r24,r18 |
| 795 050e 930B sbc r25,r19 |
| 796 0510 A40B sbc r26,r20 |
| 797 0512 B50B sbc r27,r21 |
| 798 0514 8093 0000 sts SummenHoehe,r24 |
| 799 0518 9093 0000 sts (SummenHoehe)+1,r25 |
| 800 051c A093 0000 sts (SummenHoehe)+2,r26 |
| 801 0520 B093 0000 sts (SummenHoehe)+3,r27 |
| 802 0524 8091 0000 lds r24,SummenHoehe |
| 803 0528 9091 0000 lds r25,(SummenHoehe)+1 |
| 804 052c A091 0000 lds r26,(SummenHoehe)+2 |
| 805 0530 B091 0000 lds r27,(SummenHoehe)+3 |
| 806 0534 8E0D add r24,r14 |
| 807 0536 9F1D adc r25,r15 |
| 808 0538 A01F adc r26,r16 |
| 809 053a B11F adc r27,r17 |
| 810 053c 8093 0000 sts SummenHoehe,r24 |
| 811 0540 9093 0000 sts (SummenHoehe)+1,r25 |
| 812 0544 A093 0000 sts (SummenHoehe)+2,r26 |
| 813 0548 B093 0000 sts (SummenHoehe)+3,r27 |
| 814 054c 8091 0000 lds r24,VarioMeter |
| 815 0550 9091 0000 lds r25,(VarioMeter)+1 |
| 816 0554 BC01 movw r22,r24 |
| 817 0556 6295 swap r22 |
| 818 0558 7295 swap r23 |
| 819 055a 707F andi r23,0xf0 |
| 820 055c 7627 eor r23,r22 |
| 821 055e 607F andi r22,0xf0 |
| 822 0560 7627 eor r23,r22 |
| 823 0562 681B sub r22,r24 |
| 824 0564 790B sbc r23,r25 |
| 825 0566 2091 0000 lds r18,SummenHoehe |
| 826 056a 3091 0000 lds r19,(SummenHoehe)+1 |
| 827 056e 4091 0000 lds r20,(SummenHoehe)+2 |
| 828 0572 5091 0000 lds r21,(SummenHoehe)+3 |
| 829 0576 57FD sbrc r21,7 |
| 830 0578 00C0 rjmp .L120 |
| 831 .L101: |
| 832 057a E4E0 ldi r30,4 |
| 833 057c 5595 1: asr r21 |
| 834 057e 4795 ror r20 |
| 835 0580 3795 ror r19 |
| 836 0582 2795 ror r18 |
| 837 0584 EA95 dec r30 |
| 838 0586 01F4 brne 1b |
| 839 0588 8091 0000 lds r24,HoehenWert |
| 840 058c 9091 0000 lds r25,(HoehenWert)+1 |
| 841 0590 821B sub r24,r18 |
| 842 0592 930B sbc r25,r19 |
| 843 0594 880F lsl r24 |
| 844 0596 991F rol r25 |
| 845 0598 880F lsl r24 |
| 846 059a 991F rol r25 |
| 847 059c 880F lsl r24 |
| 848 059e 991F rol r25 |
| 849 05a0 860F add r24,r22 |
| 850 05a2 971F adc r25,r23 |
| 851 05a4 97FD sbrc r25,7 |
| 852 05a6 00C0 rjmp .L121 |
| 853 .L102: |
| 854 05a8 9595 asr r25 |
| 855 05aa 8795 ror r24 |
| 856 05ac 9595 asr r25 |
| 857 05ae 8795 ror r24 |
| 858 05b0 9595 asr r25 |
| 859 05b2 8795 ror r24 |
| 860 05b4 9595 asr r25 |
| 861 05b6 8795 ror r24 |
| 862 05b8 9093 0000 sts (VarioMeter)+1,r25 |
| 863 05bc 8093 0000 sts VarioMeter,r24 |
| 864 05c0 D601 movw r26,r12 |
| 865 05c2 C501 movw r24,r10 |
| 866 05c4 D7FC sbrc r13,7 |
| 867 05c6 00C0 rjmp .L122 |
| 868 .L103: |
| 869 05c8 B595 asr r27 |
| 870 05ca A795 ror r26 |
| 871 05cc 9795 ror r25 |
| 872 05ce 8795 ror r24 |
| 873 05d0 8093 0000 sts tmpLuftdruck.9,r24 |
| 874 05d4 9093 0000 sts (tmpLuftdruck.9)+1,r25 |
| 875 05d8 A093 0000 sts (tmpLuftdruck.9)+2,r26 |
| 876 05dc B093 0000 sts (tmpLuftdruck.9)+3,r27 |
| 877 05e0 89E0 ldi r24,lo8(9) |
| 878 05e2 8093 0000 sts messanzahl_Druck.10,r24 |
| 879 05e6 82E0 ldi r24,lo8(2) |
| 880 05e8 00C0 rjmp .L111 |
| 881 .L92: |
| 882 05ea 2093 0000 sts state.1,r18 |
| 883 05ee 2091 0000 lds r18,roll1.3 |
| 884 05f2 3091 0000 lds r19,(roll1.3)+1 |
| 885 05f6 2050 subi r18,lo8(-(512)) |
| 886 05f8 3E4F sbci r19,hi8(-(512)) |
| 887 05fa 220F lsl r18 |
| 888 05fc 331F rol r19 |
| 889 05fe 220F lsl r18 |
| 890 0600 331F rol r19 |
| 891 0602 3093 0000 sts (roll1.3)+1,r19 |
| 892 0606 2093 0000 sts roll1.3,r18 |
| 893 060a C901 movw r24,r18 |
| 894 060c 37FD sbrc r19,7 |
| 895 060e 00C0 rjmp .L123 |
| 896 .L93: |
| 897 0610 9595 asr r25 |
| 898 0612 8795 ror r24 |
| 899 0614 9595 asr r25 |
| 900 0616 8795 ror r24 |
| 901 0618 9595 asr r25 |
| 902 061a 8795 ror r24 |
| 903 061c 9093 0000 sts (AdWertRoll)+1,r25 |
| 904 0620 8093 0000 sts AdWertRoll,r24 |
| 905 0624 8091 0000 lds r24,roll_filter.6 |
| 906 0628 9091 0000 lds r25,(roll_filter.6)+1 |
| 907 062c 820F add r24,r18 |
| 908 062e 931F adc r25,r19 |
| 909 0630 97FD sbrc r25,7 |
| 910 0632 00C0 rjmp .L124 |
| 911 .L94: |
| 912 0634 9595 asr r25 |
| 913 0636 8795 ror r24 |
| 914 0638 9093 0000 sts (roll_filter.6)+1,r25 |
| 915 063c 8093 0000 sts roll_filter.6,r24 |
| 916 0640 2091 0000 lds r18,AdNeutralRoll |
| 917 0644 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 918 0648 821B sub r24,r18 |
| 919 064a 930B sbc r25,r19 |
| 920 064c 9093 0000 sts (HiResRoll)+1,r25 |
| 921 0650 8093 0000 sts HiResRoll,r24 |
| 922 0654 2091 0000 lds r18,AdWertRollFilter |
| 923 0658 3091 0000 lds r19,(AdWertRollFilter)+1 |
| 924 065c 8091 0000 lds r24,HiResRoll |
| 925 0660 9091 0000 lds r25,(HiResRoll)+1 |
| 926 0664 280F add r18,r24 |
| 927 0666 391F adc r19,r25 |
| 928 0668 37FD sbrc r19,7 |
| 929 066a 00C0 rjmp .L125 |
| 930 .L95: |
| 931 066c 3595 asr r19 |
| 932 066e 2795 ror r18 |
| 933 0670 3093 0000 sts (AdWertRollFilter)+1,r19 |
| 934 0674 2093 0000 sts AdWertRollFilter,r18 |
| 935 0678 83E0 ldi r24,lo8(3) |
| 936 067a 00C0 rjmp .L111 |
| 937 .L88: |
| 938 067c 2093 0000 sts state.1,r18 |
| 939 0680 2091 7800 lds r18,120 |
| 940 0684 3091 7900 lds r19,(120)+1 |
| 941 0688 8091 0000 lds r24,nick1.4 |
| 942 068c 9091 0000 lds r25,(nick1.4)+1 |
| 943 0690 280F add r18,r24 |
| 944 0692 391F adc r19,r25 |
| 945 0694 220F lsl r18 |
| 946 0696 331F rol r19 |
| 947 0698 220F lsl r18 |
| 948 069a 331F rol r19 |
| 949 069c 3093 0000 sts (nick1.4)+1,r19 |
| 950 06a0 2093 0000 sts nick1.4,r18 |
| 951 06a4 C901 movw r24,r18 |
| 952 06a6 37FD sbrc r19,7 |
| 953 06a8 00C0 rjmp .L126 |
| 954 .L89: |
| 955 06aa 9595 asr r25 |
| 956 06ac 8795 ror r24 |
| 957 06ae 9595 asr r25 |
| 958 06b0 8795 ror r24 |
| 959 06b2 9595 asr r25 |
| 960 06b4 8795 ror r24 |
| 961 06b6 9093 0000 sts (AdWertNick)+1,r25 |
| 962 06ba 8093 0000 sts AdWertNick,r24 |
| 963 06be 8091 0000 lds r24,nick_filter.5 |
| 964 06c2 9091 0000 lds r25,(nick_filter.5)+1 |
| 965 06c6 820F add r24,r18 |
| 966 06c8 931F adc r25,r19 |
| 967 06ca 97FD sbrc r25,7 |
| 968 06cc 00C0 rjmp .L127 |
| 969 .L90: |
| 970 06ce 9595 asr r25 |
| 971 06d0 8795 ror r24 |
| 972 06d2 9093 0000 sts (nick_filter.5)+1,r25 |
| 973 06d6 8093 0000 sts nick_filter.5,r24 |
| 974 06da 2091 0000 lds r18,AdNeutralNick |
| 975 06de 3091 0000 lds r19,(AdNeutralNick)+1 |
| 976 06e2 821B sub r24,r18 |
| 977 06e4 930B sbc r25,r19 |
| 978 06e6 9093 0000 sts (HiResNick)+1,r25 |
| 979 06ea 8093 0000 sts HiResNick,r24 |
| 980 06ee 2091 0000 lds r18,AdWertNickFilter |
| 981 06f2 3091 0000 lds r19,(AdWertNickFilter)+1 |
| 982 06f6 8091 0000 lds r24,HiResNick |
| 983 06fa 9091 0000 lds r25,(HiResNick)+1 |
| 984 06fe 280F add r18,r24 |
| 985 0700 391F adc r19,r25 |
| 986 0702 37FD sbrc r19,7 |
| 987 0704 00C0 rjmp .L128 |
| 988 .L91: |
| 989 0706 3595 asr r19 |
| 990 0708 2795 ror r18 |
| 991 070a 3093 0000 sts (AdWertNickFilter)+1,r19 |
| 992 070e 2093 0000 sts AdWertNickFilter,r18 |
| 993 0712 81E0 ldi r24,lo8(1) |
| 994 0714 00C0 rjmp .L111 |
| 995 .L87: |
| 996 0716 2093 0000 sts state.1,r18 |
| 997 071a 8091 7800 lds r24,120 |
| 998 071e 9091 7900 lds r25,(120)+1 |
| 999 0722 2091 0000 lds r18,NeutralAccX |
| 1000 0726 3091 0000 lds r19,(NeutralAccX)+1 |
| 1001 072a 821B sub r24,r18 |
| 1002 072c 930B sbc r25,r19 |
| 1003 072e 9093 0000 sts (Aktuell_ax)+1,r25 |
| 1004 0732 8093 0000 sts Aktuell_ax,r24 |
| 1005 0736 8091 0000 lds r24,Aktuell_ax |
| 1006 073a 9091 0000 lds r25,(Aktuell_ax)+1 |
| 1007 073e 2091 0000 lds r18,accx.8 |
| 1008 0742 3091 0000 lds r19,(accx.8)+1 |
| 1009 0746 820F add r24,r18 |
| 1010 0748 931F adc r25,r19 |
| 1011 074a 9093 0000 sts (AdWertAccNick)+1,r25 |
| 1012 074e 8093 0000 sts AdWertAccNick,r24 |
| 1013 0752 82E0 ldi r24,lo8(2) |
| 1014 0754 00C0 rjmp .L111 |
| 1015 .L86: |
| 1016 0756 2093 0000 sts state.1,r18 |
| 1017 075a 8091 0000 lds r24,NeutralAccY |
| 1018 075e 9091 0000 lds r25,(NeutralAccY)+1 |
| 1019 0762 8050 subi r24,lo8(-(-512)) |
| 1020 0764 9240 sbci r25,hi8(-(-512)) |
| 1021 0766 9093 0000 sts (Aktuell_ay)+1,r25 |
| 1022 076a 8093 0000 sts Aktuell_ay,r24 |
| 1023 076e 8091 0000 lds r24,Aktuell_ay |
| 1024 0772 9091 0000 lds r25,(Aktuell_ay)+1 |
| 1025 0776 2091 0000 lds r18,accy.7 |
| 1026 077a 3091 0000 lds r19,(accy.7)+1 |
| 1027 077e 820F add r24,r18 |
| 1028 0780 931F adc r25,r19 |
| 1029 0782 9093 0000 sts (AdWertAccRoll)+1,r25 |
| 1030 0786 8093 0000 sts AdWertAccRoll,r24 |
| 1031 078a 87E0 ldi r24,lo8(7) |
| 1032 078c 00C0 rjmp .L111 |
| 1033 .L85: |
| 1034 078e 2093 0000 sts state.1,r18 |
| 1035 0792 8091 0000 lds r24,gier1.2 |
| 1036 0796 9091 0000 lds r25,(gier1.2)+1 |
| 1037 079a 8050 subi r24,lo8(-(512)) |
| 1038 079c 9E4F sbci r25,hi8(-(512)) |
| 1039 079e 9093 0000 sts (AdWertGier)+1,r25 |
| 1040 07a2 8093 0000 sts AdWertGier,r24 |
| 1041 07a6 86E0 ldi r24,lo8(6) |
| 1042 07a8 00C0 rjmp .L111 |
| 1043 .L84: |
| 1044 07aa 2093 0000 sts state.1,r18 |
| 1045 07ae 8091 0000 lds r24,roll1.3 |
| 1046 07b2 9091 0000 lds r25,(roll1.3)+1 |
| 1047 07b6 8050 subi r24,lo8(-(512)) |
| 1048 07b8 9E4F sbci r25,hi8(-(512)) |
| 1049 07ba 00C0 rjmp .L112 |
| 1050 .L107: |
| 1051 07bc 2093 0000 sts state.1,r18 |
| 1052 07c0 00C0 rjmp .L97 |
| 1053 .L72: |
| 1054 07c2 2093 0000 sts state.1,r18 |
| 1055 07c6 8091 0000 lds r24,NeutralAccZ |
| 1056 07ca 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1057 07ce A091 0000 lds r26,(NeutralAccZ)+2 |
| 1058 07d2 B091 0000 lds r27,(NeutralAccZ)+3 |
| 1059 07d6 9C01 movw r18,r24 |
| 1060 07d8 AD01 movw r20,r26 |
| 1061 07da 60E0 ldi r22,lo8(0x44000000) |
| 1062 07dc 70E0 ldi r23,hi8(0x44000000) |
| 1063 07de 80E0 ldi r24,hlo8(0x44000000) |
| 1064 07e0 94E4 ldi r25,hhi8(0x44000000) |
| 1065 07e2 0E94 0000 call __subsf3 |
| 1066 07e6 DC01 movw r26,r24 |
| 1067 07e8 CB01 movw r24,r22 |
| 1068 07ea BC01 movw r22,r24 |
| 1069 07ec CD01 movw r24,r26 |
| 1070 07ee 0E94 0000 call __fixsfsi |
| 1071 07f2 DC01 movw r26,r24 |
| 1072 07f4 CB01 movw r24,r22 |
| 1073 07f6 9093 0000 sts (AdWertAccHoch)+1,r25 |
| 1074 07fa 8093 0000 sts AdWertAccHoch,r24 |
| 1075 07fe 8091 0000 lds r24,AdWertAccHoch |
| 1076 0802 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1077 0806 0297 sbiw r24,2 |
| 1078 0808 04F4 brge .+2 |
| 1079 080a 00C0 rjmp .L73 |
| 1080 080c 8091 0000 lds r24,NeutralAccZ |
| 1081 0810 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1082 0814 A091 0000 lds r26,(NeutralAccZ)+2 |
| 1083 0818 B091 0000 lds r27,(NeutralAccZ)+3 |
| 1084 081c 20E0 ldi r18,lo8(0x443b8000) |
| 1085 081e 30E8 ldi r19,hi8(0x443b8000) |
| 1086 0820 4BE3 ldi r20,hlo8(0x443b8000) |
| 1087 0822 54E4 ldi r21,hhi8(0x443b8000) |
| 1088 0824 BC01 movw r22,r24 |
| 1089 0826 CD01 movw r24,r26 |
| 1090 0828 0E94 0000 call __ltsf2 |
| 1091 082c 8823 tst r24 |
| 1092 082e 04F4 brge .L77 |
| 1093 0830 8091 0000 lds r24,NeutralAccZ |
| 1094 0834 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1095 0838 A091 0000 lds r26,(NeutralAccZ)+2 |
| 1096 083c B091 0000 lds r27,(NeutralAccZ)+3 |
| 1097 0840 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 1098 0842 37ED ldi r19,hi8(0x3ca3d70a) |
| 1099 0844 43EA ldi r20,hlo8(0x3ca3d70a) |
| 1100 0846 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 1101 0848 BC01 movw r22,r24 |
| 1102 084a CD01 movw r24,r26 |
| 1103 084c 0E94 0000 call __addsf3 |
| 1104 0850 DC01 movw r26,r24 |
| 1105 0852 CB01 movw r24,r22 |
| 1106 0854 8093 0000 sts NeutralAccZ,r24 |
| 1107 0858 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1108 085c A093 0000 sts (NeutralAccZ)+2,r26 |
| 1109 0860 B093 0000 sts (NeutralAccZ)+3,r27 |
| 1110 0864 8091 0000 lds r24,modell_fliegt |
| 1111 0868 9091 0000 lds r25,(modell_fliegt)+1 |
| 1112 086c 845F subi r24,lo8(500) |
| 1113 086e 9140 sbci r25,hi8(500) |
| 1114 0870 00F4 brsh .L77 |
| 1115 0872 8091 0000 lds r24,NeutralAccZ |
| 1116 0876 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1117 087a A091 0000 lds r26,(NeutralAccZ)+2 |
| 1118 087e B091 0000 lds r27,(NeutralAccZ)+3 |
| 1119 0882 2DEC ldi r18,lo8(0x3dcccccd) |
| 1120 0884 3CEC ldi r19,hi8(0x3dcccccd) |
| 1121 0886 4CEC ldi r20,hlo8(0x3dcccccd) |
| 1122 0888 5DE3 ldi r21,hhi8(0x3dcccccd) |
| 1123 088a BC01 movw r22,r24 |
| 1124 088c CD01 movw r24,r26 |
| 1125 088e 0E94 0000 call __addsf3 |
| 1126 .L109: |
| 1127 0892 DC01 movw r26,r24 |
| 1128 0894 CB01 movw r24,r22 |
| 1129 0896 8093 0000 sts NeutralAccZ,r24 |
| 1130 089a 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1131 089e A093 0000 sts (NeutralAccZ)+2,r26 |
| 1132 08a2 B093 0000 sts (NeutralAccZ)+3,r27 |
| 1133 .L77: |
| 1134 08a6 81E0 ldi r24,lo8(1) |
| 1135 08a8 8093 0000 sts messanzahl_AccHoch,r24 |
| 1136 08ac 80E0 ldi r24,lo8(512) |
| 1137 08ae 92E0 ldi r25,hi8(512) |
| 1138 08b0 9093 0000 sts (Aktuell_az)+1,r25 |
| 1139 08b4 8093 0000 sts Aktuell_az,r24 |
| 1140 08b8 8091 0000 lds r24,AdWertAccHoch |
| 1141 08bc 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1142 08c0 AA27 clr r26 |
| 1143 08c2 97FD sbrc r25,7 |
| 1144 08c4 A095 com r26 |
| 1145 08c6 BA2F mov r27,r26 |
| 1146 08c8 2091 0000 lds r18,Mess_Integral_Hoch |
| 1147 08cc 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 1148 08d0 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 1149 08d4 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 1150 08d8 820F add r24,r18 |
| 1151 08da 931F adc r25,r19 |
| 1152 08dc A41F adc r26,r20 |
| 1153 08de B51F adc r27,r21 |
| 1154 08e0 8093 0000 sts Mess_Integral_Hoch,r24 |
| 1155 08e4 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 1156 08e8 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 1157 08ec B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 1158 08f0 2091 0000 lds r18,Mess_Integral_Hoch |
| 1159 08f4 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 1160 08f8 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 1161 08fc 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 1162 0900 57FD sbrc r21,7 |
| 1163 0902 00C0 rjmp .L129 |
| 1164 .L82: |
| 1165 0904 1AE0 ldi r17,10 |
| 1166 0906 5595 1: asr r21 |
| 1167 0908 4795 ror r20 |
| 1168 090a 3795 ror r19 |
| 1169 090c 2795 ror r18 |
| 1170 090e 1A95 dec r17 |
| 1171 0910 01F4 brne 1b |
| 1172 0912 8091 0000 lds r24,Mess_Integral_Hoch |
| 1173 0916 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
| 1174 091a A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
| 1175 091e B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
| 1176 0922 821B sub r24,r18 |
| 1177 0924 930B sbc r25,r19 |
| 1178 0926 A40B sbc r26,r20 |
| 1179 0928 B50B sbc r27,r21 |
| 1180 092a 8093 0000 sts Mess_Integral_Hoch,r24 |
| 1181 092e 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 1182 0932 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 1183 0936 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 1184 093a 83E0 ldi r24,lo8(3) |
| 1185 093c 00C0 rjmp .L111 |
| 1186 .L71: |
| 1187 093e 2093 0000 sts state.1,r18 |
| 1188 0942 8091 0000 lds r24,UBat |
| 1189 0946 9091 0000 lds r25,(UBat)+1 |
| 1190 094a 9C01 movw r18,r24 |
| 1191 094c 220F lsl r18 |
| 1192 094e 331F rol r19 |
| 1193 0950 280F add r18,r24 |
| 1194 0952 391F adc r19,r25 |
| 1195 0954 8091 7800 lds r24,120 |
| 1196 0958 9091 7900 lds r25,(120)+1 |
| 1197 095c 63E0 ldi r22,lo8(3) |
| 1198 095e 70E0 ldi r23,hi8(3) |
| 1199 0960 0E94 0000 call __udivmodhi4 |
| 1200 0964 260F add r18,r22 |
| 1201 0966 371F adc r19,r23 |
| 1202 0968 3695 lsr r19 |
| 1203 096a 2795 ror r18 |
| 1204 096c 3695 lsr r19 |
| 1205 096e 2795 ror r18 |
| 1206 0970 3093 0000 sts (UBat)+1,r19 |
| 1207 0974 2093 0000 sts UBat,r18 |
| 1208 0978 85E0 ldi r24,lo8(5) |
| 1209 097a 00C0 rjmp .L111 |
| 1210 .L108: |
| 1211 097c 8093 0000 sts messanzahl_Druck.10,r24 |
| 1212 0980 A092 0000 sts tmpLuftdruck.9,r10 |
| 1213 0984 B092 0000 sts (tmpLuftdruck.9)+1,r11 |
| 1214 0988 C092 0000 sts (tmpLuftdruck.9)+2,r12 |
| 1215 098c D092 0000 sts (tmpLuftdruck.9)+3,r13 |
| 1216 0990 82E0 ldi r24,lo8(2) |
| 1217 0992 00C0 rjmp .L111 |
| 1218 .L73: |
| 1219 0994 8091 0000 lds r24,AdWertAccHoch |
| 1220 0998 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1221 099c 8F5F subi r24,lo8(-1) |
| 1222 099e 9F4F sbci r25,hi8(-1) |
| 1223 09a0 04F0 brlt .+2 |
| 1224 09a2 00C0 rjmp .L77 |
| 1225 09a4 8091 0000 lds r24,NeutralAccZ |
| 1226 09a8 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1227 09ac A091 0000 lds r26,(NeutralAccZ)+2 |
| 1228 09b0 B091 0000 lds r27,(NeutralAccZ)+3 |
| 1229 09b4 20E0 ldi r18,lo8(0x44098000) |
| 1230 09b6 30E8 ldi r19,hi8(0x44098000) |
| 1231 09b8 49E0 ldi r20,hlo8(0x44098000) |
| 1232 09ba 54E4 ldi r21,hhi8(0x44098000) |
| 1233 09bc BC01 movw r22,r24 |
| 1234 09be CD01 movw r24,r26 |
| 1235 09c0 0E94 0000 call __gtsf2 |
| 1236 09c4 1816 cp __zero_reg__,r24 |
| 1237 09c6 04F0 brlt .+2 |
| 1238 09c8 00C0 rjmp .L77 |
| 1239 09ca 8091 0000 lds r24,NeutralAccZ |
| 1240 09ce 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1241 09d2 A091 0000 lds r26,(NeutralAccZ)+2 |
| 1242 09d6 B091 0000 lds r27,(NeutralAccZ)+3 |
| 1243 09da 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 1244 09dc 37ED ldi r19,hi8(0x3ca3d70a) |
| 1245 09de 43EA ldi r20,hlo8(0x3ca3d70a) |
| 1246 09e0 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 1247 09e2 BC01 movw r22,r24 |
| 1248 09e4 CD01 movw r24,r26 |
| 1249 09e6 0E94 0000 call __subsf3 |
| 1250 09ea DC01 movw r26,r24 |
| 1251 09ec CB01 movw r24,r22 |
| 1252 09ee 8093 0000 sts NeutralAccZ,r24 |
| 1253 09f2 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1254 09f6 A093 0000 sts (NeutralAccZ)+2,r26 |
| 1255 09fa B093 0000 sts (NeutralAccZ)+3,r27 |
| 1256 09fe 8091 0000 lds r24,modell_fliegt |
| 1257 0a02 9091 0000 lds r25,(modell_fliegt)+1 |
| 1258 0a06 845F subi r24,lo8(500) |
| 1259 0a08 9140 sbci r25,hi8(500) |
| 1260 0a0a 00F0 brlo .+2 |
| 1261 0a0c 00C0 rjmp .L77 |
| 1262 0a0e 8091 0000 lds r24,NeutralAccZ |
| 1263 0a12 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1264 0a16 A091 0000 lds r26,(NeutralAccZ)+2 |
| 1265 0a1a B091 0000 lds r27,(NeutralAccZ)+3 |
| 1266 0a1e 2DEC ldi r18,lo8(0x3dcccccd) |
| 1267 0a20 3CEC ldi r19,hi8(0x3dcccccd) |
| 1268 0a22 4CEC ldi r20,hlo8(0x3dcccccd) |
| 1269 0a24 5DE3 ldi r21,hhi8(0x3dcccccd) |
| 1270 0a26 BC01 movw r22,r24 |
| 1271 0a28 CD01 movw r24,r26 |
| 1272 0a2a 0E94 0000 call __subsf3 |
| 1273 0a2e 00C0 rjmp .L109 |
| 1274 .L125: |
| 1275 0a30 2F5F subi r18,lo8(-(1)) |
| 1276 0a32 3F4F sbci r19,hi8(-(1)) |
| 1277 0a34 00C0 rjmp .L95 |
| 1278 .L128: |
| 1279 0a36 2F5F subi r18,lo8(-(1)) |
| 1280 0a38 3F4F sbci r19,hi8(-(1)) |
| 1281 0a3a 00C0 rjmp .L91 |
| 1282 .L127: |
| 1283 0a3c 0196 adiw r24,1 |
| 1284 0a3e 00C0 rjmp .L90 |
| 1285 .L126: |
| 1286 0a40 0796 adiw r24,7 |
| 1287 0a42 00C0 rjmp .L89 |
| 1288 .L118: |
| 1289 0a44 D801 movw r26,r16 |
| 1290 0a46 C701 movw r24,r14 |
| 1291 0a48 0B96 adiw r24,11 |
| 1292 0a4a A11D adc r26,__zero_reg__ |
| 1293 0a4c B11D adc r27,__zero_reg__ |
| 1294 0a4e 00C0 rjmp .L99 |
| 1295 .L129: |
| 1296 0a50 2150 subi r18,lo8(-(1023)) |
| 1297 0a52 3C4F sbci r19,hi8(-(1023)) |
| 1298 0a54 4F4F sbci r20,hlo8(-(1023)) |
| 1299 0a56 5F4F sbci r21,hhi8(-(1023)) |
| 1300 0a58 00C0 rjmp .L82 |
| 1301 .L120: |
| 1302 0a5a 215F subi r18,lo8(-(15)) |
| 1303 0a5c 3F4F sbci r19,hi8(-(15)) |
| 1304 0a5e 4F4F sbci r20,hlo8(-(15)) |
| 1305 0a60 5F4F sbci r21,hhi8(-(15)) |
| 1306 0a62 00C0 rjmp .L101 |
| 1307 .L119: |
| 1308 0a64 215F subi r18,lo8(-(15)) |
| 1309 0a66 3F4F sbci r19,hi8(-(15)) |
| 1310 0a68 4F4F sbci r20,hlo8(-(15)) |
| 1311 0a6a 5F4F sbci r21,hhi8(-(15)) |
| 1312 0a6c 00C0 rjmp .L100 |
| 1313 .L124: |
| 1314 0a6e 0196 adiw r24,1 |
| 1315 0a70 00C0 rjmp .L94 |
| 1316 .L123: |
| 1317 0a72 0796 adiw r24,7 |
| 1318 0a74 00C0 rjmp .L93 |
| 1319 .L122: |
| 1320 0a76 0196 adiw r24,1 |
| 1321 0a78 A11D adc r26,__zero_reg__ |
| 1322 0a7a B11D adc r27,__zero_reg__ |
| 1323 0a7c 00C0 rjmp .L103 |
| 1324 .L121: |
| 1325 0a7e 0F96 adiw r24,15 |
| 1326 0a80 00C0 rjmp .L102 |
| 1327 .L62: |
| 1328 /* epilogue: frame size=0 */ |
| 1329 0a82 FF91 pop r31 |
| 1330 0a84 EF91 pop r30 |
| 1331 0a86 BF91 pop r27 |
| 1332 0a88 AF91 pop r26 |
| 1333 0a8a 9F91 pop r25 |
| 1334 0a8c 8F91 pop r24 |
| 1335 0a8e 7F91 pop r23 |
| 1336 0a90 6F91 pop r22 |
| 1337 0a92 5F91 pop r21 |
| 1338 0a94 4F91 pop r20 |
| 1339 0a96 3F91 pop r19 |
| 1340 0a98 2F91 pop r18 |
| 1341 0a9a 1F91 pop r17 |
| 1342 0a9c 0F91 pop r16 |
| 1343 0a9e FF90 pop r15 |
| 1344 0aa0 EF90 pop r14 |
| 1345 0aa2 DF90 pop r13 |
| 1346 0aa4 CF90 pop r12 |
| 1347 0aa6 BF90 pop r11 |
| 1348 0aa8 AF90 pop r10 |
| 1349 0aaa 0F90 pop __tmp_reg__ |
| 1350 0aac 0FBE out __SREG__,__tmp_reg__ |
| 1351 0aae 0F90 pop __tmp_reg__ |
| 1352 0ab0 1F90 pop __zero_reg__ |
| 1353 0ab2 1895 reti |
| 1354 /* epilogue end (size=25) */ |
| 1355 /* function __vector_24 size 1081 (1031) */ |
| 1357 .comm Aktuell_Nick,2,1 |
| 1358 .comm Aktuell_Roll,2,1 |
| 1359 .comm Aktuell_Gier,2,1 |
| 1360 .comm Aktuell_ax,2,1 |
| 1361 .comm Aktuell_ay,2,1 |
| 1362 .comm Aktuell_az,2,1 |
| 1363 .comm StartLuftdruck,2,1 |
| 1364 .comm DruckOffsetSetting,1,1 |
| 1365 .comm Mixer,77,1 |
| 1366 /* File "analog.c": code 1421 = 0x058d (1350), prologues 35, epilogues 36 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 analog.c |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:14 .data:00000000 AdReady |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:21 .bss:00000000 GyroDefektG |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:27 .bss:00000001 GyroDefektR |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:33 .bss:00000002 GyroDefektN |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:39 .data:00000001 AnalogOffsetGier |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:44 .data:00000002 AnalogOffsetRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:49 .data:00000003 AnalogOffsetNick |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:56 .bss:00000003 ZaehlMessungen |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:62 .bss:00000005 VarioMeter |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:68 .bss:00000007 ExpandBaro |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:74 .data:00000004 MessLuftdruck |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:81 .bss:00000008 SummenHoehe |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:87 .data:00000006 Luftdruck |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:94 .bss:0000000c messanzahl_AccHoch |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:100 .bss:0000000d AdWertAccHoch |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:106 .bss:0000000f AdWertAccNick |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:112 .bss:00000011 AdWertAccRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:118 .bss:00000013 AdWertGier |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:124 .bss:00000015 AdWertRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:130 .bss:00000017 AdWertNick |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:136 .data:0000000a HiResRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:141 .data:0000000c HiResNick |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:148 .bss:00000019 AdWertGierFilter |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:154 .bss:0000001b AdWertRollFilter |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:160 .bss:0000001d AdWertNickFilter |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:166 .data:0000000e UBat |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:171 .text:00000000 ADC_Init |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:185 .progmem.data:00000000 __c.12 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:190 .text:0000000c SucheLuftruckOffset |
| *COM*:00000001 DruckOffsetSetting |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:297 .progmem.data:00000002 __c.11 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:302 .text:000000c4 SucheGyroOffset |
| .bss:0000001f kanal.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:500 .bss:00000020 state.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:501 .bss:00000021 gier1.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:502 .bss:00000023 roll1.3 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:503 .bss:00000025 nick1.4 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:504 .bss:00000027 nick_filter.5 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:505 .bss:00000029 roll_filter.6 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:506 .bss:0000002b accy.7 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:507 .bss:0000002d accx.8 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:508 .bss:0000002f tmpLuftdruck.9 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:509 .bss:00000033 messanzahl_Druck.10 |
| C:\Users\Bernd\AppData\Local\Temp/ccuiIOA0.s:513 .text:00000274 __vector_24 |
| *COM*:00000002 Aktuell_ax |
| *COM*:00000002 Aktuell_ay |
| *COM*:00000002 StartLuftdruck |
| *COM*:00000002 Aktuell_az |
| *COM*:00000002 Aktuell_Nick |
| *COM*:00000002 Aktuell_Roll |
| *COM*:00000002 Aktuell_Gier |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EEPromArray |
| Delay_ms_Mess |
| _printf_P |
| SetDelay |
| twi_state |
| i2c_start |
| CheckDelay |
| __epilogue_restores__ |
| __tablejump2__ |
| NeutralAccX |
| NeutralAccY |
| __mulsi3 |
| HoehenWert |
| AdNeutralRoll |
| AdNeutralNick |
| NeutralAccZ |
| __subsf3 |
| __fixsfsi |
| __ltsf2 |
| __addsf3 |
| modell_fliegt |
| Mess_Integral_Hoch |
| __udivmodhi4 |
| __gtsf2 |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/eeprom.c |
|---|
| 0,0 → 1,412 |
| /***************************************************************************************************************************** |
| * File: eeprom.c |
| * |
| * Purpose: storing or loading the EEPROM values to RAM or writing them to EE_Parameter |
| * |
| * Functions: void DefaultStickMapping(void) // stick setting at RC control for incoming sum signal chain |
| * void DefaultKonstanten3(void) // |
| * void DefaultKonstanten2(void) // |
| * void DefaultKonstanten1(void) // |
| * void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| * void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| * unsigned char GetActiveParamSetNumber(void) |
| * void SetActiveParamSetNumber(unsigned char number) |
| * |
| *****************************************************************************************************************************/ |
| #include "eeprom.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; // E2END = 2047 |
| // wird im EEPROM deklariert |
| // in den I/O-Headern wird die letzte EEPROM-Adresse als E2END definiert |
| // #define EEMEM __attribute__ ((section (".eeprom"))) |
| // EEPROM Size = 2 Kbytes // Page Size = 8 bytes // No. of Pages = 256 // siehe Atmega644 manual S287 |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // --------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------------------------------- |
| // stick setting at RC control for incoming sum signal chain |
| //----------------------------------------------------------------------------------------------------------------------------- |
| void DefaultStickMapping(void) // remote control is set to mode 2 |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; // #define K_NICK 0 // Koptertool -> Einstellungen -> Kanäle -> "NICK" |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; // #define K_ROLL 1 // Koptertool -> Einstellungen -> Kanäle -> "ROLL" |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; // #define K_GAS 2 // Koptertool -> Einstellungen -> Kanäle -> "GAS" |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; // #define K_GIER 3 // Koptertool -> Einstellungen -> Kanäle -> "Gier" |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; // #define K_POTI1 4 // Koptertool -> Einstellungen -> Kanäle -> "POTI1" |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; // #define K_POTI2 5 // Koptertool -> Einstellungen -> Kanäle -> "POTI2" |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; // #define K_POTI3 6 // Koptertool -> Einstellungen -> Kanäle -> "POTI3" |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; // #define K_POTI4 7 // Koptertool -> Einstellungen -> Kanäle -> "POTI4" |
| } |
| //----------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------------------------------- |
| void DefaultKonstanten3(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_KOMPASS_AKTIV; |
| // |
| // #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 |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT; |
| // |
| // #define CFG2_HEIGHT_LIMIT 0x01 // Koptertool -> Einstellungen -> Höhe -> Höhenregelung aktiv -> "Höhenbegrenzung" |
| // #define CFG2_VARIO_BEEP 0x02 // Koptertool -> Einstellungen -> Höhe -> Höhenregelung aktiv -> "akustisches Variometer" |
| // #define CFG_SENSITIVE_RC 0x04 // Koptertool -> Einstellungen -> Konfiguration -> "Erweiterte Empfangssignalprüfung" |
| // #define CFG_3_3V_REFERENCE 0x08 // Koptertool -> Einstellungen -> Verschiedenes -> "Voltage Reference" 3.0V |
| // #define CFG_NO_RCOFF_BEEPING 0x10 // Koptertool -> Einstellungen -> Verschiedenes -> "kein Signalton ohne aktiven Empfänger" |
| // #define CFG_GPS_AID 0x20 // Koptertool -> ??? |
| // #define CFG_LEARNABLE_CAREFREE 0x40 // Koptertool -> Einstellungen -> Easy Setup -> "Teachable Carefree" |
| // #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
| 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 = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-250 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-250 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-250 (0 = Hoover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 8; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-250 // Automatische Zellenerkennung bei < 50 |
| 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 = 16; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoRollMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 50; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 30; |
| EE_Parameter.J17Timing = 30; |
| EE_Parameter.NaviGpsModeControl = 252; |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 4; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| //----------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------------------------------- |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
| 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 = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-250 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-250 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-250 (0 = Hoover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 10; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 90; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-250 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // 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 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoRollMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 75; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 20; |
| EE_Parameter.J17Timing = 20; |
| EE_Parameter.NaviGpsModeControl = 252; |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 4; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| //----------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------------------------------- |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
| 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 = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-250 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-250 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-250 (0 = Hoover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
| EE_Parameter.Stick_P = 14; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-250 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // 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 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoRollMax = 250; // Wert : 0-250 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 1; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 100; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 15; |
| EE_Parameter.J17Timing = 15; |
| EE_Parameter.NaviGpsModeControl = 252; |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 4; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| } |
| //----------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------- |
| // Parametersatz aus dem EEPROM lesen |
| // Nummer [1..5] möglich |
| //----------------------------------------------------------------------------------------------------- |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if((number > 5)||(number < 1)) number = 3; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); // #define EEPROM_ADR_PARAM_BEGIN 100 |
| LED_Init (); // initialisiert die Schalt-Ausgänge PORTC2 und PORTC3 an SV2 (control of J16 & J17) |
| } |
| //----------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------- |
| // Parametersatz vom ROM ins EEPROM schreiben |
| // Nummer [1..5] ist die mögliche Nummer des Paramtersatzes |
| // *buffer ist die Adresse, woher die Bytes kommen, die kopiert werden sollen |
| // length ist die Anzahl der zu kopierenden Bytes |
| //------------------------------------------------------------------------------------------------------------------------------------ |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| if(number < 1) return; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); // #define EEPROM_ADR_PARAM_BEGIN 100 |
| // eeprom_write_block(buffer, &EEPromArray[100 + length * (number - 1)], length); // aufgelöst |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken // #define EEPROM_ADR_PARAM_LENGTH 98 |
| // eeprom_write_byte(&EEPromArray[98], length); // aufgelöst // lenght = 101 |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken // #define EEPROM_ADR_CHANNELS 80 |
| // eeprom_write_block(buffer, &EEPromArray[80], 8); // aufgelöst |
| SetActiveParamSetNumber(number); |
| LED_Init(); // initialisiert die Schalt-Ausgänge PORTC2 und PORTC3 an SV2 (control of J16 & J17) |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------ |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| unsigned char GetActiveParamSetNumber(void) // hier wird herausgelesen, mit welchem Parametersatz gefolgen werden soll |
| { // Beginner=3,Normal=2,Sport=1 |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); // #define EEPROM_ADR_ACTIVE_SET 2 |
| if((set > 5) || (set < 1)) |
| { |
| set = 3; // default = Beginner |
| SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| void SetActiveParamSetNumber(unsigned char number) |
| { |
| if(number > 5) number = 5; |
| if(number < 1) return; // #define EEPROM_ADR_ACTIVE_SET 2 |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz im EEPROM als aktuell merken |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/eeprom.h |
|---|
| 0,0 → 1,39 |
| /***************************************************************************************************************************** |
| * File: eeprom.h |
| * Purpose: header of eeprom.c |
| *****************************************************************************************************************************/ |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #define EE_DATENREVISION 80 // Parameter fürs Koptertool; entspricht den EEPROM-Daten von FlightCtrl Version V0.76g |
| #define MIXER_REVISION 1 // wird angepasst, wenn sich die Mixer-Daten geändert haben |
| #define EEPROM_ADR_VALID 1 // für EEPROM Datenrevision = 80 bei V0.76g |
| #define EEPROM_ADR_ACTIVE_SET 2 // für den aktiven Parametersatz 3=Beginner 2=Normal 1=Sport |
| #define EEPROM_ADR_LAST_OFFSET 3 // Luftdruck Offset siehe analog.c Zeile 44 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define EEPROM_ADR_MINUTES 10 // FlugMinuten Gesamt über alle Flüge |
| #define EEPROM_ADR_MINUTES2 14 // FlugMinuten Einzelflug |
| #define EEPROM_ADR_CHANNELS 80 // Ablageadresse der Kanäle |
| #define EEPROM_ADR_PARAM_LENGTH 98 // Länge des structs mk_param_struct verwendet für EE_Parameter = 101 |
| #define EEPROM_ADR_PARAM_BEGIN 100 // Startadresse der Abbilder vom struct mk_param_struct also EE_Parameter |
| #define EEPROM_ADR_MIXER_TABLE 1000 // 1001 - 1100 |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| //----------------------------------------------------------------------------------------------------------------------------------- |
| extern unsigned char EEPromArray[]; |
| //----------------------------------------- declaration of functions -------------------------- |
| 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); |
| void SetActiveParamSetNumber(unsigned char number); |
| #endif |
| //*** EOF: __EEPROM_H *********************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/fc.c |
|---|
| 0,0 → 1,1817 |
| /***************************************************************************************************************************** |
| * File: fc.c |
| * |
| * Purpose: Flight Control |
| * |
| * Functions: int MotorSmoothing(int neu, int alt) |
| * void Piep(unsigned char Anzahl, unsigned int dauer) |
| * void SetNeutral(void) |
| * void Mittelwert(void) |
| * void CalibrierMittelwert(void) |
| * void SendMotorData(void) |
| * void ParameterZuordnung(void) |
| * void MotorRegler(void) |
| * |
| *****************************************************************************************************************************/ |
| #include "fc.h" |
| #include "main.h" |
| #include "eeprom.c" |
| #include "mymath.h" |
| #include "isqrt.h" // wird nur gebraucht wegen Zeile 1265 // CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| volatile unsigned int I2CTimeout = 100; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralGierBias; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| long IntegralNick = 0; // dieser Wert wird im 3D Koptertool angezeigt |
| long IntegralNick2 = 0; |
| long IntegralRoll = 0; |
| long 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; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| char MotorenEin = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char SenderOkay = 0; |
| volatile unsigned char SenderRSSI = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; // Stick aus der Fernsteuerung |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| int Ki = 10300 / 33; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_ServoRollControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsACC; |
| unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| struct mk_param_struct EE_Parameter; // definiert in fc.h Zeile 80 |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char MikroKopterFlags = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| unsigned char RequiredMotors = 4; |
| unsigned char Motor[MAX_MOTORS]; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| unsigned char LoadHandler = 0; |
| //------------------------------------------------------------ Definitionen -------------------------------------- |
| #define LIMIT_MIN(value, min) {if(value < min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value > max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| // ***************************************************************************************************************** |
| int MotorSmoothing(int neu, int alt) |
| { |
| int motor; |
| if(neu > alt) motor = (1*(int)alt + neu) / 2; |
| else motor = neu - (alt - neu)*1; |
| return(motor); |
| } |
| //------------------------------------------------------ |
| // *********************************************************** |
| // erzeugt einen Piepton |
| //------------------------------------------------------ |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| while(beeptime); |
| Delay_ms(dauer * 2); |
| } |
| } |
| //------------------------------------------------------ |
| // ******************************************************************************************************************* |
| // Nullwerte ermitteln und Startwerte festlegen |
| // ----------------------------------------------- |
| void SetNeutral(void) |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| HEF4017R_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| AdNeutralGierBias = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| #define NEUTRAL_FILTER 32 |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| AdNeutralGierBias = AdNeutralGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); // #define ACC_AMPLIFY 6 |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*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]); |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; // #define ACC_AMPLIFY 6 |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| StartLuftdruck = Luftdruck; |
| VarioMeter = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| //GPS_Neutral(); // no GPS available |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; // long GIER_GRAD_FAKTOR = 1291; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| LED_Init(); |
| MikroKopterFlags |= FLAG_CALIBRATE; |
| Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
| Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
| Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
| SenderOkay = 100; |
| //---------------------------------------------- |
| if(ServoActive) |
| { |
| HEF4017R_ON; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| } |
| //---------------------------------------------- |
| } |
| //*** EOF: SetNeutral(void) ******************************************************************************************************* |
| // ******************************************************************************************************************************** |
| // Bearbeitet die Messwerte und legt die Mittelwerte fest |
| // ---------------------------------------------------------- |
| void Mittelwert(void) |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| // MesswertGier = (signed int) AdNeutralGier - AdWertGier; // Orginalcode vorher |
| MesswertGier = AdWertGier - (signed int) AdNeutralGier; // Gyro ist um 180 Grad gedreht eingebaut |
| // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor -------------------------------------------------------------------------- |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; // #define ACC_AMPLIFY 6 |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; // #define ACC_AMPLIFY 6 |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; // #define ACC_AMPLIFY 6 |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| //------------------------------------------------------------ |
| // Single Conversion at ADC |
| // |
| // ADCSRA = Analog Digital Conversion Status Register A -> ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 |
| // --------------------------------------------------------------------------------------------------- |
| // ADEN = Writing this bit to one enables the ADC |
| // ADSC = start conversion |
| // ADATE = When this bit is written to one, Auto Triggering of the ADC is enabled |
| // ADIE = ADC Interrupt Enable. When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated. |
| // ADPS = These bits determine the division factor between the XTAL frequency and the input clock to the ADC. |
| // |
| ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| AdReady = 0; |
| //------------------------------------------------------------ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ----------------------------------------------------------------------------------------- |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil ----------------------------------------------------------------------------- |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| // MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ----------------------------------------------------------------------------------------------- |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ------------------------------------------------------------ |
| Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| // Nick ------------------------------------------------------------------- |
| Mess_IntegralNick2 += MesswertNick + TrimNick; |
| Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| #define D_LIMIT 128 |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
| else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| 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; |
| } |
| // *** EOF: Mittelwert(void) ******************************************************************************************************** |
| // ********************************************************************************************************************************** |
| // Messwerte beim Ermitteln der Nullage |
| // ---------------------------------------- |
| void CalibrierMittelwert(void) |
| { |
| if(PlatinenVersion == 13) SucheGyroOffset(); |
| ANALOG_OFF; // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; // #define ACC_AMPLIFY 6 |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // ADCSRA = Analog Digital Conversion Status Register A -> ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 |
| // --------------------------------------------------------------------------------------------------- |
| // ADEN = Writing this bit to one enables the ADC |
| // ADSC = start conversion |
| // ADATE = When this bit is written to one, Auto Triggering of the ADC is enabled |
| // ADIE = ADC Interrupt Enable. When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated. |
| // ADPS = These bits determine the division factor between the XTAL frequency and the input clock to the ADC. |
| // |
| ANALOG_ON; // swich on ADC // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| 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.WinkelUmschlagRoll * 2500L; |
| } |
| // *** EOF: CalibrierMittelwert() *************************************************************************************************** |
| // *************************************************************************************************************************** |
| // take over the motor values from Motor[] and start I2C-Bus |
| // ---------------------------------------------------------- |
| void SendMotorData(void) |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| for(i=0; i < MAX_MOTORS; i++) // #define MAX_MOTORS 4 |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i] = MotorTest[i]; |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else MikroKopterFlags |= FLAG_MOTOR_RUN; // #define FLAG_MOTOR_RUN 1 |
| DebugOut.Analog[12] = Motor[0]; // see also fc.c line 1270 |
| DebugOut.Analog[13] = Motor[1]; |
| twi_state = 0; // it is assumed that all Motor[] have ther new value now -> see line 1645 |
| motor = 0; |
| i2c_start(); // start I2C Interrupt Mode |
| } |
| // *************************************************************************************************************************** |
| // ******************************************************************************************************************************** |
| // Trägt gegebenfalls das Poti als Parameter ein |
| //---------------------------------------------- |
| void ParameterZuordnung(void) |
| { |
| #define CHK_POTI_MM(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;} |
| #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; } |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P,10,255); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_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_ServoRollControl,EE_Parameter.ServoRollControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; // bei Beginner3 = 230 |
| MIN_GAS = EE_Parameter.Gas_Min; // bei Beginner3 = 8 |
| } |
| //----------------------------------------------------------------------------------------------------------- |
| // ------------------------------------------only for balance ------------------------------------ |
| unsigned char ucflg1=0x01, ucflg2=0x01, ucflg3=0x01; |
| int ipk[3] = {0,0,0}; |
| int angle, desiredAngle, motorOutFront, motorOutRear; |
| int thrust; |
| int kp=0, kd=0, kdd=0; |
| int controllerP = 0, maxcontrollerP = 0, mincontrollerP = 0; |
| int controllerD = 0, maxcontrollerD = 0 , mincontrollerD = 0; |
| int controllerDD = 0, maxcontrollerDD = 0, mincontrollerDD = 0; |
| int gyroScaledOld = 0; |
| int gyroScaled = 0; |
| int filtersum = 0; |
| int filterDD = 0; |
| // EOF: for balance ---------------------------------------------------------------------------- |
| // ********************************************************************************************************************** |
| // automatic control function - called from main.c |
| // ------------------------------------------------ |
| void MotorRegler(void) |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 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 char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| // unsigned char i; |
| if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast |
| Mittelwert(); // see fc.c line 273 |
| GRN_ON; // switch on green LED |
| // ------------------------------------------------------------------- |
| // find out gas value |
| // ------------------------------------------------------------------- |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // ---------------------------------------------------------------------------------- |
| // radio control receiving is bad |
| // ---------------------------------------------------------------------------------- |
| if(SenderOkay < 100) |
| { |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| MikroKopterFlags |= FLAG_NOTLANDUNG; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; // #define K_NICK 0 |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; // #define K_ROLL 1 |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; // #define K_GAS 2 |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; // #define K_GIER 3 |
| } |
| else MotorenEin = 0; |
| } // EOF : receiving radio control is bad |
| else |
| // ----------------------------------------------------------------------------------- |
| // radio control receiving is fine |
| // ----------------------------------------------------------------------------------- |
| if(SenderOkay > 140) |
| { |
| MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| if(modell_fliegt == 250) |
| { |
| NeueKompassRichtungMerken = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| } |
| } |
| else MikroKopterFlags |= FLAG_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| //---------------------------------------------------------------------------- |
| // calibrate to zero |
| //---------------------------------------------------------------------------- |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // neutral values |
| { |
| if(++delay_neutral > 200) // during the first 200 ms |
| { |
| GRN_OFF; |
| MotorenEin = 0; // switch or keep motor in status "off" |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| //---------------------------------------------------------------------------------------------------------------- |
| // Bei ausgeschalteten Motoren Settings per Sender einstellen: |
| // |
| // Gas/Gier-Knüppel oben-links und gleichzeitig... |
| // |
| // Nick/Roll-Knüppel -> Links Mitte = Setting 1; Sport, sehr agil |
| // Nick/Roll-Knüppel -> Links Oben = Setting 2; Normal |
| // Nick/Roll-Knüppel -> Mitte Oben = Setting 3; Beginner, empfohlen für erste Versuche |
| // Nick/Roll-Knüppel -> Rechts Oben = Setting 4 |
| // Nick/Roll-Knüppel -> Rechts Mitte = Setting 5 |
| // |
| // Setting 1 = Gas rauf und Gier links dann Roll links und Nick mitte |
| // Setting 2 = Gas rauf und Gier links dann Roll links und Nick rauf |
| // Setting 3 = Gas rauf und Gier links dann Roll mitte und Nick rauf |
| // Setting 4 = Gas rauf und Gier links dann Roll rechts und Nick rauf |
| // Setting 5 = Gas rauf und Gier links dann Roll rechts und Nick mitte |
| //---------------------------------------------------------------------------------------------------------------- |
| 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; |
| SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; // Kompass wird kalibriert |
| beeptime = 1000; |
| } |
| else |
| { |
| //------------------------------------------------------------------------------------------------------------------- |
| // Hier werden die Werte aus dem EEPROM entsprechend Setting eingelesen |
| //------------------------------------------------------------------------------------------------------------------- |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| // Vor jedem Starten des MK sollten die Gyros neu kalibriert werden. |
| // Dazu wird der Gas/Gier-Knüppel einige Zeit in die obere linke Ecke gedrückt |
| ServoActive = 0; |
| SetNeutral(); |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| Piep(GetActiveParamSetNumber(),120); |
| } |
| } // Ende von "nicht sofort, sondern erst nach 200 ms" |
| } |
| 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(),120); |
| } |
| } |
| else delay_neutral = 0; |
| } //Ende Gas ist oben und Motoren aus |
| //--------------------------------------------------------------------------------------------------------------------- |
| // gas is at bottom for switing on or off |
| //--------------------------------------------------------------------------------------------------------------------- |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -85) // Gas unten |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // Starten - Gierknüppel unten ganz rechts |
| { |
| // ------------------------------------------------------------------------------------- |
| // switch on motor |
| // ------------------------------------------------------------------------------------- |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| MikroKopterFlags |= FLAG_START; |
| } |
| } |
| else delay_einschalten = 0; // reset delay |
| //---------------------------------------------------------------------------------------------- |
| // switch off |
| //---------------------------------------------------------------------------------------------- |
| 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; |
| } // EOF : gas is at bottom |
| } // EOF : receiving radio control is good |
| //------------------------------------------------------------------------------------------------------------------- |
| // neue Werte von der Funke |
| //------------------------------------------------------------------------------------------------------------------- |
| if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG)) |
| { |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickNick = stick_nick; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickRoll = stick_roll; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 2) StickGier -= 2; else |
| if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| //------------------------------------------------------------------------------------------ |
| // Analoge Steuerung nicht per Fersteuerung, sondern per serieller Schnittstelle |
| //------------------------------------------------------------------------------------------ |
| if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| //if(GyroFaktor < 0) GyroFaktor = 0; |
| //if(IntegralFaktor < 0) IntegralFaktor = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // ----------------------------------------------------------------------------------------------------------------------------------- |
| // Looping? |
| // ----------------------------------------------------------------------------------------------------------------------------------- |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // EOF : "neue Funksteuerungswerte" |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| // --------------------------------------------------------------------------------------------- |
| // Bei Empfangsausfall im Flug Notlandung einleiten |
| // --------------------------------------------------------------------------------------------- |
| if(MikroKopterFlags & FLAG_NOTLANDUNG) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } // ------------------- Ende : Notlandung ----------------------------------------------------- |
| //--------------------------------------------------------------------------------------------- |
| // 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; // counts one up as all ADC cases have been passed through -> see analog.c line 288 |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| //------------------------------------------------------------------------------------------------ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } // --------------------------------- EOF: Looping ----------------------------------- |
| // ------------------------------------------------------------------------------------------------- |
| // nach 256 ADC Durchläufen wird abgeglichen |
| // ------------------------------------------------------------------------------------------------- |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) // #define ABGLEICH_ANZAHL 256L |
| { // counts one up as all ADC cases have been passed through -> see analog.c line 288 |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| 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; |
| // --- Roll -------------------------------------------------------------- |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if( (MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) ) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| //---------------------------------------------------- |
| // Gyro-Drift ermitteln |
| //---------------------------------------------------- |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| 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; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } // #define ABGLEICH_ANZAHL 256L |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
| } |
| GierGyroFehler = 0; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) // #define ABGLEICH_ANZAHL 256L |
| #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| #define BEWEGUNGS_LIMIT 20000 |
| // --------------- Nick ------------------------------------------------------------------ |
| cnt = 1; // + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| if( labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT ) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| } |
| else last_n_p = 1; |
| } |
| else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| } |
| else last_n_n = 1; |
| } |
| else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // ------------------ Roll -------------------------------------------------------------------- |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT ) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; // #define ABGLEICH_ANZAHL 256L |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| if(!IntegralFaktor) // z.B. bei Heading Hold wird nicht ausgeglichen |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| } |
| // ---------------------------------------------------------------------------------- |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // ---------------------------------------------------------------------------------- |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; // counts one up as all ADC cases have been passed through -> see analog.c line 288 |
| } |
| // EOF: if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| // ------------------------------------------------------------------------------------------------------------- |
| // -------- Gieren ----------- |
| // |
| // Für eine Drehung im Uhrzeigersinn wird die Drehzahl des linken und des rechten Propellers erhöht, |
| // während die des vorderen und hinteren gesenkt wird |
| // ------------------------------------------------------------------------------------------------------------- |
| if(abs(StickGier) > 15) // war 35 |
| { |
| KompassSignalSchlecht = 1000; |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) // Orientation fix |
| { |
| NeueKompassRichtungMerken = 1; |
| } |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // ----------------------------------------------------------------------------------------------------- |
| // Kompass |
| // ------------------------------------------------------------------------------------------------------------------ |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) // CFG_KOMPASS_AKTIV = 0x08 |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 1; |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; // long GIER_GRAD_FAKTOR = 1291; |
| if(abs(MesswertGier) > 128) |
| { |
| fehler = 0; |
| } |
| if(!KompassSignalSchlecht && w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; // long GIER_GRAD_FAKTOR = 1291; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| } |
| ErsatzKompass += (fehler * 8) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w >= 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; // long GIER_GRAD_FAKTOR = 1291; |
| // // r = KompassRichtung; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } // EOF: Kompass |
| //--------------------------------------------------------------------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // Debugwerte zuordnen / die zugehörige Texte stehen unter -> uart.c Zeile 46 |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| DebugOut.Analog[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); |
| DebugOut.Analog[1] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[2] = maxcontrollerDD; |
| DebugOut.Analog[3] = mincontrollerDD; |
| DebugOut.Analog[4] = MesswertNick; |
| DebugOut.Analog[5] = HiResNick; |
| DebugOut.Analog[6] = AdWertAccNick; |
| // siehe Zeile fc.c Zeile 1660 |
| DebugOut.Analog[8] = 0; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = controllerP; |
| // siehe fc.c Zeile 476 |
| DebugOut.Analog[14] = controllerD; |
| DebugOut.Analog[15] = controllerDD; |
| DebugOut.Analog[16] = PPM_in[3]; |
| DebugOut.Analog[17] = ipk[0]; |
| DebugOut.Analog[18] = ipk[1]; |
| DebugOut.Analog[19] = ipk[2]; |
| DebugOut.Analog[20] = ucflg1; // 0,1,2 |
| DebugOut.Analog[21] = PPM_in[5]; // switch chanel 5 |
| DebugOut.Analog[22] = MesswertNick; |
| DebugOut.Analog[23] = maxcontrollerD; |
| DebugOut.Analog[24] = mincontrollerD; |
| DebugOut.Analog[25] = AdWertNick; |
| DebugOut.Analog[26] = maxcontrollerP; // = 727 |
| DebugOut.Analog[27] = mincontrollerP; // = 730 |
| DebugOut.Analog[28] = PPM_in[4]; // Gier |
| DebugOut.Analog[29] = PPM_in[3]; // Nick |
| DebugOut.Analog[30] = PPM_in[2]; // Roll |
| DebugOut.Analog[31] = PPM_in[1]; // Gas |
| } |
| // ----------------------------------------------------------------------- |
| // Drehgeschwindigkeit und Drehwinkel zu einem Istwert zusammenfassen |
| // ----------------------------------------------------------------------- |
| if(TrichterFlug) {SummeRoll = 0; SummeNick = 0;}; |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| // #define MAX_SENSOR (4096*STICK_GAIN) |
| #define MAX_SENSOR (4096*4) |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // ------------------------------------------------------------------------------------------------------------------------ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // ------------------------------------------------------------------------------------------------------------------------ |
| if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| { |
| //--------------------------------- definitions------------------------------------------- |
| #define HOOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| #define OPA_OFFSET_STEP 10 |
| //------------------------------- variables ---------------------------------------------- |
| int HCGas, HeightDeviation; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int FilterHCGas = 0; |
| static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023; |
| static unsigned long HooverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| int CosAttitude; // for projection of hoover gas |
| // ------------------------------- get the current hooverpoint ---------------------------------------------------------- |
| // if(LoadHandler == 1) |
| { |
| // DebugOut.Analog[21] = HooverGas; |
| // DebugOut.Analog[18] = VarioMeter; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| SummenHoehe = HoehenWert * SM_FILTER; // #define SM_FILTER 16 |
| VarioMeter = 0; |
| BaroExpandActive--; |
| } |
| // if height control is activated by an rc channel |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| { //height control is activated |
| HoehenReglerAktiv = 1; // enable height control |
| delay = 200; |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg // xxx |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
| { |
| #define HEIGHT_TRIM_UP 0x01 |
| #define HEIGHT_TRIM_DOWN 0x02 |
| static unsigned char HeightTrimmingFlag = 0x00; |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
| { |
| HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
| HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| { |
| if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
| { |
| HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
| HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| } |
| else // Gas Stick in Hoover Range |
| { |
| if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| { |
| HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| HeightTrimming = 0; |
| SollHoehe = HoehenWert; // update setpoint to current height |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| } |
| } |
| // Trim height set point |
| if(abs(HeightTrimming) > 512) |
| { |
| SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| HeightTrimming = 0; |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
| //update hoover gas stick value when setpoint is shifted |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
| if(StickGasHoover < 70) StickGasHoover = 70; |
| else if(StickGasHoover > 150) StickGasHoover = 150; |
| } |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| } //if MikroKopterFlags & MKFLAG_FLY |
| else |
| { |
| SollHoehe = HoehenWert - 400; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHoover = 120; |
| } |
| HCGas = HooverGas; // take hoover gas (neutral point) |
| } |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // ------------------------- P-Part ---------------------------- |
| HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high |
| tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part |
| HCGas -= tmp_int; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction |
| if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4; |
| else tmp_int = VarioMeter - (tmp_int * tmp_int) / 4; |
| tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int, -127, 255); |
| HCGas -= tmp_int; |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_int, -127, 255); |
| HCGas -= tmp_int; |
| // --------- limit deviation from hoover point within the target region --------------------------------- |
| if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| { |
| LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point |
| } |
| if(BaroExpandActive) HCGas = HooverGas; |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; // #define HC_GAS_AVERAGE 4 |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) // old version |
| { |
| if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas |
| } |
| GasMischanteil = FilterHCGas; |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
| if(StickGasHoover < 70) StickGasHoover = 70; |
| else if(StickGasHoover > 150) StickGasHoover = 150; |
| FilterHCGas = GasMischanteil; |
| } |
| // Hoover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG)) |
| { |
| if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(abs(VarioMeter) < 100) // only on small vertical speed |
| { |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 2000) // the first 4 seconds |
| { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
| HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L); |
| HooverGasFilter += 8L * tmp_long2; |
| } |
| else if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L); |
| HooverGasFilter += 4L * tmp_long2; |
| } |
| else if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L); |
| HooverGasFilter += 2L * tmp_long2; |
| } |
| else //later |
| { |
| HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE; |
| HooverGasFilter += tmp_long2; |
| } |
| HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HooverGasMin = HooverGas - band; |
| HooverGasMax = HooverGas + band; |
| } |
| else |
| { // no limit |
| HooverGasMin = 0; |
| HooverGasMax = 1023; |
| } |
| } |
| } |
| } |
| // EOF: |
| } // EOF: ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| // limit gas to parameter setting |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // ----------------------------------------------------------------------------------------------- |
| // sind alle BL-Ctrl angeschlossen ? ist eventuell ein Motor defekt ? |
| // ----------------------------------------------------------------------------------------------- |
| if(MissingMotor) // see twimaster.c line 184 |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = MIN_GAS; |
| } |
| //----------------------------------------------------------------------------------------------- |
| // Mischer und PI-Regler |
| //----------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------- |
| // Gier-Anteil (yaw) |
| //----------------------------------------------------------------------------------------------- |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // ------------------------------------------------------------------------------------------------------ |
| // Nick-Achse (pitch axis) |
| // ------------------------------------------------------------------------------------------------------ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei Heading Hold |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // ------------------------------------------------------------------------------------------------------ |
| // Roll-Achse (roll axis) |
| // ------------------------------------------------------------------------------------------------------ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll; // I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei Heading Hold |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| // ----------------------------------------------------------------------------------- |
| // kopterbalance |
| // ----------------------------------------------------------------------------------- |
| //------------------------------------------------------------------------------------ |
| // set the parameters with radio control |
| //------------------------------------------------------------------------------------ |
| if((PPM_in[2] < -60) && (ucflg2==0x01)) |
| { |
| ucflg2=0x00; |
| if(ucflg1 == 0x02) |
| { |
| ucflg1=0x00; |
| } |
| else ucflg1++; |
| } |
| if((PPM_in[2] > -20) && (PPM_in[2] < 20)) |
| { |
| ucflg2=0x01; |
| } |
| // ----------------------------------------------------------------------------------- |
| // set analog value at according parameter |
| // ----------------------------------------------------------------------------------- |
| if((PPM_in[5] < -80L) && (ucflg3==0x01)) |
| { |
| ucflg3=0x00; |
| if((ucflg1==0x00) || (ucflg1==0x01) || (ucflg1==0x02)) ipk[ucflg1] += PPM_in[3]; |
| } |
| if(PPM_in[5] > 80L) |
| { |
| ucflg3=0x01; |
| } |
| kp = ipk[0]; |
| kd = ipk[1]; |
| kdd = ipk[2]; |
| // ------------------------------------------------------------------------------------- |
| // set trust with radio control |
| // ----------------------------------------------------------------------------------- |
| thrust = PPM_in[1] + 127; // set turnrate speed |
| if(thrust<10) // limit min thrust |
| { |
| thrust = 10; |
| } |
| if(thrust>50) // limit max thrust |
| { |
| thrust = 50; |
| } |
| DebugOut.Analog[7] = thrust; |
| // -------------------------------------------------------------------------------------- |
| desiredAngle = 0; |
| angle = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); |
| gyroScaled = HiResNick; // Gyro |
| // -------------------------------------------------------------------------------------- |
| controllerP = (PPM_in[2]/4) + (kp * ((desiredAngle - angle)/16)); // proportional & manual control |
| if(controllerP > maxcontrollerP) maxcontrollerP = controllerP; |
| if(controllerP < mincontrollerP) mincontrollerP = controllerP; |
| // -------------------------------------------------------------------------------------- |
| controllerD = (-gyroScaled * kd)/512; |
| if(controllerD > maxcontrollerD) maxcontrollerD = controllerD; |
| if(controllerD < mincontrollerD) mincontrollerD = controllerD; |
| // -------------------------------------------------------------------------------------- |
| controllerDD = (gyroScaledOld - gyroScaled) * kdd; |
| filtersum = filtersum - filterDD + controllerDD; |
| filterDD = filtersum/8; |
| controllerDD = filterDD / 64; |
| gyroScaledOld = gyroScaled; |
| if(controllerDD > maxcontrollerDD) maxcontrollerDD = controllerDD; |
| if(controllerDD < mincontrollerDD) mincontrollerDD = controllerDD; |
| // -------------------------------------------------------------------------------------- |
| motorOutRear = thrust + controllerD + controllerDD + controllerP; |
| motorOutFront = thrust - controllerD - controllerDD - controllerP; |
| if(motorOutFront>50) motorOutFront = 50; |
| if(motorOutFront<1) motorOutFront = 0; |
| if(motorOutRear>50) motorOutRear = 50; |
| if(motorOutRear<1) motorOutRear = 0; |
| Motor[1] = motorOutRear; |
| Motor[0] = motorOutFront; |
| } |
| // *** EOF: MotorRegler() ******************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/fc.d |
|---|
| 0,0 → 1,3 |
| fc.o fc.d : fc.c fc.h main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h eeprom.h twimaster.h menu.h rc.h led.h eeprom.c \ |
| mymath.h isqrt.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/fc.h |
|---|
| 0,0 → 1,212 |
| /***************************************************************************************************************************** |
| * File: fc.h |
| * Purpose: header of fc.c |
| *****************************************************************************************************************************/ |
| #ifndef _FC_H |
| #define _FC_H |
| // ---------------------- definitions ---------------------- |
| #define STICK_GAIN 4 |
| #define FLAG_MOTOR_RUN 1 // diese Flags werden |
| #define FLAG_FLY 2 // bei Bedarf |
| #define FLAG_CALIBRATE 4 // auf die |
| #define FLAG_START 8 // Variable |
| #define FLAG_NOTLANDUNG 16 // "MikroKopterFlags" |
| #define FLAG_LOWBAT 32 // abgebildet |
| #define MAX_MOTORS 2 // gesetzt für Waage (max 12 möglich) |
| #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| extern volatile unsigned char MikroKopterFlags; |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern unsigned char HoehenReglerAktiv; |
| 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; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| //------------------------- functions --------------- |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| extern volatile unsigned char SenderRSSI; |
| extern unsigned char RequiredMotors; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| extern void DefaultKonstanten3(void); |
| extern void DefaultStickMapping(void); |
| #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // 01-08 Nick[0]=3, Roll[1]=2,Gas[2]=1, Gier[3]=4, K_POTI1[4], K_POTI2[5], K_POTI3[6], K_POTI4[7] steht auf EEPROM auf Adresse 80-87 |
| unsigned char GlobalConfig; // 09 0x80=Rotationrate Limiter, 0x40=ACHSENKOPPLUNG_AKTIV, 0x20=GPS aktiv, 0x10=Orientation fix, 0x08=Kompass_aktiv, 0x04=Heading Hold aktiv, 0x02=?, 0x01=Höhenregler aktiv |
| unsigned char Hoehe_MinGas; // 10 Wert : 0-100 |
| unsigned char Luftdruck_D; // 11 Wert : 0-250 |
| unsigned char MaxHoehe; // 12 Wert : 0-32 |
| unsigned char Hoehe_P; // 13 Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // 14 Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // 15 Wert : 0-250 |
| unsigned char Hoehe_HoverBand; // 16 Wert : 0-250 |
| unsigned char Hoehe_GPS_Z; // 17 Wert : 0-250 |
| unsigned char Hoehe_StickNeutralPoint; // 18 Wert : 0-250 |
| unsigned char Stick_P; // 19 Wert : 1-6 |
| unsigned char Stick_D; // 20 Wert : 0-64 |
| unsigned char Gier_P; // 21 Wert : 1-20 |
| unsigned char Gas_Min; // 22 Wert : 0-32 |
| unsigned char Gas_Max; // 23 Wert : 33-250 |
| unsigned char GyroAccFaktor; // 24 Wert : 1-64 |
| unsigned char KompassWirkung; // 25 Wert : 0-32 |
| unsigned char Gyro_P; // 26 Wert : 10-250 |
| unsigned char Gyro_I; // 27 Wert : 0-250 |
| unsigned char Gyro_D; // 28 Wert : 0-250 |
| unsigned char Gyro_Gier_P; // 29 Wert : 10-250 |
| unsigned char Gyro_Gier_I; // 30 Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // 31 Wert : 0-250 |
| unsigned char NotGas; // 32 Wert : 0-250 // Gaswert bei Empangsverlust |
| unsigned char NotGasZeit; // 33 Wert : 0-250 // Zeit, bis auf NotGas geschaltet wird, wegen Empfänger-Problemen |
| unsigned char UfoAusrichtung; // 34 X oder + Formation |
| unsigned char I_Faktor; // 35 Wert : 0-250 |
| unsigned char UserParam1; // 36 Wert : 0-250 |
| unsigned char UserParam2; // 37 Wert : 0-250 |
| unsigned char UserParam3; // 38 Wert : 0-250 |
| unsigned char UserParam4; // 39 Wert : 0-250 |
| unsigned char ServoNickControl; // 40 Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // 41 Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // 42 Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // 43 Wert : 0-250 // Anschlag |
| //---------------------------------- // --------------------- Seit V0.75 ------------------------------------- |
| unsigned char ServoRollControl; // 44 Wert : 0-250 // Stellung des Servos |
| unsigned char ServoRollComp; // 45 Wert : 0-250 |
| unsigned char ServoRollMin; // 46 Wert : 0-250 |
| unsigned char ServoRollMax; // 47 Wert : 0-250 |
| unsigned char ServoNickRefresh; // 48 |
| unsigned char LoopGasLimit; // 49 Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // 50 Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // 51 Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // 52 Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsKopplung2; // 53 Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char CouplingYawCorrection; // 54 Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char WinkelUmschlagNick; // 55 Wert: 0-250 180°-Punkt // EE_Parameter.WinkelUmschlagNick = 85; // TurnOverNick |
| unsigned char WinkelUmschlagRoll; // 56 Wert: 0-250 180°-Punkt // EE_Parameter.WinkelUmschlagRoll = 85; // TurnOverRoll |
| unsigned char GyroAccAbgleich; // 57 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; // 58 |
| unsigned char DynamicStability; // 59 |
| unsigned char UserParam5; // 60 Wert : 0-250 |
| unsigned char UserParam6; // 61 Wert : 0-250 |
| unsigned char UserParam7; // 62 Wert : 0-250 |
| unsigned char UserParam8; // 63 Wert : 0-250 |
| //----------------------------------- // ---------------------- Output ----------------------------------------- |
| unsigned char J16Bitmask; // 64 for the J16 Output |
| unsigned char J16Timing; // 65 for the J16 Output |
| unsigned char J17Bitmask; // 66 for the J17 Output |
| unsigned char J17Timing; // 67 for the J17 Output |
| // ---------------------------------- // ---------------------- seit version V0.75c ---------------------------- |
| unsigned char WARN_J16_Bitmask; // 68 for the J16 Output |
| unsigned char WARN_J17_Bitmask; // 69 for the J17 Output |
| //----------------------------------- // ------------NaviCtrl---------------------------------------------------- |
| unsigned char NaviGpsModeControl; // 70 Parameter für das Naviboard |
| unsigned char NaviGpsGain; // 71 |
| unsigned char NaviGpsP; // 72 |
| unsigned char NaviGpsI; // 73 |
| unsigned char NaviGpsD; // 74 |
| unsigned char NaviGpsPLimit; // 75 |
| unsigned char NaviGpsILimit; // 76 |
| unsigned char NaviGpsDLimit; // 77 |
| unsigned char NaviGpsACC; // 78 |
| unsigned char NaviGpsMinSat; // 79 |
| unsigned char NaviStickThreshold; // 80 |
| unsigned char NaviWindCorrection; // 81 |
| unsigned char NaviSpeedCompensation; // 82 |
| unsigned char NaviOperatingRadius; // 83 |
| unsigned char NaviAngleLimitation; // 84 |
| unsigned char NaviPH_LoginTime; // 85 |
| //---------------------------------- // ---Ext.Ctrl------------- |
| unsigned char ExternalControl; // 86 for serial Control |
| unsigned char BitConfig; // 87 (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoCompInvert; // 88 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char ExtraConfig; // 89 bitcodiert |
| char Name[12]; // 90-101 |
| }; |
| //-------------------------------------------------------------------------------------------------------------------------------------------------- |
| extern struct mk_param_struct EE_Parameter; // ist in fc.c Zeile 112 deklariert worden |
| //-------------------------------------------------------------------------------------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------- |
| struct |
| { |
| char Revision; // 1 |
| char Name[12]; // 2-13 siehe main.c Zeile 229 memcpy(Mixer.Name, "Quadro\0", 11); |
| signed char Motor[16][4]; // 14-77 für jeden Motor gibt es einen 4er Datensatz |
| } Mixer; |
| //---------------------------------------------------------------------------------------------------------------------- |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_ServoRollControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern unsigned char Motor[MAX_MOTORS]; |
| #endif |
| // *** EOF: _FC_H ******************************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/fc.lst |
|---|
| 0,0 → 1,11850 |
| 1 .file "fc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global filterDD |
| 11 .global filterDD |
| 12 .section .bss |
| 15 filterDD: |
| 16 0000 0000 .skip 2,0 |
| 17 .global filtersum |
| 18 .global filtersum |
| 21 filtersum: |
| 22 0002 0000 .skip 2,0 |
| 23 .global gyroScaled |
| 24 .global gyroScaled |
| 27 gyroScaled: |
| 28 0004 0000 .skip 2,0 |
| 29 .global gyroScaledOld |
| 30 .global gyroScaledOld |
| 33 gyroScaledOld: |
| 34 0006 0000 .skip 2,0 |
| 35 .global mincontrollerDD |
| 36 .global mincontrollerDD |
| 39 mincontrollerDD: |
| 40 0008 0000 .skip 2,0 |
| 41 .global maxcontrollerDD |
| 42 .global maxcontrollerDD |
| 45 maxcontrollerDD: |
| 46 000a 0000 .skip 2,0 |
| 47 .global controllerDD |
| 48 .global controllerDD |
| 51 controllerDD: |
| 52 000c 0000 .skip 2,0 |
| 53 .global mincontrollerD |
| 54 .global mincontrollerD |
| 57 mincontrollerD: |
| 58 000e 0000 .skip 2,0 |
| 59 .global maxcontrollerD |
| 60 .global maxcontrollerD |
| 63 maxcontrollerD: |
| 64 0010 0000 .skip 2,0 |
| 65 .global controllerD |
| 66 .global controllerD |
| 69 controllerD: |
| 70 0012 0000 .skip 2,0 |
| 71 .global mincontrollerP |
| 72 .global mincontrollerP |
| 75 mincontrollerP: |
| 76 0014 0000 .skip 2,0 |
| 77 .global maxcontrollerP |
| 78 .global maxcontrollerP |
| 81 maxcontrollerP: |
| 82 0016 0000 .skip 2,0 |
| 83 .global controllerP |
| 84 .global controllerP |
| 87 controllerP: |
| 88 0018 0000 .skip 2,0 |
| 89 .global kdd |
| 90 .global kdd |
| 93 kdd: |
| 94 001a 0000 .skip 2,0 |
| 95 .global kd |
| 96 .global kd |
| 99 kd: |
| 100 001c 0000 .skip 2,0 |
| 101 .global kp |
| 102 .global kp |
| 105 kp: |
| 106 001e 0000 .skip 2,0 |
| 107 .global ipk |
| 108 .global ipk |
| 111 ipk: |
| 112 0020 0000 0000 .skip 6,0 |
| 112 0000 |
| 113 .global ucflg3 |
| 114 .data |
| 117 ucflg3: |
| 118 0000 01 .byte 1 |
| 119 .global ucflg2 |
| 122 ucflg2: |
| 123 0001 01 .byte 1 |
| 124 .global ucflg1 |
| 127 ucflg1: |
| 128 0002 01 .byte 1 |
| 129 .global LoadHandler |
| 130 .global LoadHandler |
| 131 .section .bss |
| 134 LoadHandler: |
| 135 0026 00 .skip 1,0 |
| 136 .global RequiredMotors |
| 137 .data |
| 140 RequiredMotors: |
| 141 0003 04 .byte 4 |
| 142 .global GIER_GRAD_FAKTOR |
| 145 GIER_GRAD_FAKTOR: |
| 146 0004 0B05 0000 .long 1291 |
| 147 .global MikroKopterFlags |
| 148 .global MikroKopterFlags |
| 149 .section .bss |
| 152 MikroKopterFlags: |
| 153 0027 00 .skip 1,0 |
| 154 .global modell_fliegt |
| 155 .global modell_fliegt |
| 158 modell_fliegt: |
| 159 0028 0000 .skip 2,0 |
| 160 .global MaxStickRoll |
| 161 .global MaxStickRoll |
| 164 MaxStickRoll: |
| 165 002a 0000 .skip 2,0 |
| 166 .global MaxStickNick |
| 167 .global MaxStickNick |
| 170 MaxStickNick: |
| 171 002c 0000 .skip 2,0 |
| 172 .global ExternHoehenValue |
| 173 .data |
| 176 ExternHoehenValue: |
| 177 0008 ECFF .word -20 |
| 178 .global ExternStickGier |
| 179 .global ExternStickGier |
| 180 .section .bss |
| 183 ExternStickGier: |
| 184 002e 0000 .skip 2,0 |
| 185 .global ExternStickRoll |
| 186 .global ExternStickRoll |
| 189 ExternStickRoll: |
| 190 0030 0000 .skip 2,0 |
| 191 .global ExternStickNick |
| 192 .global ExternStickNick |
| 195 ExternStickNick: |
| 196 0032 0000 .skip 2,0 |
| 197 .global Parameter_DynamicStability |
| 198 .data |
| 201 Parameter_DynamicStability: |
| 202 000a 64 .byte 100 |
| 203 .global Parameter_CouplingYawCorrection |
| 206 Parameter_CouplingYawCorrection: |
| 207 000b 40 .byte 64 |
| 208 .global Parameter_AchsKopplung2 |
| 211 Parameter_AchsKopplung2: |
| 212 000c 41 .byte 65 |
| 213 .global Parameter_AchsKopplung1 |
| 216 Parameter_AchsKopplung1: |
| 217 000d 5A .byte 90 |
| 218 .global Parameter_LoopGasLimit |
| 221 Parameter_LoopGasLimit: |
| 222 000e 46 .byte 70 |
| 223 .global Parameter_ServoRollControl |
| 226 Parameter_ServoRollControl: |
| 227 000f 64 .byte 100 |
| 228 .global Parameter_ServoNickControl |
| 231 Parameter_ServoNickControl: |
| 232 0010 64 .byte 100 |
| 233 .global Parameter_UserParam8 |
| 234 .global Parameter_UserParam8 |
| 235 .section .bss |
| 238 Parameter_UserParam8: |
| 239 0034 00 .skip 1,0 |
| 240 .global Parameter_UserParam7 |
| 241 .global Parameter_UserParam7 |
| 244 Parameter_UserParam7: |
| 245 0035 00 .skip 1,0 |
| 246 .global Parameter_UserParam6 |
| 247 .global Parameter_UserParam6 |
| 250 Parameter_UserParam6: |
| 251 0036 00 .skip 1,0 |
| 252 .global Parameter_UserParam5 |
| 253 .global Parameter_UserParam5 |
| 256 Parameter_UserParam5: |
| 257 0037 00 .skip 1,0 |
| 258 .global Parameter_UserParam4 |
| 259 .global Parameter_UserParam4 |
| 262 Parameter_UserParam4: |
| 263 0038 00 .skip 1,0 |
| 264 .global Parameter_UserParam3 |
| 265 .global Parameter_UserParam3 |
| 268 Parameter_UserParam3: |
| 269 0039 00 .skip 1,0 |
| 270 .global Parameter_UserParam2 |
| 271 .global Parameter_UserParam2 |
| 274 Parameter_UserParam2: |
| 275 003a 00 .skip 1,0 |
| 276 .global Parameter_UserParam1 |
| 277 .global Parameter_UserParam1 |
| 280 Parameter_UserParam1: |
| 281 003b 00 .skip 1,0 |
| 282 .global Parameter_I_Faktor |
| 283 .data |
| 286 Parameter_I_Faktor: |
| 287 0011 0A .byte 10 |
| 288 .global Parameter_Gier_P |
| 291 Parameter_Gier_P: |
| 292 0012 02 .byte 2 |
| 293 .global Parameter_Gyro_Gier_I |
| 296 Parameter_Gyro_Gier_I: |
| 297 0013 96 .byte -106 |
| 298 .global Parameter_Gyro_Gier_P |
| 301 Parameter_Gyro_Gier_P: |
| 302 0014 96 .byte -106 |
| 303 .global Parameter_Gyro_I |
| 306 Parameter_Gyro_I: |
| 307 0015 96 .byte -106 |
| 308 .global Parameter_Gyro_P |
| 311 Parameter_Gyro_P: |
| 312 0016 96 .byte -106 |
| 313 .global Parameter_Gyro_D |
| 316 Parameter_Gyro_D: |
| 317 0017 08 .byte 8 |
| 318 .global Parameter_Hoehe_GPS_Z |
| 321 Parameter_Hoehe_GPS_Z: |
| 322 0018 40 .byte 64 |
| 323 .global Parameter_KompassWirkung |
| 326 Parameter_KompassWirkung: |
| 327 0019 40 .byte 64 |
| 328 .global Parameter_Hoehe_ACC_Wirkung |
| 331 Parameter_Hoehe_ACC_Wirkung: |
| 332 001a 3A .byte 58 |
| 333 .global Parameter_Hoehe_P |
| 336 Parameter_Hoehe_P: |
| 337 001b 10 .byte 16 |
| 338 .global Parameter_MaxHoehe |
| 341 Parameter_MaxHoehe: |
| 342 001c FB .byte -5 |
| 343 .global Parameter_Luftdruck_D |
| 346 Parameter_Luftdruck_D: |
| 347 001d 30 .byte 48 |
| 348 .global Looping_Oben |
| 349 .global Looping_Oben |
| 350 .section .bss |
| 353 Looping_Oben: |
| 354 003c 00 .skip 1,0 |
| 355 .global Looping_Unten |
| 356 .global Looping_Unten |
| 359 Looping_Unten: |
| 360 003d 00 .skip 1,0 |
| 361 .global Looping_Rechts |
| 362 .global Looping_Rechts |
| 365 Looping_Rechts: |
| 366 003e 00 .skip 1,0 |
| 367 .global Looping_Links |
| 368 .global Looping_Links |
| 371 Looping_Links: |
| 372 003f 00 .skip 1,0 |
| 373 .global Looping_Roll |
| 374 .global Looping_Roll |
| 377 Looping_Roll: |
| 378 0040 00 .skip 1,0 |
| 379 .global Looping_Nick |
| 380 .global Looping_Nick |
| 383 Looping_Nick: |
| 384 0041 00 .skip 1,0 |
| 385 .global Ki |
| 386 .data |
| 389 Ki: |
| 390 001e 3801 .word 312 |
| 391 .global LageKorrekturNick |
| 392 .global LageKorrekturNick |
| 393 .section .bss |
| 396 LageKorrekturNick: |
| 397 0042 0000 .skip 2,0 |
| 398 .global LageKorrekturRoll |
| 399 .global LageKorrekturRoll |
| 402 LageKorrekturRoll: |
| 403 0044 0000 .skip 2,0 |
| 404 .global SollHoehe |
| 405 .global SollHoehe |
| 408 SollHoehe: |
| 409 0046 0000 0000 .skip 4,0 |
| 410 .global HoehenWert |
| 411 .global HoehenWert |
| 414 HoehenWert: |
| 415 004a 0000 0000 .skip 4,0 |
| 416 .global StickGas |
| 417 .global StickGas |
| 420 StickGas: |
| 421 004e 0000 .skip 2,0 |
| 422 .global StickGier |
| 423 .global StickGier |
| 426 StickGier: |
| 427 0050 0000 .skip 2,0 |
| 428 .global StickRoll |
| 429 .global StickRoll |
| 432 StickRoll: |
| 433 0052 0000 .skip 2,0 |
| 434 .global StickNick |
| 435 .global StickNick |
| 438 StickNick: |
| 439 0054 0000 .skip 2,0 |
| 440 .global SenderRSSI |
| 441 .global SenderRSSI |
| 444 SenderRSSI: |
| 445 0056 00 .skip 1,0 |
| 446 .global SenderOkay |
| 447 .global SenderOkay |
| 450 SenderOkay: |
| 451 0057 00 .skip 1,0 |
| 452 .global Poti4 |
| 453 .global Poti4 |
| 456 Poti4: |
| 457 0058 0000 .skip 2,0 |
| 458 .global Poti3 |
| 459 .global Poti3 |
| 462 Poti3: |
| 463 005a 0000 .skip 2,0 |
| 464 .global Poti2 |
| 465 .global Poti2 |
| 468 Poti2: |
| 469 005c 0000 .skip 2,0 |
| 470 .global Poti1 |
| 471 .global Poti1 |
| 474 Poti1: |
| 475 005e 0000 .skip 2,0 |
| 476 .global GierGyroFehler |
| 477 .global GierGyroFehler |
| 480 GierGyroFehler: |
| 481 0060 0000 .skip 2,0 |
| 482 .global Umschlag180Roll |
| 483 .data |
| 486 Umschlag180Roll: |
| 487 0020 90D0 0300 .long 250000 |
| 488 .global Umschlag180Nick |
| 491 Umschlag180Nick: |
| 492 0024 90D0 0300 .long 250000 |
| 493 .global TrichterFlug |
| 494 .global TrichterFlug |
| 495 .section .bss |
| 498 TrichterFlug: |
| 499 0062 00 .skip 1,0 |
| 500 .global HoehenReglerAktiv |
| 501 .global HoehenReglerAktiv |
| 504 HoehenReglerAktiv: |
| 505 0063 00 .skip 1,0 |
| 506 .global MotorenEin |
| 507 .global MotorenEin |
| 510 MotorenEin: |
| 511 0064 00 .skip 1,0 |
| 512 .global KompassSignalSchlecht |
| 513 .data |
| 516 KompassSignalSchlecht: |
| 517 0028 F401 .word 500 |
| 518 .global KompassRichtung |
| 519 .global KompassRichtung |
| 520 .section .bss |
| 523 KompassRichtung: |
| 524 0065 0000 .skip 2,0 |
| 525 .global KompassStartwert |
| 526 .global KompassStartwert |
| 529 KompassStartwert: |
| 530 0067 0000 .skip 2,0 |
| 531 .global KompassValue |
| 532 .global KompassValue |
| 535 KompassValue: |
| 536 0069 0000 .skip 2,0 |
| 537 .global Mess_Integral_Hoch |
| 538 .global Mess_Integral_Hoch |
| 541 Mess_Integral_Hoch: |
| 542 006b 0000 0000 .skip 4,0 |
| 543 .global Mess_Integral_Gier2 |
| 544 .global Mess_Integral_Gier2 |
| 547 Mess_Integral_Gier2: |
| 548 006f 0000 0000 .skip 4,0 |
| 549 .global Mess_Integral_Gier |
| 550 .global Mess_Integral_Gier |
| 553 Mess_Integral_Gier: |
| 554 0073 0000 0000 .skip 4,0 |
| 555 .global Mess_IntegralRoll2 |
| 556 .global Mess_IntegralRoll2 |
| 559 Mess_IntegralRoll2: |
| 560 0077 0000 0000 .skip 4,0 |
| 561 .global Mess_IntegralRoll |
| 562 .global Mess_IntegralRoll |
| 565 Mess_IntegralRoll: |
| 566 007b 0000 0000 .skip 4,0 |
| 567 .global Mess_IntegralNick2 |
| 568 .global Mess_IntegralNick2 |
| 571 Mess_IntegralNick2: |
| 572 007f 0000 0000 .skip 4,0 |
| 573 .global Mess_IntegralNick |
| 574 .global Mess_IntegralNick |
| 577 Mess_IntegralNick: |
| 578 0083 0000 0000 .skip 4,0 |
| 579 .global Integral_Gier |
| 580 .global Integral_Gier |
| 583 Integral_Gier: |
| 584 0087 0000 0000 .skip 4,0 |
| 585 .global IntegralAccZ |
| 586 .global IntegralAccZ |
| 589 IntegralAccZ: |
| 590 008b 0000 0000 .skip 4,0 |
| 591 .global IntegralAccRoll |
| 592 .global IntegralAccRoll |
| 595 IntegralAccRoll: |
| 596 008f 0000 0000 .skip 4,0 |
| 597 .global IntegralAccNick |
| 598 .global IntegralAccNick |
| 601 IntegralAccNick: |
| 602 0093 0000 0000 .skip 4,0 |
| 603 .global IntegralRoll2 |
| 604 .global IntegralRoll2 |
| 607 IntegralRoll2: |
| 608 0097 0000 0000 .skip 4,0 |
| 609 .global IntegralRoll |
| 610 .global IntegralRoll |
| 613 IntegralRoll: |
| 614 009b 0000 0000 .skip 4,0 |
| 615 .global IntegralNick2 |
| 616 .global IntegralNick2 |
| 619 IntegralNick2: |
| 620 009f 0000 0000 .skip 4,0 |
| 621 .global IntegralNick |
| 622 .global IntegralNick |
| 625 IntegralNick: |
| 626 00a3 0000 0000 .skip 4,0 |
| 627 .global CosinusRollWinkel |
| 628 .global CosinusRollWinkel |
| 631 CosinusRollWinkel: |
| 632 00a7 00 .skip 1,0 |
| 633 .global CosinusNickWinkel |
| 634 .global CosinusNickWinkel |
| 637 CosinusNickWinkel: |
| 638 00a8 00 .skip 1,0 |
| 639 .global NeutralAccZ |
| 640 .global NeutralAccZ |
| 643 NeutralAccZ: |
| 644 00a9 0000 0000 .skip 4,0 |
| 645 .global NaviCntAcc |
| 646 .global NaviCntAcc |
| 649 NaviCntAcc: |
| 650 00ad 0000 .skip 2,0 |
| 651 .global NeutralAccY |
| 652 .global NeutralAccY |
| 655 NeutralAccY: |
| 656 00af 0000 .skip 2,0 |
| 657 .global NeutralAccX |
| 658 .global NeutralAccX |
| 661 NeutralAccX: |
| 662 00b1 0000 .skip 2,0 |
| 663 .global StartNeutralNick |
| 664 .global StartNeutralNick |
| 667 StartNeutralNick: |
| 668 00b3 0000 .skip 2,0 |
| 669 .global StartNeutralRoll |
| 670 .global StartNeutralRoll |
| 673 StartNeutralRoll: |
| 674 00b5 0000 .skip 2,0 |
| 675 .global AdNeutralGier |
| 676 .global AdNeutralGier |
| 679 AdNeutralGier: |
| 680 00b7 0000 .skip 2,0 |
| 681 .global AdNeutralRoll |
| 682 .global AdNeutralRoll |
| 685 AdNeutralRoll: |
| 686 00b9 0000 .skip 2,0 |
| 687 .global AdNeutralNick |
| 688 .global AdNeutralNick |
| 691 AdNeutralNick: |
| 692 00bb 0000 .skip 2,0 |
| 693 .global I2CTimeout |
| 694 .data |
| 697 I2CTimeout: |
| 698 002a 6400 .word 100 |
| 699 .global BaroExpandActive |
| 700 .global BaroExpandActive |
| 701 .section .bss |
| 704 BaroExpandActive: |
| 705 00bd 0000 .skip 2,0 |
| 706 .text |
| 708 eeprom_read_byte: |
| 709 /* prologue: frame size=0 */ |
| 710 /* prologue end (size=0) */ |
| 711 .L2: |
| 712 0000 F999 sbic 63-0x20,1 |
| 713 0002 00C0 rjmp .L2 |
| 714 0004 92BD out (65)+1-0x20,r25 |
| 715 0006 81BD out 65-0x20,r24 |
| 716 /* #APP */ |
| 717 /* START EEPROM READ CRITICAL SECTION */ |
| 718 0008 F89A sbi 31, 0 |
| 719 000a 80B5 in r24, 32 |
| 720 /* END EEPROM READ CRITICAL SECTION */ |
| 721 |
| 722 /* #NOAPP */ |
| 723 000c 9927 clr r25 |
| 724 /* epilogue: frame size=0 */ |
| 725 000e 0895 ret |
| 726 /* epilogue end (size=1) */ |
| 727 /* function eeprom_read_byte size 16 (15) */ |
| 730 eeprom_write_byte: |
| 731 /* prologue: frame size=0 */ |
| 732 /* prologue end (size=0) */ |
| 733 .L7: |
| 734 0010 F999 sbic 63-0x20,1 |
| 735 0012 00C0 rjmp .L7 |
| 736 0014 1FBA out 63-0x20,__zero_reg__ |
| 737 0016 92BD out (65)+1-0x20,r25 |
| 738 0018 81BD out 65-0x20,r24 |
| 739 001a 60BD out 64-0x20,r22 |
| 740 /* #APP */ |
| 741 /* START EEPROM WRITE CRITICAL SECTION */ |
| 742 001c 0FB6 in r0, 63 |
| 743 001e F894 cli |
| 744 0020 FA9A sbi 31, 2 |
| 745 0022 F99A sbi 31, 1 |
| 746 0024 0FBE out 63, r0 |
| 747 /* END EEPROM WRITE CRITICAL SECTION */ |
| 748 /* #NOAPP */ |
| 749 /* epilogue: frame size=0 */ |
| 750 0026 0895 ret |
| 751 /* epilogue end (size=1) */ |
| 752 /* function eeprom_write_byte size 21 (20) */ |
| 754 .global DefaultStickMapping |
| 756 DefaultStickMapping: |
| 757 /* prologue: frame size=0 */ |
| 758 /* prologue end (size=0) */ |
| 759 0028 83E0 ldi r24,lo8(3) |
| 760 002a 8093 0000 sts EE_Parameter,r24 |
| 761 002e 82E0 ldi r24,lo8(2) |
| 762 0030 8093 0000 sts EE_Parameter+1,r24 |
| 763 0034 81E0 ldi r24,lo8(1) |
| 764 0036 8093 0000 sts EE_Parameter+2,r24 |
| 765 003a 84E0 ldi r24,lo8(4) |
| 766 003c 8093 0000 sts EE_Parameter+3,r24 |
| 767 0040 85E0 ldi r24,lo8(5) |
| 768 0042 8093 0000 sts EE_Parameter+4,r24 |
| 769 0046 86E0 ldi r24,lo8(6) |
| 770 0048 8093 0000 sts EE_Parameter+5,r24 |
| 771 004c 87E0 ldi r24,lo8(7) |
| 772 004e 8093 0000 sts EE_Parameter+6,r24 |
| 773 0052 88E0 ldi r24,lo8(8) |
| 774 0054 8093 0000 sts EE_Parameter+7,r24 |
| 775 /* epilogue: frame size=0 */ |
| 776 0058 0895 ret |
| 777 /* epilogue end (size=1) */ |
| 778 /* function DefaultStickMapping size 25 (24) */ |
| 780 .data |
| 781 .LC0: |
| 782 002c 4265 6769 .string "Beginner" |
| 782 6E6E 6572 |
| 782 00 |
| 783 0035 00 .string "" |
| 784 .text |
| 785 .global DefaultKonstanten3 |
| 787 DefaultKonstanten3: |
| 788 /* prologue: frame size=0 */ |
| 789 /* prologue end (size=0) */ |
| 790 005a 68E0 ldi r22,lo8(8) |
| 791 005c 6093 0000 sts EE_Parameter+8,r22 |
| 792 0060 71E0 ldi r23,lo8(1) |
| 793 0062 7093 0000 sts EE_Parameter+88,r23 |
| 794 0066 4EE1 ldi r20,lo8(30) |
| 795 0068 4093 0000 sts EE_Parameter+9,r20 |
| 796 006c 8BEF ldi r24,lo8(-5) |
| 797 006e 8093 0000 sts EE_Parameter+11,r24 |
| 798 0072 8AE0 ldi r24,lo8(10) |
| 799 0074 8093 0000 sts EE_Parameter+12,r24 |
| 800 0078 4093 0000 sts EE_Parameter+10,r20 |
| 801 007c 4093 0000 sts EE_Parameter+14,r20 |
| 802 0080 85E0 ldi r24,lo8(5) |
| 803 0082 8093 0000 sts EE_Parameter+15,r24 |
| 804 0086 80E4 ldi r24,lo8(64) |
| 805 0088 8093 0000 sts EE_Parameter+16,r24 |
| 806 008c 1092 0000 sts EE_Parameter+17,__zero_reg__ |
| 807 0090 8FE0 ldi r24,lo8(15) |
| 808 0092 8093 0000 sts EE_Parameter+13,r24 |
| 809 0096 6093 0000 sts EE_Parameter+18,r22 |
| 810 009a 20E1 ldi r18,lo8(16) |
| 811 009c 2093 0000 sts EE_Parameter+19,r18 |
| 812 00a0 56E0 ldi r21,lo8(6) |
| 813 00a2 5093 0000 sts EE_Parameter+20,r21 |
| 814 00a6 6093 0000 sts EE_Parameter+21,r22 |
| 815 00aa 86EE ldi r24,lo8(-26) |
| 816 00ac 8093 0000 sts EE_Parameter+22,r24 |
| 817 00b0 4093 0000 sts EE_Parameter+23,r20 |
| 818 00b4 80E8 ldi r24,lo8(-128) |
| 819 00b6 8093 0000 sts EE_Parameter+24,r24 |
| 820 00ba 34E6 ldi r19,lo8(100) |
| 821 00bc 3093 0000 sts EE_Parameter+25,r19 |
| 822 00c0 98E7 ldi r25,lo8(120) |
| 823 00c2 9093 0000 sts EE_Parameter+26,r25 |
| 824 00c6 83E0 ldi r24,lo8(3) |
| 825 00c8 8093 0000 sts EE_Parameter+27,r24 |
| 826 00cc 3093 0000 sts EE_Parameter+28,r19 |
| 827 00d0 9093 0000 sts EE_Parameter+29,r25 |
| 828 00d4 81E2 ldi r24,lo8(33) |
| 829 00d6 8093 0000 sts EE_Parameter+30,r24 |
| 830 00da 83E2 ldi r24,lo8(35) |
| 831 00dc 8093 0000 sts EE_Parameter+31,r24 |
| 832 00e0 84E1 ldi r24,lo8(20) |
| 833 00e2 8093 0000 sts EE_Parameter+32,r24 |
| 834 00e6 1092 0000 sts EE_Parameter+33,__zero_reg__ |
| 835 00ea 2093 0000 sts EE_Parameter+34,r18 |
| 836 00ee 1092 0000 sts EE_Parameter+35,__zero_reg__ |
| 837 00f2 1092 0000 sts EE_Parameter+36,__zero_reg__ |
| 838 00f6 1092 0000 sts EE_Parameter+37,__zero_reg__ |
| 839 00fa 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 840 00fe 1092 0000 sts EE_Parameter+59,__zero_reg__ |
| 841 0102 1092 0000 sts EE_Parameter+60,__zero_reg__ |
| 842 0106 1092 0000 sts EE_Parameter+61,__zero_reg__ |
| 843 010a 1092 0000 sts EE_Parameter+62,__zero_reg__ |
| 844 010e 3093 0000 sts EE_Parameter+39,r19 |
| 845 0112 98E2 ldi r25,lo8(40) |
| 846 0114 9093 0000 sts EE_Parameter+40,r25 |
| 847 0118 7093 0000 sts EE_Parameter+87,r23 |
| 848 011c 1092 0000 sts EE_Parameter+41,__zero_reg__ |
| 849 0120 8AEF ldi r24,lo8(-6) |
| 850 0122 8093 0000 sts EE_Parameter+42,r24 |
| 851 0126 5093 0000 sts EE_Parameter+47,r21 |
| 852 012a 3093 0000 sts EE_Parameter+43,r19 |
| 853 012e 9093 0000 sts EE_Parameter+44,r25 |
| 854 0132 1092 0000 sts EE_Parameter+45,__zero_reg__ |
| 855 0136 8093 0000 sts EE_Parameter+46,r24 |
| 856 013a 92E3 ldi r25,lo8(50) |
| 857 013c 9093 0000 sts EE_Parameter+48,r25 |
| 858 0140 2AE5 ldi r18,lo8(90) |
| 859 0142 2093 0000 sts EE_Parameter+49,r18 |
| 860 0146 9093 0000 sts EE_Parameter+50,r25 |
| 861 014a 1092 0000 sts EE_Parameter+86,__zero_reg__ |
| 862 014e 2093 0000 sts EE_Parameter+51,r18 |
| 863 0152 80E5 ldi r24,lo8(80) |
| 864 0154 8093 0000 sts EE_Parameter+52,r24 |
| 865 0158 86E4 ldi r24,lo8(70) |
| 866 015a 8093 0000 sts EE_Parameter+53,r24 |
| 867 015e 85E5 ldi r24,lo8(85) |
| 868 0160 8093 0000 sts EE_Parameter+54,r24 |
| 869 0164 8093 0000 sts EE_Parameter+55,r24 |
| 870 0168 80E2 ldi r24,lo8(32) |
| 871 016a 8093 0000 sts EE_Parameter+56,r24 |
| 872 016e 8093 0000 sts EE_Parameter+57,r24 |
| 873 0172 9093 0000 sts EE_Parameter+58,r25 |
| 874 0176 8FE5 ldi r24,lo8(95) |
| 875 0178 8093 0000 sts EE_Parameter+63,r24 |
| 876 017c 83EF ldi r24,lo8(-13) |
| 877 017e 8093 0000 sts EE_Parameter+65,r24 |
| 878 0182 8AEA ldi r24,lo8(-86) |
| 879 0184 8093 0000 sts EE_Parameter+67,r24 |
| 880 0188 8093 0000 sts EE_Parameter+68,r24 |
| 881 018c 4093 0000 sts EE_Parameter+64,r20 |
| 882 0190 4093 0000 sts EE_Parameter+66,r20 |
| 883 0194 8CEF ldi r24,lo8(-4) |
| 884 0196 8093 0000 sts EE_Parameter+69,r24 |
| 885 019a 3093 0000 sts EE_Parameter+70,r19 |
| 886 019e 2093 0000 sts EE_Parameter+71,r18 |
| 887 01a2 2093 0000 sts EE_Parameter+72,r18 |
| 888 01a6 2093 0000 sts EE_Parameter+73,r18 |
| 889 01aa 8BE4 ldi r24,lo8(75) |
| 890 01ac 8093 0000 sts EE_Parameter+74,r24 |
| 891 01b0 8093 0000 sts EE_Parameter+75,r24 |
| 892 01b4 8093 0000 sts EE_Parameter+76,r24 |
| 893 01b8 1092 0000 sts EE_Parameter+77,__zero_reg__ |
| 894 01bc 5093 0000 sts EE_Parameter+78,r21 |
| 895 01c0 6093 0000 sts EE_Parameter+79,r22 |
| 896 01c4 2093 0000 sts EE_Parameter+80,r18 |
| 897 01c8 4093 0000 sts EE_Parameter+81,r20 |
| 898 01cc 3093 0000 sts EE_Parameter+82,r19 |
| 899 01d0 3093 0000 sts EE_Parameter+83,r19 |
| 900 01d4 84E0 ldi r24,lo8(4) |
| 901 01d6 8093 0000 sts EE_Parameter+84,r24 |
| 902 01da 8CE0 ldi r24,lo8(12) |
| 903 01dc A0E0 ldi r26,lo8(.LC0) |
| 904 01de B0E0 ldi r27,hi8(.LC0) |
| 905 01e0 E0E0 ldi r30,lo8(EE_Parameter+89) |
| 906 01e2 F0E0 ldi r31,hi8(EE_Parameter+89) |
| 907 01e4 0D90 ld __tmp_reg__,X+ |
| 908 01e6 0192 st Z+,__tmp_reg__ |
| 909 01e8 8A95 dec r24 |
| 910 01ea 01F4 brne .-8 |
| 911 /* epilogue: frame size=0 */ |
| 912 01ec 0895 ret |
| 913 /* epilogue end (size=1) */ |
| 914 /* function DefaultKonstanten3 size 202 (201) */ |
| 916 .data |
| 917 .LC1: |
| 918 0036 4E6F 726D .string "Normal" |
| 918 616C 00 |
| 919 003d 00 .string "" |
| 920 .text |
| 921 .global DefaultKonstanten2 |
| 923 DefaultKonstanten2: |
| 924 /* prologue: frame size=0 */ |
| 925 /* prologue end (size=0) */ |
| 926 01ee 8AE6 ldi r24,lo8(106) |
| 927 01f0 8093 0000 sts EE_Parameter+8,r24 |
| 928 01f4 71E0 ldi r23,lo8(1) |
| 929 01f6 7093 0000 sts EE_Parameter+88,r23 |
| 930 01fa 5EE1 ldi r21,lo8(30) |
| 931 01fc 5093 0000 sts EE_Parameter+9,r21 |
| 932 0200 8BEF ldi r24,lo8(-5) |
| 933 0202 8093 0000 sts EE_Parameter+11,r24 |
| 934 0206 9AE0 ldi r25,lo8(10) |
| 935 0208 9093 0000 sts EE_Parameter+12,r25 |
| 936 020c 5093 0000 sts EE_Parameter+10,r21 |
| 937 0210 5093 0000 sts EE_Parameter+14,r21 |
| 938 0214 85E0 ldi r24,lo8(5) |
| 939 0216 8093 0000 sts EE_Parameter+15,r24 |
| 940 021a 80E4 ldi r24,lo8(64) |
| 941 021c 8093 0000 sts EE_Parameter+16,r24 |
| 942 0220 1092 0000 sts EE_Parameter+17,__zero_reg__ |
| 943 0224 8FE0 ldi r24,lo8(15) |
| 944 0226 8093 0000 sts EE_Parameter+13,r24 |
| 945 022a 9093 0000 sts EE_Parameter+18,r25 |
| 946 022e 80E1 ldi r24,lo8(16) |
| 947 0230 8093 0000 sts EE_Parameter+19,r24 |
| 948 0234 66E0 ldi r22,lo8(6) |
| 949 0236 6093 0000 sts EE_Parameter+20,r22 |
| 950 023a E8E0 ldi r30,lo8(8) |
| 951 023c E093 0000 sts EE_Parameter+21,r30 |
| 952 0240 86EE ldi r24,lo8(-26) |
| 953 0242 8093 0000 sts EE_Parameter+22,r24 |
| 954 0246 5093 0000 sts EE_Parameter+23,r21 |
| 955 024a 80E8 ldi r24,lo8(-128) |
| 956 024c 8093 0000 sts EE_Parameter+24,r24 |
| 957 0250 2AE5 ldi r18,lo8(90) |
| 958 0252 2093 0000 sts EE_Parameter+25,r18 |
| 959 0256 98E7 ldi r25,lo8(120) |
| 960 0258 9093 0000 sts EE_Parameter+26,r25 |
| 961 025c 83E0 ldi r24,lo8(3) |
| 962 025e 8093 0000 sts EE_Parameter+27,r24 |
| 963 0262 2093 0000 sts EE_Parameter+28,r18 |
| 964 0266 9093 0000 sts EE_Parameter+29,r25 |
| 965 026a 81E2 ldi r24,lo8(33) |
| 966 026c 8093 0000 sts EE_Parameter+30,r24 |
| 967 0270 83E2 ldi r24,lo8(35) |
| 968 0272 8093 0000 sts EE_Parameter+31,r24 |
| 969 0276 5093 0000 sts EE_Parameter+32,r21 |
| 970 027a 1092 0000 sts EE_Parameter+33,__zero_reg__ |
| 971 027e 40E2 ldi r20,lo8(32) |
| 972 0280 4093 0000 sts EE_Parameter+34,r20 |
| 973 0284 1092 0000 sts EE_Parameter+35,__zero_reg__ |
| 974 0288 1092 0000 sts EE_Parameter+36,__zero_reg__ |
| 975 028c 1092 0000 sts EE_Parameter+37,__zero_reg__ |
| 976 0290 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 977 0294 1092 0000 sts EE_Parameter+59,__zero_reg__ |
| 978 0298 1092 0000 sts EE_Parameter+60,__zero_reg__ |
| 979 029c 1092 0000 sts EE_Parameter+61,__zero_reg__ |
| 980 02a0 1092 0000 sts EE_Parameter+62,__zero_reg__ |
| 981 02a4 34E6 ldi r19,lo8(100) |
| 982 02a6 3093 0000 sts EE_Parameter+39,r19 |
| 983 02aa 98E2 ldi r25,lo8(40) |
| 984 02ac 9093 0000 sts EE_Parameter+40,r25 |
| 985 02b0 7093 0000 sts EE_Parameter+87,r23 |
| 986 02b4 1092 0000 sts EE_Parameter+41,__zero_reg__ |
| 987 02b8 8AEF ldi r24,lo8(-6) |
| 988 02ba 8093 0000 sts EE_Parameter+42,r24 |
| 989 02be 6093 0000 sts EE_Parameter+47,r22 |
| 990 02c2 3093 0000 sts EE_Parameter+43,r19 |
| 991 02c6 9093 0000 sts EE_Parameter+44,r25 |
| 992 02ca 1092 0000 sts EE_Parameter+45,__zero_reg__ |
| 993 02ce 8093 0000 sts EE_Parameter+46,r24 |
| 994 02d2 82E3 ldi r24,lo8(50) |
| 995 02d4 8093 0000 sts EE_Parameter+48,r24 |
| 996 02d8 2093 0000 sts EE_Parameter+49,r18 |
| 997 02dc 8093 0000 sts EE_Parameter+50,r24 |
| 998 02e0 1092 0000 sts EE_Parameter+86,__zero_reg__ |
| 999 02e4 2093 0000 sts EE_Parameter+51,r18 |
| 1000 02e8 80E5 ldi r24,lo8(80) |
| 1001 02ea 8093 0000 sts EE_Parameter+52,r24 |
| 1002 02ee 8CE3 ldi r24,lo8(60) |
| 1003 02f0 8093 0000 sts EE_Parameter+53,r24 |
| 1004 02f4 85E5 ldi r24,lo8(85) |
| 1005 02f6 8093 0000 sts EE_Parameter+54,r24 |
| 1006 02fa 8093 0000 sts EE_Parameter+55,r24 |
| 1007 02fe 4093 0000 sts EE_Parameter+56,r20 |
| 1008 0302 4093 0000 sts EE_Parameter+57,r20 |
| 1009 0306 9BE4 ldi r25,lo8(75) |
| 1010 0308 9093 0000 sts EE_Parameter+58,r25 |
| 1011 030c 8FE5 ldi r24,lo8(95) |
| 1012 030e 8093 0000 sts EE_Parameter+63,r24 |
| 1013 0312 83EF ldi r24,lo8(-13) |
| 1014 0314 8093 0000 sts EE_Parameter+65,r24 |
| 1015 0318 8AEA ldi r24,lo8(-86) |
| 1016 031a 8093 0000 sts EE_Parameter+67,r24 |
| 1017 031e 8093 0000 sts EE_Parameter+68,r24 |
| 1018 0322 84E1 ldi r24,lo8(20) |
| 1019 0324 8093 0000 sts EE_Parameter+64,r24 |
| 1020 0328 8093 0000 sts EE_Parameter+66,r24 |
| 1021 032c 8CEF ldi r24,lo8(-4) |
| 1022 032e 8093 0000 sts EE_Parameter+69,r24 |
| 1023 0332 3093 0000 sts EE_Parameter+70,r19 |
| 1024 0336 2093 0000 sts EE_Parameter+71,r18 |
| 1025 033a 2093 0000 sts EE_Parameter+72,r18 |
| 1026 033e 2093 0000 sts EE_Parameter+73,r18 |
| 1027 0342 9093 0000 sts EE_Parameter+74,r25 |
| 1028 0346 9093 0000 sts EE_Parameter+75,r25 |
| 1029 034a 9093 0000 sts EE_Parameter+76,r25 |
| 1030 034e 1092 0000 sts EE_Parameter+77,__zero_reg__ |
| 1031 0352 6093 0000 sts EE_Parameter+78,r22 |
| 1032 0356 E093 0000 sts EE_Parameter+79,r30 |
| 1033 035a 2093 0000 sts EE_Parameter+80,r18 |
| 1034 035e 5093 0000 sts EE_Parameter+81,r21 |
| 1035 0362 3093 0000 sts EE_Parameter+82,r19 |
| 1036 0366 3093 0000 sts EE_Parameter+83,r19 |
| 1037 036a 84E0 ldi r24,lo8(4) |
| 1038 036c 8093 0000 sts EE_Parameter+84,r24 |
| 1039 0370 8CE0 ldi r24,lo8(12) |
| 1040 0372 A0E0 ldi r26,lo8(.LC1) |
| 1041 0374 B0E0 ldi r27,hi8(.LC1) |
| 1042 0376 E0E0 ldi r30,lo8(EE_Parameter+89) |
| 1043 0378 F0E0 ldi r31,hi8(EE_Parameter+89) |
| 1044 037a 0D90 ld __tmp_reg__,X+ |
| 1045 037c 0192 st Z+,__tmp_reg__ |
| 1046 037e 8A95 dec r24 |
| 1047 0380 01F4 brne .-8 |
| 1048 /* epilogue: frame size=0 */ |
| 1049 0382 0895 ret |
| 1050 /* epilogue end (size=1) */ |
| 1051 /* function DefaultKonstanten2 size 203 (202) */ |
| 1053 .data |
| 1054 .LC2: |
| 1055 003e 5370 6F72 .string "Sport" |
| 1055 7400 |
| 1056 0044 00 .string "" |
| 1057 .text |
| 1058 .global DefaultKonstanten1 |
| 1060 DefaultKonstanten1: |
| 1061 /* prologue: frame size=0 */ |
| 1062 0384 1F93 push r17 |
| 1063 /* prologue end (size=1) */ |
| 1064 0386 8AE6 ldi r24,lo8(106) |
| 1065 0388 8093 0000 sts EE_Parameter+8,r24 |
| 1066 038c 51E0 ldi r21,lo8(1) |
| 1067 038e 5093 0000 sts EE_Parameter+88,r21 |
| 1068 0392 4EE1 ldi r20,lo8(30) |
| 1069 0394 4093 0000 sts EE_Parameter+9,r20 |
| 1070 0398 8BEF ldi r24,lo8(-5) |
| 1071 039a 8093 0000 sts EE_Parameter+11,r24 |
| 1072 039e 8AE0 ldi r24,lo8(10) |
| 1073 03a0 8093 0000 sts EE_Parameter+12,r24 |
| 1074 03a4 4093 0000 sts EE_Parameter+10,r20 |
| 1075 03a8 4093 0000 sts EE_Parameter+14,r20 |
| 1076 03ac 85E0 ldi r24,lo8(5) |
| 1077 03ae 8093 0000 sts EE_Parameter+15,r24 |
| 1078 03b2 80E4 ldi r24,lo8(64) |
| 1079 03b4 8093 0000 sts EE_Parameter+16,r24 |
| 1080 03b8 1092 0000 sts EE_Parameter+17,__zero_reg__ |
| 1081 03bc 84E1 ldi r24,lo8(20) |
| 1082 03be 8093 0000 sts EE_Parameter+13,r24 |
| 1083 03c2 8EE0 ldi r24,lo8(14) |
| 1084 03c4 8093 0000 sts EE_Parameter+18,r24 |
| 1085 03c8 E0E1 ldi r30,lo8(16) |
| 1086 03ca E093 0000 sts EE_Parameter+19,r30 |
| 1087 03ce 1CE0 ldi r17,lo8(12) |
| 1088 03d0 1093 0000 sts EE_Parameter+20,r17 |
| 1089 03d4 F8E0 ldi r31,lo8(8) |
| 1090 03d6 F093 0000 sts EE_Parameter+21,r31 |
| 1091 03da 86EE ldi r24,lo8(-26) |
| 1092 03dc 8093 0000 sts EE_Parameter+22,r24 |
| 1093 03e0 4093 0000 sts EE_Parameter+23,r20 |
| 1094 03e4 80E8 ldi r24,lo8(-128) |
| 1095 03e6 8093 0000 sts EE_Parameter+24,r24 |
| 1096 03ea 30E5 ldi r19,lo8(80) |
| 1097 03ec 3093 0000 sts EE_Parameter+25,r19 |
| 1098 03f0 96E9 ldi r25,lo8(-106) |
| 1099 03f2 9093 0000 sts EE_Parameter+26,r25 |
| 1100 03f6 83E0 ldi r24,lo8(3) |
| 1101 03f8 8093 0000 sts EE_Parameter+27,r24 |
| 1102 03fc 3093 0000 sts EE_Parameter+28,r19 |
| 1103 0400 9093 0000 sts EE_Parameter+29,r25 |
| 1104 0404 81E2 ldi r24,lo8(33) |
| 1105 0406 8093 0000 sts EE_Parameter+30,r24 |
| 1106 040a 83E2 ldi r24,lo8(35) |
| 1107 040c 8093 0000 sts EE_Parameter+31,r24 |
| 1108 0410 4093 0000 sts EE_Parameter+32,r20 |
| 1109 0414 1092 0000 sts EE_Parameter+33,__zero_reg__ |
| 1110 0418 60E2 ldi r22,lo8(32) |
| 1111 041a 6093 0000 sts EE_Parameter+34,r22 |
| 1112 041e 1092 0000 sts EE_Parameter+35,__zero_reg__ |
| 1113 0422 1092 0000 sts EE_Parameter+36,__zero_reg__ |
| 1114 0426 1092 0000 sts EE_Parameter+37,__zero_reg__ |
| 1115 042a 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 1116 042e 1092 0000 sts EE_Parameter+59,__zero_reg__ |
| 1117 0432 1092 0000 sts EE_Parameter+60,__zero_reg__ |
| 1118 0436 1092 0000 sts EE_Parameter+61,__zero_reg__ |
| 1119 043a 1092 0000 sts EE_Parameter+62,__zero_reg__ |
| 1120 043e 24E6 ldi r18,lo8(100) |
| 1121 0440 2093 0000 sts EE_Parameter+39,r18 |
| 1122 0444 98E2 ldi r25,lo8(40) |
| 1123 0446 9093 0000 sts EE_Parameter+40,r25 |
| 1124 044a 5093 0000 sts EE_Parameter+87,r21 |
| 1125 044e 1092 0000 sts EE_Parameter+41,__zero_reg__ |
| 1126 0452 8AEF ldi r24,lo8(-6) |
| 1127 0454 8093 0000 sts EE_Parameter+42,r24 |
| 1128 0458 76E0 ldi r23,lo8(6) |
| 1129 045a 7093 0000 sts EE_Parameter+47,r23 |
| 1130 045e 2093 0000 sts EE_Parameter+43,r18 |
| 1131 0462 9093 0000 sts EE_Parameter+44,r25 |
| 1132 0466 1092 0000 sts EE_Parameter+45,__zero_reg__ |
| 1133 046a 8093 0000 sts EE_Parameter+46,r24 |
| 1134 046e 82E3 ldi r24,lo8(50) |
| 1135 0470 8093 0000 sts EE_Parameter+48,r24 |
| 1136 0474 9AE5 ldi r25,lo8(90) |
| 1137 0476 9093 0000 sts EE_Parameter+49,r25 |
| 1138 047a 8093 0000 sts EE_Parameter+50,r24 |
| 1139 047e 1092 0000 sts EE_Parameter+86,__zero_reg__ |
| 1140 0482 9093 0000 sts EE_Parameter+51,r25 |
| 1141 0486 3093 0000 sts EE_Parameter+52,r19 |
| 1142 048a 5093 0000 sts EE_Parameter+53,r21 |
| 1143 048e 85E5 ldi r24,lo8(85) |
| 1144 0490 8093 0000 sts EE_Parameter+54,r24 |
| 1145 0494 8093 0000 sts EE_Parameter+55,r24 |
| 1146 0498 E093 0000 sts EE_Parameter+56,r30 |
| 1147 049c 6093 0000 sts EE_Parameter+57,r22 |
| 1148 04a0 2093 0000 sts EE_Parameter+58,r18 |
| 1149 04a4 8FE5 ldi r24,lo8(95) |
| 1150 04a6 8093 0000 sts EE_Parameter+63,r24 |
| 1151 04aa 83EF ldi r24,lo8(-13) |
| 1152 04ac 8093 0000 sts EE_Parameter+65,r24 |
| 1153 04b0 8AEA ldi r24,lo8(-86) |
| 1154 04b2 8093 0000 sts EE_Parameter+67,r24 |
| 1155 04b6 8093 0000 sts EE_Parameter+68,r24 |
| 1156 04ba 8FE0 ldi r24,lo8(15) |
| 1157 04bc 8093 0000 sts EE_Parameter+64,r24 |
| 1158 04c0 8093 0000 sts EE_Parameter+66,r24 |
| 1159 04c4 8CEF ldi r24,lo8(-4) |
| 1160 04c6 8093 0000 sts EE_Parameter+69,r24 |
| 1161 04ca 2093 0000 sts EE_Parameter+70,r18 |
| 1162 04ce 9093 0000 sts EE_Parameter+71,r25 |
| 1163 04d2 9093 0000 sts EE_Parameter+72,r25 |
| 1164 04d6 9093 0000 sts EE_Parameter+73,r25 |
| 1165 04da 8BE4 ldi r24,lo8(75) |
| 1166 04dc 8093 0000 sts EE_Parameter+74,r24 |
| 1167 04e0 8093 0000 sts EE_Parameter+75,r24 |
| 1168 04e4 8093 0000 sts EE_Parameter+76,r24 |
| 1169 04e8 1092 0000 sts EE_Parameter+77,__zero_reg__ |
| 1170 04ec 7093 0000 sts EE_Parameter+78,r23 |
| 1171 04f0 F093 0000 sts EE_Parameter+79,r31 |
| 1172 04f4 9093 0000 sts EE_Parameter+80,r25 |
| 1173 04f8 4093 0000 sts EE_Parameter+81,r20 |
| 1174 04fc 2093 0000 sts EE_Parameter+82,r18 |
| 1175 0500 2093 0000 sts EE_Parameter+83,r18 |
| 1176 0504 84E0 ldi r24,lo8(4) |
| 1177 0506 8093 0000 sts EE_Parameter+84,r24 |
| 1178 050a A0E0 ldi r26,lo8(.LC2) |
| 1179 050c B0E0 ldi r27,hi8(.LC2) |
| 1180 050e E0E0 ldi r30,lo8(EE_Parameter+89) |
| 1181 0510 F0E0 ldi r31,hi8(EE_Parameter+89) |
| 1182 0512 0D90 ld __tmp_reg__,X+ |
| 1183 0514 0192 st Z+,__tmp_reg__ |
| 1184 0516 1A95 dec r17 |
| 1185 0518 01F4 brne .-8 |
| 1186 /* epilogue: frame size=0 */ |
| 1187 051a 1F91 pop r17 |
| 1188 051c 0895 ret |
| 1189 /* epilogue end (size=2) */ |
| 1190 /* function DefaultKonstanten1 size 205 (202) */ |
| 1192 .global ReadParameterSet |
| 1194 ReadParameterSet: |
| 1195 /* prologue: frame size=0 */ |
| 1196 /* prologue end (size=0) */ |
| 1197 051e 282F mov r18,r24 |
| 1198 0520 FB01 movw r30,r22 |
| 1199 0522 8150 subi r24,lo8(-(-1)) |
| 1200 0524 8530 cpi r24,lo8(5) |
| 1201 0526 00F0 brlo .L15 |
| 1202 0528 23E0 ldi r18,lo8(3) |
| 1203 .L15: |
| 1204 052a 842F mov r24,r20 |
| 1205 052c 9927 clr r25 |
| 1206 052e 3327 clr r19 |
| 1207 0530 2150 subi r18,lo8(-(-1)) |
| 1208 0532 3040 sbci r19,hi8(-(-1)) |
| 1209 0534 829F mul r24,r18 |
| 1210 0536 B001 movw r22,r0 |
| 1211 0538 839F mul r24,r19 |
| 1212 053a 700D add r23,r0 |
| 1213 053c 929F mul r25,r18 |
| 1214 053e 700D add r23,r0 |
| 1215 0540 1124 clr r1 |
| 1216 0542 6050 subi r22,lo8(-(EEPromArray+100)) |
| 1217 0544 7040 sbci r23,hi8(-(EEPromArray+100)) |
| 1218 0546 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 1219 0548 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 1220 054a AC01 movw r20,r24 |
| 1221 054c CF01 movw r24,r30 |
| 1222 054e 0E94 0000 call __eerd_block |
| 1223 0552 0E94 0000 call LED_Init |
| 1224 /* epilogue: frame size=0 */ |
| 1225 0556 0895 ret |
| 1226 /* epilogue end (size=1) */ |
| 1227 /* function ReadParameterSet size 29 (28) */ |
| 1229 .global SetActiveParamSetNumber |
| 1231 SetActiveParamSetNumber: |
| 1232 /* prologue: frame size=0 */ |
| 1233 /* prologue end (size=0) */ |
| 1234 0558 282F mov r18,r24 |
| 1235 055a 8630 cpi r24,lo8(6) |
| 1236 055c 00F0 brlo .L18 |
| 1237 055e 25E0 ldi r18,lo8(5) |
| 1238 .L20: |
| 1239 0560 F999 sbic 63-0x20,1 |
| 1240 0562 00C0 rjmp .L20 |
| 1241 0564 1FBA out 63-0x20,__zero_reg__ |
| 1242 0566 80E0 ldi r24,lo8(EEPromArray+2) |
| 1243 0568 90E0 ldi r25,hi8(EEPromArray+2) |
| 1244 056a 92BD out (65)+1-0x20,r25 |
| 1245 056c 81BD out 65-0x20,r24 |
| 1246 056e 20BD out 64-0x20,r18 |
| 1247 /* #APP */ |
| 1248 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1249 0570 0FB6 in r0, 63 |
| 1250 0572 F894 cli |
| 1251 0574 FA9A sbi 31, 2 |
| 1252 0576 F99A sbi 31, 1 |
| 1253 0578 0FBE out 63, r0 |
| 1254 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1255 /* #NOAPP */ |
| 1256 057a 0895 ret |
| 1257 .L18: |
| 1258 057c 8823 tst r24 |
| 1259 057e 01F4 brne .L20 |
| 1260 0580 0895 ret |
| 1261 /* epilogue: frame size=0 */ |
| 1262 /* epilogue: noreturn */ |
| 1263 /* epilogue end (size=0) */ |
| 1264 /* function SetActiveParamSetNumber size 30 (30) */ |
| 1266 .global WriteParameterSet |
| 1268 WriteParameterSet: |
| 1269 /* prologue: frame size=0 */ |
| 1270 0582 FF92 push r15 |
| 1271 0584 0F93 push r16 |
| 1272 0586 1F93 push r17 |
| 1273 0588 CF93 push r28 |
| 1274 /* prologue end (size=4) */ |
| 1275 058a C82F mov r28,r24 |
| 1276 058c 8B01 movw r16,r22 |
| 1277 058e F42E mov r15,r20 |
| 1278 0590 8630 cpi r24,lo8(6) |
| 1279 0592 00F0 brlo .L27 |
| 1280 0594 C5E0 ldi r28,lo8(5) |
| 1281 .L35: |
| 1282 0596 8F2D mov r24,r15 |
| 1283 0598 9927 clr r25 |
| 1284 059a 2C2F mov r18,r28 |
| 1285 059c 3327 clr r19 |
| 1286 059e 2150 subi r18,lo8(-(-1)) |
| 1287 05a0 3040 sbci r19,hi8(-(-1)) |
| 1288 05a2 829F mul r24,r18 |
| 1289 05a4 F001 movw r30,r0 |
| 1290 05a6 839F mul r24,r19 |
| 1291 05a8 F00D add r31,r0 |
| 1292 05aa 929F mul r25,r18 |
| 1293 05ac F00D add r31,r0 |
| 1294 05ae 1124 clr r1 |
| 1295 05b0 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 1296 05b2 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 1297 05b4 AC01 movw r20,r24 |
| 1298 05b6 B801 movw r22,r16 |
| 1299 05b8 CF01 movw r24,r30 |
| 1300 05ba 8050 subi r24,lo8(-(EEPromArray+100)) |
| 1301 05bc 9040 sbci r25,hi8(-(EEPromArray+100)) |
| 1302 05be 0E94 0000 call __eewr_block |
| 1303 .L30: |
| 1304 05c2 F999 sbic 63-0x20,1 |
| 1305 05c4 00C0 rjmp .L30 |
| 1306 05c6 1FBA out 63-0x20,__zero_reg__ |
| 1307 05c8 80E0 ldi r24,lo8(EEPromArray+98) |
| 1308 05ca 90E0 ldi r25,hi8(EEPromArray+98) |
| 1309 05cc 92BD out (65)+1-0x20,r25 |
| 1310 05ce 81BD out 65-0x20,r24 |
| 1311 05d0 F0BC out 64-0x20,r15 |
| 1312 /* #APP */ |
| 1313 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1314 05d2 0FB6 in r0, 63 |
| 1315 05d4 F894 cli |
| 1316 05d6 FA9A sbi 31, 2 |
| 1317 05d8 F99A sbi 31, 1 |
| 1318 05da 0FBE out 63, r0 |
| 1319 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1320 /* #NOAPP */ |
| 1321 05dc 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 1322 05de 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 1323 05e0 48E0 ldi r20,lo8(8) |
| 1324 05e2 50E0 ldi r21,hi8(8) |
| 1325 05e4 B801 movw r22,r16 |
| 1326 05e6 80E0 ldi r24,lo8(EEPromArray+80) |
| 1327 05e8 90E0 ldi r25,hi8(EEPromArray+80) |
| 1328 05ea 0E94 0000 call __eewr_block |
| 1329 05ee 8C2F mov r24,r28 |
| 1330 05f0 0E94 0000 call SetActiveParamSetNumber |
| 1331 05f4 0E94 0000 call LED_Init |
| 1332 05f8 00C0 rjmp .L26 |
| 1333 .L27: |
| 1334 05fa 8823 tst r24 |
| 1335 05fc 01F4 brne .L35 |
| 1336 .L26: |
| 1337 /* epilogue: frame size=0 */ |
| 1338 05fe CF91 pop r28 |
| 1339 0600 1F91 pop r17 |
| 1340 0602 0F91 pop r16 |
| 1341 0604 FF90 pop r15 |
| 1342 0606 0895 ret |
| 1343 /* epilogue end (size=5) */ |
| 1344 /* function WriteParameterSet size 76 (67) */ |
| 1346 .global GetActiveParamSetNumber |
| 1348 GetActiveParamSetNumber: |
| 1349 /* prologue: frame size=0 */ |
| 1350 0608 CF93 push r28 |
| 1351 /* prologue end (size=1) */ |
| 1352 .L37: |
| 1353 060a F999 sbic 63-0x20,1 |
| 1354 060c 00C0 rjmp .L37 |
| 1355 060e 80E0 ldi r24,lo8(EEPromArray+2) |
| 1356 0610 90E0 ldi r25,hi8(EEPromArray+2) |
| 1357 0612 92BD out (65)+1-0x20,r25 |
| 1358 0614 81BD out 65-0x20,r24 |
| 1359 /* #APP */ |
| 1360 /* START EEPROM READ CRITICAL SECTION */ |
| 1361 0616 F89A sbi 31, 0 |
| 1362 0618 80B5 in r24, 32 |
| 1363 /* END EEPROM READ CRITICAL SECTION */ |
| 1364 |
| 1365 /* #NOAPP */ |
| 1366 061a C82F mov r28,r24 |
| 1367 061c 8150 subi r24,lo8(-(-1)) |
| 1368 061e 8530 cpi r24,lo8(5) |
| 1369 0620 00F0 brlo .L41 |
| 1370 0622 C3E0 ldi r28,lo8(3) |
| 1371 0624 8C2F mov r24,r28 |
| 1372 0626 0E94 0000 call SetActiveParamSetNumber |
| 1373 .L41: |
| 1374 062a 8C2F mov r24,r28 |
| 1375 062c 9927 clr r25 |
| 1376 /* epilogue: frame size=0 */ |
| 1377 062e CF91 pop r28 |
| 1378 0630 0895 ret |
| 1379 /* epilogue end (size=2) */ |
| 1380 /* function GetActiveParamSetNumber size 29 (26) */ |
| 1382 .global MotorSmoothing |
| 1384 MotorSmoothing: |
| 1385 /* prologue: frame size=0 */ |
| 1386 /* prologue end (size=0) */ |
| 1387 0632 6817 cp r22,r24 |
| 1388 0634 7907 cpc r23,r25 |
| 1389 0636 04F4 brge .L43 |
| 1390 0638 680F add r22,r24 |
| 1391 063a 791F adc r23,r25 |
| 1392 063c 77FD sbrc r23,7 |
| 1393 063e 00C0 rjmp .L46 |
| 1394 0640 CB01 movw r24,r22 |
| 1395 0642 9595 asr r25 |
| 1396 0644 8795 ror r24 |
| 1397 0646 0895 ret |
| 1398 .L43: |
| 1399 0648 681B sub r22,r24 |
| 1400 064a 790B sbc r23,r25 |
| 1401 064c 861B sub r24,r22 |
| 1402 064e 970B sbc r25,r23 |
| 1403 0650 0895 ret |
| 1404 .L46: |
| 1405 0652 6F5F subi r22,lo8(-(1)) |
| 1406 0654 7F4F sbci r23,hi8(-(1)) |
| 1407 0656 CB01 movw r24,r22 |
| 1408 0658 9595 asr r25 |
| 1409 065a 8795 ror r24 |
| 1410 065c 0895 ret |
| 1411 /* epilogue: frame size=0 */ |
| 1412 /* epilogue: noreturn */ |
| 1413 /* epilogue end (size=0) */ |
| 1414 /* function MotorSmoothing size 22 (22) */ |
| 1416 .global Piep |
| 1418 Piep: |
| 1419 /* prologue: frame size=0 */ |
| 1420 065e EF92 push r14 |
| 1421 0660 FF92 push r15 |
| 1422 0662 0F93 push r16 |
| 1423 0664 1F93 push r17 |
| 1424 0666 CF93 push r28 |
| 1425 /* prologue end (size=5) */ |
| 1426 0668 C82F mov r28,r24 |
| 1427 066a 8B01 movw r16,r22 |
| 1428 066c 8091 0000 lds r24,MotorenEin |
| 1429 0670 8823 tst r24 |
| 1430 0672 01F4 brne .L47 |
| 1431 0674 C150 subi r28,lo8(-(-1)) |
| 1432 0676 CF3F cpi r28,lo8(-1) |
| 1433 0678 01F0 breq .L47 |
| 1434 067a 7B01 movw r14,r22 |
| 1435 067c E60E add r14,r22 |
| 1436 067e F71E adc r15,r23 |
| 1437 .L54: |
| 1438 0680 1093 0000 sts (beeptime)+1,r17 |
| 1439 0684 0093 0000 sts beeptime,r16 |
| 1440 .L51: |
| 1441 0688 8091 0000 lds r24,beeptime |
| 1442 068c 9091 0000 lds r25,(beeptime)+1 |
| 1443 0690 892B or r24,r25 |
| 1444 0692 01F4 brne .L51 |
| 1445 0694 C701 movw r24,r14 |
| 1446 0696 0E94 0000 call Delay_ms |
| 1447 069a C150 subi r28,1 |
| 1448 069c 00F4 brcc .L54 |
| 1449 .L47: |
| 1450 /* epilogue: frame size=0 */ |
| 1451 069e CF91 pop r28 |
| 1452 06a0 1F91 pop r17 |
| 1453 06a2 0F91 pop r16 |
| 1454 06a4 FF90 pop r15 |
| 1455 06a6 EF90 pop r14 |
| 1456 06a8 0895 ret |
| 1457 /* epilogue end (size=6) */ |
| 1458 /* function Piep size 39 (28) */ |
| 1460 .lcomm tmpl.35,4 |
| 1461 .lcomm tmpl2.36,4 |
| 1462 .lcomm tmpl3.37,4 |
| 1463 .lcomm tmpl4.38,4 |
| 1464 .lcomm oldNick.39,2 |
| 1465 .lcomm oldRoll.40,2 |
| 1466 .lcomm d2Roll.41,2 |
| 1467 .lcomm d2Nick.42,2 |
| 1468 .global Mittelwert |
| 1470 Mittelwert: |
| 1471 /* prologue: frame size=61 */ |
| 1472 06aa ADE3 ldi r26,lo8(61) |
| 1473 06ac B0E0 ldi r27,hi8(61) |
| 1474 06ae E0E0 ldi r30,pm_lo8(1f) |
| 1475 06b0 F0E0 ldi r31,pm_hi8(1f) |
| 1476 06b2 0C94 0000 jmp __prologue_saves__+0 |
| 1477 1: |
| 1478 /* prologue end (size=6) */ |
| 1479 06b6 2091 0000 lds r18,AdWertGier |
| 1480 06ba 3091 0000 lds r19,(AdWertGier)+1 |
| 1481 06be 8091 0000 lds r24,AdNeutralGier |
| 1482 06c2 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1483 06c6 281B sub r18,r24 |
| 1484 06c8 390B sbc r19,r25 |
| 1485 06ca 3A87 std Y+10,r19 |
| 1486 06cc 2987 std Y+9,r18 |
| 1487 06ce 3093 0000 sts (MesswertGier)+1,r19 |
| 1488 06d2 2093 0000 sts MesswertGier,r18 |
| 1489 06d6 2091 0000 lds r18,AdWertNickFilter |
| 1490 06da 3091 0000 lds r19,(AdWertNickFilter)+1 |
| 1491 06de 37FD sbrc r19,7 |
| 1492 06e0 00C0 rjmp .L186 |
| 1493 .L57: |
| 1494 06e2 3595 asr r19 |
| 1495 06e4 2795 ror r18 |
| 1496 06e6 3595 asr r19 |
| 1497 06e8 2795 ror r18 |
| 1498 06ea 3595 asr r19 |
| 1499 06ec 2795 ror r18 |
| 1500 06ee 3AA7 std Y+42,r19 |
| 1501 06f0 29A7 std Y+41,r18 |
| 1502 06f2 3C87 std Y+12,r19 |
| 1503 06f4 2B87 std Y+11,r18 |
| 1504 06f6 7901 movw r14,r18 |
| 1505 06f8 2091 0000 lds r18,AdWertRollFilter |
| 1506 06fc 3091 0000 lds r19,(AdWertRollFilter)+1 |
| 1507 0700 37FD sbrc r19,7 |
| 1508 0702 00C0 rjmp .L187 |
| 1509 .L58: |
| 1510 0704 3595 asr r19 |
| 1511 0706 2795 ror r18 |
| 1512 0708 3595 asr r19 |
| 1513 070a 2795 ror r18 |
| 1514 070c 3595 asr r19 |
| 1515 070e 2795 ror r18 |
| 1516 0710 3CA7 std Y+44,r19 |
| 1517 0712 2BA7 std Y+43,r18 |
| 1518 0714 3E87 std Y+14,r19 |
| 1519 0716 2D87 std Y+13,r18 |
| 1520 0718 F092 0000 sts (RohMesswertNick)+1,r15 |
| 1521 071c E092 0000 sts RohMesswertNick,r14 |
| 1522 0720 3093 0000 sts (RohMesswertRoll)+1,r19 |
| 1523 0724 2093 0000 sts RohMesswertRoll,r18 |
| 1524 0728 8091 0000 lds r24,Mittelwert_AccNick |
| 1525 072c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1526 0730 AA27 clr r26 |
| 1527 0732 97FD sbrc r25,7 |
| 1528 0734 A095 com r26 |
| 1529 0736 BA2F mov r27,r26 |
| 1530 0738 7C01 movw r14,r24 |
| 1531 073a 8D01 movw r16,r26 |
| 1532 073c EE0C lsl r14 |
| 1533 073e FF1C rol r15 |
| 1534 0740 001F rol r16 |
| 1535 0742 111F rol r17 |
| 1536 0744 E80E add r14,r24 |
| 1537 0746 F91E adc r15,r25 |
| 1538 0748 0A1F adc r16,r26 |
| 1539 074a 1B1F adc r17,r27 |
| 1540 074c 8091 0000 lds r24,AdWertAccNick |
| 1541 0750 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1542 0754 9C01 movw r18,r24 |
| 1543 0756 4427 clr r20 |
| 1544 0758 37FD sbrc r19,7 |
| 1545 075a 4095 com r20 |
| 1546 075c 542F mov r21,r20 |
| 1547 075e DA01 movw r26,r20 |
| 1548 0760 C901 movw r24,r18 |
| 1549 0762 880F lsl r24 |
| 1550 0764 991F rol r25 |
| 1551 0766 AA1F rol r26 |
| 1552 0768 BB1F rol r27 |
| 1553 076a 880F lsl r24 |
| 1554 076c 991F rol r25 |
| 1555 076e AA1F rol r26 |
| 1556 0770 BB1F rol r27 |
| 1557 0772 820F add r24,r18 |
| 1558 0774 931F adc r25,r19 |
| 1559 0776 A41F adc r26,r20 |
| 1560 0778 B51F adc r27,r21 |
| 1561 077a 820F add r24,r18 |
| 1562 077c 931F adc r25,r19 |
| 1563 077e A41F adc r26,r20 |
| 1564 0780 B51F adc r27,r21 |
| 1565 0782 E80E add r14,r24 |
| 1566 0784 F91E adc r15,r25 |
| 1567 0786 0A1F adc r16,r26 |
| 1568 0788 1B1F adc r17,r27 |
| 1569 078a 17FD sbrc r17,7 |
| 1570 078c 00C0 rjmp .L188 |
| 1571 .L59: |
| 1572 078e 1595 asr r17 |
| 1573 0790 0795 ror r16 |
| 1574 0792 F794 ror r15 |
| 1575 0794 E794 ror r14 |
| 1576 0796 1595 asr r17 |
| 1577 0798 0795 ror r16 |
| 1578 079a F794 ror r15 |
| 1579 079c E794 ror r14 |
| 1580 079e F092 0000 sts (Mittelwert_AccNick)+1,r15 |
| 1581 07a2 E092 0000 sts Mittelwert_AccNick,r14 |
| 1582 07a6 8091 0000 lds r24,Mittelwert_AccRoll |
| 1583 07aa 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1584 07ae AA27 clr r26 |
| 1585 07b0 97FD sbrc r25,7 |
| 1586 07b2 A095 com r26 |
| 1587 07b4 BA2F mov r27,r26 |
| 1588 07b6 7C01 movw r14,r24 |
| 1589 07b8 8D01 movw r16,r26 |
| 1590 07ba EE0C lsl r14 |
| 1591 07bc FF1C rol r15 |
| 1592 07be 001F rol r16 |
| 1593 07c0 111F rol r17 |
| 1594 07c2 E80E add r14,r24 |
| 1595 07c4 F91E adc r15,r25 |
| 1596 07c6 0A1F adc r16,r26 |
| 1597 07c8 1B1F adc r17,r27 |
| 1598 07ca 8091 0000 lds r24,AdWertAccRoll |
| 1599 07ce 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1600 07d2 9C01 movw r18,r24 |
| 1601 07d4 4427 clr r20 |
| 1602 07d6 37FD sbrc r19,7 |
| 1603 07d8 4095 com r20 |
| 1604 07da 542F mov r21,r20 |
| 1605 07dc DA01 movw r26,r20 |
| 1606 07de C901 movw r24,r18 |
| 1607 07e0 880F lsl r24 |
| 1608 07e2 991F rol r25 |
| 1609 07e4 AA1F rol r26 |
| 1610 07e6 BB1F rol r27 |
| 1611 07e8 880F lsl r24 |
| 1612 07ea 991F rol r25 |
| 1613 07ec AA1F rol r26 |
| 1614 07ee BB1F rol r27 |
| 1615 07f0 820F add r24,r18 |
| 1616 07f2 931F adc r25,r19 |
| 1617 07f4 A41F adc r26,r20 |
| 1618 07f6 B51F adc r27,r21 |
| 1619 07f8 820F add r24,r18 |
| 1620 07fa 931F adc r25,r19 |
| 1621 07fc A41F adc r26,r20 |
| 1622 07fe B51F adc r27,r21 |
| 1623 0800 E80E add r14,r24 |
| 1624 0802 F91E adc r15,r25 |
| 1625 0804 0A1F adc r16,r26 |
| 1626 0806 1B1F adc r17,r27 |
| 1627 0808 17FD sbrc r17,7 |
| 1628 080a 00C0 rjmp .L189 |
| 1629 .L60: |
| 1630 080c 1595 asr r17 |
| 1631 080e 0795 ror r16 |
| 1632 0810 F794 ror r15 |
| 1633 0812 E794 ror r14 |
| 1634 0814 1595 asr r17 |
| 1635 0816 0795 ror r16 |
| 1636 0818 F794 ror r15 |
| 1637 081a E794 ror r14 |
| 1638 081c F092 0000 sts (Mittelwert_AccRoll)+1,r15 |
| 1639 0820 E092 0000 sts Mittelwert_AccRoll,r14 |
| 1640 0824 8091 0000 lds r24,Mittelwert_AccHoch |
| 1641 0828 9091 0000 lds r25,(Mittelwert_AccHoch)+1 |
| 1642 082c AA27 clr r26 |
| 1643 082e 97FD sbrc r25,7 |
| 1644 0830 A095 com r26 |
| 1645 0832 BA2F mov r27,r26 |
| 1646 0834 9C01 movw r18,r24 |
| 1647 0836 AD01 movw r20,r26 |
| 1648 0838 220F lsl r18 |
| 1649 083a 331F rol r19 |
| 1650 083c 441F rol r20 |
| 1651 083e 551F rol r21 |
| 1652 0840 280F add r18,r24 |
| 1653 0842 391F adc r19,r25 |
| 1654 0844 4A1F adc r20,r26 |
| 1655 0846 5B1F adc r21,r27 |
| 1656 0848 8091 0000 lds r24,AdWertAccHoch |
| 1657 084c 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1658 0850 AA27 clr r26 |
| 1659 0852 97FD sbrc r25,7 |
| 1660 0854 A095 com r26 |
| 1661 0856 BA2F mov r27,r26 |
| 1662 0858 280F add r18,r24 |
| 1663 085a 391F adc r19,r25 |
| 1664 085c 4A1F adc r20,r26 |
| 1665 085e 5B1F adc r21,r27 |
| 1666 0860 57FD sbrc r21,7 |
| 1667 0862 00C0 rjmp .L190 |
| 1668 .L61: |
| 1669 0864 5595 asr r21 |
| 1670 0866 4795 ror r20 |
| 1671 0868 3795 ror r19 |
| 1672 086a 2795 ror r18 |
| 1673 086c 5595 asr r21 |
| 1674 086e 4795 ror r20 |
| 1675 0870 3795 ror r19 |
| 1676 0872 2795 ror r18 |
| 1677 0874 3093 0000 sts (Mittelwert_AccHoch)+1,r19 |
| 1678 0878 2093 0000 sts Mittelwert_AccHoch,r18 |
| 1679 087c 2091 0000 lds r18,AdWertAccNick |
| 1680 0880 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1681 0884 C901 movw r24,r18 |
| 1682 0886 880F lsl r24 |
| 1683 0888 991F rol r25 |
| 1684 088a 880F lsl r24 |
| 1685 088c 991F rol r25 |
| 1686 088e 820F add r24,r18 |
| 1687 0890 931F adc r25,r19 |
| 1688 0892 820F add r24,r18 |
| 1689 0894 931F adc r25,r19 |
| 1690 0896 AA27 clr r26 |
| 1691 0898 97FD sbrc r25,7 |
| 1692 089a A095 com r26 |
| 1693 089c BA2F mov r27,r26 |
| 1694 089e 2091 0000 lds r18,IntegralAccNick |
| 1695 08a2 3091 0000 lds r19,(IntegralAccNick)+1 |
| 1696 08a6 4091 0000 lds r20,(IntegralAccNick)+2 |
| 1697 08aa 5091 0000 lds r21,(IntegralAccNick)+3 |
| 1698 08ae 820F add r24,r18 |
| 1699 08b0 931F adc r25,r19 |
| 1700 08b2 A41F adc r26,r20 |
| 1701 08b4 B51F adc r27,r21 |
| 1702 08b6 8093 0000 sts IntegralAccNick,r24 |
| 1703 08ba 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1704 08be A093 0000 sts (IntegralAccNick)+2,r26 |
| 1705 08c2 B093 0000 sts (IntegralAccNick)+3,r27 |
| 1706 08c6 2091 0000 lds r18,AdWertAccRoll |
| 1707 08ca 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1708 08ce C901 movw r24,r18 |
| 1709 08d0 880F lsl r24 |
| 1710 08d2 991F rol r25 |
| 1711 08d4 880F lsl r24 |
| 1712 08d6 991F rol r25 |
| 1713 08d8 820F add r24,r18 |
| 1714 08da 931F adc r25,r19 |
| 1715 08dc 820F add r24,r18 |
| 1716 08de 931F adc r25,r19 |
| 1717 08e0 AA27 clr r26 |
| 1718 08e2 97FD sbrc r25,7 |
| 1719 08e4 A095 com r26 |
| 1720 08e6 BA2F mov r27,r26 |
| 1721 08e8 2091 0000 lds r18,IntegralAccRoll |
| 1722 08ec 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 1723 08f0 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 1724 08f4 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 1725 08f8 820F add r24,r18 |
| 1726 08fa 931F adc r25,r19 |
| 1727 08fc A41F adc r26,r20 |
| 1728 08fe B51F adc r27,r21 |
| 1729 0900 8093 0000 sts IntegralAccRoll,r24 |
| 1730 0904 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1731 0908 A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1732 090c B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1733 0910 8091 0000 lds r24,NaviAccNick |
| 1734 0914 9091 0000 lds r25,(NaviAccNick)+1 |
| 1735 0918 2091 0000 lds r18,AdWertAccNick |
| 1736 091c 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1737 0920 820F add r24,r18 |
| 1738 0922 931F adc r25,r19 |
| 1739 0924 9093 0000 sts (NaviAccNick)+1,r25 |
| 1740 0928 8093 0000 sts NaviAccNick,r24 |
| 1741 092c 8091 0000 lds r24,NaviAccRoll |
| 1742 0930 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1743 0934 2091 0000 lds r18,AdWertAccRoll |
| 1744 0938 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1745 093c 820F add r24,r18 |
| 1746 093e 931F adc r25,r19 |
| 1747 0940 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1748 0944 8093 0000 sts NaviAccRoll,r24 |
| 1749 0948 8091 0000 lds r24,NaviCntAcc |
| 1750 094c 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1751 0950 0196 adiw r24,1 |
| 1752 0952 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1753 0956 8093 0000 sts NaviCntAcc,r24 |
| 1754 095a 8091 0000 lds r24,IntegralAccZ |
| 1755 095e 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1756 0962 A091 0000 lds r26,(IntegralAccZ)+2 |
| 1757 0966 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1758 096a BC01 movw r22,r24 |
| 1759 096c CD01 movw r24,r26 |
| 1760 096e 0E94 0000 call __floatsisf |
| 1761 0972 5B01 movw r10,r22 |
| 1762 0974 6C01 movw r12,r24 |
| 1763 0976 8091 0000 lds r24,Aktuell_az |
| 1764 097a 9091 0000 lds r25,(Aktuell_az)+1 |
| 1765 097e AA27 clr r26 |
| 1766 0980 97FD sbrc r25,7 |
| 1767 0982 A095 com r26 |
| 1768 0984 BA2F mov r27,r26 |
| 1769 0986 BC01 movw r22,r24 |
| 1770 0988 CD01 movw r24,r26 |
| 1771 098a 0E94 0000 call __floatsisf |
| 1772 098e 7B01 movw r14,r22 |
| 1773 0990 8C01 movw r16,r24 |
| 1774 0992 8091 0000 lds r24,NeutralAccZ |
| 1775 0996 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1776 099a A091 0000 lds r26,(NeutralAccZ)+2 |
| 1777 099e B091 0000 lds r27,(NeutralAccZ)+3 |
| 1778 09a2 9C01 movw r18,r24 |
| 1779 09a4 AD01 movw r20,r26 |
| 1780 09a6 C801 movw r24,r16 |
| 1781 09a8 B701 movw r22,r14 |
| 1782 09aa 0E94 0000 call __subsf3 |
| 1783 09ae DC01 movw r26,r24 |
| 1784 09b0 CB01 movw r24,r22 |
| 1785 09b2 9C01 movw r18,r24 |
| 1786 09b4 AD01 movw r20,r26 |
| 1787 09b6 C601 movw r24,r12 |
| 1788 09b8 B501 movw r22,r10 |
| 1789 09ba 0E94 0000 call __addsf3 |
| 1790 09be DC01 movw r26,r24 |
| 1791 09c0 CB01 movw r24,r22 |
| 1792 09c2 BC01 movw r22,r24 |
| 1793 09c4 CD01 movw r24,r26 |
| 1794 09c6 0E94 0000 call __fixsfsi |
| 1795 09ca DC01 movw r26,r24 |
| 1796 09cc CB01 movw r24,r22 |
| 1797 09ce 8093 0000 sts IntegralAccZ,r24 |
| 1798 09d2 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1799 09d6 A093 0000 sts (IntegralAccZ)+2,r26 |
| 1800 09da B093 0000 sts (IntegralAccZ)+3,r27 |
| 1801 09de 8FEC ldi r24,lo8(-49) |
| 1802 09e0 8093 7A00 sts 122,r24 |
| 1803 09e4 1092 0000 sts AdReady,__zero_reg__ |
| 1804 09e8 2090 0000 lds r2,Mess_IntegralRoll |
| 1805 09ec 3090 0000 lds r3,(Mess_IntegralRoll)+1 |
| 1806 09f0 4090 0000 lds r4,(Mess_IntegralRoll)+2 |
| 1807 09f4 5090 0000 lds r5,(Mess_IntegralRoll)+3 |
| 1808 09f8 39E4 ldi r19,lo8(93001) |
| 1809 09fa 2316 cp r2,r19 |
| 1810 09fc 3BE6 ldi r19,hi8(93001) |
| 1811 09fe 3306 cpc r3,r19 |
| 1812 0a00 31E0 ldi r19,hlo8(93001) |
| 1813 0a02 4306 cpc r4,r19 |
| 1814 0a04 30E0 ldi r19,hhi8(93001) |
| 1815 0a06 5306 cpc r5,r19 |
| 1816 0a08 04F4 brge .+2 |
| 1817 0a0a 00C0 rjmp .L62 |
| 1818 0a0c 88E4 ldi r24,lo8(93000) |
| 1819 0a0e 9BE6 ldi r25,hi8(93000) |
| 1820 0a10 A1E0 ldi r26,hlo8(93000) |
| 1821 0a12 B0E0 ldi r27,hhi8(93000) |
| 1822 0a14 8D83 std Y+5,r24 |
| 1823 0a16 9E83 std Y+6,r25 |
| 1824 0a18 AF83 std Y+7,r26 |
| 1825 0a1a B887 std Y+8,r27 |
| 1826 .L63: |
| 1827 0a1c 6090 0000 lds r6,Mess_IntegralNick |
| 1828 0a20 7090 0000 lds r7,(Mess_IntegralNick)+1 |
| 1829 0a24 8090 0000 lds r8,(Mess_IntegralNick)+2 |
| 1830 0a28 9090 0000 lds r9,(Mess_IntegralNick)+3 |
| 1831 0a2c 39E4 ldi r19,lo8(93001) |
| 1832 0a2e 6316 cp r6,r19 |
| 1833 0a30 3BE6 ldi r19,hi8(93001) |
| 1834 0a32 7306 cpc r7,r19 |
| 1835 0a34 31E0 ldi r19,hlo8(93001) |
| 1836 0a36 8306 cpc r8,r19 |
| 1837 0a38 30E0 ldi r19,hhi8(93001) |
| 1838 0a3a 9306 cpc r9,r19 |
| 1839 0a3c 04F4 brge .+2 |
| 1840 0a3e 00C0 rjmp .L66 |
| 1841 0a40 88E4 ldi r24,lo8(93000) |
| 1842 0a42 9BE6 ldi r25,hi8(93000) |
| 1843 0a44 A1E0 ldi r26,hlo8(93000) |
| 1844 0a46 B0E0 ldi r27,hhi8(93000) |
| 1845 0a48 8983 std Y+1,r24 |
| 1846 0a4a 9A83 std Y+2,r25 |
| 1847 0a4c AB83 std Y+3,r26 |
| 1848 0a4e BC83 std Y+4,r27 |
| 1849 .L67: |
| 1850 0a50 4985 ldd r20,Y+9 |
| 1851 0a52 5A85 ldd r21,Y+10 |
| 1852 0a54 CA01 movw r24,r20 |
| 1853 0a56 AA27 clr r26 |
| 1854 0a58 97FD sbrc r25,7 |
| 1855 0a5a A095 com r26 |
| 1856 0a5c BA2F mov r27,r26 |
| 1857 0a5e 2091 0000 lds r18,Mess_Integral_Gier |
| 1858 0a62 3091 0000 lds r19,(Mess_Integral_Gier)+1 |
| 1859 0a66 4091 0000 lds r20,(Mess_Integral_Gier)+2 |
| 1860 0a6a 5091 0000 lds r21,(Mess_Integral_Gier)+3 |
| 1861 0a6e 280F add r18,r24 |
| 1862 0a70 391F adc r19,r25 |
| 1863 0a72 4A1F adc r20,r26 |
| 1864 0a74 5B1F adc r21,r27 |
| 1865 0a76 2DA3 std Y+37,r18 |
| 1866 0a78 3EA3 std Y+38,r19 |
| 1867 0a7a 4FA3 std Y+39,r20 |
| 1868 0a7c 58A7 std Y+40,r21 |
| 1869 0a7e A090 0000 lds r10,ErsatzKompass |
| 1870 0a82 B090 0000 lds r11,(ErsatzKompass)+1 |
| 1871 0a86 C090 0000 lds r12,(ErsatzKompass)+2 |
| 1872 0a8a D090 0000 lds r13,(ErsatzKompass)+3 |
| 1873 0a8e A80E add r10,r24 |
| 1874 0a90 B91E adc r11,r25 |
| 1875 0a92 CA1E adc r12,r26 |
| 1876 0a94 DB1E adc r13,r27 |
| 1877 0a96 8601 movw r16,r12 |
| 1878 0a98 7501 movw r14,r10 |
| 1879 0a9a 3091 0000 lds r19,Looping_Nick |
| 1880 0a9e 3BA3 std Y+35,r19 |
| 1881 0aa0 3323 tst r19 |
| 1882 0aa2 01F0 breq .+2 |
| 1883 0aa4 00C0 rjmp .L166 |
| 1884 0aa6 8091 0000 lds r24,Looping_Roll |
| 1885 0aaa 8823 tst r24 |
| 1886 0aac 01F0 breq .+2 |
| 1887 0aae 00C0 rjmp .L167 |
| 1888 0ab0 4091 0000 lds r20,EE_Parameter+8 |
| 1889 0ab4 4CA3 std Y+36,r20 |
| 1890 0ab6 46FF sbrs r20,6 |
| 1891 0ab8 00C0 rjmp .L168 |
| 1892 0aba EBA5 ldd r30,Y+43 |
| 1893 0abc FCA5 ldd r31,Y+44 |
| 1894 0abe CF01 movw r24,r30 |
| 1895 0ac0 AA27 clr r26 |
| 1896 0ac2 97FD sbrc r25,7 |
| 1897 0ac4 A095 com r26 |
| 1898 0ac6 BA2F mov r27,r26 |
| 1899 0ac8 BC01 movw r22,r24 |
| 1900 0aca CD01 movw r24,r26 |
| 1901 0acc 2981 ldd r18,Y+1 |
| 1902 0ace 3A81 ldd r19,Y+2 |
| 1903 0ad0 4B81 ldd r20,Y+3 |
| 1904 0ad2 5C81 ldd r21,Y+4 |
| 1905 0ad4 0E94 0000 call __mulsi3 |
| 1906 0ad8 9B01 movw r18,r22 |
| 1907 0ada AC01 movw r20,r24 |
| 1908 0adc 97FD sbrc r25,7 |
| 1909 0ade 00C0 rjmp .L191 |
| 1910 .L71: |
| 1911 0ae0 BBE0 ldi r27,11 |
| 1912 0ae2 5595 1: asr r21 |
| 1913 0ae4 4795 ror r20 |
| 1914 0ae6 3795 ror r19 |
| 1915 0ae8 2795 ror r18 |
| 1916 0aea BA95 dec r27 |
| 1917 0aec 01F4 brne 1b |
| 1918 0aee 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 1919 0af2 E82E mov r14,r24 |
| 1920 0af4 FF24 clr r15 |
| 1921 0af6 0027 clr r16 |
| 1922 0af8 1127 clr r17 |
| 1923 0afa C801 movw r24,r16 |
| 1924 0afc B701 movw r22,r14 |
| 1925 0afe 0E94 0000 call __mulsi3 |
| 1926 0b02 97FD sbrc r25,7 |
| 1927 0b04 00C0 rjmp .L192 |
| 1928 .L72: |
| 1929 0b06 ACE0 ldi r26,12 |
| 1930 0b08 9595 1: asr r25 |
| 1931 0b0a 8795 ror r24 |
| 1932 0b0c 7795 ror r23 |
| 1933 0b0e 6795 ror r22 |
| 1934 0b10 AA95 dec r26 |
| 1935 0b12 01F4 brne 1b |
| 1936 0b14 6F87 std Y+15,r22 |
| 1937 0b16 788B std Y+16,r23 |
| 1938 0b18 898B std Y+17,r24 |
| 1939 0b1a 9A8B std Y+18,r25 |
| 1940 0b1c 6093 0000 sts tmpl3.37,r22 |
| 1941 0b20 7093 0000 sts (tmpl3.37)+1,r23 |
| 1942 0b24 8093 0000 sts (tmpl3.37)+2,r24 |
| 1943 0b28 9093 0000 sts (tmpl3.37)+3,r25 |
| 1944 0b2c 29A5 ldd r18,Y+41 |
| 1945 0b2e 3AA5 ldd r19,Y+42 |
| 1946 0b30 C901 movw r24,r18 |
| 1947 0b32 AA27 clr r26 |
| 1948 0b34 97FD sbrc r25,7 |
| 1949 0b36 A095 com r26 |
| 1950 0b38 BA2F mov r27,r26 |
| 1951 0b3a BC01 movw r22,r24 |
| 1952 0b3c CD01 movw r24,r26 |
| 1953 0b3e 2D81 ldd r18,Y+5 |
| 1954 0b40 3E81 ldd r19,Y+6 |
| 1955 0b42 4F81 ldd r20,Y+7 |
| 1956 0b44 5885 ldd r21,Y+8 |
| 1957 0b46 0E94 0000 call __mulsi3 |
| 1958 0b4a 9B01 movw r18,r22 |
| 1959 0b4c AC01 movw r20,r24 |
| 1960 0b4e 97FD sbrc r25,7 |
| 1961 0b50 00C0 rjmp .L193 |
| 1962 .L73: |
| 1963 0b52 FBE0 ldi r31,11 |
| 1964 0b54 5595 1: asr r21 |
| 1965 0b56 4795 ror r20 |
| 1966 0b58 3795 ror r19 |
| 1967 0b5a 2795 ror r18 |
| 1968 0b5c FA95 dec r31 |
| 1969 0b5e 01F4 brne 1b |
| 1970 0b60 C801 movw r24,r16 |
| 1971 0b62 B701 movw r22,r14 |
| 1972 0b64 0E94 0000 call __mulsi3 |
| 1973 0b68 97FD sbrc r25,7 |
| 1974 0b6a 00C0 rjmp .L194 |
| 1975 .L74: |
| 1976 0b6c DC01 movw r26,r24 |
| 1977 0b6e CB01 movw r24,r22 |
| 1978 0b70 ECE0 ldi r30,12 |
| 1979 0b72 B595 1: asr r27 |
| 1980 0b74 A795 ror r26 |
| 1981 0b76 9795 ror r25 |
| 1982 0b78 8795 ror r24 |
| 1983 0b7a EA95 dec r30 |
| 1984 0b7c 01F4 brne 1b |
| 1985 0b7e 8093 0000 sts tmpl4.38,r24 |
| 1986 0b82 9093 0000 sts (tmpl4.38)+1,r25 |
| 1987 0b86 A093 0000 sts (tmpl4.38)+2,r26 |
| 1988 0b8a B093 0000 sts (tmpl4.38)+3,r27 |
| 1989 0b8e 2091 0000 lds r18,tmpl3.37 |
| 1990 0b92 3091 0000 lds r19,(tmpl3.37)+1 |
| 1991 0b96 3093 0000 sts (KopplungsteilNickRoll)+1,r19 |
| 1992 0b9a 2093 0000 sts KopplungsteilNickRoll,r18 |
| 1993 0b9e 2091 0000 lds r18,tmpl4.38 |
| 1994 0ba2 3091 0000 lds r19,(tmpl4.38)+1 |
| 1995 0ba6 3093 0000 sts (KopplungsteilRollNick)+1,r19 |
| 1996 0baa 2093 0000 sts KopplungsteilRollNick,r18 |
| 1997 0bae 2F85 ldd r18,Y+15 |
| 1998 0bb0 3889 ldd r19,Y+16 |
| 1999 0bb2 4989 ldd r20,Y+17 |
| 2000 0bb4 5A89 ldd r21,Y+18 |
| 2001 0bb6 821B sub r24,r18 |
| 2002 0bb8 930B sbc r25,r19 |
| 2003 0bba A40B sbc r26,r20 |
| 2004 0bbc B50B sbc r27,r21 |
| 2005 0bbe 8AAF std Y+58,r24 |
| 2006 0bc0 9BAF std Y+59,r25 |
| 2007 0bc2 ACAF std Y+60,r26 |
| 2008 0bc4 BDAF std Y+61,r27 |
| 2009 0bc6 8093 0000 sts tmpl4.38,r24 |
| 2010 0bca 9093 0000 sts (tmpl4.38)+1,r25 |
| 2011 0bce A093 0000 sts (tmpl4.38)+2,r26 |
| 2012 0bd2 B093 0000 sts (tmpl4.38)+3,r27 |
| 2013 0bd6 A80E add r10,r24 |
| 2014 0bd8 B91E adc r11,r25 |
| 2015 0bda CA1E adc r12,r26 |
| 2016 0bdc DB1E adc r13,r27 |
| 2017 0bde 8601 movw r16,r12 |
| 2018 0be0 7501 movw r14,r10 |
| 2019 0be2 3091 0000 lds r19,Parameter_CouplingYawCorrection |
| 2020 0be6 3DA7 std Y+45,r19 |
| 2021 0be8 3323 tst r19 |
| 2022 0bea 01F0 breq .+2 |
| 2023 0bec 00C0 rjmp .L169 |
| 2024 0bee 8EA7 std Y+46,r24 |
| 2025 0bf0 9FA7 std Y+47,r25 |
| 2026 0bf2 A8AB std Y+48,r26 |
| 2027 0bf4 B9AB std Y+49,r27 |
| 2028 0bf6 B7FD sbrc r27,7 |
| 2029 0bf8 00C0 rjmp .L195 |
| 2030 .L76: |
| 2031 0bfa 2EA5 ldd r18,Y+46 |
| 2032 0bfc 3FA5 ldd r19,Y+47 |
| 2033 0bfe 48A9 ldd r20,Y+48 |
| 2034 0c00 59A9 ldd r21,Y+49 |
| 2035 0c02 5595 asr r21 |
| 2036 0c04 4795 ror r20 |
| 2037 0c06 3795 ror r19 |
| 2038 0c08 2795 ror r18 |
| 2039 0c0a 8DA1 ldd r24,Y+37 |
| 2040 0c0c 9EA1 ldd r25,Y+38 |
| 2041 0c0e AFA1 ldd r26,Y+39 |
| 2042 0c10 B8A5 ldd r27,Y+40 |
| 2043 0c12 821B sub r24,r18 |
| 2044 0c14 930B sbc r25,r19 |
| 2045 0c16 A40B sbc r26,r20 |
| 2046 0c18 B50B sbc r27,r21 |
| 2047 0c1a 8DA3 std Y+37,r24 |
| 2048 0c1c 9EA3 std Y+38,r25 |
| 2049 0c1e AFA3 std Y+39,r26 |
| 2050 0c20 B8A7 std Y+40,r27 |
| 2051 0c22 8093 0000 sts Mess_Integral_Gier,r24 |
| 2052 0c26 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 2053 0c2a A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 2054 0c2e B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 2055 0c32 00C0 rjmp .L75 |
| 2056 .L62: |
| 2057 0c34 98EB ldi r25,lo8(-93000) |
| 2058 0c36 2916 cp r2,r25 |
| 2059 0c38 94E9 ldi r25,hi8(-93000) |
| 2060 0c3a 3906 cpc r3,r25 |
| 2061 0c3c 9EEF ldi r25,hlo8(-93000) |
| 2062 0c3e 4906 cpc r4,r25 |
| 2063 0c40 9FEF ldi r25,hhi8(-93000) |
| 2064 0c42 5906 cpc r5,r25 |
| 2065 0c44 04F0 brlt .+2 |
| 2066 0c46 00C0 rjmp .L64 |
| 2067 0c48 28EB ldi r18,lo8(-93000) |
| 2068 0c4a 34E9 ldi r19,hi8(-93000) |
| 2069 0c4c 4EEF ldi r20,hlo8(-93000) |
| 2070 0c4e 5FEF ldi r21,hhi8(-93000) |
| 2071 0c50 2D83 std Y+5,r18 |
| 2072 0c52 3E83 std Y+6,r19 |
| 2073 0c54 4F83 std Y+7,r20 |
| 2074 0c56 5887 std Y+8,r21 |
| 2075 0c58 00C0 rjmp .L63 |
| 2076 .L166: |
| 2077 0c5a 2DA1 ldd r18,Y+37 |
| 2078 0c5c 3EA1 ldd r19,Y+38 |
| 2079 0c5e 4FA1 ldd r20,Y+39 |
| 2080 0c60 58A5 ldd r21,Y+40 |
| 2081 0c62 2093 0000 sts Mess_Integral_Gier,r18 |
| 2082 0c66 3093 0000 sts (Mess_Integral_Gier)+1,r19 |
| 2083 0c6a 4093 0000 sts (Mess_Integral_Gier)+2,r20 |
| 2084 0c6e 5093 0000 sts (Mess_Integral_Gier)+3,r21 |
| 2085 0c72 3091 0000 lds r19,EE_Parameter+8 |
| 2086 0c76 3CA3 std Y+36,r19 |
| 2087 .L70: |
| 2088 0c78 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2089 0c7c 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2090 0c80 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2091 0c84 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2092 0c88 1092 0000 sts tmpl2.36,__zero_reg__ |
| 2093 0c8c 1092 0000 sts (tmpl2.36)+1,__zero_reg__ |
| 2094 0c90 1092 0000 sts (tmpl2.36)+2,__zero_reg__ |
| 2095 0c94 1092 0000 sts (tmpl2.36)+3,__zero_reg__ |
| 2096 0c98 1092 0000 sts tmpl.35,__zero_reg__ |
| 2097 0c9c 1092 0000 sts (tmpl.35)+1,__zero_reg__ |
| 2098 0ca0 1092 0000 sts (tmpl.35)+2,__zero_reg__ |
| 2099 0ca4 1092 0000 sts (tmpl.35)+3,__zero_reg__ |
| 2100 0ca8 3091 0000 lds r19,Parameter_CouplingYawCorrection |
| 2101 0cac 3DA7 std Y+45,r19 |
| 2102 .L87: |
| 2103 0cae 8091 0000 lds r24,tmpl2.36 |
| 2104 0cb2 9091 0000 lds r25,(tmpl2.36)+1 |
| 2105 0cb6 A091 0000 lds r26,(tmpl2.36)+2 |
| 2106 0cba B091 0000 lds r27,(tmpl2.36)+3 |
| 2107 0cbe BC01 movw r22,r24 |
| 2108 0cc0 CD01 movw r24,r26 |
| 2109 0cc2 24E6 ldi r18,lo8(100) |
| 2110 0cc4 30E0 ldi r19,hi8(100) |
| 2111 0cc6 40E0 ldi r20,hlo8(100) |
| 2112 0cc8 50E0 ldi r21,hhi8(100) |
| 2113 0cca 0E94 0000 call __divmodsi4 |
| 2114 0cce DA01 movw r26,r20 |
| 2115 0cd0 C901 movw r24,r18 |
| 2116 0cd2 4091 0000 lds r20,tmpl.35 |
| 2117 0cd6 5091 0000 lds r21,(tmpl.35)+1 |
| 2118 0cda 481B sub r20,r24 |
| 2119 0cdc 590B sbc r21,r25 |
| 2120 0cde 58A3 std Y+32,r21 |
| 2121 0ce0 4F8F std Y+31,r20 |
| 2122 0ce2 8091 0000 lds r24,tmpl.35 |
| 2123 0ce6 9091 0000 lds r25,(tmpl.35)+1 |
| 2124 0cea A091 0000 lds r26,(tmpl.35)+2 |
| 2125 0cee B091 0000 lds r27,(tmpl.35)+3 |
| 2126 0cf2 BC01 movw r22,r24 |
| 2127 0cf4 CD01 movw r24,r26 |
| 2128 0cf6 24E6 ldi r18,lo8(100) |
| 2129 0cf8 30E0 ldi r19,hi8(100) |
| 2130 0cfa 40E0 ldi r20,hlo8(100) |
| 2131 0cfc 50E0 ldi r21,hhi8(100) |
| 2132 0cfe 0E94 0000 call __divmodsi4 |
| 2133 0d02 DA01 movw r26,r20 |
| 2134 0d04 C901 movw r24,r18 |
| 2135 0d06 2091 0000 lds r18,tmpl2.36 |
| 2136 0d0a 3091 0000 lds r19,(tmpl2.36)+1 |
| 2137 0d0e 821B sub r24,r18 |
| 2138 0d10 930B sbc r25,r19 |
| 2139 0d12 9AA3 std Y+34,r25 |
| 2140 0d14 89A3 std Y+33,r24 |
| 2141 0d16 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2142 0d1a 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2143 0d1e A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2144 0d22 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2145 0d26 BC01 movw r22,r24 |
| 2146 0d28 CD01 movw r24,r26 |
| 2147 0d2a 28E6 ldi r18,lo8(360) |
| 2148 0d2c 31E0 ldi r19,hi8(360) |
| 2149 0d2e 40E0 ldi r20,hlo8(360) |
| 2150 0d30 50E0 ldi r21,hhi8(360) |
| 2151 0d32 0E94 0000 call __mulsi3 |
| 2152 0d36 E616 cp r14,r22 |
| 2153 0d38 F706 cpc r15,r23 |
| 2154 0d3a 0807 cpc r16,r24 |
| 2155 0d3c 1907 cpc r17,r25 |
| 2156 0d3e 04F0 brlt .L88 |
| 2157 0d40 5701 movw r10,r14 |
| 2158 0d42 6801 movw r12,r16 |
| 2159 0d44 A61A sub r10,r22 |
| 2160 0d46 B70A sbc r11,r23 |
| 2161 0d48 C80A sbc r12,r24 |
| 2162 0d4a D90A sbc r13,r25 |
| 2163 0d4c 8601 movw r16,r12 |
| 2164 0d4e 7501 movw r14,r10 |
| 2165 .L88: |
| 2166 0d50 17FD sbrc r17,7 |
| 2167 0d52 00C0 rjmp .L196 |
| 2168 0d54 A092 0000 sts ErsatzKompass,r10 |
| 2169 0d58 B092 0000 sts (ErsatzKompass)+1,r11 |
| 2170 0d5c C092 0000 sts (ErsatzKompass)+2,r12 |
| 2171 0d60 D092 0000 sts (ErsatzKompass)+3,r13 |
| 2172 .L89: |
| 2173 0d64 2BA5 ldd r18,Y+43 |
| 2174 0d66 3CA5 ldd r19,Y+44 |
| 2175 0d68 8F8D ldd r24,Y+31 |
| 2176 0d6a 98A1 ldd r25,Y+32 |
| 2177 0d6c 280F add r18,r24 |
| 2178 0d6e 391F adc r19,r25 |
| 2179 0d70 7901 movw r14,r18 |
| 2180 0d72 0027 clr r16 |
| 2181 0d74 F7FC sbrc r15,7 |
| 2182 0d76 0095 com r16 |
| 2183 0d78 102F mov r17,r16 |
| 2184 0d7a 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2185 0d7e 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2186 0d82 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2187 0d86 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2188 0d8a E80E add r14,r24 |
| 2189 0d8c F91E adc r15,r25 |
| 2190 0d8e 0A1F adc r16,r26 |
| 2191 0d90 1B1F adc r17,r27 |
| 2192 0d92 5701 movw r10,r14 |
| 2193 0d94 6801 movw r12,r16 |
| 2194 0d96 8091 0000 lds r24,LageKorrekturRoll |
| 2195 0d9a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2196 0d9e 281B sub r18,r24 |
| 2197 0da0 390B sbc r19,r25 |
| 2198 0da2 C901 movw r24,r18 |
| 2199 0da4 AA27 clr r26 |
| 2200 0da6 97FD sbrc r25,7 |
| 2201 0da8 A095 com r26 |
| 2202 0daa BA2F mov r27,r26 |
| 2203 0dac 280E add r2,r24 |
| 2204 0dae 391E adc r3,r25 |
| 2205 0db0 4A1E adc r4,r26 |
| 2206 0db2 5B1E adc r5,r27 |
| 2207 0db4 2091 0000 lds r18,Umschlag180Roll |
| 2208 0db8 3091 0000 lds r19,(Umschlag180Roll)+1 |
| 2209 0dbc 4091 0000 lds r20,(Umschlag180Roll)+2 |
| 2210 0dc0 5091 0000 lds r21,(Umschlag180Roll)+3 |
| 2211 0dc4 2215 cp r18,r2 |
| 2212 0dc6 3305 cpc r19,r3 |
| 2213 0dc8 4405 cpc r20,r4 |
| 2214 0dca 5505 cpc r21,r5 |
| 2215 0dcc 04F4 brge .L90 |
| 2216 0dce A8EA ldi r26,lo8(25000) |
| 2217 0dd0 EA2E mov r14,r26 |
| 2218 0dd2 A1E6 ldi r26,hi8(25000) |
| 2219 0dd4 FA2E mov r15,r26 |
| 2220 0dd6 012D mov r16,__zero_reg__ |
| 2221 0dd8 112D mov r17,__zero_reg__ |
| 2222 0dda E21A sub r14,r18 |
| 2223 0ddc F30A sbc r15,r19 |
| 2224 0dde 040B sbc r16,r20 |
| 2225 0de0 150B sbc r17,r21 |
| 2226 0de2 1701 movw r2,r14 |
| 2227 0de4 2801 movw r4,r16 |
| 2228 0de6 5701 movw r10,r14 |
| 2229 0de8 6801 movw r12,r16 |
| 2230 .L90: |
| 2231 0dea 8827 clr r24 |
| 2232 0dec 9927 clr r25 |
| 2233 0dee DC01 movw r26,r24 |
| 2234 0df0 821B sub r24,r18 |
| 2235 0df2 930B sbc r25,r19 |
| 2236 0df4 A40B sbc r26,r20 |
| 2237 0df6 B50B sbc r27,r21 |
| 2238 0df8 2816 cp r2,r24 |
| 2239 0dfa 3906 cpc r3,r25 |
| 2240 0dfc 4A06 cpc r4,r26 |
| 2241 0dfe 5B06 cpc r5,r27 |
| 2242 0e00 04F0 brlt .+2 |
| 2243 0e02 00C0 rjmp .L171 |
| 2244 0e04 F8E5 ldi r31,lo8(-25000) |
| 2245 0e06 2F2E mov r2,r31 |
| 2246 0e08 FEE9 ldi r31,hi8(-25000) |
| 2247 0e0a 3F2E mov r3,r31 |
| 2248 0e0c FFEF ldi r31,hlo8(-25000) |
| 2249 0e0e 4F2E mov r4,r31 |
| 2250 0e10 FFEF ldi r31,hhi8(-25000) |
| 2251 0e12 5F2E mov r5,r31 |
| 2252 0e14 220E add r2,r18 |
| 2253 0e16 331E adc r3,r19 |
| 2254 0e18 441E adc r4,r20 |
| 2255 0e1a 551E adc r5,r21 |
| 2256 0e1c 2092 0000 sts Mess_IntegralRoll,r2 |
| 2257 0e20 3092 0000 sts (Mess_IntegralRoll)+1,r3 |
| 2258 0e24 4092 0000 sts (Mess_IntegralRoll)+2,r4 |
| 2259 0e28 5092 0000 sts (Mess_IntegralRoll)+3,r5 |
| 2260 0e2c 8201 movw r16,r4 |
| 2261 0e2e 7101 movw r14,r2 |
| 2262 0e30 2092 0000 sts Mess_IntegralRoll2,r2 |
| 2263 0e34 3092 0000 sts (Mess_IntegralRoll2)+1,r3 |
| 2264 0e38 4092 0000 sts (Mess_IntegralRoll2)+2,r4 |
| 2265 0e3c 5092 0000 sts (Mess_IntegralRoll2)+3,r5 |
| 2266 .L91: |
| 2267 0e40 29A5 ldd r18,Y+41 |
| 2268 0e42 3AA5 ldd r19,Y+42 |
| 2269 0e44 A9A1 ldd r26,Y+33 |
| 2270 0e46 BAA1 ldd r27,Y+34 |
| 2271 0e48 2A0F add r18,r26 |
| 2272 0e4a 3B1F adc r19,r27 |
| 2273 0e4c A901 movw r20,r18 |
| 2274 0e4e 6627 clr r22 |
| 2275 0e50 57FD sbrc r21,7 |
| 2276 0e52 6095 com r22 |
| 2277 0e54 762F mov r23,r22 |
| 2278 0e56 8091 0000 lds r24,Mess_IntegralNick2 |
| 2279 0e5a 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2280 0e5e A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2281 0e62 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2282 0e66 480F add r20,r24 |
| 2283 0e68 591F adc r21,r25 |
| 2284 0e6a 6A1F adc r22,r26 |
| 2285 0e6c 7B1F adc r23,r27 |
| 2286 0e6e 5A01 movw r10,r20 |
| 2287 0e70 6B01 movw r12,r22 |
| 2288 0e72 8091 0000 lds r24,LageKorrekturNick |
| 2289 0e76 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2290 0e7a 281B sub r18,r24 |
| 2291 0e7c 390B sbc r19,r25 |
| 2292 0e7e C901 movw r24,r18 |
| 2293 0e80 AA27 clr r26 |
| 2294 0e82 97FD sbrc r25,7 |
| 2295 0e84 A095 com r26 |
| 2296 0e86 BA2F mov r27,r26 |
| 2297 0e88 680E add r6,r24 |
| 2298 0e8a 791E adc r7,r25 |
| 2299 0e8c 8A1E adc r8,r26 |
| 2300 0e8e 9B1E adc r9,r27 |
| 2301 0e90 8091 0000 lds r24,Umschlag180Nick |
| 2302 0e94 9091 0000 lds r25,(Umschlag180Nick)+1 |
| 2303 0e98 A091 0000 lds r26,(Umschlag180Nick)+2 |
| 2304 0e9c B091 0000 lds r27,(Umschlag180Nick)+3 |
| 2305 0ea0 8EAB std Y+54,r24 |
| 2306 0ea2 9FAB std Y+55,r25 |
| 2307 0ea4 A8AF std Y+56,r26 |
| 2308 0ea6 B9AF std Y+57,r27 |
| 2309 0ea8 8615 cp r24,r6 |
| 2310 0eaa 9705 cpc r25,r7 |
| 2311 0eac A805 cpc r26,r8 |
| 2312 0eae B905 cpc r27,r9 |
| 2313 0eb0 04F4 brge .L92 |
| 2314 0eb2 48EA ldi r20,lo8(25000) |
| 2315 0eb4 51E6 ldi r21,hi8(25000) |
| 2316 0eb6 60E0 ldi r22,hlo8(25000) |
| 2317 0eb8 70E0 ldi r23,hhi8(25000) |
| 2318 0eba 481B sub r20,r24 |
| 2319 0ebc 590B sbc r21,r25 |
| 2320 0ebe 6A0B sbc r22,r26 |
| 2321 0ec0 7B0B sbc r23,r27 |
| 2322 0ec2 3A01 movw r6,r20 |
| 2323 0ec4 4B01 movw r8,r22 |
| 2324 0ec6 5A01 movw r10,r20 |
| 2325 0ec8 6B01 movw r12,r22 |
| 2326 .L92: |
| 2327 0eca 8EA9 ldd r24,Y+54 |
| 2328 0ecc 9FA9 ldd r25,Y+55 |
| 2329 0ece A8AD ldd r26,Y+56 |
| 2330 0ed0 B9AD ldd r27,Y+57 |
| 2331 0ed2 B095 com r27 |
| 2332 0ed4 A095 com r26 |
| 2333 0ed6 9095 com r25 |
| 2334 0ed8 8195 neg r24 |
| 2335 0eda 9F4F sbci r25,lo8(-1) |
| 2336 0edc AF4F sbci r26,lo8(-1) |
| 2337 0ede BF4F sbci r27,lo8(-1) |
| 2338 0ee0 6816 cp r6,r24 |
| 2339 0ee2 7906 cpc r7,r25 |
| 2340 0ee4 8A06 cpc r8,r26 |
| 2341 0ee6 9B06 cpc r9,r27 |
| 2342 0ee8 04F0 brlt .+2 |
| 2343 0eea 00C0 rjmp .L172 |
| 2344 0eec E8E5 ldi r30,lo8(-25000) |
| 2345 0eee 6E2E mov r6,r30 |
| 2346 0ef0 EEE9 ldi r30,hi8(-25000) |
| 2347 0ef2 7E2E mov r7,r30 |
| 2348 0ef4 EFEF ldi r30,hlo8(-25000) |
| 2349 0ef6 8E2E mov r8,r30 |
| 2350 0ef8 EFEF ldi r30,hhi8(-25000) |
| 2351 0efa 9E2E mov r9,r30 |
| 2352 0efc 2EA9 ldd r18,Y+54 |
| 2353 0efe 3FA9 ldd r19,Y+55 |
| 2354 0f00 48AD ldd r20,Y+56 |
| 2355 0f02 59AD ldd r21,Y+57 |
| 2356 0f04 620E add r6,r18 |
| 2357 0f06 731E adc r7,r19 |
| 2358 0f08 841E adc r8,r20 |
| 2359 0f0a 951E adc r9,r21 |
| 2360 0f0c 6092 0000 sts Mess_IntegralNick,r6 |
| 2361 0f10 7092 0000 sts (Mess_IntegralNick)+1,r7 |
| 2362 0f14 8092 0000 sts (Mess_IntegralNick)+2,r8 |
| 2363 0f18 9092 0000 sts (Mess_IntegralNick)+3,r9 |
| 2364 0f1c B401 movw r22,r8 |
| 2365 0f1e A301 movw r20,r6 |
| 2366 0f20 6092 0000 sts Mess_IntegralNick2,r6 |
| 2367 0f24 7092 0000 sts (Mess_IntegralNick2)+1,r7 |
| 2368 0f28 8092 0000 sts (Mess_IntegralNick2)+2,r8 |
| 2369 0f2c 9092 0000 sts (Mess_IntegralNick2)+3,r9 |
| 2370 .L93: |
| 2371 0f30 8DA1 ldd r24,Y+37 |
| 2372 0f32 9EA1 ldd r25,Y+38 |
| 2373 0f34 AFA1 ldd r26,Y+39 |
| 2374 0f36 B8A5 ldd r27,Y+40 |
| 2375 0f38 8093 0000 sts Integral_Gier,r24 |
| 2376 0f3c 9093 0000 sts (Integral_Gier)+1,r25 |
| 2377 0f40 A093 0000 sts (Integral_Gier)+2,r26 |
| 2378 0f44 B093 0000 sts (Integral_Gier)+3,r27 |
| 2379 0f48 6092 0000 sts IntegralNick,r6 |
| 2380 0f4c 7092 0000 sts (IntegralNick)+1,r7 |
| 2381 0f50 8092 0000 sts (IntegralNick)+2,r8 |
| 2382 0f54 9092 0000 sts (IntegralNick)+3,r9 |
| 2383 0f58 2092 0000 sts IntegralRoll,r2 |
| 2384 0f5c 3092 0000 sts (IntegralRoll)+1,r3 |
| 2385 0f60 4092 0000 sts (IntegralRoll)+2,r4 |
| 2386 0f64 5092 0000 sts (IntegralRoll)+3,r5 |
| 2387 0f68 4093 0000 sts IntegralNick2,r20 |
| 2388 0f6c 5093 0000 sts (IntegralNick2)+1,r21 |
| 2389 0f70 6093 0000 sts (IntegralNick2)+2,r22 |
| 2390 0f74 7093 0000 sts (IntegralNick2)+3,r23 |
| 2391 0f78 E092 0000 sts IntegralRoll2,r14 |
| 2392 0f7c F092 0000 sts (IntegralRoll2)+1,r15 |
| 2393 0f80 0093 0000 sts (IntegralRoll2)+2,r16 |
| 2394 0f84 1093 0000 sts (IntegralRoll2)+3,r17 |
| 2395 0f88 8091 0000 lds r24,HiResNick |
| 2396 0f8c 9091 0000 lds r25,(HiResNick)+1 |
| 2397 0f90 97FD sbrc r25,7 |
| 2398 0f92 00C0 rjmp .L197 |
| 2399 .L94: |
| 2400 0f94 7C01 movw r14,r24 |
| 2401 0f96 F594 asr r15 |
| 2402 0f98 E794 ror r14 |
| 2403 0f9a F594 asr r15 |
| 2404 0f9c E794 ror r14 |
| 2405 0f9e F594 asr r15 |
| 2406 0fa0 E794 ror r14 |
| 2407 0fa2 FAA6 std Y+42,r15 |
| 2408 0fa4 E9A6 std Y+41,r14 |
| 2409 0fa6 8091 0000 lds r24,HiResRoll |
| 2410 0faa 9091 0000 lds r25,(HiResRoll)+1 |
| 2411 0fae 97FD sbrc r25,7 |
| 2412 0fb0 00C0 rjmp .L198 |
| 2413 .L95: |
| 2414 0fb2 8C01 movw r16,r24 |
| 2415 0fb4 1595 asr r17 |
| 2416 0fb6 0795 ror r16 |
| 2417 0fb8 1595 asr r17 |
| 2418 0fba 0795 ror r16 |
| 2419 0fbc 1595 asr r17 |
| 2420 0fbe 0795 ror r16 |
| 2421 0fc0 1CA7 std Y+44,r17 |
| 2422 0fc2 0BA7 std Y+43,r16 |
| 2423 0fc4 8091 0000 lds r24,AdWertNick |
| 2424 0fc8 9091 0000 lds r25,(AdWertNick)+1 |
| 2425 0fcc 0F97 sbiw r24,15 |
| 2426 0fce 04F4 brge .L96 |
| 2427 0fd0 58E1 ldi r21,lo8(-1000) |
| 2428 0fd2 E52E mov r14,r21 |
| 2429 0fd4 5CEF ldi r21,hi8(-1000) |
| 2430 0fd6 F52E mov r15,r21 |
| 2431 0fd8 FAA6 std Y+42,r15 |
| 2432 0fda E9A6 std Y+41,r14 |
| 2433 .L96: |
| 2434 0fdc 8091 0000 lds r24,AdWertNick |
| 2435 0fe0 9091 0000 lds r25,(AdWertNick)+1 |
| 2436 0fe4 0797 sbiw r24,7 |
| 2437 0fe6 04F4 brge .L97 |
| 2438 0fe8 40E3 ldi r20,lo8(-2000) |
| 2439 0fea E42E mov r14,r20 |
| 2440 0fec 48EF ldi r20,hi8(-2000) |
| 2441 0fee F42E mov r15,r20 |
| 2442 0ff0 FAA6 std Y+42,r15 |
| 2443 0ff2 E9A6 std Y+41,r14 |
| 2444 .L97: |
| 2445 0ff4 2091 0000 lds r18,PlatinenVersion |
| 2446 0ff8 2A30 cpi r18,lo8(10) |
| 2447 0ffa 01F4 brne .+2 |
| 2448 0ffc 00C0 rjmp .L199 |
| 2449 0ffe 8091 0000 lds r24,AdWertNick |
| 2450 1002 9091 0000 lds r25,(AdWertNick)+1 |
| 2451 1006 815D subi r24,lo8(2001) |
| 2452 1008 9740 sbci r25,hi8(2001) |
| 2453 100a 04F0 brlt .+2 |
| 2454 100c 00C0 rjmp .L200 |
| 2455 .L102: |
| 2456 100e 8091 0000 lds r24,AdWertNick |
| 2457 1012 9091 0000 lds r25,(AdWertNick)+1 |
| 2458 1016 805E subi r24,lo8(2016) |
| 2459 1018 9740 sbci r25,hi8(2016) |
| 2460 101a 04F0 brlt .L101 |
| 2461 .L180: |
| 2462 101c 80ED ldi r24,lo8(2000) |
| 2463 101e E82E mov r14,r24 |
| 2464 1020 87E0 ldi r24,hi8(2000) |
| 2465 1022 F82E mov r15,r24 |
| 2466 1024 FAA6 std Y+42,r15 |
| 2467 1026 E9A6 std Y+41,r14 |
| 2468 .L101: |
| 2469 1028 8091 0000 lds r24,AdWertRoll |
| 2470 102c 9091 0000 lds r25,(AdWertRoll)+1 |
| 2471 1030 0F97 sbiw r24,15 |
| 2472 1032 04F4 brge .L104 |
| 2473 1034 08E1 ldi r16,lo8(-1000) |
| 2474 1036 1CEF ldi r17,hi8(-1000) |
| 2475 1038 1CA7 std Y+44,r17 |
| 2476 103a 0BA7 std Y+43,r16 |
| 2477 .L104: |
| 2478 103c 8091 0000 lds r24,AdWertRoll |
| 2479 1040 9091 0000 lds r25,(AdWertRoll)+1 |
| 2480 1044 0797 sbiw r24,7 |
| 2481 1046 04F4 brge .L105 |
| 2482 1048 00E3 ldi r16,lo8(-2000) |
| 2483 104a 18EF ldi r17,hi8(-2000) |
| 2484 104c 1CA7 std Y+44,r17 |
| 2485 104e 0BA7 std Y+43,r16 |
| 2486 .L105: |
| 2487 1050 2A30 cpi r18,lo8(10) |
| 2488 1052 01F4 brne .+2 |
| 2489 1054 00C0 rjmp .L201 |
| 2490 1056 8091 0000 lds r24,AdWertRoll |
| 2491 105a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2492 105e 815D subi r24,lo8(2001) |
| 2493 1060 9740 sbci r25,hi8(2001) |
| 2494 1062 04F0 brlt .L110 |
| 2495 1064 08EE ldi r16,lo8(1000) |
| 2496 1066 13E0 ldi r17,hi8(1000) |
| 2497 1068 1CA7 std Y+44,r17 |
| 2498 106a 0BA7 std Y+43,r16 |
| 2499 .L110: |
| 2500 106c 8091 0000 lds r24,AdWertRoll |
| 2501 1070 9091 0000 lds r25,(AdWertRoll)+1 |
| 2502 1074 805E subi r24,lo8(2016) |
| 2503 1076 9740 sbci r25,hi8(2016) |
| 2504 1078 04F0 brlt .L109 |
| 2505 .L181: |
| 2506 107a 00ED ldi r16,lo8(2000) |
| 2507 107c 17E0 ldi r17,hi8(2000) |
| 2508 107e 1CA7 std Y+44,r17 |
| 2509 1080 0BA7 std Y+43,r16 |
| 2510 .L109: |
| 2511 1082 A091 0000 lds r26,Parameter_Gyro_D |
| 2512 1086 AA23 tst r26 |
| 2513 1088 01F4 brne .+2 |
| 2514 108a 00C0 rjmp .L112 |
| 2515 108c 6091 0000 lds r22,HiResNick |
| 2516 1090 7091 0000 lds r23,(HiResNick)+1 |
| 2517 1094 8091 0000 lds r24,oldNick.39 |
| 2518 1098 9091 0000 lds r25,(oldNick.39)+1 |
| 2519 109c 681B sub r22,r24 |
| 2520 109e 790B sbc r23,r25 |
| 2521 10a0 2091 0000 lds r18,HiResNick |
| 2522 10a4 3091 0000 lds r19,(HiResNick)+1 |
| 2523 10a8 280F add r18,r24 |
| 2524 10aa 391F adc r19,r25 |
| 2525 10ac 37FD sbrc r19,7 |
| 2526 10ae 00C0 rjmp .L202 |
| 2527 .L113: |
| 2528 10b0 3595 asr r19 |
| 2529 10b2 2795 ror r18 |
| 2530 10b4 3093 0000 sts (oldNick.39)+1,r19 |
| 2531 10b8 2093 0000 sts oldNick.39,r18 |
| 2532 10bc 6138 cpi r22,129 |
| 2533 10be 7105 cpc r23,__zero_reg__ |
| 2534 10c0 04F4 brge .+2 |
| 2535 10c2 00C0 rjmp .L114 |
| 2536 10c4 60E8 ldi r22,lo8(128) |
| 2537 10c6 70E0 ldi r23,hi8(128) |
| 2538 .L173: |
| 2539 10c8 7093 0000 sts (d2Nick.42)+1,r23 |
| 2540 10cc 6093 0000 sts d2Nick.42,r22 |
| 2541 10d0 8A2F mov r24,r26 |
| 2542 10d2 9927 clr r25 |
| 2543 10d4 869F mul r24,r22 |
| 2544 10d6 F001 movw r30,r0 |
| 2545 10d8 879F mul r24,r23 |
| 2546 10da F00D add r31,r0 |
| 2547 10dc 969F mul r25,r22 |
| 2548 10de F00D add r31,r0 |
| 2549 10e0 1124 clr r1 |
| 2550 10e2 CF01 movw r24,r30 |
| 2551 10e4 F7FD sbrc r31,7 |
| 2552 10e6 00C0 rjmp .L203 |
| 2553 .L117: |
| 2554 10e8 7C01 movw r14,r24 |
| 2555 10ea F594 asr r15 |
| 2556 10ec E794 ror r14 |
| 2557 10ee F594 asr r15 |
| 2558 10f0 E794 ror r14 |
| 2559 10f2 F594 asr r15 |
| 2560 10f4 E794 ror r14 |
| 2561 10f6 F594 asr r15 |
| 2562 10f8 E794 ror r14 |
| 2563 10fa 29A5 ldd r18,Y+41 |
| 2564 10fc 3AA5 ldd r19,Y+42 |
| 2565 10fe E20E add r14,r18 |
| 2566 1100 F31E adc r15,r19 |
| 2567 1102 FAA6 std Y+42,r15 |
| 2568 1104 E9A6 std Y+41,r14 |
| 2569 1106 4091 0000 lds r20,HiResRoll |
| 2570 110a 5091 0000 lds r21,(HiResRoll)+1 |
| 2571 110e 8091 0000 lds r24,oldRoll.40 |
| 2572 1112 9091 0000 lds r25,(oldRoll.40)+1 |
| 2573 1116 481B sub r20,r24 |
| 2574 1118 590B sbc r21,r25 |
| 2575 111a 2091 0000 lds r18,HiResRoll |
| 2576 111e 3091 0000 lds r19,(HiResRoll)+1 |
| 2577 1122 280F add r18,r24 |
| 2578 1124 391F adc r19,r25 |
| 2579 1126 37FD sbrc r19,7 |
| 2580 1128 00C0 rjmp .L204 |
| 2581 .L118: |
| 2582 112a 3595 asr r19 |
| 2583 112c 2795 ror r18 |
| 2584 112e 3093 0000 sts (oldRoll.40)+1,r19 |
| 2585 1132 2093 0000 sts oldRoll.40,r18 |
| 2586 1136 4138 cpi r20,129 |
| 2587 1138 5105 cpc r21,__zero_reg__ |
| 2588 113a 04F4 brge .+2 |
| 2589 113c 00C0 rjmp .L119 |
| 2590 113e 40E8 ldi r20,lo8(128) |
| 2591 1140 50E0 ldi r21,hi8(128) |
| 2592 .L174: |
| 2593 1142 5093 0000 sts (d2Roll.41)+1,r21 |
| 2594 1146 4093 0000 sts d2Roll.41,r20 |
| 2595 114a 8A2F mov r24,r26 |
| 2596 114c 9927 clr r25 |
| 2597 114e 849F mul r24,r20 |
| 2598 1150 D001 movw r26,r0 |
| 2599 1152 859F mul r24,r21 |
| 2600 1154 B00D add r27,r0 |
| 2601 1156 949F mul r25,r20 |
| 2602 1158 B00D add r27,r0 |
| 2603 115a 1124 clr r1 |
| 2604 115c AD01 movw r20,r26 |
| 2605 115e 9D01 movw r18,r26 |
| 2606 1160 B7FD sbrc r27,7 |
| 2607 1162 00C0 rjmp .L205 |
| 2608 .L122: |
| 2609 1164 8901 movw r16,r18 |
| 2610 1166 1595 asr r17 |
| 2611 1168 0795 ror r16 |
| 2612 116a 1595 asr r17 |
| 2613 116c 0795 ror r16 |
| 2614 116e 1595 asr r17 |
| 2615 1170 0795 ror r16 |
| 2616 1172 1595 asr r17 |
| 2617 1174 0795 ror r16 |
| 2618 1176 EBA5 ldd r30,Y+43 |
| 2619 1178 FCA5 ldd r31,Y+44 |
| 2620 117a 0E0F add r16,r30 |
| 2621 117c 1F1F adc r17,r31 |
| 2622 117e 1CA7 std Y+44,r17 |
| 2623 1180 0BA7 std Y+43,r16 |
| 2624 1182 869F mul r24,r22 |
| 2625 1184 9001 movw r18,r0 |
| 2626 1186 879F mul r24,r23 |
| 2627 1188 300D add r19,r0 |
| 2628 118a 969F mul r25,r22 |
| 2629 118c 300D add r19,r0 |
| 2630 118e 1124 clr r1 |
| 2631 1190 C901 movw r24,r18 |
| 2632 1192 2091 0000 lds r18,HiResNick |
| 2633 1196 3091 0000 lds r19,(HiResNick)+1 |
| 2634 119a 820F add r24,r18 |
| 2635 119c 931F adc r25,r19 |
| 2636 119e 9093 0000 sts (HiResNick)+1,r25 |
| 2637 11a2 8093 0000 sts HiResNick,r24 |
| 2638 11a6 8091 0000 lds r24,HiResRoll |
| 2639 11aa 9091 0000 lds r25,(HiResRoll)+1 |
| 2640 11ae 480F add r20,r24 |
| 2641 11b0 591F adc r21,r25 |
| 2642 11b2 5093 0000 sts (HiResRoll)+1,r21 |
| 2643 11b6 4093 0000 sts HiResRoll,r20 |
| 2644 .L112: |
| 2645 11ba 4D85 ldd r20,Y+13 |
| 2646 11bc 5E85 ldd r21,Y+14 |
| 2647 11be 1416 cp __zero_reg__,r20 |
| 2648 11c0 1506 cpc __zero_reg__,r21 |
| 2649 11c2 04F0 brlt .+2 |
| 2650 11c4 00C0 rjmp .L123 |
| 2651 11c6 8091 0000 lds r24,KopplungsteilNickRoll |
| 2652 11ca 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2653 11ce 97FD sbrc r25,7 |
| 2654 11d0 00C0 rjmp .L206 |
| 2655 .L124: |
| 2656 11d2 AA27 clr r26 |
| 2657 11d4 97FD sbrc r25,7 |
| 2658 11d6 A095 com r26 |
| 2659 11d8 BA2F mov r27,r26 |
| 2660 11da 6DA5 ldd r22,Y+45 |
| 2661 11dc 262F mov r18,r22 |
| 2662 11de 3327 clr r19 |
| 2663 11e0 4427 clr r20 |
| 2664 11e2 5527 clr r21 |
| 2665 11e4 BC01 movw r22,r24 |
| 2666 11e6 CD01 movw r24,r26 |
| 2667 11e8 0E94 0000 call __mulsi3 |
| 2668 11ec 97FD sbrc r25,7 |
| 2669 11ee 00C0 rjmp .L207 |
| 2670 .L125: |
| 2671 11f0 E6E0 ldi r30,6 |
| 2672 11f2 9595 1: asr r25 |
| 2673 11f4 8795 ror r24 |
| 2674 11f6 7795 ror r23 |
| 2675 11f8 6795 ror r22 |
| 2676 11fa EA95 dec r30 |
| 2677 11fc 01F4 brne 1b |
| 2678 11fe AF8D ldd r26,Y+31 |
| 2679 1200 B8A1 ldd r27,Y+32 |
| 2680 1202 A60F add r26,r22 |
| 2681 1204 B71F adc r27,r23 |
| 2682 1206 B093 0000 sts (TrimRoll)+1,r27 |
| 2683 120a A093 0000 sts TrimRoll,r26 |
| 2684 120e 4B85 ldd r20,Y+11 |
| 2685 1210 5C85 ldd r21,Y+12 |
| 2686 1212 1416 cp __zero_reg__,r20 |
| 2687 1214 1506 cpc __zero_reg__,r21 |
| 2688 1216 04F0 brlt .+2 |
| 2689 1218 00C0 rjmp .L129 |
| 2690 .L217: |
| 2691 121a 8091 0000 lds r24,KopplungsteilRollNick |
| 2692 121e 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 2693 1222 97FD sbrc r25,7 |
| 2694 1224 00C0 rjmp .L208 |
| 2695 .L130: |
| 2696 1226 AA27 clr r26 |
| 2697 1228 97FD sbrc r25,7 |
| 2698 122a A095 com r26 |
| 2699 122c BA2F mov r27,r26 |
| 2700 122e 6DA5 ldd r22,Y+45 |
| 2701 1230 262F mov r18,r22 |
| 2702 1232 3327 clr r19 |
| 2703 1234 4427 clr r20 |
| 2704 1236 5527 clr r21 |
| 2705 1238 BC01 movw r22,r24 |
| 2706 123a CD01 movw r24,r26 |
| 2707 123c 0E94 0000 call __mulsi3 |
| 2708 1240 97FD sbrc r25,7 |
| 2709 1242 00C0 rjmp .L209 |
| 2710 .L131: |
| 2711 1244 46E0 ldi r20,6 |
| 2712 1246 9595 1: asr r25 |
| 2713 1248 8795 ror r24 |
| 2714 124a 7795 ror r23 |
| 2715 124c 6795 ror r22 |
| 2716 124e 4A95 dec r20 |
| 2717 1250 01F4 brne 1b |
| 2718 1252 A9A1 ldd r26,Y+33 |
| 2719 1254 BAA1 ldd r27,Y+34 |
| 2720 1256 A60F add r26,r22 |
| 2721 1258 B71F adc r27,r23 |
| 2722 125a B093 0000 sts (TrimNick)+1,r27 |
| 2723 125e A093 0000 sts TrimNick,r26 |
| 2724 1262 3CA1 ldd r19,Y+36 |
| 2725 1264 37FD sbrc r19,7 |
| 2726 1266 00C0 rjmp .L210 |
| 2727 .L177: |
| 2728 1268 1093 0000 sts (MesswertRoll)+1,r17 |
| 2729 126c 0093 0000 sts MesswertRoll,r16 |
| 2730 1270 F092 0000 sts (MesswertNick)+1,r15 |
| 2731 1274 E092 0000 sts MesswertNick,r14 |
| 2732 .L135: |
| 2733 1278 8091 0000 lds r24,EE_Parameter+4 |
| 2734 127c E82F mov r30,r24 |
| 2735 127e FF27 clr r31 |
| 2736 1280 EE0F add r30,r30 |
| 2737 1282 FF1F adc r31,r31 |
| 2738 1284 E050 subi r30,lo8(-(PPM_in)) |
| 2739 1286 F040 sbci r31,hi8(-(PPM_in)) |
| 2740 1288 8081 ld r24,Z |
| 2741 128a 9181 ldd r25,Z+1 |
| 2742 128c 8259 subi r24,lo8(-(110)) |
| 2743 128e 9F4F sbci r25,hi8(-(110)) |
| 2744 1290 A091 0000 lds r26,Poti1 |
| 2745 1294 B091 0000 lds r27,(Poti1)+1 |
| 2746 1298 A817 cp r26,r24 |
| 2747 129a B907 cpc r27,r25 |
| 2748 129c 04F0 brlt .+2 |
| 2749 129e 00C0 rjmp .L142 |
| 2750 12a0 CD01 movw r24,r26 |
| 2751 12a2 0196 adiw r24,1 |
| 2752 .L182: |
| 2753 12a4 9093 0000 sts (Poti1)+1,r25 |
| 2754 12a8 8093 0000 sts Poti1,r24 |
| 2755 12ac DC01 movw r26,r24 |
| 2756 .L143: |
| 2757 12ae 8091 0000 lds r24,EE_Parameter+5 |
| 2758 12b2 E82F mov r30,r24 |
| 2759 12b4 FF27 clr r31 |
| 2760 12b6 EE0F add r30,r30 |
| 2761 12b8 FF1F adc r31,r31 |
| 2762 12ba E050 subi r30,lo8(-(PPM_in)) |
| 2763 12bc F040 sbci r31,hi8(-(PPM_in)) |
| 2764 12be 8081 ld r24,Z |
| 2765 12c0 9181 ldd r25,Z+1 |
| 2766 12c2 8259 subi r24,lo8(-(110)) |
| 2767 12c4 9F4F sbci r25,hi8(-(110)) |
| 2768 12c6 6091 0000 lds r22,Poti2 |
| 2769 12ca 7091 0000 lds r23,(Poti2)+1 |
| 2770 12ce 6817 cp r22,r24 |
| 2771 12d0 7907 cpc r23,r25 |
| 2772 12d2 04F0 brlt .+2 |
| 2773 12d4 00C0 rjmp .L145 |
| 2774 12d6 CB01 movw r24,r22 |
| 2775 12d8 0196 adiw r24,1 |
| 2776 .L183: |
| 2777 12da 9093 0000 sts (Poti2)+1,r25 |
| 2778 12de 8093 0000 sts Poti2,r24 |
| 2779 12e2 BC01 movw r22,r24 |
| 2780 .L146: |
| 2781 12e4 8091 0000 lds r24,EE_Parameter+6 |
| 2782 12e8 E82F mov r30,r24 |
| 2783 12ea FF27 clr r31 |
| 2784 12ec EE0F add r30,r30 |
| 2785 12ee FF1F adc r31,r31 |
| 2786 12f0 E050 subi r30,lo8(-(PPM_in)) |
| 2787 12f2 F040 sbci r31,hi8(-(PPM_in)) |
| 2788 12f4 8081 ld r24,Z |
| 2789 12f6 9181 ldd r25,Z+1 |
| 2790 12f8 8259 subi r24,lo8(-(110)) |
| 2791 12fa 9F4F sbci r25,hi8(-(110)) |
| 2792 12fc 4091 0000 lds r20,Poti3 |
| 2793 1300 5091 0000 lds r21,(Poti3)+1 |
| 2794 1304 4817 cp r20,r24 |
| 2795 1306 5907 cpc r21,r25 |
| 2796 1308 04F0 brlt .+2 |
| 2797 130a 00C0 rjmp .L148 |
| 2798 130c CA01 movw r24,r20 |
| 2799 130e 0196 adiw r24,1 |
| 2800 .L184: |
| 2801 1310 9093 0000 sts (Poti3)+1,r25 |
| 2802 1314 8093 0000 sts Poti3,r24 |
| 2803 1318 AC01 movw r20,r24 |
| 2804 .L149: |
| 2805 131a 8091 0000 lds r24,EE_Parameter+7 |
| 2806 131e E82F mov r30,r24 |
| 2807 1320 FF27 clr r31 |
| 2808 1322 EE0F add r30,r30 |
| 2809 1324 FF1F adc r31,r31 |
| 2810 1326 E050 subi r30,lo8(-(PPM_in)) |
| 2811 1328 F040 sbci r31,hi8(-(PPM_in)) |
| 2812 132a 8081 ld r24,Z |
| 2813 132c 9181 ldd r25,Z+1 |
| 2814 132e 8259 subi r24,lo8(-(110)) |
| 2815 1330 9F4F sbci r25,hi8(-(110)) |
| 2816 1332 2091 0000 lds r18,Poti4 |
| 2817 1336 3091 0000 lds r19,(Poti4)+1 |
| 2818 133a 2817 cp r18,r24 |
| 2819 133c 3907 cpc r19,r25 |
| 2820 133e 04F0 brlt .+2 |
| 2821 1340 00C0 rjmp .L151 |
| 2822 1342 C901 movw r24,r18 |
| 2823 1344 0196 adiw r24,1 |
| 2824 .L185: |
| 2825 1346 9093 0000 sts (Poti4)+1,r25 |
| 2826 134a 8093 0000 sts Poti4,r24 |
| 2827 134e 9C01 movw r18,r24 |
| 2828 .L152: |
| 2829 1350 B7FD sbrc r27,7 |
| 2830 1352 00C0 rjmp .L211 |
| 2831 1354 AF3F cpi r26,255 |
| 2832 1356 B105 cpc r27,__zero_reg__ |
| 2833 1358 01F0 breq .L155 |
| 2834 135a 04F0 brlt .L155 |
| 2835 135c 8FEF ldi r24,lo8(255) |
| 2836 135e 90E0 ldi r25,hi8(255) |
| 2837 1360 9093 0000 sts (Poti1)+1,r25 |
| 2838 1364 8093 0000 sts Poti1,r24 |
| 2839 .L155: |
| 2840 1368 77FD sbrc r23,7 |
| 2841 136a 00C0 rjmp .L212 |
| 2842 136c 6F3F cpi r22,255 |
| 2843 136e 7105 cpc r23,__zero_reg__ |
| 2844 1370 01F0 breq .L158 |
| 2845 1372 04F0 brlt .L158 |
| 2846 1374 8FEF ldi r24,lo8(255) |
| 2847 1376 90E0 ldi r25,hi8(255) |
| 2848 1378 9093 0000 sts (Poti2)+1,r25 |
| 2849 137c 8093 0000 sts Poti2,r24 |
| 2850 .L158: |
| 2851 1380 57FD sbrc r21,7 |
| 2852 1382 00C0 rjmp .L213 |
| 2853 .L160: |
| 2854 1384 4F3F cpi r20,255 |
| 2855 1386 5105 cpc r21,__zero_reg__ |
| 2856 1388 01F0 breq .L161 |
| 2857 138a 04F0 brlt .L161 |
| 2858 138c 8FEF ldi r24,lo8(255) |
| 2859 138e 90E0 ldi r25,hi8(255) |
| 2860 1390 9093 0000 sts (Poti3)+1,r25 |
| 2861 1394 8093 0000 sts Poti3,r24 |
| 2862 .L161: |
| 2863 1398 37FD sbrc r19,7 |
| 2864 139a 00C0 rjmp .L214 |
| 2865 .L163: |
| 2866 139c 2F3F cpi r18,255 |
| 2867 139e 3105 cpc r19,__zero_reg__ |
| 2868 13a0 01F0 breq .+2 |
| 2869 13a2 04F4 brge .+2 |
| 2870 13a4 00C0 rjmp .L56 |
| 2871 13a6 8FEF ldi r24,lo8(255) |
| 2872 13a8 90E0 ldi r25,hi8(255) |
| 2873 13aa 9093 0000 sts (Poti4)+1,r25 |
| 2874 13ae 8093 0000 sts Poti4,r24 |
| 2875 13b2 00C0 rjmp .L56 |
| 2876 .L172: |
| 2877 13b4 6092 0000 sts Mess_IntegralNick,r6 |
| 2878 13b8 7092 0000 sts (Mess_IntegralNick)+1,r7 |
| 2879 13bc 8092 0000 sts (Mess_IntegralNick)+2,r8 |
| 2880 13c0 9092 0000 sts (Mess_IntegralNick)+3,r9 |
| 2881 13c4 A092 0000 sts Mess_IntegralNick2,r10 |
| 2882 13c8 B092 0000 sts (Mess_IntegralNick2)+1,r11 |
| 2883 13cc C092 0000 sts (Mess_IntegralNick2)+2,r12 |
| 2884 13d0 D092 0000 sts (Mess_IntegralNick2)+3,r13 |
| 2885 13d4 00C0 rjmp .L93 |
| 2886 .L171: |
| 2887 13d6 2092 0000 sts Mess_IntegralRoll,r2 |
| 2888 13da 3092 0000 sts (Mess_IntegralRoll)+1,r3 |
| 2889 13de 4092 0000 sts (Mess_IntegralRoll)+2,r4 |
| 2890 13e2 5092 0000 sts (Mess_IntegralRoll)+3,r5 |
| 2891 13e6 A092 0000 sts Mess_IntegralRoll2,r10 |
| 2892 13ea B092 0000 sts (Mess_IntegralRoll2)+1,r11 |
| 2893 13ee C092 0000 sts (Mess_IntegralRoll2)+2,r12 |
| 2894 13f2 D092 0000 sts (Mess_IntegralRoll2)+3,r13 |
| 2895 13f6 00C0 rjmp .L91 |
| 2896 .L66: |
| 2897 13f8 98EB ldi r25,lo8(-93000) |
| 2898 13fa 6916 cp r6,r25 |
| 2899 13fc 94E9 ldi r25,hi8(-93000) |
| 2900 13fe 7906 cpc r7,r25 |
| 2901 1400 9EEF ldi r25,hlo8(-93000) |
| 2902 1402 8906 cpc r8,r25 |
| 2903 1404 9FEF ldi r25,hhi8(-93000) |
| 2904 1406 9906 cpc r9,r25 |
| 2905 1408 04F4 brge .L68 |
| 2906 140a 28EB ldi r18,lo8(-93000) |
| 2907 140c 34E9 ldi r19,hi8(-93000) |
| 2908 140e 4EEF ldi r20,hlo8(-93000) |
| 2909 1410 5FEF ldi r21,hhi8(-93000) |
| 2910 1412 2983 std Y+1,r18 |
| 2911 1414 3A83 std Y+2,r19 |
| 2912 1416 4B83 std Y+3,r20 |
| 2913 1418 5C83 std Y+4,r21 |
| 2914 141a 00C0 rjmp .L67 |
| 2915 .L200: |
| 2916 141c 98EE ldi r25,lo8(1000) |
| 2917 141e E92E mov r14,r25 |
| 2918 1420 93E0 ldi r25,hi8(1000) |
| 2919 1422 F92E mov r15,r25 |
| 2920 1424 FAA6 std Y+42,r15 |
| 2921 1426 E9A6 std Y+41,r14 |
| 2922 1428 00C0 rjmp .L102 |
| 2923 .L64: |
| 2924 142a 2D82 std Y+5,r2 |
| 2925 142c 3E82 std Y+6,r3 |
| 2926 142e 4F82 std Y+7,r4 |
| 2927 1430 5886 std Y+8,r5 |
| 2928 1432 00C0 rjmp .L63 |
| 2929 .L167: |
| 2930 1434 8DA1 ldd r24,Y+37 |
| 2931 1436 9EA1 ldd r25,Y+38 |
| 2932 1438 AFA1 ldd r26,Y+39 |
| 2933 143a B8A5 ldd r27,Y+40 |
| 2934 143c 8093 0000 sts Mess_Integral_Gier,r24 |
| 2935 1440 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 2936 1444 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 2937 1448 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 2938 144c 9091 0000 lds r25,EE_Parameter+8 |
| 2939 1450 9CA3 std Y+36,r25 |
| 2940 1452 00C0 rjmp .L70 |
| 2941 .L68: |
| 2942 1454 6982 std Y+1,r6 |
| 2943 1456 7A82 std Y+2,r7 |
| 2944 1458 8B82 std Y+3,r8 |
| 2945 145a 9C82 std Y+4,r9 |
| 2946 145c 00C0 rjmp .L67 |
| 2947 .L145: |
| 2948 145e 8081 ld r24,Z |
| 2949 1460 9181 ldd r25,Z+1 |
| 2950 1462 8259 subi r24,lo8(-(110)) |
| 2951 1464 9F4F sbci r25,hi8(-(110)) |
| 2952 1466 8617 cp r24,r22 |
| 2953 1468 9707 cpc r25,r23 |
| 2954 146a 04F0 brlt .+2 |
| 2955 146c 00C0 rjmp .L146 |
| 2956 146e 6115 cp r22,__zero_reg__ |
| 2957 1470 7105 cpc r23,__zero_reg__ |
| 2958 1472 01F4 brne .+2 |
| 2959 1474 00C0 rjmp .L146 |
| 2960 1476 CB01 movw r24,r22 |
| 2961 1478 0197 sbiw r24,1 |
| 2962 147a 00C0 rjmp .L183 |
| 2963 .L142: |
| 2964 147c 8081 ld r24,Z |
| 2965 147e 9181 ldd r25,Z+1 |
| 2966 1480 8259 subi r24,lo8(-(110)) |
| 2967 1482 9F4F sbci r25,hi8(-(110)) |
| 2968 1484 8A17 cp r24,r26 |
| 2969 1486 9B07 cpc r25,r27 |
| 2970 1488 04F0 brlt .+2 |
| 2971 148a 00C0 rjmp .L143 |
| 2972 148c 1097 sbiw r26,0 |
| 2973 148e 01F4 brne .+2 |
| 2974 1490 00C0 rjmp .L143 |
| 2975 1492 CD01 movw r24,r26 |
| 2976 1494 0197 sbiw r24,1 |
| 2977 1496 00C0 rjmp .L182 |
| 2978 .L151: |
| 2979 1498 8081 ld r24,Z |
| 2980 149a 9181 ldd r25,Z+1 |
| 2981 149c 8259 subi r24,lo8(-(110)) |
| 2982 149e 9F4F sbci r25,hi8(-(110)) |
| 2983 14a0 8217 cp r24,r18 |
| 2984 14a2 9307 cpc r25,r19 |
| 2985 14a4 04F0 brlt .+2 |
| 2986 14a6 00C0 rjmp .L152 |
| 2987 14a8 2115 cp r18,__zero_reg__ |
| 2988 14aa 3105 cpc r19,__zero_reg__ |
| 2989 14ac 01F4 brne .+2 |
| 2990 14ae 00C0 rjmp .L152 |
| 2991 14b0 C901 movw r24,r18 |
| 2992 14b2 0197 sbiw r24,1 |
| 2993 14b4 00C0 rjmp .L185 |
| 2994 .L148: |
| 2995 14b6 8081 ld r24,Z |
| 2996 14b8 9181 ldd r25,Z+1 |
| 2997 14ba 8259 subi r24,lo8(-(110)) |
| 2998 14bc 9F4F sbci r25,hi8(-(110)) |
| 2999 14be 8417 cp r24,r20 |
| 3000 14c0 9507 cpc r25,r21 |
| 3001 14c2 04F0 brlt .+2 |
| 3002 14c4 00C0 rjmp .L149 |
| 3003 14c6 4115 cp r20,__zero_reg__ |
| 3004 14c8 5105 cpc r21,__zero_reg__ |
| 3005 14ca 01F4 brne .+2 |
| 3006 14cc 00C0 rjmp .L149 |
| 3007 14ce CA01 movw r24,r20 |
| 3008 14d0 0197 sbiw r24,1 |
| 3009 14d2 00C0 rjmp .L184 |
| 3010 .L199: |
| 3011 14d4 8091 0000 lds r24,AdWertNick |
| 3012 14d8 9091 0000 lds r25,(AdWertNick)+1 |
| 3013 14dc 835F subi r24,lo8(1011) |
| 3014 14de 9340 sbci r25,hi8(1011) |
| 3015 14e0 04F0 brlt .L99 |
| 3016 14e2 38EE ldi r19,lo8(1000) |
| 3017 14e4 E32E mov r14,r19 |
| 3018 14e6 33E0 ldi r19,hi8(1000) |
| 3019 14e8 F32E mov r15,r19 |
| 3020 14ea FAA6 std Y+42,r15 |
| 3021 14ec E9A6 std Y+41,r14 |
| 3022 .L99: |
| 3023 14ee 8091 0000 lds r24,AdWertNick |
| 3024 14f2 9091 0000 lds r25,(AdWertNick)+1 |
| 3025 14f6 8A5F subi r24,lo8(1018) |
| 3026 14f8 9340 sbci r25,hi8(1018) |
| 3027 14fa 04F4 brge .+2 |
| 3028 14fc 00C0 rjmp .L101 |
| 3029 14fe 00C0 rjmp .L180 |
| 3030 .L201: |
| 3031 1500 8091 0000 lds r24,AdWertRoll |
| 3032 1504 9091 0000 lds r25,(AdWertRoll)+1 |
| 3033 1508 835F subi r24,lo8(1011) |
| 3034 150a 9340 sbci r25,hi8(1011) |
| 3035 150c 04F0 brlt .L107 |
| 3036 150e 08EE ldi r16,lo8(1000) |
| 3037 1510 13E0 ldi r17,hi8(1000) |
| 3038 1512 1CA7 std Y+44,r17 |
| 3039 1514 0BA7 std Y+43,r16 |
| 3040 .L107: |
| 3041 1516 8091 0000 lds r24,AdWertRoll |
| 3042 151a 9091 0000 lds r25,(AdWertRoll)+1 |
| 3043 151e 8A5F subi r24,lo8(1018) |
| 3044 1520 9340 sbci r25,hi8(1018) |
| 3045 1522 04F4 brge .+2 |
| 3046 1524 00C0 rjmp .L109 |
| 3047 1526 00C0 rjmp .L181 |
| 3048 .L119: |
| 3049 1528 3FEF ldi r19,hi8(-128) |
| 3050 152a 4038 cpi r20,lo8(-128) |
| 3051 152c 5307 cpc r21,r19 |
| 3052 152e 04F0 brlt .+2 |
| 3053 1530 00C0 rjmp .L174 |
| 3054 1532 40E8 ldi r20,lo8(-128) |
| 3055 1534 5FEF ldi r21,hi8(-128) |
| 3056 1536 00C0 rjmp .L174 |
| 3057 .L114: |
| 3058 1538 8FEF ldi r24,hi8(-128) |
| 3059 153a 6038 cpi r22,lo8(-128) |
| 3060 153c 7807 cpc r23,r24 |
| 3061 153e 04F0 brlt .+2 |
| 3062 1540 00C0 rjmp .L173 |
| 3063 1542 60E8 ldi r22,lo8(-128) |
| 3064 1544 7FEF ldi r23,hi8(-128) |
| 3065 1546 00C0 rjmp .L173 |
| 3066 .L123: |
| 3067 1548 8091 0000 lds r24,KopplungsteilNickRoll |
| 3068 154c 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 3069 1550 97FD sbrc r25,7 |
| 3070 1552 00C0 rjmp .L215 |
| 3071 .L127: |
| 3072 1554 AA27 clr r26 |
| 3073 1556 97FD sbrc r25,7 |
| 3074 1558 A095 com r26 |
| 3075 155a BA2F mov r27,r26 |
| 3076 155c EDA5 ldd r30,Y+45 |
| 3077 155e 2E2F mov r18,r30 |
| 3078 1560 3327 clr r19 |
| 3079 1562 4427 clr r20 |
| 3080 1564 5527 clr r21 |
| 3081 1566 BC01 movw r22,r24 |
| 3082 1568 CD01 movw r24,r26 |
| 3083 156a 0E94 0000 call __mulsi3 |
| 3084 156e 97FD sbrc r25,7 |
| 3085 1570 00C0 rjmp .L216 |
| 3086 .L128: |
| 3087 1572 56E0 ldi r21,6 |
| 3088 1574 9595 1: asr r25 |
| 3089 1576 8795 ror r24 |
| 3090 1578 7795 ror r23 |
| 3091 157a 6795 ror r22 |
| 3092 157c 5A95 dec r21 |
| 3093 157e 01F4 brne 1b |
| 3094 1580 2F8D ldd r18,Y+31 |
| 3095 1582 38A1 ldd r19,Y+32 |
| 3096 1584 261B sub r18,r22 |
| 3097 1586 370B sbc r19,r23 |
| 3098 1588 3093 0000 sts (TrimRoll)+1,r19 |
| 3099 158c 2093 0000 sts TrimRoll,r18 |
| 3100 1590 4B85 ldd r20,Y+11 |
| 3101 1592 5C85 ldd r21,Y+12 |
| 3102 1594 1416 cp __zero_reg__,r20 |
| 3103 1596 1506 cpc __zero_reg__,r21 |
| 3104 1598 04F4 brge .+2 |
| 3105 159a 00C0 rjmp .L217 |
| 3106 .L129: |
| 3107 159c 8091 0000 lds r24,KopplungsteilRollNick |
| 3108 15a0 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 3109 15a4 97FD sbrc r25,7 |
| 3110 15a6 00C0 rjmp .L218 |
| 3111 .L133: |
| 3112 15a8 AA27 clr r26 |
| 3113 15aa 97FD sbrc r25,7 |
| 3114 15ac A095 com r26 |
| 3115 15ae BA2F mov r27,r26 |
| 3116 15b0 EDA5 ldd r30,Y+45 |
| 3117 15b2 2E2F mov r18,r30 |
| 3118 15b4 3327 clr r19 |
| 3119 15b6 4427 clr r20 |
| 3120 15b8 5527 clr r21 |
| 3121 15ba BC01 movw r22,r24 |
| 3122 15bc CD01 movw r24,r26 |
| 3123 15be 0E94 0000 call __mulsi3 |
| 3124 15c2 97FD sbrc r25,7 |
| 3125 15c4 00C0 rjmp .L219 |
| 3126 .L134: |
| 3127 15c6 36E0 ldi r19,6 |
| 3128 15c8 9595 1: asr r25 |
| 3129 15ca 8795 ror r24 |
| 3130 15cc 7795 ror r23 |
| 3131 15ce 6795 ror r22 |
| 3132 15d0 3A95 dec r19 |
| 3133 15d2 01F4 brne 1b |
| 3134 15d4 29A1 ldd r18,Y+33 |
| 3135 15d6 3AA1 ldd r19,Y+34 |
| 3136 15d8 261B sub r18,r22 |
| 3137 15da 370B sbc r19,r23 |
| 3138 15dc 3093 0000 sts (TrimNick)+1,r19 |
| 3139 15e0 2093 0000 sts TrimNick,r18 |
| 3140 15e4 3CA1 ldd r19,Y+36 |
| 3141 15e6 37FF sbrs r19,7 |
| 3142 15e8 00C0 rjmp .L177 |
| 3143 .L210: |
| 3144 15ea 4BA1 ldd r20,Y+35 |
| 3145 15ec 4423 tst r20 |
| 3146 15ee 01F0 breq .+2 |
| 3147 15f0 00C0 rjmp .L177 |
| 3148 15f2 8091 0000 lds r24,Looping_Roll |
| 3149 15f6 8823 tst r24 |
| 3150 15f8 01F0 breq .+2 |
| 3151 15fa 00C0 rjmp .L177 |
| 3152 15fc 8B85 ldd r24,Y+11 |
| 3153 15fe 9C85 ldd r25,Y+12 |
| 3154 1600 A1E0 ldi r26,hi8(257) |
| 3155 1602 8130 cpi r24,lo8(257) |
| 3156 1604 9A07 cpc r25,r26 |
| 3157 1606 04F0 brlt .+2 |
| 3158 1608 00C0 rjmp .L220 |
| 3159 160a 2B85 ldd r18,Y+11 |
| 3160 160c 3C85 ldd r19,Y+12 |
| 3161 160e 4FEF ldi r20,hi8(-256) |
| 3162 1610 2030 cpi r18,lo8(-256) |
| 3163 1612 3407 cpc r19,r20 |
| 3164 1614 04F0 brlt .+2 |
| 3165 1616 00C0 rjmp .L178 |
| 3166 1618 89A5 ldd r24,Y+41 |
| 3167 161a 9AA5 ldd r25,Y+42 |
| 3168 161c 280F add r18,r24 |
| 3169 161e 391F adc r19,r25 |
| 3170 1620 3C87 std Y+12,r19 |
| 3171 1622 2B87 std Y+11,r18 |
| 3172 1624 2050 subi r18,lo8(-(256)) |
| 3173 1626 3F4F sbci r19,hi8(-(256)) |
| 3174 1628 3093 0000 sts (MesswertNick)+1,r19 |
| 3175 162c 2093 0000 sts MesswertNick,r18 |
| 3176 .L137: |
| 3177 1630 AD85 ldd r26,Y+13 |
| 3178 1632 BE85 ldd r27,Y+14 |
| 3179 1634 E1E0 ldi r30,hi8(257) |
| 3180 1636 A130 cpi r26,lo8(257) |
| 3181 1638 BE07 cpc r27,r30 |
| 3182 163a 04F4 brge .+2 |
| 3183 163c 00C0 rjmp .L139 |
| 3184 163e 2BA5 ldd r18,Y+43 |
| 3185 1640 3CA5 ldd r19,Y+44 |
| 3186 1642 A20F add r26,r18 |
| 3187 1644 B31F adc r27,r19 |
| 3188 1646 BE87 std Y+14,r27 |
| 3189 1648 AD87 std Y+13,r26 |
| 3190 164a A050 subi r26,lo8(-(-256)) |
| 3191 164c B140 sbci r27,hi8(-(-256)) |
| 3192 164e B093 0000 sts (MesswertRoll)+1,r27 |
| 3193 1652 A093 0000 sts MesswertRoll,r26 |
| 3194 1656 00C0 rjmp .L135 |
| 3195 .L212: |
| 3196 1658 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 3197 165c 1092 0000 sts Poti2,__zero_reg__ |
| 3198 1660 57FF sbrs r21,7 |
| 3199 1662 00C0 rjmp .L160 |
| 3200 .L213: |
| 3201 1664 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 3202 1668 1092 0000 sts Poti3,__zero_reg__ |
| 3203 166c 37FF sbrs r19,7 |
| 3204 166e 00C0 rjmp .L163 |
| 3205 .L214: |
| 3206 1670 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 3207 1674 1092 0000 sts Poti4,__zero_reg__ |
| 3208 1678 00C0 rjmp .L56 |
| 3209 .L211: |
| 3210 167a 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 3211 167e 1092 0000 sts Poti1,__zero_reg__ |
| 3212 1682 00C0 rjmp .L155 |
| 3213 .L187: |
| 3214 1684 295F subi r18,lo8(-(7)) |
| 3215 1686 3F4F sbci r19,hi8(-(7)) |
| 3216 1688 00C0 rjmp .L58 |
| 3217 .L186: |
| 3218 168a 295F subi r18,lo8(-(7)) |
| 3219 168c 3F4F sbci r19,hi8(-(7)) |
| 3220 168e 00C0 rjmp .L57 |
| 3221 .L190: |
| 3222 1690 2D5F subi r18,lo8(-(3)) |
| 3223 1692 3F4F sbci r19,hi8(-(3)) |
| 3224 1694 4F4F sbci r20,hlo8(-(3)) |
| 3225 1696 5F4F sbci r21,hhi8(-(3)) |
| 3226 1698 00C0 rjmp .L61 |
| 3227 .L196: |
| 3228 169a E60E add r14,r22 |
| 3229 169c F71E adc r15,r23 |
| 3230 169e 081F adc r16,r24 |
| 3231 16a0 191F adc r17,r25 |
| 3232 16a2 E092 0000 sts ErsatzKompass,r14 |
| 3233 16a6 F092 0000 sts (ErsatzKompass)+1,r15 |
| 3234 16aa 0093 0000 sts (ErsatzKompass)+2,r16 |
| 3235 16ae 1093 0000 sts (ErsatzKompass)+3,r17 |
| 3236 16b2 00C0 rjmp .L89 |
| 3237 .L189: |
| 3238 16b4 23E0 ldi r18,lo8(3) |
| 3239 16b6 30E0 ldi r19,hi8(3) |
| 3240 16b8 40E0 ldi r20,hlo8(3) |
| 3241 16ba 50E0 ldi r21,hhi8(3) |
| 3242 16bc E20E add r14,r18 |
| 3243 16be F31E adc r15,r19 |
| 3244 16c0 041F adc r16,r20 |
| 3245 16c2 151F adc r17,r21 |
| 3246 16c4 00C0 rjmp .L60 |
| 3247 .L188: |
| 3248 16c6 83E0 ldi r24,lo8(3) |
| 3249 16c8 90E0 ldi r25,hi8(3) |
| 3250 16ca A0E0 ldi r26,hlo8(3) |
| 3251 16cc B0E0 ldi r27,hhi8(3) |
| 3252 16ce E80E add r14,r24 |
| 3253 16d0 F91E adc r15,r25 |
| 3254 16d2 0A1F adc r16,r26 |
| 3255 16d4 1B1F adc r17,r27 |
| 3256 16d6 00C0 rjmp .L59 |
| 3257 .L198: |
| 3258 16d8 0796 adiw r24,7 |
| 3259 16da 00C0 rjmp .L95 |
| 3260 .L197: |
| 3261 16dc 0796 adiw r24,7 |
| 3262 16de 00C0 rjmp .L94 |
| 3263 .L168: |
| 3264 16e0 2DA1 ldd r18,Y+37 |
| 3265 16e2 3EA1 ldd r19,Y+38 |
| 3266 16e4 4FA1 ldd r20,Y+39 |
| 3267 16e6 58A5 ldd r21,Y+40 |
| 3268 16e8 2093 0000 sts Mess_Integral_Gier,r18 |
| 3269 16ec 3093 0000 sts (Mess_Integral_Gier)+1,r19 |
| 3270 16f0 4093 0000 sts (Mess_Integral_Gier)+2,r20 |
| 3271 16f4 5093 0000 sts (Mess_Integral_Gier)+3,r21 |
| 3272 16f8 00C0 rjmp .L70 |
| 3273 .L209: |
| 3274 16fa 615C subi r22,lo8(-(63)) |
| 3275 16fc 7F4F sbci r23,hi8(-(63)) |
| 3276 16fe 8F4F sbci r24,hlo8(-(63)) |
| 3277 1700 9F4F sbci r25,hhi8(-(63)) |
| 3278 1702 00C0 rjmp .L131 |
| 3279 .L208: |
| 3280 1704 9095 com r25 |
| 3281 1706 8195 neg r24 |
| 3282 1708 9F4F sbci r25,lo8(-1) |
| 3283 170a 00C0 rjmp .L130 |
| 3284 .L207: |
| 3285 170c 615C subi r22,lo8(-(63)) |
| 3286 170e 7F4F sbci r23,hi8(-(63)) |
| 3287 1710 8F4F sbci r24,hlo8(-(63)) |
| 3288 1712 9F4F sbci r25,hhi8(-(63)) |
| 3289 1714 00C0 rjmp .L125 |
| 3290 .L206: |
| 3291 1716 9095 com r25 |
| 3292 1718 8195 neg r24 |
| 3293 171a 9F4F sbci r25,lo8(-1) |
| 3294 171c 00C0 rjmp .L124 |
| 3295 .L205: |
| 3296 171e 215F subi r18,lo8(-(15)) |
| 3297 1720 3F4F sbci r19,hi8(-(15)) |
| 3298 1722 00C0 rjmp .L122 |
| 3299 .L204: |
| 3300 1724 2F5F subi r18,lo8(-(1)) |
| 3301 1726 3F4F sbci r19,hi8(-(1)) |
| 3302 1728 00C0 rjmp .L118 |
| 3303 .L203: |
| 3304 172a 0F96 adiw r24,15 |
| 3305 172c 00C0 rjmp .L117 |
| 3306 .L202: |
| 3307 172e 2F5F subi r18,lo8(-(1)) |
| 3308 1730 3F4F sbci r19,hi8(-(1)) |
| 3309 1732 00C0 rjmp .L113 |
| 3310 .L169: |
| 3311 1734 2DA1 ldd r18,Y+37 |
| 3312 1736 3EA1 ldd r19,Y+38 |
| 3313 1738 4FA1 ldd r20,Y+39 |
| 3314 173a 58A5 ldd r21,Y+40 |
| 3315 173c 2093 0000 sts Mess_Integral_Gier,r18 |
| 3316 1740 3093 0000 sts (Mess_Integral_Gier)+1,r19 |
| 3317 1744 4093 0000 sts (Mess_Integral_Gier)+2,r20 |
| 3318 1748 5093 0000 sts (Mess_Integral_Gier)+3,r21 |
| 3319 .L75: |
| 3320 174c 8985 ldd r24,Y+9 |
| 3321 174e 9A85 ldd r25,Y+10 |
| 3322 1750 AA27 clr r26 |
| 3323 1752 97FD sbrc r25,7 |
| 3324 1754 A095 com r26 |
| 3325 1756 BA2F mov r27,r26 |
| 3326 1758 2AAD ldd r18,Y+58 |
| 3327 175a 3BAD ldd r19,Y+59 |
| 3328 175c 4CAD ldd r20,Y+60 |
| 3329 175e 5DAD ldd r21,Y+61 |
| 3330 1760 820F add r24,r18 |
| 3331 1762 931F adc r25,r19 |
| 3332 1764 A41F adc r26,r20 |
| 3333 1766 B51F adc r27,r21 |
| 3334 1768 8B8B std Y+19,r24 |
| 3335 176a 9C8B std Y+20,r25 |
| 3336 176c AD8B std Y+21,r26 |
| 3337 176e BE8B std Y+22,r27 |
| 3338 1770 BC01 movw r22,r24 |
| 3339 1772 CD01 movw r24,r26 |
| 3340 1774 2981 ldd r18,Y+1 |
| 3341 1776 3A81 ldd r19,Y+2 |
| 3342 1778 4B81 ldd r20,Y+3 |
| 3343 177a 5C81 ldd r21,Y+4 |
| 3344 177c 0E94 0000 call __mulsi3 |
| 3345 1780 9B01 movw r18,r22 |
| 3346 1782 AC01 movw r20,r24 |
| 3347 1784 97FD sbrc r25,7 |
| 3348 1786 00C0 rjmp .L221 |
| 3349 .L77: |
| 3350 1788 6BE0 ldi r22,11 |
| 3351 178a 5595 1: asr r21 |
| 3352 178c 4795 ror r20 |
| 3353 178e 3795 ror r19 |
| 3354 1790 2795 ror r18 |
| 3355 1792 6A95 dec r22 |
| 3356 1794 01F4 brne 1b |
| 3357 1796 6091 0000 lds r22,Parameter_AchsKopplung1 |
| 3358 179a 862F mov r24,r22 |
| 3359 179c 9927 clr r25 |
| 3360 179e AA27 clr r26 |
| 3361 17a0 BB27 clr r27 |
| 3362 17a2 8F8B std Y+23,r24 |
| 3363 17a4 988F std Y+24,r25 |
| 3364 17a6 A98F std Y+25,r26 |
| 3365 17a8 BA8F std Y+26,r27 |
| 3366 17aa BC01 movw r22,r24 |
| 3367 17ac CD01 movw r24,r26 |
| 3368 17ae 0E94 0000 call __mulsi3 |
| 3369 17b2 97FD sbrc r25,7 |
| 3370 17b4 00C0 rjmp .L222 |
| 3371 .L78: |
| 3372 17b6 2CE0 ldi r18,12 |
| 3373 17b8 9595 1: asr r25 |
| 3374 17ba 8795 ror r24 |
| 3375 17bc 7795 ror r23 |
| 3376 17be 6795 ror r22 |
| 3377 17c0 2A95 dec r18 |
| 3378 17c2 01F4 brne 1b |
| 3379 17c4 6B8F std Y+27,r22 |
| 3380 17c6 7C8F std Y+28,r23 |
| 3381 17c8 8D8F std Y+29,r24 |
| 3382 17ca 9E8F std Y+30,r25 |
| 3383 17cc 6093 0000 sts tmpl.35,r22 |
| 3384 17d0 7093 0000 sts (tmpl.35)+1,r23 |
| 3385 17d4 8093 0000 sts (tmpl.35)+2,r24 |
| 3386 17d8 9093 0000 sts (tmpl.35)+3,r25 |
| 3387 17dc 6B89 ldd r22,Y+19 |
| 3388 17de 7C89 ldd r23,Y+20 |
| 3389 17e0 8D89 ldd r24,Y+21 |
| 3390 17e2 9E89 ldd r25,Y+22 |
| 3391 17e4 2D81 ldd r18,Y+5 |
| 3392 17e6 3E81 ldd r19,Y+6 |
| 3393 17e8 4F81 ldd r20,Y+7 |
| 3394 17ea 5885 ldd r21,Y+8 |
| 3395 17ec 0E94 0000 call __mulsi3 |
| 3396 17f0 9B01 movw r18,r22 |
| 3397 17f2 AC01 movw r20,r24 |
| 3398 17f4 97FD sbrc r25,7 |
| 3399 17f6 00C0 rjmp .L223 |
| 3400 .L79: |
| 3401 17f8 8BE0 ldi r24,11 |
| 3402 17fa 5595 1: asr r21 |
| 3403 17fc 4795 ror r20 |
| 3404 17fe 3795 ror r19 |
| 3405 1800 2795 ror r18 |
| 3406 1802 8A95 dec r24 |
| 3407 1804 01F4 brne 1b |
| 3408 1806 6F89 ldd r22,Y+23 |
| 3409 1808 788D ldd r23,Y+24 |
| 3410 180a 898D ldd r24,Y+25 |
| 3411 180c 9A8D ldd r25,Y+26 |
| 3412 180e 0E94 0000 call __mulsi3 |
| 3413 1812 97FD sbrc r25,7 |
| 3414 1814 00C0 rjmp .L224 |
| 3415 .L80: |
| 3416 1816 BCE0 ldi r27,12 |
| 3417 1818 9595 1: asr r25 |
| 3418 181a 8795 ror r24 |
| 3419 181c 7795 ror r23 |
| 3420 181e 6795 ror r22 |
| 3421 1820 BA95 dec r27 |
| 3422 1822 01F4 brne 1b |
| 3423 1824 6AAB std Y+50,r22 |
| 3424 1826 7BAB std Y+51,r23 |
| 3425 1828 8CAB std Y+52,r24 |
| 3426 182a 9DAB std Y+53,r25 |
| 3427 182c 6093 0000 sts tmpl2.36,r22 |
| 3428 1830 7093 0000 sts (tmpl2.36)+1,r23 |
| 3429 1834 8093 0000 sts (tmpl2.36)+2,r24 |
| 3430 1838 9093 0000 sts (tmpl2.36)+3,r25 |
| 3431 183c 2985 ldd r18,Y+9 |
| 3432 183e 3A85 ldd r19,Y+10 |
| 3433 1840 37FD sbrc r19,7 |
| 3434 1842 00C0 rjmp .L225 |
| 3435 .L82: |
| 3436 1844 2134 cpi r18,65 |
| 3437 1846 3105 cpc r19,__zero_reg__ |
| 3438 1848 04F4 brge .+2 |
| 3439 184a 00C0 rjmp .L87 |
| 3440 184c 6B8D ldd r22,Y+27 |
| 3441 184e 7C8D ldd r23,Y+28 |
| 3442 1850 8D8D ldd r24,Y+29 |
| 3443 1852 9E8D ldd r25,Y+30 |
| 3444 1854 97FD sbrc r25,7 |
| 3445 1856 00C0 rjmp .L226 |
| 3446 .L85: |
| 3447 1858 6138 cpi r22,lo8(129) |
| 3448 185a 7105 cpc r23,__zero_reg__ |
| 3449 185c 8105 cpc r24,__zero_reg__ |
| 3450 185e 9105 cpc r25,__zero_reg__ |
| 3451 1860 04F4 brge .L84 |
| 3452 1862 6AA9 ldd r22,Y+50 |
| 3453 1864 7BA9 ldd r23,Y+51 |
| 3454 1866 8CA9 ldd r24,Y+52 |
| 3455 1868 9DA9 ldd r25,Y+53 |
| 3456 186a 97FD sbrc r25,7 |
| 3457 186c 00C0 rjmp .L227 |
| 3458 .L86: |
| 3459 186e 6138 cpi r22,lo8(129) |
| 3460 1870 7105 cpc r23,__zero_reg__ |
| 3461 1872 8105 cpc r24,__zero_reg__ |
| 3462 1874 9105 cpc r25,__zero_reg__ |
| 3463 1876 04F4 brge .+2 |
| 3464 1878 00C0 rjmp .L87 |
| 3465 .L84: |
| 3466 187a 81E0 ldi r24,lo8(1) |
| 3467 187c 8093 0000 sts TrichterFlug,r24 |
| 3468 1880 00C0 rjmp .L87 |
| 3469 .L218: |
| 3470 1882 9095 com r25 |
| 3471 1884 8195 neg r24 |
| 3472 1886 9F4F sbci r25,lo8(-1) |
| 3473 1888 00C0 rjmp .L133 |
| 3474 .L215: |
| 3475 188a 9095 com r25 |
| 3476 188c 8195 neg r24 |
| 3477 188e 9F4F sbci r25,lo8(-1) |
| 3478 1890 00C0 rjmp .L127 |
| 3479 .L220: |
| 3480 1892 E9A5 ldd r30,Y+41 |
| 3481 1894 FAA5 ldd r31,Y+42 |
| 3482 1896 8E0F add r24,r30 |
| 3483 1898 9F1F adc r25,r31 |
| 3484 189a 9C87 std Y+12,r25 |
| 3485 189c 8B87 std Y+11,r24 |
| 3486 189e 8050 subi r24,lo8(-(-256)) |
| 3487 18a0 9140 sbci r25,hi8(-(-256)) |
| 3488 18a2 9093 0000 sts (MesswertNick)+1,r25 |
| 3489 18a6 8093 0000 sts MesswertNick,r24 |
| 3490 18aa 00C0 rjmp .L137 |
| 3491 .L226: |
| 3492 18ac 9095 com r25 |
| 3493 18ae 8095 com r24 |
| 3494 18b0 7095 com r23 |
| 3495 18b2 6195 neg r22 |
| 3496 18b4 7F4F sbci r23,lo8(-1) |
| 3497 18b6 8F4F sbci r24,lo8(-1) |
| 3498 18b8 9F4F sbci r25,lo8(-1) |
| 3499 18ba 00C0 rjmp .L85 |
| 3500 .L195: |
| 3501 18bc 0196 adiw r24,1 |
| 3502 18be A11D adc r26,__zero_reg__ |
| 3503 18c0 B11D adc r27,__zero_reg__ |
| 3504 18c2 8EA7 std Y+46,r24 |
| 3505 18c4 9FA7 std Y+47,r25 |
| 3506 18c6 A8AB std Y+48,r26 |
| 3507 18c8 B9AB std Y+49,r27 |
| 3508 18ca 00C0 rjmp .L76 |
| 3509 .L216: |
| 3510 18cc 615C subi r22,lo8(-(63)) |
| 3511 18ce 7F4F sbci r23,hi8(-(63)) |
| 3512 18d0 8F4F sbci r24,hlo8(-(63)) |
| 3513 18d2 9F4F sbci r25,hhi8(-(63)) |
| 3514 18d4 00C0 rjmp .L128 |
| 3515 .L219: |
| 3516 18d6 615C subi r22,lo8(-(63)) |
| 3517 18d8 7F4F sbci r23,hi8(-(63)) |
| 3518 18da 8F4F sbci r24,hlo8(-(63)) |
| 3519 18dc 9F4F sbci r25,hhi8(-(63)) |
| 3520 18de 00C0 rjmp .L134 |
| 3521 .L224: |
| 3522 18e0 6150 subi r22,lo8(-(4095)) |
| 3523 18e2 704F sbci r23,hi8(-(4095)) |
| 3524 18e4 8F4F sbci r24,hlo8(-(4095)) |
| 3525 18e6 9F4F sbci r25,hhi8(-(4095)) |
| 3526 18e8 00C0 rjmp .L80 |
| 3527 .L223: |
| 3528 18ea 2150 subi r18,lo8(-(2047)) |
| 3529 18ec 384F sbci r19,hi8(-(2047)) |
| 3530 18ee 4F4F sbci r20,hlo8(-(2047)) |
| 3531 18f0 5F4F sbci r21,hhi8(-(2047)) |
| 3532 18f2 00C0 rjmp .L79 |
| 3533 .L222: |
| 3534 18f4 6150 subi r22,lo8(-(4095)) |
| 3535 18f6 704F sbci r23,hi8(-(4095)) |
| 3536 18f8 8F4F sbci r24,hlo8(-(4095)) |
| 3537 18fa 9F4F sbci r25,hhi8(-(4095)) |
| 3538 18fc 00C0 rjmp .L78 |
| 3539 .L221: |
| 3540 18fe 2150 subi r18,lo8(-(2047)) |
| 3541 1900 384F sbci r19,hi8(-(2047)) |
| 3542 1902 4F4F sbci r20,hlo8(-(2047)) |
| 3543 1904 5F4F sbci r21,hhi8(-(2047)) |
| 3544 1906 00C0 rjmp .L77 |
| 3545 .L139: |
| 3546 1908 4D85 ldd r20,Y+13 |
| 3547 190a 5E85 ldd r21,Y+14 |
| 3548 190c 6FEF ldi r22,hi8(-256) |
| 3549 190e 4030 cpi r20,lo8(-256) |
| 3550 1910 5607 cpc r21,r22 |
| 3551 1912 04F4 brge .L179 |
| 3552 1914 8BA5 ldd r24,Y+43 |
| 3553 1916 9CA5 ldd r25,Y+44 |
| 3554 1918 480F add r20,r24 |
| 3555 191a 591F adc r21,r25 |
| 3556 191c 5E87 std Y+14,r21 |
| 3557 191e 4D87 std Y+13,r20 |
| 3558 1920 4050 subi r20,lo8(-(256)) |
| 3559 1922 5F4F sbci r21,hi8(-(256)) |
| 3560 1924 5093 0000 sts (MesswertRoll)+1,r21 |
| 3561 1928 4093 0000 sts MesswertRoll,r20 |
| 3562 192c 00C0 rjmp .L135 |
| 3563 .L192: |
| 3564 192e 6150 subi r22,lo8(-(4095)) |
| 3565 1930 704F sbci r23,hi8(-(4095)) |
| 3566 1932 8F4F sbci r24,hlo8(-(4095)) |
| 3567 1934 9F4F sbci r25,hhi8(-(4095)) |
| 3568 1936 00C0 rjmp .L72 |
| 3569 .L191: |
| 3570 1938 2150 subi r18,lo8(-(2047)) |
| 3571 193a 384F sbci r19,hi8(-(2047)) |
| 3572 193c 4F4F sbci r20,hlo8(-(2047)) |
| 3573 193e 5F4F sbci r21,hhi8(-(2047)) |
| 3574 1940 00C0 rjmp .L71 |
| 3575 .L225: |
| 3576 1942 3095 com r19 |
| 3577 1944 2195 neg r18 |
| 3578 1946 3F4F sbci r19,lo8(-1) |
| 3579 1948 00C0 rjmp .L82 |
| 3580 .L194: |
| 3581 194a 6150 subi r22,lo8(-(4095)) |
| 3582 194c 704F sbci r23,hi8(-(4095)) |
| 3583 194e 8F4F sbci r24,hlo8(-(4095)) |
| 3584 1950 9F4F sbci r25,hhi8(-(4095)) |
| 3585 1952 00C0 rjmp .L74 |
| 3586 .L193: |
| 3587 1954 2150 subi r18,lo8(-(2047)) |
| 3588 1956 384F sbci r19,hi8(-(2047)) |
| 3589 1958 4F4F sbci r20,hlo8(-(2047)) |
| 3590 195a 5F4F sbci r21,hhi8(-(2047)) |
| 3591 195c 00C0 rjmp .L73 |
| 3592 .L178: |
| 3593 195e F092 0000 sts (MesswertNick)+1,r15 |
| 3594 1962 E092 0000 sts MesswertNick,r14 |
| 3595 1966 00C0 rjmp .L137 |
| 3596 .L179: |
| 3597 1968 1093 0000 sts (MesswertRoll)+1,r17 |
| 3598 196c 0093 0000 sts MesswertRoll,r16 |
| 3599 1970 00C0 rjmp .L135 |
| 3600 .L227: |
| 3601 1972 9095 com r25 |
| 3602 1974 8095 com r24 |
| 3603 1976 7095 com r23 |
| 3604 1978 6195 neg r22 |
| 3605 197a 7F4F sbci r23,lo8(-1) |
| 3606 197c 8F4F sbci r24,lo8(-1) |
| 3607 197e 9F4F sbci r25,lo8(-1) |
| 3608 1980 00C0 rjmp .L86 |
| 3609 .L56: |
| 3610 /* epilogue: frame size=61 */ |
| 3611 1982 E2E1 ldi r30,18 |
| 3612 1984 C35C subi r28,-61 |
| 3613 1986 0C94 0000 jmp __epilogue_restores__+0 |
| 3614 /* epilogue end (size=4) */ |
| 3615 /* function Mittelwert size 2429 (2419) */ |
| 3617 .global CalibrierMittelwert |
| 3619 CalibrierMittelwert: |
| 3620 /* prologue: frame size=0 */ |
| 3621 /* prologue end (size=0) */ |
| 3622 198a 8091 0000 lds r24,PlatinenVersion |
| 3623 198e 8D30 cpi r24,lo8(13) |
| 3624 1990 01F4 brne .+2 |
| 3625 1992 00C0 rjmp .L258 |
| 3626 .L229: |
| 3627 1994 1092 7A00 sts 122,__zero_reg__ |
| 3628 1998 8091 0000 lds r24,AdWertNick |
| 3629 199c 9091 0000 lds r25,(AdWertNick)+1 |
| 3630 19a0 9093 0000 sts (MesswertNick)+1,r25 |
| 3631 19a4 8093 0000 sts MesswertNick,r24 |
| 3632 19a8 8091 0000 lds r24,AdWertRoll |
| 3633 19ac 9091 0000 lds r25,(AdWertRoll)+1 |
| 3634 19b0 9093 0000 sts (MesswertRoll)+1,r25 |
| 3635 19b4 8093 0000 sts MesswertRoll,r24 |
| 3636 19b8 8091 0000 lds r24,AdWertGier |
| 3637 19bc 9091 0000 lds r25,(AdWertGier)+1 |
| 3638 19c0 9093 0000 sts (MesswertGier)+1,r25 |
| 3639 19c4 8093 0000 sts MesswertGier,r24 |
| 3640 19c8 8091 0000 lds r24,AdWertAccNick |
| 3641 19cc 9091 0000 lds r25,(AdWertAccNick)+1 |
| 3642 19d0 9C01 movw r18,r24 |
| 3643 19d2 4427 clr r20 |
| 3644 19d4 37FD sbrc r19,7 |
| 3645 19d6 4095 com r20 |
| 3646 19d8 542F mov r21,r20 |
| 3647 19da DA01 movw r26,r20 |
| 3648 19dc C901 movw r24,r18 |
| 3649 19de 880F lsl r24 |
| 3650 19e0 991F rol r25 |
| 3651 19e2 AA1F rol r26 |
| 3652 19e4 BB1F rol r27 |
| 3653 19e6 880F lsl r24 |
| 3654 19e8 991F rol r25 |
| 3655 19ea AA1F rol r26 |
| 3656 19ec BB1F rol r27 |
| 3657 19ee 820F add r24,r18 |
| 3658 19f0 931F adc r25,r19 |
| 3659 19f2 A41F adc r26,r20 |
| 3660 19f4 B51F adc r27,r21 |
| 3661 19f6 820F add r24,r18 |
| 3662 19f8 931F adc r25,r19 |
| 3663 19fa A41F adc r26,r20 |
| 3664 19fc B51F adc r27,r21 |
| 3665 19fe 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 3666 1a02 8093 0000 sts Mittelwert_AccNick,r24 |
| 3667 1a06 8091 0000 lds r24,AdWertAccRoll |
| 3668 1a0a 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 3669 1a0e 9C01 movw r18,r24 |
| 3670 1a10 4427 clr r20 |
| 3671 1a12 37FD sbrc r19,7 |
| 3672 1a14 4095 com r20 |
| 3673 1a16 542F mov r21,r20 |
| 3674 1a18 DA01 movw r26,r20 |
| 3675 1a1a C901 movw r24,r18 |
| 3676 1a1c 880F lsl r24 |
| 3677 1a1e 991F rol r25 |
| 3678 1a20 AA1F rol r26 |
| 3679 1a22 BB1F rol r27 |
| 3680 1a24 880F lsl r24 |
| 3681 1a26 991F rol r25 |
| 3682 1a28 AA1F rol r26 |
| 3683 1a2a BB1F rol r27 |
| 3684 1a2c 820F add r24,r18 |
| 3685 1a2e 931F adc r25,r19 |
| 3686 1a30 A41F adc r26,r20 |
| 3687 1a32 B51F adc r27,r21 |
| 3688 1a34 820F add r24,r18 |
| 3689 1a36 931F adc r25,r19 |
| 3690 1a38 A41F adc r26,r20 |
| 3691 1a3a B51F adc r27,r21 |
| 3692 1a3c 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 3693 1a40 8093 0000 sts Mittelwert_AccRoll,r24 |
| 3694 1a44 8091 0000 lds r24,AdWertAccHoch |
| 3695 1a48 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 3696 1a4c 9093 0000 sts (Mittelwert_AccHoch)+1,r25 |
| 3697 1a50 8093 0000 sts Mittelwert_AccHoch,r24 |
| 3698 1a54 8FEC ldi r24,lo8(-49) |
| 3699 1a56 8093 7A00 sts 122,r24 |
| 3700 1a5a 8091 0000 lds r24,EE_Parameter+4 |
| 3701 1a5e E82F mov r30,r24 |
| 3702 1a60 FF27 clr r31 |
| 3703 1a62 EE0F add r30,r30 |
| 3704 1a64 FF1F adc r31,r31 |
| 3705 1a66 E050 subi r30,lo8(-(PPM_in)) |
| 3706 1a68 F040 sbci r31,hi8(-(PPM_in)) |
| 3707 1a6a 8081 ld r24,Z |
| 3708 1a6c 9181 ldd r25,Z+1 |
| 3709 1a6e 8259 subi r24,lo8(-(110)) |
| 3710 1a70 9F4F sbci r25,hi8(-(110)) |
| 3711 1a72 A091 0000 lds r26,Poti1 |
| 3712 1a76 B091 0000 lds r27,(Poti1)+1 |
| 3713 1a7a A817 cp r26,r24 |
| 3714 1a7c B907 cpc r27,r25 |
| 3715 1a7e 04F0 brlt .+2 |
| 3716 1a80 00C0 rjmp .L230 |
| 3717 1a82 CD01 movw r24,r26 |
| 3718 1a84 0196 adiw r24,1 |
| 3719 .L254: |
| 3720 1a86 9093 0000 sts (Poti1)+1,r25 |
| 3721 1a8a 8093 0000 sts Poti1,r24 |
| 3722 1a8e DC01 movw r26,r24 |
| 3723 .L231: |
| 3724 1a90 8091 0000 lds r24,EE_Parameter+5 |
| 3725 1a94 E82F mov r30,r24 |
| 3726 1a96 FF27 clr r31 |
| 3727 1a98 EE0F add r30,r30 |
| 3728 1a9a FF1F adc r31,r31 |
| 3729 1a9c E050 subi r30,lo8(-(PPM_in)) |
| 3730 1a9e F040 sbci r31,hi8(-(PPM_in)) |
| 3731 1aa0 8081 ld r24,Z |
| 3732 1aa2 9181 ldd r25,Z+1 |
| 3733 1aa4 8259 subi r24,lo8(-(110)) |
| 3734 1aa6 9F4F sbci r25,hi8(-(110)) |
| 3735 1aa8 6091 0000 lds r22,Poti2 |
| 3736 1aac 7091 0000 lds r23,(Poti2)+1 |
| 3737 1ab0 6817 cp r22,r24 |
| 3738 1ab2 7907 cpc r23,r25 |
| 3739 1ab4 04F0 brlt .+2 |
| 3740 1ab6 00C0 rjmp .L233 |
| 3741 1ab8 CB01 movw r24,r22 |
| 3742 1aba 0196 adiw r24,1 |
| 3743 .L255: |
| 3744 1abc 9093 0000 sts (Poti2)+1,r25 |
| 3745 1ac0 8093 0000 sts Poti2,r24 |
| 3746 1ac4 BC01 movw r22,r24 |
| 3747 .L234: |
| 3748 1ac6 8091 0000 lds r24,EE_Parameter+6 |
| 3749 1aca E82F mov r30,r24 |
| 3750 1acc FF27 clr r31 |
| 3751 1ace EE0F add r30,r30 |
| 3752 1ad0 FF1F adc r31,r31 |
| 3753 1ad2 E050 subi r30,lo8(-(PPM_in)) |
| 3754 1ad4 F040 sbci r31,hi8(-(PPM_in)) |
| 3755 1ad6 8081 ld r24,Z |
| 3756 1ad8 9181 ldd r25,Z+1 |
| 3757 1ada 8259 subi r24,lo8(-(110)) |
| 3758 1adc 9F4F sbci r25,hi8(-(110)) |
| 3759 1ade 4091 0000 lds r20,Poti3 |
| 3760 1ae2 5091 0000 lds r21,(Poti3)+1 |
| 3761 1ae6 4817 cp r20,r24 |
| 3762 1ae8 5907 cpc r21,r25 |
| 3763 1aea 04F0 brlt .+2 |
| 3764 1aec 00C0 rjmp .L236 |
| 3765 1aee CA01 movw r24,r20 |
| 3766 1af0 0196 adiw r24,1 |
| 3767 .L256: |
| 3768 1af2 9093 0000 sts (Poti3)+1,r25 |
| 3769 1af6 8093 0000 sts Poti3,r24 |
| 3770 1afa AC01 movw r20,r24 |
| 3771 .L237: |
| 3772 1afc 8091 0000 lds r24,EE_Parameter+7 |
| 3773 1b00 E82F mov r30,r24 |
| 3774 1b02 FF27 clr r31 |
| 3775 1b04 EE0F add r30,r30 |
| 3776 1b06 FF1F adc r31,r31 |
| 3777 1b08 E050 subi r30,lo8(-(PPM_in)) |
| 3778 1b0a F040 sbci r31,hi8(-(PPM_in)) |
| 3779 1b0c 8081 ld r24,Z |
| 3780 1b0e 9181 ldd r25,Z+1 |
| 3781 1b10 8259 subi r24,lo8(-(110)) |
| 3782 1b12 9F4F sbci r25,hi8(-(110)) |
| 3783 1b14 2091 0000 lds r18,Poti4 |
| 3784 1b18 3091 0000 lds r19,(Poti4)+1 |
| 3785 1b1c 2817 cp r18,r24 |
| 3786 1b1e 3907 cpc r19,r25 |
| 3787 1b20 04F0 brlt .+2 |
| 3788 1b22 00C0 rjmp .L239 |
| 3789 1b24 C901 movw r24,r18 |
| 3790 1b26 0196 adiw r24,1 |
| 3791 .L257: |
| 3792 1b28 9093 0000 sts (Poti4)+1,r25 |
| 3793 1b2c 8093 0000 sts Poti4,r24 |
| 3794 1b30 9C01 movw r18,r24 |
| 3795 .L240: |
| 3796 1b32 B7FD sbrc r27,7 |
| 3797 1b34 00C0 rjmp .L259 |
| 3798 1b36 AF3F cpi r26,255 |
| 3799 1b38 B105 cpc r27,__zero_reg__ |
| 3800 1b3a 01F0 breq .+4 |
| 3801 1b3c 04F0 brlt .+2 |
| 3802 1b3e 00C0 rjmp .L260 |
| 3803 .L243: |
| 3804 1b40 77FD sbrc r23,7 |
| 3805 1b42 00C0 rjmp .L261 |
| 3806 .L245: |
| 3807 1b44 6F3F cpi r22,255 |
| 3808 1b46 7105 cpc r23,__zero_reg__ |
| 3809 1b48 01F0 breq .L246 |
| 3810 1b4a 04F0 brlt .L246 |
| 3811 1b4c 8FEF ldi r24,lo8(255) |
| 3812 1b4e 90E0 ldi r25,hi8(255) |
| 3813 1b50 9093 0000 sts (Poti2)+1,r25 |
| 3814 1b54 8093 0000 sts Poti2,r24 |
| 3815 .L246: |
| 3816 1b58 57FD sbrc r21,7 |
| 3817 1b5a 00C0 rjmp .L262 |
| 3818 .L248: |
| 3819 1b5c 4F3F cpi r20,255 |
| 3820 1b5e 5105 cpc r21,__zero_reg__ |
| 3821 1b60 01F0 breq .L249 |
| 3822 1b62 04F0 brlt .L249 |
| 3823 1b64 8FEF ldi r24,lo8(255) |
| 3824 1b66 90E0 ldi r25,hi8(255) |
| 3825 1b68 9093 0000 sts (Poti3)+1,r25 |
| 3826 1b6c 8093 0000 sts Poti3,r24 |
| 3827 .L249: |
| 3828 1b70 37FD sbrc r19,7 |
| 3829 1b72 00C0 rjmp .L263 |
| 3830 .L251: |
| 3831 1b74 2F3F cpi r18,255 |
| 3832 1b76 3105 cpc r19,__zero_reg__ |
| 3833 1b78 01F0 breq .+2 |
| 3834 1b7a 04F4 brge .+2 |
| 3835 1b7c 00C0 rjmp .L252 |
| 3836 1b7e 8FEF ldi r24,lo8(255) |
| 3837 1b80 90E0 ldi r25,hi8(255) |
| 3838 1b82 9093 0000 sts (Poti4)+1,r25 |
| 3839 1b86 8093 0000 sts Poti4,r24 |
| 3840 1b8a 00C0 rjmp .L252 |
| 3841 .L230: |
| 3842 1b8c 8081 ld r24,Z |
| 3843 1b8e 9181 ldd r25,Z+1 |
| 3844 1b90 8259 subi r24,lo8(-(110)) |
| 3845 1b92 9F4F sbci r25,hi8(-(110)) |
| 3846 1b94 8A17 cp r24,r26 |
| 3847 1b96 9B07 cpc r25,r27 |
| 3848 1b98 04F0 brlt .+2 |
| 3849 1b9a 00C0 rjmp .L231 |
| 3850 1b9c 1097 sbiw r26,0 |
| 3851 1b9e 01F4 brne .+2 |
| 3852 1ba0 00C0 rjmp .L231 |
| 3853 1ba2 CD01 movw r24,r26 |
| 3854 1ba4 0197 sbiw r24,1 |
| 3855 1ba6 00C0 rjmp .L254 |
| 3856 .L239: |
| 3857 1ba8 8081 ld r24,Z |
| 3858 1baa 9181 ldd r25,Z+1 |
| 3859 1bac 8259 subi r24,lo8(-(110)) |
| 3860 1bae 9F4F sbci r25,hi8(-(110)) |
| 3861 1bb0 8217 cp r24,r18 |
| 3862 1bb2 9307 cpc r25,r19 |
| 3863 1bb4 04F0 brlt .+2 |
| 3864 1bb6 00C0 rjmp .L240 |
| 3865 1bb8 2115 cp r18,__zero_reg__ |
| 3866 1bba 3105 cpc r19,__zero_reg__ |
| 3867 1bbc 01F4 brne .+2 |
| 3868 1bbe 00C0 rjmp .L240 |
| 3869 1bc0 C901 movw r24,r18 |
| 3870 1bc2 0197 sbiw r24,1 |
| 3871 1bc4 00C0 rjmp .L257 |
| 3872 .L236: |
| 3873 1bc6 8081 ld r24,Z |
| 3874 1bc8 9181 ldd r25,Z+1 |
| 3875 1bca 8259 subi r24,lo8(-(110)) |
| 3876 1bcc 9F4F sbci r25,hi8(-(110)) |
| 3877 1bce 8417 cp r24,r20 |
| 3878 1bd0 9507 cpc r25,r21 |
| 3879 1bd2 04F0 brlt .+2 |
| 3880 1bd4 00C0 rjmp .L237 |
| 3881 1bd6 4115 cp r20,__zero_reg__ |
| 3882 1bd8 5105 cpc r21,__zero_reg__ |
| 3883 1bda 01F4 brne .+2 |
| 3884 1bdc 00C0 rjmp .L237 |
| 3885 1bde CA01 movw r24,r20 |
| 3886 1be0 0197 sbiw r24,1 |
| 3887 1be2 00C0 rjmp .L256 |
| 3888 .L233: |
| 3889 1be4 8081 ld r24,Z |
| 3890 1be6 9181 ldd r25,Z+1 |
| 3891 1be8 8259 subi r24,lo8(-(110)) |
| 3892 1bea 9F4F sbci r25,hi8(-(110)) |
| 3893 1bec 8617 cp r24,r22 |
| 3894 1bee 9707 cpc r25,r23 |
| 3895 1bf0 04F0 brlt .+2 |
| 3896 1bf2 00C0 rjmp .L234 |
| 3897 1bf4 6115 cp r22,__zero_reg__ |
| 3898 1bf6 7105 cpc r23,__zero_reg__ |
| 3899 1bf8 01F4 brne .+2 |
| 3900 1bfa 00C0 rjmp .L234 |
| 3901 1bfc CB01 movw r24,r22 |
| 3902 1bfe 0197 sbiw r24,1 |
| 3903 1c00 00C0 rjmp .L255 |
| 3904 .L260: |
| 3905 1c02 8FEF ldi r24,lo8(255) |
| 3906 1c04 90E0 ldi r25,hi8(255) |
| 3907 1c06 9093 0000 sts (Poti1)+1,r25 |
| 3908 1c0a 8093 0000 sts Poti1,r24 |
| 3909 1c0e 77FF sbrs r23,7 |
| 3910 1c10 00C0 rjmp .L245 |
| 3911 .L261: |
| 3912 1c12 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 3913 1c16 1092 0000 sts Poti2,__zero_reg__ |
| 3914 1c1a 57FF sbrs r21,7 |
| 3915 1c1c 00C0 rjmp .L248 |
| 3916 .L262: |
| 3917 1c1e 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 3918 1c22 1092 0000 sts Poti3,__zero_reg__ |
| 3919 1c26 37FF sbrs r19,7 |
| 3920 1c28 00C0 rjmp .L251 |
| 3921 .L263: |
| 3922 1c2a 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 3923 1c2e 1092 0000 sts Poti4,__zero_reg__ |
| 3924 1c32 00C0 rjmp .L252 |
| 3925 .L259: |
| 3926 1c34 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 3927 1c38 1092 0000 sts Poti1,__zero_reg__ |
| 3928 1c3c 00C0 rjmp .L243 |
| 3929 .L258: |
| 3930 1c3e 0E94 0000 call SucheGyroOffset |
| 3931 1c42 00C0 rjmp .L229 |
| 3932 .L252: |
| 3933 1c44 8091 0000 lds r24,EE_Parameter+54 |
| 3934 1c48 9927 clr r25 |
| 3935 1c4a AA27 clr r26 |
| 3936 1c4c BB27 clr r27 |
| 3937 1c4e BC01 movw r22,r24 |
| 3938 1c50 CD01 movw r24,r26 |
| 3939 1c52 24EC ldi r18,lo8(2500) |
| 3940 1c54 39E0 ldi r19,hi8(2500) |
| 3941 1c56 40E0 ldi r20,hlo8(2500) |
| 3942 1c58 50E0 ldi r21,hhi8(2500) |
| 3943 1c5a 0E94 0000 call __mulsi3 |
| 3944 1c5e DC01 movw r26,r24 |
| 3945 1c60 CB01 movw r24,r22 |
| 3946 1c62 8093 0000 sts Umschlag180Nick,r24 |
| 3947 1c66 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 3948 1c6a A093 0000 sts (Umschlag180Nick)+2,r26 |
| 3949 1c6e B093 0000 sts (Umschlag180Nick)+3,r27 |
| 3950 1c72 8091 0000 lds r24,EE_Parameter+55 |
| 3951 1c76 9927 clr r25 |
| 3952 1c78 AA27 clr r26 |
| 3953 1c7a BB27 clr r27 |
| 3954 1c7c BC01 movw r22,r24 |
| 3955 1c7e CD01 movw r24,r26 |
| 3956 1c80 0E94 0000 call __mulsi3 |
| 3957 1c84 DC01 movw r26,r24 |
| 3958 1c86 CB01 movw r24,r22 |
| 3959 1c88 8093 0000 sts Umschlag180Roll,r24 |
| 3960 1c8c 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 3961 1c90 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 3962 1c94 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 3963 /* epilogue: frame size=0 */ |
| 3964 1c98 0895 ret |
| 3965 /* epilogue end (size=1) */ |
| 3966 /* function CalibrierMittelwert size 392 (391) */ |
| 3968 .global SetNeutral |
| 3970 SetNeutral: |
| 3971 /* prologue: frame size=0 */ |
| 3972 1c9a A0E0 ldi r26,lo8(0) |
| 3973 1c9c B0E0 ldi r27,hi8(0) |
| 3974 1c9e E0E0 ldi r30,pm_lo8(1f) |
| 3975 1ca0 F0E0 ldi r31,pm_hi8(1f) |
| 3976 1ca2 0C94 0000 jmp __prologue_saves__+8 |
| 3977 1: |
| 3978 /* prologue end (size=6) */ |
| 3979 1ca6 C0E0 ldi r28,lo8(0) |
| 3980 1ca8 D0E0 ldi r29,hi8(0) |
| 3981 1caa 7E01 movw r14,r28 |
| 3982 1cac 6E01 movw r12,r28 |
| 3983 1cae 469A sbi 40-0x20,6 |
| 3984 1cb0 D093 0000 sts (NeutralAccX)+1,r29 |
| 3985 1cb4 C093 0000 sts NeutralAccX,r28 |
| 3986 1cb8 D093 0000 sts (NeutralAccY)+1,r29 |
| 3987 1cbc C093 0000 sts NeutralAccY,r28 |
| 3988 1cc0 80E0 ldi r24,lo8(0x0) |
| 3989 1cc2 90E0 ldi r25,hi8(0x0) |
| 3990 1cc4 A0E0 ldi r26,hlo8(0x0) |
| 3991 1cc6 B0E0 ldi r27,hhi8(0x0) |
| 3992 1cc8 8093 0000 sts NeutralAccZ,r24 |
| 3993 1ccc 9093 0000 sts (NeutralAccZ)+1,r25 |
| 3994 1cd0 A093 0000 sts (NeutralAccZ)+2,r26 |
| 3995 1cd4 B093 0000 sts (NeutralAccZ)+3,r27 |
| 3996 1cd8 D093 0000 sts (AdNeutralNick)+1,r29 |
| 3997 1cdc C093 0000 sts AdNeutralNick,r28 |
| 3998 1ce0 D093 0000 sts (AdNeutralRoll)+1,r29 |
| 3999 1ce4 C093 0000 sts AdNeutralRoll,r28 |
| 4000 1ce8 D093 0000 sts (AdNeutralGier)+1,r29 |
| 4001 1cec C093 0000 sts AdNeutralGier,r28 |
| 4002 1cf0 D093 0000 sts (AdNeutralGierBias)+1,r29 |
| 4003 1cf4 C093 0000 sts AdNeutralGierBias,r28 |
| 4004 1cf8 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 4005 1cfc 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 4006 1d00 1092 0000 sts ExpandBaro,__zero_reg__ |
| 4007 1d04 0E94 0000 call CalibrierMittelwert |
| 4008 1d08 84E6 ldi r24,lo8(100) |
| 4009 1d0a 90E0 ldi r25,hi8(100) |
| 4010 1d0c 0E94 0000 call Delay_ms_Mess |
| 4011 1d10 0E94 0000 call CalibrierMittelwert |
| 4012 1d14 8091 0000 lds r24,EE_Parameter+8 |
| 4013 1d18 80FF sbrs r24,0 |
| 4014 1d1a 00C0 rjmp .L265 |
| 4015 1d1c 8091 0000 lds r24,MessLuftdruck |
| 4016 1d20 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4017 1d24 875B subi r24,lo8(951) |
| 4018 1d26 9340 sbci r25,hi8(951) |
| 4019 1d28 00F0 brlo .+2 |
| 4020 1d2a 00C0 rjmp .L267 |
| 4021 1d2c 8091 0000 lds r24,MessLuftdruck |
| 4022 1d30 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4023 1d34 8E5E subi r24,lo8(750) |
| 4024 1d36 9240 sbci r25,hi8(750) |
| 4025 1d38 00F4 brsh .+2 |
| 4026 1d3a 00C0 rjmp .L267 |
| 4027 .L265: |
| 4028 1d3c 0FE1 ldi r16,lo8(31) |
| 4029 .L271: |
| 4030 1d3e 8AE0 ldi r24,lo8(10) |
| 4031 1d40 90E0 ldi r25,hi8(10) |
| 4032 1d42 0E94 0000 call Delay_ms_Mess |
| 4033 1d46 8091 0000 lds r24,AdWertGier |
| 4034 1d4a 9091 0000 lds r25,(AdWertGier)+1 |
| 4035 1d4e C80F add r28,r24 |
| 4036 1d50 D91F adc r29,r25 |
| 4037 1d52 8091 0000 lds r24,AdWertNick |
| 4038 1d56 9091 0000 lds r25,(AdWertNick)+1 |
| 4039 1d5a E80E add r14,r24 |
| 4040 1d5c F91E adc r15,r25 |
| 4041 1d5e 8091 0000 lds r24,AdWertRoll |
| 4042 1d62 9091 0000 lds r25,(AdWertRoll)+1 |
| 4043 1d66 C80E add r12,r24 |
| 4044 1d68 D91E adc r13,r25 |
| 4045 1d6a 0150 subi r16,lo8(-(-1)) |
| 4046 1d6c 07FF sbrs r16,7 |
| 4047 1d6e 00C0 rjmp .L271 |
| 4048 1d70 A701 movw r20,r14 |
| 4049 1d72 405F subi r20,lo8(-(16)) |
| 4050 1d74 5F4F sbci r21,hi8(-(16)) |
| 4051 1d76 5695 lsr r21 |
| 4052 1d78 4795 ror r20 |
| 4053 1d7a 5695 lsr r21 |
| 4054 1d7c 4795 ror r20 |
| 4055 1d7e 5093 0000 sts (AdNeutralNick)+1,r21 |
| 4056 1d82 4093 0000 sts AdNeutralNick,r20 |
| 4057 1d86 9601 movw r18,r12 |
| 4058 1d88 205F subi r18,lo8(-(16)) |
| 4059 1d8a 3F4F sbci r19,hi8(-(16)) |
| 4060 1d8c 3695 lsr r19 |
| 4061 1d8e 2795 ror r18 |
| 4062 1d90 3695 lsr r19 |
| 4063 1d92 2795 ror r18 |
| 4064 1d94 3093 0000 sts (AdNeutralRoll)+1,r19 |
| 4065 1d98 2093 0000 sts AdNeutralRoll,r18 |
| 4066 1d9c CE01 movw r24,r28 |
| 4067 1d9e 4096 adiw r24,16 |
| 4068 1da0 9695 lsr r25 |
| 4069 1da2 8795 ror r24 |
| 4070 1da4 9295 swap r25 |
| 4071 1da6 8295 swap r24 |
| 4072 1da8 8F70 andi r24,0x0f |
| 4073 1daa 8927 eor r24,r25 |
| 4074 1dac 9F70 andi r25,0x0f |
| 4075 1dae 8927 eor r24,r25 |
| 4076 1db0 9093 0000 sts (AdNeutralGier)+1,r25 |
| 4077 1db4 8093 0000 sts AdNeutralGier,r24 |
| 4078 1db8 9093 0000 sts (AdNeutralGierBias)+1,r25 |
| 4079 1dbc 8093 0000 sts AdNeutralGierBias,r24 |
| 4080 1dc0 3093 0000 sts (StartNeutralRoll)+1,r19 |
| 4081 1dc4 2093 0000 sts StartNeutralRoll,r18 |
| 4082 1dc8 5093 0000 sts (StartNeutralNick)+1,r21 |
| 4083 1dcc 4093 0000 sts StartNeutralNick,r20 |
| 4084 .L273: |
| 4085 1dd0 F999 sbic 63-0x20,1 |
| 4086 1dd2 00C0 rjmp .L273 |
| 4087 1dd4 80E0 ldi r24,lo8(EEPromArray+4) |
| 4088 1dd6 90E0 ldi r25,hi8(EEPromArray+4) |
| 4089 1dd8 92BD out (65)+1-0x20,r25 |
| 4090 1dda 81BD out 65-0x20,r24 |
| 4091 /* #APP */ |
| 4092 /* START EEPROM READ CRITICAL SECTION */ |
| 4093 1ddc F89A sbi 31, 0 |
| 4094 1dde 80B5 in r24, 32 |
| 4095 /* END EEPROM READ CRITICAL SECTION */ |
| 4096 |
| 4097 /* #NOAPP */ |
| 4098 1de0 8530 cpi r24,lo8(5) |
| 4099 1de2 00F4 brsh .+2 |
| 4100 1de4 00C0 rjmp .L280 |
| 4101 1de6 8091 0000 lds r24,Mittelwert_AccRoll |
| 4102 1dea 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4103 1dee 97FD sbrc r25,7 |
| 4104 1df0 00C0 rjmp .L308 |
| 4105 .L277: |
| 4106 1df2 6CE0 ldi r22,lo8(12) |
| 4107 1df4 70E0 ldi r23,hi8(12) |
| 4108 1df6 0E94 0000 call __divmodhi4 |
| 4109 1dfa 7093 0000 sts (NeutralAccY)+1,r23 |
| 4110 1dfe 6093 0000 sts NeutralAccY,r22 |
| 4111 1e02 8091 0000 lds r24,Mittelwert_AccNick |
| 4112 1e06 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4113 1e0a 97FD sbrc r25,7 |
| 4114 1e0c 00C0 rjmp .L309 |
| 4115 .L278: |
| 4116 1e0e 6CE0 ldi r22,lo8(12) |
| 4117 1e10 70E0 ldi r23,hi8(12) |
| 4118 1e12 0E94 0000 call __divmodhi4 |
| 4119 1e16 7093 0000 sts (NeutralAccX)+1,r23 |
| 4120 1e1a 6093 0000 sts NeutralAccX,r22 |
| 4121 1e1e 8091 0000 lds r24,Aktuell_az |
| 4122 1e22 9091 0000 lds r25,(Aktuell_az)+1 |
| 4123 1e26 AA27 clr r26 |
| 4124 1e28 97FD sbrc r25,7 |
| 4125 1e2a A095 com r26 |
| 4126 1e2c BA2F mov r27,r26 |
| 4127 .L307: |
| 4128 1e2e BC01 movw r22,r24 |
| 4129 1e30 CD01 movw r24,r26 |
| 4130 1e32 0E94 0000 call __floatsisf |
| 4131 1e36 DC01 movw r26,r24 |
| 4132 1e38 CB01 movw r24,r22 |
| 4133 1e3a 8093 0000 sts NeutralAccZ,r24 |
| 4134 1e3e 9093 0000 sts (NeutralAccZ)+1,r25 |
| 4135 1e42 A093 0000 sts (NeutralAccZ)+2,r26 |
| 4136 1e46 B093 0000 sts (NeutralAccZ)+3,r27 |
| 4137 1e4a 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 4138 1e4e 1092 0000 sts MesswertNick,__zero_reg__ |
| 4139 1e52 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 4140 1e56 1092 0000 sts MesswertRoll,__zero_reg__ |
| 4141 1e5a 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 4142 1e5e 1092 0000 sts MesswertGier,__zero_reg__ |
| 4143 1e62 84E6 ldi r24,lo8(100) |
| 4144 1e64 90E0 ldi r25,hi8(100) |
| 4145 1e66 0E94 0000 call Delay_ms_Mess |
| 4146 1e6a 8091 0000 lds r24,AdWertAccNick |
| 4147 1e6e 9091 0000 lds r25,(AdWertAccNick)+1 |
| 4148 1e72 AA27 clr r26 |
| 4149 1e74 97FD sbrc r25,7 |
| 4150 1e76 A095 com r26 |
| 4151 1e78 BA2F mov r27,r26 |
| 4152 1e7a 9C01 movw r18,r24 |
| 4153 1e7c AD01 movw r20,r26 |
| 4154 1e7e 220F lsl r18 |
| 4155 1e80 331F rol r19 |
| 4156 1e82 441F rol r20 |
| 4157 1e84 551F rol r21 |
| 4158 1e86 220F lsl r18 |
| 4159 1e88 331F rol r19 |
| 4160 1e8a 441F rol r20 |
| 4161 1e8c 551F rol r21 |
| 4162 1e8e 280F add r18,r24 |
| 4163 1e90 391F adc r19,r25 |
| 4164 1e92 4A1F adc r20,r26 |
| 4165 1e94 5B1F adc r21,r27 |
| 4166 1e96 280F add r18,r24 |
| 4167 1e98 391F adc r19,r25 |
| 4168 1e9a 4A1F adc r20,r26 |
| 4169 1e9c 5B1F adc r21,r27 |
| 4170 1e9e 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 4171 1ea2 2093 0000 sts Mittelwert_AccNick,r18 |
| 4172 1ea6 8091 0000 lds r24,AdWertAccRoll |
| 4173 1eaa 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 4174 1eae AA27 clr r26 |
| 4175 1eb0 97FD sbrc r25,7 |
| 4176 1eb2 A095 com r26 |
| 4177 1eb4 BA2F mov r27,r26 |
| 4178 1eb6 7C01 movw r14,r24 |
| 4179 1eb8 8D01 movw r16,r26 |
| 4180 1eba EE0C lsl r14 |
| 4181 1ebc FF1C rol r15 |
| 4182 1ebe 001F rol r16 |
| 4183 1ec0 111F rol r17 |
| 4184 1ec2 EE0C lsl r14 |
| 4185 1ec4 FF1C rol r15 |
| 4186 1ec6 001F rol r16 |
| 4187 1ec8 111F rol r17 |
| 4188 1eca E80E add r14,r24 |
| 4189 1ecc F91E adc r15,r25 |
| 4190 1ece 0A1F adc r16,r26 |
| 4191 1ed0 1B1F adc r17,r27 |
| 4192 1ed2 E80E add r14,r24 |
| 4193 1ed4 F91E adc r15,r25 |
| 4194 1ed6 0A1F adc r16,r26 |
| 4195 1ed8 1B1F adc r17,r27 |
| 4196 1eda F092 0000 sts (Mittelwert_AccRoll)+1,r15 |
| 4197 1ede E092 0000 sts Mittelwert_AccRoll,r14 |
| 4198 1ee2 8091 0000 lds r24,EE_Parameter+23 |
| 4199 1ee6 682E mov r6,r24 |
| 4200 1ee8 7724 clr r7 |
| 4201 1eea 8824 clr r8 |
| 4202 1eec 9924 clr r9 |
| 4203 1eee C901 movw r24,r18 |
| 4204 1ef0 9C01 movw r18,r24 |
| 4205 1ef2 4427 clr r20 |
| 4206 1ef4 37FD sbrc r19,7 |
| 4207 1ef6 4095 com r20 |
| 4208 1ef8 542F mov r21,r20 |
| 4209 1efa C401 movw r24,r8 |
| 4210 1efc B301 movw r22,r6 |
| 4211 1efe 0E94 0000 call __mulsi3 |
| 4212 1f02 5B01 movw r10,r22 |
| 4213 1f04 6C01 movw r12,r24 |
| 4214 1f06 6093 0000 sts IntegralNick,r22 |
| 4215 1f0a 7093 0000 sts (IntegralNick)+1,r23 |
| 4216 1f0e 8093 0000 sts (IntegralNick)+2,r24 |
| 4217 1f12 9093 0000 sts (IntegralNick)+3,r25 |
| 4218 1f16 9701 movw r18,r14 |
| 4219 1f18 4427 clr r20 |
| 4220 1f1a 37FD sbrc r19,7 |
| 4221 1f1c 4095 com r20 |
| 4222 1f1e 542F mov r21,r20 |
| 4223 1f20 C401 movw r24,r8 |
| 4224 1f22 B301 movw r22,r6 |
| 4225 1f24 0E94 0000 call __mulsi3 |
| 4226 1f28 DC01 movw r26,r24 |
| 4227 1f2a CB01 movw r24,r22 |
| 4228 1f2c 8093 0000 sts IntegralRoll,r24 |
| 4229 1f30 9093 0000 sts (IntegralRoll)+1,r25 |
| 4230 1f34 A093 0000 sts (IntegralRoll)+2,r26 |
| 4231 1f38 B093 0000 sts (IntegralRoll)+3,r27 |
| 4232 1f3c A092 0000 sts Mess_IntegralNick2,r10 |
| 4233 1f40 B092 0000 sts (Mess_IntegralNick2)+1,r11 |
| 4234 1f44 C092 0000 sts (Mess_IntegralNick2)+2,r12 |
| 4235 1f48 D092 0000 sts (Mess_IntegralNick2)+3,r13 |
| 4236 1f4c 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4237 1f50 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4238 1f54 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4239 1f58 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4240 1f5c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4241 1f60 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4242 1f64 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4243 1f68 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4244 1f6c 8091 0000 lds r24,Luftdruck |
| 4245 1f70 9091 0000 lds r25,(Luftdruck)+1 |
| 4246 1f74 A091 0000 lds r26,(Luftdruck)+2 |
| 4247 1f78 B091 0000 lds r27,(Luftdruck)+3 |
| 4248 1f7c 9093 0000 sts (StartLuftdruck)+1,r25 |
| 4249 1f80 8093 0000 sts StartLuftdruck,r24 |
| 4250 1f84 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 4251 1f88 1092 0000 sts VarioMeter,__zero_reg__ |
| 4252 1f8c 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 4253 1f90 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 4254 1f94 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 4255 1f98 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 4256 1f9c 0091 0000 lds r16,KompassValue |
| 4257 1fa0 1091 0000 lds r17,(KompassValue)+1 |
| 4258 1fa4 1093 0000 sts (KompassStartwert)+1,r17 |
| 4259 1fa8 0093 0000 sts KompassStartwert,r16 |
| 4260 1fac 82E3 ldi r24,lo8(50) |
| 4261 1fae 90E0 ldi r25,hi8(50) |
| 4262 1fb0 9093 0000 sts (beeptime)+1,r25 |
| 4263 1fb4 8093 0000 sts beeptime,r24 |
| 4264 1fb8 8091 0000 lds r24,EE_Parameter+54 |
| 4265 1fbc 9927 clr r25 |
| 4266 1fbe AA27 clr r26 |
| 4267 1fc0 BB27 clr r27 |
| 4268 1fc2 BC01 movw r22,r24 |
| 4269 1fc4 CD01 movw r24,r26 |
| 4270 1fc6 24EC ldi r18,lo8(2500) |
| 4271 1fc8 39E0 ldi r19,hi8(2500) |
| 4272 1fca 40E0 ldi r20,hlo8(2500) |
| 4273 1fcc 50E0 ldi r21,hhi8(2500) |
| 4274 1fce 0E94 0000 call __mulsi3 |
| 4275 1fd2 DC01 movw r26,r24 |
| 4276 1fd4 CB01 movw r24,r22 |
| 4277 1fd6 8856 subi r24,lo8(-(15000)) |
| 4278 1fd8 954C sbci r25,hi8(-(15000)) |
| 4279 1fda AF4F sbci r26,hlo8(-(15000)) |
| 4280 1fdc BF4F sbci r27,hhi8(-(15000)) |
| 4281 1fde 8093 0000 sts Umschlag180Nick,r24 |
| 4282 1fe2 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 4283 1fe6 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 4284 1fea B093 0000 sts (Umschlag180Nick)+3,r27 |
| 4285 1fee 8091 0000 lds r24,EE_Parameter+55 |
| 4286 1ff2 9927 clr r25 |
| 4287 1ff4 AA27 clr r26 |
| 4288 1ff6 BB27 clr r27 |
| 4289 1ff8 BC01 movw r22,r24 |
| 4290 1ffa CD01 movw r24,r26 |
| 4291 1ffc 0E94 0000 call __mulsi3 |
| 4292 2000 DC01 movw r26,r24 |
| 4293 2002 CB01 movw r24,r22 |
| 4294 2004 8856 subi r24,lo8(-(15000)) |
| 4295 2006 954C sbci r25,hi8(-(15000)) |
| 4296 2008 AF4F sbci r26,hlo8(-(15000)) |
| 4297 200a BF4F sbci r27,hhi8(-(15000)) |
| 4298 200c 8093 0000 sts Umschlag180Roll,r24 |
| 4299 2010 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 4300 2014 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 4301 2018 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 4302 201c 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 4303 2020 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 4304 2024 C801 movw r24,r16 |
| 4305 2026 AA27 clr r26 |
| 4306 2028 97FD sbrc r25,7 |
| 4307 202a A095 com r26 |
| 4308 202c BA2F mov r27,r26 |
| 4309 202e 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 4310 2032 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 4311 2036 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 4312 203a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 4313 203e BC01 movw r22,r24 |
| 4314 2040 CD01 movw r24,r26 |
| 4315 2042 0E94 0000 call __mulsi3 |
| 4316 2046 DC01 movw r26,r24 |
| 4317 2048 CB01 movw r24,r22 |
| 4318 204a 8093 0000 sts ErsatzKompass,r24 |
| 4319 204e 9093 0000 sts (ErsatzKompass)+1,r25 |
| 4320 2052 A093 0000 sts (ErsatzKompass)+2,r26 |
| 4321 2056 B093 0000 sts (ErsatzKompass)+3,r27 |
| 4322 205a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 4323 205e 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 4324 2062 81E0 ldi r24,lo8(1) |
| 4325 2064 8093 0000 sts SendVersionToNavi,r24 |
| 4326 2068 0E94 0000 call LED_Init |
| 4327 206c 8091 0000 lds r24,MikroKopterFlags |
| 4328 2070 8460 ori r24,lo8(4) |
| 4329 2072 8093 0000 sts MikroKopterFlags,r24 |
| 4330 2076 8091 0000 lds r24,EE_Parameter+4 |
| 4331 207a E82F mov r30,r24 |
| 4332 207c FF27 clr r31 |
| 4333 207e EE0F add r30,r30 |
| 4334 2080 FF1F adc r31,r31 |
| 4335 2082 E050 subi r30,lo8(-(PPM_in)) |
| 4336 2084 F040 sbci r31,hi8(-(PPM_in)) |
| 4337 2086 8081 ld r24,Z |
| 4338 2088 9181 ldd r25,Z+1 |
| 4339 208a 8259 subi r24,lo8(-(110)) |
| 4340 208c 9F4F sbci r25,hi8(-(110)) |
| 4341 208e 9093 0000 sts (Poti1)+1,r25 |
| 4342 2092 8093 0000 sts Poti1,r24 |
| 4343 2096 8091 0000 lds r24,EE_Parameter+5 |
| 4344 209a E82F mov r30,r24 |
| 4345 209c FF27 clr r31 |
| 4346 209e EE0F add r30,r30 |
| 4347 20a0 FF1F adc r31,r31 |
| 4348 20a2 E050 subi r30,lo8(-(PPM_in)) |
| 4349 20a4 F040 sbci r31,hi8(-(PPM_in)) |
| 4350 20a6 8081 ld r24,Z |
| 4351 20a8 9181 ldd r25,Z+1 |
| 4352 20aa 8259 subi r24,lo8(-(110)) |
| 4353 20ac 9F4F sbci r25,hi8(-(110)) |
| 4354 20ae 9093 0000 sts (Poti2)+1,r25 |
| 4355 20b2 8093 0000 sts Poti2,r24 |
| 4356 20b6 8091 0000 lds r24,EE_Parameter+6 |
| 4357 20ba E82F mov r30,r24 |
| 4358 20bc FF27 clr r31 |
| 4359 20be EE0F add r30,r30 |
| 4360 20c0 FF1F adc r31,r31 |
| 4361 20c2 E050 subi r30,lo8(-(PPM_in)) |
| 4362 20c4 F040 sbci r31,hi8(-(PPM_in)) |
| 4363 20c6 8081 ld r24,Z |
| 4364 20c8 9181 ldd r25,Z+1 |
| 4365 20ca 8259 subi r24,lo8(-(110)) |
| 4366 20cc 9F4F sbci r25,hi8(-(110)) |
| 4367 20ce 9093 0000 sts (Poti3)+1,r25 |
| 4368 20d2 8093 0000 sts Poti3,r24 |
| 4369 20d6 8091 0000 lds r24,EE_Parameter+7 |
| 4370 20da E82F mov r30,r24 |
| 4371 20dc FF27 clr r31 |
| 4372 20de EE0F add r30,r30 |
| 4373 20e0 FF1F adc r31,r31 |
| 4374 20e2 E050 subi r30,lo8(-(PPM_in)) |
| 4375 20e4 F040 sbci r31,hi8(-(PPM_in)) |
| 4376 20e6 8081 ld r24,Z |
| 4377 20e8 9181 ldd r25,Z+1 |
| 4378 20ea 8259 subi r24,lo8(-(110)) |
| 4379 20ec 9F4F sbci r25,hi8(-(110)) |
| 4380 20ee 9093 0000 sts (Poti4)+1,r25 |
| 4381 20f2 8093 0000 sts Poti4,r24 |
| 4382 20f6 84E6 ldi r24,lo8(100) |
| 4383 20f8 8093 0000 sts SenderOkay,r24 |
| 4384 20fc 8091 0000 lds r24,ServoActive |
| 4385 2100 8823 tst r24 |
| 4386 2102 01F4 brne .+2 |
| 4387 2104 00C0 rjmp .L264 |
| 4388 2106 469A sbi 40-0x20,6 |
| 4389 2108 579A sbi 42-0x20,7 |
| 4390 210a 00C0 rjmp .L264 |
| 4391 .L267: |
| 4392 210c 0E94 0000 call SucheLuftruckOffset |
| 4393 2110 00C0 rjmp .L265 |
| 4394 .L280: |
| 4395 2112 F999 sbic 63-0x20,1 |
| 4396 2114 00C0 rjmp .L280 |
| 4397 2116 80E0 ldi r24,lo8(EEPromArray+4) |
| 4398 2118 90E0 ldi r25,hi8(EEPromArray+4) |
| 4399 211a 92BD out (65)+1-0x20,r25 |
| 4400 211c 81BD out 65-0x20,r24 |
| 4401 /* #APP */ |
| 4402 /* START EEPROM READ CRITICAL SECTION */ |
| 4403 211e F89A sbi 31, 0 |
| 4404 2120 80B5 in r24, 32 |
| 4405 /* END EEPROM READ CRITICAL SECTION */ |
| 4406 |
| 4407 /* #NOAPP */ |
| 4408 2122 9927 clr r25 |
| 4409 2124 382F mov r19,r24 |
| 4410 2126 2227 clr r18 |
| 4411 .L284: |
| 4412 2128 F999 sbic 63-0x20,1 |
| 4413 212a 00C0 rjmp .L284 |
| 4414 212c 80E0 ldi r24,lo8(EEPromArray+5) |
| 4415 212e 90E0 ldi r25,hi8(EEPromArray+5) |
| 4416 2130 92BD out (65)+1-0x20,r25 |
| 4417 2132 81BD out 65-0x20,r24 |
| 4418 /* #APP */ |
| 4419 /* START EEPROM READ CRITICAL SECTION */ |
| 4420 2134 F89A sbi 31, 0 |
| 4421 2136 80B5 in r24, 32 |
| 4422 /* END EEPROM READ CRITICAL SECTION */ |
| 4423 |
| 4424 /* #NOAPP */ |
| 4425 2138 280F add r18,r24 |
| 4426 213a 311D adc r19,__zero_reg__ |
| 4427 213c 3093 0000 sts (NeutralAccX)+1,r19 |
| 4428 2140 2093 0000 sts NeutralAccX,r18 |
| 4429 .L288: |
| 4430 2144 F999 sbic 63-0x20,1 |
| 4431 2146 00C0 rjmp .L288 |
| 4432 2148 80E0 ldi r24,lo8(EEPromArray+6) |
| 4433 214a 90E0 ldi r25,hi8(EEPromArray+6) |
| 4434 214c 92BD out (65)+1-0x20,r25 |
| 4435 214e 81BD out 65-0x20,r24 |
| 4436 /* #APP */ |
| 4437 /* START EEPROM READ CRITICAL SECTION */ |
| 4438 2150 F89A sbi 31, 0 |
| 4439 2152 80B5 in r24, 32 |
| 4440 /* END EEPROM READ CRITICAL SECTION */ |
| 4441 |
| 4442 /* #NOAPP */ |
| 4443 2154 9927 clr r25 |
| 4444 2156 382F mov r19,r24 |
| 4445 2158 2227 clr r18 |
| 4446 .L292: |
| 4447 215a F999 sbic 63-0x20,1 |
| 4448 215c 00C0 rjmp .L292 |
| 4449 215e 80E0 ldi r24,lo8(EEPromArray+7) |
| 4450 2160 90E0 ldi r25,hi8(EEPromArray+7) |
| 4451 2162 92BD out (65)+1-0x20,r25 |
| 4452 2164 81BD out 65-0x20,r24 |
| 4453 /* #APP */ |
| 4454 /* START EEPROM READ CRITICAL SECTION */ |
| 4455 2166 F89A sbi 31, 0 |
| 4456 2168 80B5 in r24, 32 |
| 4457 /* END EEPROM READ CRITICAL SECTION */ |
| 4458 |
| 4459 /* #NOAPP */ |
| 4460 216a 280F add r18,r24 |
| 4461 216c 311D adc r19,__zero_reg__ |
| 4462 216e 3093 0000 sts (NeutralAccY)+1,r19 |
| 4463 2172 2093 0000 sts NeutralAccY,r18 |
| 4464 .L296: |
| 4465 2176 F999 sbic 63-0x20,1 |
| 4466 2178 00C0 rjmp .L296 |
| 4467 217a 80E0 ldi r24,lo8(EEPromArray+8) |
| 4468 217c 90E0 ldi r25,hi8(EEPromArray+8) |
| 4469 217e 92BD out (65)+1-0x20,r25 |
| 4470 2180 81BD out 65-0x20,r24 |
| 4471 /* #APP */ |
| 4472 /* START EEPROM READ CRITICAL SECTION */ |
| 4473 2182 F89A sbi 31, 0 |
| 4474 2184 80B5 in r24, 32 |
| 4475 /* END EEPROM READ CRITICAL SECTION */ |
| 4476 |
| 4477 /* #NOAPP */ |
| 4478 2186 9927 clr r25 |
| 4479 2188 382F mov r19,r24 |
| 4480 218a 2227 clr r18 |
| 4481 .L300: |
| 4482 218c F999 sbic 63-0x20,1 |
| 4483 218e 00C0 rjmp .L300 |
| 4484 2190 80E0 ldi r24,lo8(EEPromArray+9) |
| 4485 2192 90E0 ldi r25,hi8(EEPromArray+9) |
| 4486 2194 92BD out (65)+1-0x20,r25 |
| 4487 2196 81BD out 65-0x20,r24 |
| 4488 /* #APP */ |
| 4489 /* START EEPROM READ CRITICAL SECTION */ |
| 4490 2198 F89A sbi 31, 0 |
| 4491 219a 80B5 in r24, 32 |
| 4492 /* END EEPROM READ CRITICAL SECTION */ |
| 4493 |
| 4494 /* #NOAPP */ |
| 4495 219c 280F add r18,r24 |
| 4496 219e 311D adc r19,__zero_reg__ |
| 4497 21a0 C901 movw r24,r18 |
| 4498 21a2 AA27 clr r26 |
| 4499 21a4 97FD sbrc r25,7 |
| 4500 21a6 A095 com r26 |
| 4501 21a8 BA2F mov r27,r26 |
| 4502 21aa 00C0 rjmp .L307 |
| 4503 .L309: |
| 4504 21ac 9095 com r25 |
| 4505 21ae 8195 neg r24 |
| 4506 21b0 9F4F sbci r25,lo8(-1) |
| 4507 21b2 00C0 rjmp .L278 |
| 4508 .L308: |
| 4509 21b4 9095 com r25 |
| 4510 21b6 8195 neg r24 |
| 4511 21b8 9F4F sbci r25,lo8(-1) |
| 4512 21ba 00C0 rjmp .L277 |
| 4513 .L264: |
| 4514 /* epilogue: frame size=0 */ |
| 4515 21bc EEE0 ldi r30,14 |
| 4516 21be CDB7 in r28,__SP_L__ |
| 4517 21c0 DEB7 in r29,__SP_H__ |
| 4518 21c2 0C94 0000 jmp __epilogue_restores__+8 |
| 4519 /* epilogue end (size=5) */ |
| 4520 /* function SetNeutral size 720 (709) */ |
| 4522 .global SendMotorData |
| 4524 SendMotorData: |
| 4525 /* prologue: frame size=0 */ |
| 4526 /* prologue end (size=0) */ |
| 4527 21c6 9091 0000 lds r25,MotorenEin |
| 4528 21ca 9923 tst r25 |
| 4529 21cc 01F4 brne .L311 |
| 4530 21ce 8091 0000 lds r24,MikroKopterFlags |
| 4531 21d2 8C7F andi r24,lo8(-4) |
| 4532 21d4 8093 0000 sts MikroKopterFlags,r24 |
| 4533 .L316: |
| 4534 21d8 8091 0000 lds r24,PC_MotortestActive |
| 4535 21dc 8823 tst r24 |
| 4536 21de 01F4 brne .L321 |
| 4537 21e0 A92F mov r26,r25 |
| 4538 21e2 BB27 clr r27 |
| 4539 21e4 FD01 movw r30,r26 |
| 4540 21e6 E050 subi r30,lo8(-(MotorTest)) |
| 4541 21e8 F040 sbci r31,hi8(-(MotorTest)) |
| 4542 21ea 8083 st Z,r24 |
| 4543 .L315: |
| 4544 21ec FD01 movw r30,r26 |
| 4545 21ee E050 subi r30,lo8(-(MotorTest)) |
| 4546 21f0 F040 sbci r31,hi8(-(MotorTest)) |
| 4547 21f2 8081 ld r24,Z |
| 4548 21f4 A050 subi r26,lo8(-(Motor)) |
| 4549 21f6 B040 sbci r27,hi8(-(Motor)) |
| 4550 21f8 8C93 st X,r24 |
| 4551 21fa 9F5F subi r25,lo8(-(1)) |
| 4552 21fc 9230 cpi r25,lo8(2) |
| 4553 21fe 00F0 brlo .L316 |
| 4554 2200 8091 0000 lds r24,PC_MotortestActive |
| 4555 2204 8823 tst r24 |
| 4556 2206 01F0 breq .L318 |
| 4557 2208 8091 0000 lds r24,PC_MotortestActive |
| 4558 220c 8150 subi r24,lo8(-(-1)) |
| 4559 220e 8093 0000 sts PC_MotortestActive,r24 |
| 4560 2212 00C0 rjmp .L318 |
| 4561 .L311: |
| 4562 2214 8091 0000 lds r24,MikroKopterFlags |
| 4563 2218 8160 ori r24,lo8(1) |
| 4564 221a 8093 0000 sts MikroKopterFlags,r24 |
| 4565 221e 00C0 rjmp .L318 |
| 4566 .L321: |
| 4567 2220 A92F mov r26,r25 |
| 4568 2222 BB27 clr r27 |
| 4569 2224 00C0 rjmp .L315 |
| 4570 .L318: |
| 4571 2226 8091 0000 lds r24,Motor |
| 4572 222a 9927 clr r25 |
| 4573 222c 9093 0000 sts (DebugOut+26)+1,r25 |
| 4574 2230 8093 0000 sts DebugOut+26,r24 |
| 4575 2234 8091 0000 lds r24,Motor+1 |
| 4576 2238 9927 clr r25 |
| 4577 223a 9093 0000 sts (DebugOut+28)+1,r25 |
| 4578 223e 8093 0000 sts DebugOut+28,r24 |
| 4579 2242 1092 0000 sts twi_state,__zero_reg__ |
| 4580 2246 1092 0000 sts motor,__zero_reg__ |
| 4581 224a 0E94 0000 call i2c_start |
| 4582 /* epilogue: frame size=0 */ |
| 4583 224e 0895 ret |
| 4584 /* epilogue end (size=1) */ |
| 4585 /* function SendMotorData size 69 (68) */ |
| 4587 .global ParameterZuordnung |
| 4589 ParameterZuordnung: |
| 4590 /* prologue: frame size=0 */ |
| 4591 /* prologue end (size=0) */ |
| 4592 2250 8091 0000 lds r24,EE_Parameter+11 |
| 4593 2254 8B3F cpi r24,lo8(-5) |
| 4594 2256 00F0 brlo .L323 |
| 4595 2258 8B3F cpi r24,lo8(-5) |
| 4596 225a 01F4 brne .+2 |
| 4597 225c 00C0 rjmp .L619 |
| 4598 225e 8C3F cpi r24,lo8(-4) |
| 4599 2260 01F4 brne .+2 |
| 4600 2262 00C0 rjmp .L620 |
| 4601 2264 8D3F cpi r24,lo8(-3) |
| 4602 2266 01F4 brne .+2 |
| 4603 2268 00C0 rjmp .L621 |
| 4604 226a 8E3F cpi r24,lo8(-2) |
| 4605 226c 01F4 brne .L331 |
| 4606 226e 8091 0000 lds r24,Poti4 |
| 4607 .L323: |
| 4608 2272 8093 0000 sts Parameter_MaxHoehe,r24 |
| 4609 .L331: |
| 4610 2276 8091 0000 lds r24,EE_Parameter+10 |
| 4611 227a 8B3F cpi r24,lo8(-5) |
| 4612 227c 00F4 brsh .+2 |
| 4613 227e 00C0 rjmp .L332 |
| 4614 2280 8B3F cpi r24,lo8(-5) |
| 4615 2282 01F4 brne .+2 |
| 4616 2284 00C0 rjmp .L622 |
| 4617 2286 8C3F cpi r24,lo8(-4) |
| 4618 2288 01F4 brne .+2 |
| 4619 228a 00C0 rjmp .L623 |
| 4620 228c 8D3F cpi r24,lo8(-3) |
| 4621 228e 01F4 brne .+2 |
| 4622 2290 00C0 rjmp .L624 |
| 4623 2292 8E3F cpi r24,lo8(-2) |
| 4624 2294 01F4 brne .+2 |
| 4625 2296 00C0 rjmp .L625 |
| 4626 2298 8091 0000 lds r24,Parameter_Luftdruck_D |
| 4627 229c 8823 tst r24 |
| 4628 229e 01F0 breq .+2 |
| 4629 22a0 00C0 rjmp .L626 |
| 4630 .L614: |
| 4631 22a2 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 4632 .L342: |
| 4633 22a6 8091 0000 lds r24,EE_Parameter+12 |
| 4634 22aa 8B3F cpi r24,lo8(-5) |
| 4635 22ac 00F4 brsh .+2 |
| 4636 22ae 00C0 rjmp .L344 |
| 4637 22b0 8B3F cpi r24,lo8(-5) |
| 4638 22b2 01F4 brne .+2 |
| 4639 22b4 00C0 rjmp .L627 |
| 4640 22b6 8C3F cpi r24,lo8(-4) |
| 4641 22b8 01F4 brne .+2 |
| 4642 22ba 00C0 rjmp .L628 |
| 4643 22bc 8D3F cpi r24,lo8(-3) |
| 4644 22be 01F4 brne .+2 |
| 4645 22c0 00C0 rjmp .L629 |
| 4646 22c2 8E3F cpi r24,lo8(-2) |
| 4647 22c4 01F4 brne .+2 |
| 4648 22c6 00C0 rjmp .L630 |
| 4649 22c8 8091 0000 lds r24,Parameter_Hoehe_P |
| 4650 22cc 8823 tst r24 |
| 4651 22ce 01F0 breq .+2 |
| 4652 22d0 00C0 rjmp .L631 |
| 4653 .L615: |
| 4654 22d2 8093 0000 sts Parameter_Hoehe_P,r24 |
| 4655 .L354: |
| 4656 22d6 8091 0000 lds r24,EE_Parameter+14 |
| 4657 22da 8B3F cpi r24,lo8(-5) |
| 4658 22dc 00F0 brlo .L356 |
| 4659 22de 8B3F cpi r24,lo8(-5) |
| 4660 22e0 01F4 brne .+2 |
| 4661 22e2 00C0 rjmp .L632 |
| 4662 22e4 8C3F cpi r24,lo8(-4) |
| 4663 22e6 01F4 brne .+2 |
| 4664 22e8 00C0 rjmp .L633 |
| 4665 22ea 8D3F cpi r24,lo8(-3) |
| 4666 22ec 01F4 brne .+2 |
| 4667 22ee 00C0 rjmp .L634 |
| 4668 22f0 8E3F cpi r24,lo8(-2) |
| 4669 22f2 01F4 brne .L364 |
| 4670 22f4 8091 0000 lds r24,Poti4 |
| 4671 .L356: |
| 4672 22f8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 4673 .L364: |
| 4674 22fc 8091 0000 lds r24,EE_Parameter+16 |
| 4675 2300 8B3F cpi r24,lo8(-5) |
| 4676 2302 00F0 brlo .L365 |
| 4677 2304 8B3F cpi r24,lo8(-5) |
| 4678 2306 01F4 brne .+2 |
| 4679 2308 00C0 rjmp .L635 |
| 4680 230a 8C3F cpi r24,lo8(-4) |
| 4681 230c 01F4 brne .+2 |
| 4682 230e 00C0 rjmp .L636 |
| 4683 2310 8D3F cpi r24,lo8(-3) |
| 4684 2312 01F4 brne .+2 |
| 4685 2314 00C0 rjmp .L637 |
| 4686 2316 8E3F cpi r24,lo8(-2) |
| 4687 2318 01F4 brne .L373 |
| 4688 231a 8091 0000 lds r24,Poti4 |
| 4689 .L365: |
| 4690 231e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 4691 .L373: |
| 4692 2322 8091 0000 lds r24,EE_Parameter+24 |
| 4693 2326 8B3F cpi r24,lo8(-5) |
| 4694 2328 00F0 brlo .L374 |
| 4695 232a 8B3F cpi r24,lo8(-5) |
| 4696 232c 01F4 brne .+2 |
| 4697 232e 00C0 rjmp .L638 |
| 4698 2330 8C3F cpi r24,lo8(-4) |
| 4699 2332 01F4 brne .+2 |
| 4700 2334 00C0 rjmp .L639 |
| 4701 2336 8D3F cpi r24,lo8(-3) |
| 4702 2338 01F4 brne .+2 |
| 4703 233a 00C0 rjmp .L640 |
| 4704 233c 8E3F cpi r24,lo8(-2) |
| 4705 233e 01F4 brne .L382 |
| 4706 2340 8091 0000 lds r24,Poti4 |
| 4707 .L374: |
| 4708 2344 8093 0000 sts Parameter_KompassWirkung,r24 |
| 4709 .L382: |
| 4710 2348 8091 0000 lds r24,EE_Parameter+25 |
| 4711 234c 8B3F cpi r24,lo8(-5) |
| 4712 234e 00F4 brsh .+2 |
| 4713 2350 00C0 rjmp .L383 |
| 4714 2352 8B3F cpi r24,lo8(-5) |
| 4715 2354 01F4 brne .+2 |
| 4716 2356 00C0 rjmp .L641 |
| 4717 2358 8C3F cpi r24,lo8(-4) |
| 4718 235a 01F4 brne .+2 |
| 4719 235c 00C0 rjmp .L642 |
| 4720 235e 8D3F cpi r24,lo8(-3) |
| 4721 2360 01F4 brne .+2 |
| 4722 2362 00C0 rjmp .L643 |
| 4723 2364 8E3F cpi r24,lo8(-2) |
| 4724 2366 01F4 brne .+2 |
| 4725 2368 00C0 rjmp .L644 |
| 4726 236a 8091 0000 lds r24,Parameter_Gyro_P |
| 4727 236e 8B30 cpi r24,lo8(11) |
| 4728 2370 00F4 brsh .+2 |
| 4729 2372 00C0 rjmp .L645 |
| 4730 .L392: |
| 4731 2374 8F3F cpi r24,lo8(-1) |
| 4732 2376 01F4 brne .L393 |
| 4733 .L616: |
| 4734 2378 8093 0000 sts Parameter_Gyro_P,r24 |
| 4735 .L393: |
| 4736 237c 8091 0000 lds r24,EE_Parameter+26 |
| 4737 2380 8B3F cpi r24,lo8(-5) |
| 4738 2382 00F0 brlo .L395 |
| 4739 2384 8B3F cpi r24,lo8(-5) |
| 4740 2386 01F4 brne .+2 |
| 4741 2388 00C0 rjmp .L646 |
| 4742 238a 8C3F cpi r24,lo8(-4) |
| 4743 238c 01F4 brne .+2 |
| 4744 238e 00C0 rjmp .L647 |
| 4745 2390 8D3F cpi r24,lo8(-3) |
| 4746 2392 01F4 brne .+2 |
| 4747 2394 00C0 rjmp .L648 |
| 4748 2396 8E3F cpi r24,lo8(-2) |
| 4749 2398 01F4 brne .L403 |
| 4750 239a 8091 0000 lds r24,Poti4 |
| 4751 .L395: |
| 4752 239e 8093 0000 sts Parameter_Gyro_I,r24 |
| 4753 .L403: |
| 4754 23a2 8091 0000 lds r24,EE_Parameter+27 |
| 4755 23a6 8B3F cpi r24,lo8(-5) |
| 4756 23a8 00F0 brlo .L404 |
| 4757 23aa 8B3F cpi r24,lo8(-5) |
| 4758 23ac 01F4 brne .+2 |
| 4759 23ae 00C0 rjmp .L649 |
| 4760 23b0 8C3F cpi r24,lo8(-4) |
| 4761 23b2 01F4 brne .+2 |
| 4762 23b4 00C0 rjmp .L650 |
| 4763 23b6 8D3F cpi r24,lo8(-3) |
| 4764 23b8 01F4 brne .+2 |
| 4765 23ba 00C0 rjmp .L651 |
| 4766 23bc 8E3F cpi r24,lo8(-2) |
| 4767 23be 01F4 brne .L412 |
| 4768 23c0 8091 0000 lds r24,Poti4 |
| 4769 .L404: |
| 4770 23c4 8093 0000 sts Parameter_Gyro_D,r24 |
| 4771 .L412: |
| 4772 23c8 8091 0000 lds r24,EE_Parameter+28 |
| 4773 23cc 8B3F cpi r24,lo8(-5) |
| 4774 23ce 00F0 brlo .L413 |
| 4775 23d0 8B3F cpi r24,lo8(-5) |
| 4776 23d2 01F4 brne .+2 |
| 4777 23d4 00C0 rjmp .L652 |
| 4778 23d6 8C3F cpi r24,lo8(-4) |
| 4779 23d8 01F4 brne .+2 |
| 4780 23da 00C0 rjmp .L653 |
| 4781 23dc 8D3F cpi r24,lo8(-3) |
| 4782 23de 01F4 brne .+2 |
| 4783 23e0 00C0 rjmp .L654 |
| 4784 23e2 8E3F cpi r24,lo8(-2) |
| 4785 23e4 01F4 brne .L421 |
| 4786 23e6 8091 0000 lds r24,Poti4 |
| 4787 .L413: |
| 4788 23ea 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 4789 .L421: |
| 4790 23ee 8091 0000 lds r24,EE_Parameter+29 |
| 4791 23f2 8B3F cpi r24,lo8(-5) |
| 4792 23f4 00F0 brlo .L422 |
| 4793 23f6 8B3F cpi r24,lo8(-5) |
| 4794 23f8 01F4 brne .+2 |
| 4795 23fa 00C0 rjmp .L655 |
| 4796 23fc 8C3F cpi r24,lo8(-4) |
| 4797 23fe 01F4 brne .+2 |
| 4798 2400 00C0 rjmp .L656 |
| 4799 2402 8D3F cpi r24,lo8(-3) |
| 4800 2404 01F4 brne .+2 |
| 4801 2406 00C0 rjmp .L657 |
| 4802 2408 8E3F cpi r24,lo8(-2) |
| 4803 240a 01F4 brne .L430 |
| 4804 240c 8091 0000 lds r24,Poti4 |
| 4805 .L422: |
| 4806 2410 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 4807 .L430: |
| 4808 2414 2091 0000 lds r18,EE_Parameter+34 |
| 4809 2418 2B3F cpi r18,lo8(-5) |
| 4810 241a 00F4 brsh .+2 |
| 4811 241c 00C0 rjmp .L431 |
| 4812 241e 2B3F cpi r18,lo8(-5) |
| 4813 2420 01F4 brne .+2 |
| 4814 2422 00C0 rjmp .L658 |
| 4815 2424 2C3F cpi r18,lo8(-4) |
| 4816 2426 01F4 brne .+2 |
| 4817 2428 00C0 rjmp .L659 |
| 4818 242a 2D3F cpi r18,lo8(-3) |
| 4819 242c 01F4 brne .+2 |
| 4820 242e 00C0 rjmp .L660 |
| 4821 2430 2E3F cpi r18,lo8(-2) |
| 4822 2432 01F4 brne .+2 |
| 4823 2434 00C0 rjmp .L661 |
| 4824 2436 2091 0000 lds r18,Parameter_I_Faktor |
| 4825 243a 8091 0000 lds r24,EE_Parameter+35 |
| 4826 243e 8B3F cpi r24,lo8(-5) |
| 4827 2440 00F0 brlo .+2 |
| 4828 2442 00C0 rjmp .L662 |
| 4829 .L440: |
| 4830 2444 8093 0000 sts Parameter_UserParam1,r24 |
| 4831 .L448: |
| 4832 2448 8091 0000 lds r24,EE_Parameter+36 |
| 4833 244c 8B3F cpi r24,lo8(-5) |
| 4834 244e 00F0 brlo .L449 |
| 4835 2450 8B3F cpi r24,lo8(-5) |
| 4836 2452 01F4 brne .+2 |
| 4837 2454 00C0 rjmp .L663 |
| 4838 2456 8C3F cpi r24,lo8(-4) |
| 4839 2458 01F4 brne .+2 |
| 4840 245a 00C0 rjmp .L664 |
| 4841 245c 8D3F cpi r24,lo8(-3) |
| 4842 245e 01F4 brne .+2 |
| 4843 2460 00C0 rjmp .L665 |
| 4844 2462 8E3F cpi r24,lo8(-2) |
| 4845 2464 01F4 brne .L457 |
| 4846 2466 8091 0000 lds r24,Poti4 |
| 4847 .L449: |
| 4848 246a 8093 0000 sts Parameter_UserParam2,r24 |
| 4849 .L457: |
| 4850 246e 8091 0000 lds r24,EE_Parameter+37 |
| 4851 2472 8B3F cpi r24,lo8(-5) |
| 4852 2474 00F0 brlo .L458 |
| 4853 2476 8B3F cpi r24,lo8(-5) |
| 4854 2478 01F4 brne .+2 |
| 4855 247a 00C0 rjmp .L666 |
| 4856 247c 8C3F cpi r24,lo8(-4) |
| 4857 247e 01F4 brne .+2 |
| 4858 2480 00C0 rjmp .L667 |
| 4859 2482 8D3F cpi r24,lo8(-3) |
| 4860 2484 01F4 brne .+2 |
| 4861 2486 00C0 rjmp .L668 |
| 4862 2488 8E3F cpi r24,lo8(-2) |
| 4863 248a 01F4 brne .L466 |
| 4864 248c 8091 0000 lds r24,Poti4 |
| 4865 .L458: |
| 4866 2490 8093 0000 sts Parameter_UserParam3,r24 |
| 4867 .L466: |
| 4868 2494 8091 0000 lds r24,EE_Parameter+38 |
| 4869 2498 8B3F cpi r24,lo8(-5) |
| 4870 249a 00F0 brlo .L467 |
| 4871 249c 8B3F cpi r24,lo8(-5) |
| 4872 249e 01F4 brne .+2 |
| 4873 24a0 00C0 rjmp .L669 |
| 4874 24a2 8C3F cpi r24,lo8(-4) |
| 4875 24a4 01F4 brne .+2 |
| 4876 24a6 00C0 rjmp .L670 |
| 4877 24a8 8D3F cpi r24,lo8(-3) |
| 4878 24aa 01F4 brne .+2 |
| 4879 24ac 00C0 rjmp .L671 |
| 4880 24ae 8E3F cpi r24,lo8(-2) |
| 4881 24b0 01F4 brne .L475 |
| 4882 24b2 8091 0000 lds r24,Poti4 |
| 4883 .L467: |
| 4884 24b6 8093 0000 sts Parameter_UserParam4,r24 |
| 4885 .L475: |
| 4886 24ba 8091 0000 lds r24,EE_Parameter+59 |
| 4887 24be 8B3F cpi r24,lo8(-5) |
| 4888 24c0 00F0 brlo .L476 |
| 4889 24c2 8B3F cpi r24,lo8(-5) |
| 4890 24c4 01F4 brne .+2 |
| 4891 24c6 00C0 rjmp .L672 |
| 4892 24c8 8C3F cpi r24,lo8(-4) |
| 4893 24ca 01F4 brne .+2 |
| 4894 24cc 00C0 rjmp .L673 |
| 4895 24ce 8D3F cpi r24,lo8(-3) |
| 4896 24d0 01F4 brne .+2 |
| 4897 24d2 00C0 rjmp .L674 |
| 4898 24d4 8E3F cpi r24,lo8(-2) |
| 4899 24d6 01F4 brne .L484 |
| 4900 24d8 8091 0000 lds r24,Poti4 |
| 4901 .L476: |
| 4902 24dc 8093 0000 sts Parameter_UserParam5,r24 |
| 4903 .L484: |
| 4904 24e0 8091 0000 lds r24,EE_Parameter+60 |
| 4905 24e4 8B3F cpi r24,lo8(-5) |
| 4906 24e6 00F0 brlo .L485 |
| 4907 24e8 8B3F cpi r24,lo8(-5) |
| 4908 24ea 01F4 brne .+2 |
| 4909 24ec 00C0 rjmp .L675 |
| 4910 24ee 8C3F cpi r24,lo8(-4) |
| 4911 24f0 01F4 brne .+2 |
| 4912 24f2 00C0 rjmp .L676 |
| 4913 24f4 8D3F cpi r24,lo8(-3) |
| 4914 24f6 01F4 brne .+2 |
| 4915 24f8 00C0 rjmp .L677 |
| 4916 24fa 8E3F cpi r24,lo8(-2) |
| 4917 24fc 01F4 brne .L493 |
| 4918 24fe 8091 0000 lds r24,Poti4 |
| 4919 .L485: |
| 4920 2502 8093 0000 sts Parameter_UserParam6,r24 |
| 4921 .L493: |
| 4922 2506 8091 0000 lds r24,EE_Parameter+61 |
| 4923 250a 8B3F cpi r24,lo8(-5) |
| 4924 250c 00F0 brlo .L494 |
| 4925 250e 8B3F cpi r24,lo8(-5) |
| 4926 2510 01F4 brne .+2 |
| 4927 2512 00C0 rjmp .L678 |
| 4928 2514 8C3F cpi r24,lo8(-4) |
| 4929 2516 01F4 brne .+2 |
| 4930 2518 00C0 rjmp .L679 |
| 4931 251a 8D3F cpi r24,lo8(-3) |
| 4932 251c 01F4 brne .+2 |
| 4933 251e 00C0 rjmp .L680 |
| 4934 2520 8E3F cpi r24,lo8(-2) |
| 4935 2522 01F4 brne .L502 |
| 4936 2524 8091 0000 lds r24,Poti4 |
| 4937 .L494: |
| 4938 2528 8093 0000 sts Parameter_UserParam7,r24 |
| 4939 .L502: |
| 4940 252c 8091 0000 lds r24,EE_Parameter+62 |
| 4941 2530 8B3F cpi r24,lo8(-5) |
| 4942 2532 00F0 brlo .L503 |
| 4943 2534 8B3F cpi r24,lo8(-5) |
| 4944 2536 01F4 brne .+2 |
| 4945 2538 00C0 rjmp .L681 |
| 4946 253a 8C3F cpi r24,lo8(-4) |
| 4947 253c 01F4 brne .+2 |
| 4948 253e 00C0 rjmp .L682 |
| 4949 2540 8D3F cpi r24,lo8(-3) |
| 4950 2542 01F4 brne .+2 |
| 4951 2544 00C0 rjmp .L683 |
| 4952 2546 8E3F cpi r24,lo8(-2) |
| 4953 2548 01F4 brne .L511 |
| 4954 254a 8091 0000 lds r24,Poti4 |
| 4955 .L503: |
| 4956 254e 8093 0000 sts Parameter_UserParam8,r24 |
| 4957 .L511: |
| 4958 2552 8091 0000 lds r24,EE_Parameter+39 |
| 4959 2556 8B3F cpi r24,lo8(-5) |
| 4960 2558 00F0 brlo .L512 |
| 4961 255a 8B3F cpi r24,lo8(-5) |
| 4962 255c 01F4 brne .+2 |
| 4963 255e 00C0 rjmp .L684 |
| 4964 2560 8C3F cpi r24,lo8(-4) |
| 4965 2562 01F4 brne .+2 |
| 4966 2564 00C0 rjmp .L685 |
| 4967 2566 8D3F cpi r24,lo8(-3) |
| 4968 2568 01F4 brne .+2 |
| 4969 256a 00C0 rjmp .L686 |
| 4970 256c 8E3F cpi r24,lo8(-2) |
| 4971 256e 01F4 brne .L520 |
| 4972 2570 8091 0000 lds r24,Poti4 |
| 4973 .L512: |
| 4974 2574 8093 0000 sts Parameter_ServoNickControl,r24 |
| 4975 .L520: |
| 4976 2578 8091 0000 lds r24,EE_Parameter+43 |
| 4977 257c 8B3F cpi r24,lo8(-5) |
| 4978 257e 00F0 brlo .L521 |
| 4979 2580 8B3F cpi r24,lo8(-5) |
| 4980 2582 01F4 brne .+2 |
| 4981 2584 00C0 rjmp .L687 |
| 4982 2586 8C3F cpi r24,lo8(-4) |
| 4983 2588 01F4 brne .+2 |
| 4984 258a 00C0 rjmp .L688 |
| 4985 258c 8D3F cpi r24,lo8(-3) |
| 4986 258e 01F4 brne .+2 |
| 4987 2590 00C0 rjmp .L689 |
| 4988 2592 8E3F cpi r24,lo8(-2) |
| 4989 2594 01F4 brne .L529 |
| 4990 2596 8091 0000 lds r24,Poti4 |
| 4991 .L521: |
| 4992 259a 8093 0000 sts Parameter_ServoRollControl,r24 |
| 4993 .L529: |
| 4994 259e 8091 0000 lds r24,EE_Parameter+48 |
| 4995 25a2 8B3F cpi r24,lo8(-5) |
| 4996 25a4 00F0 brlo .L530 |
| 4997 25a6 8B3F cpi r24,lo8(-5) |
| 4998 25a8 01F4 brne .+2 |
| 4999 25aa 00C0 rjmp .L690 |
| 5000 25ac 8C3F cpi r24,lo8(-4) |
| 5001 25ae 01F4 brne .+2 |
| 5002 25b0 00C0 rjmp .L691 |
| 5003 25b2 8D3F cpi r24,lo8(-3) |
| 5004 25b4 01F4 brne .+2 |
| 5005 25b6 00C0 rjmp .L692 |
| 5006 25b8 8E3F cpi r24,lo8(-2) |
| 5007 25ba 01F4 brne .L538 |
| 5008 25bc 8091 0000 lds r24,Poti4 |
| 5009 .L530: |
| 5010 25c0 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 5011 .L538: |
| 5012 25c4 8091 0000 lds r24,EE_Parameter+51 |
| 5013 25c8 8B3F cpi r24,lo8(-5) |
| 5014 25ca 00F0 brlo .L539 |
| 5015 25cc 8B3F cpi r24,lo8(-5) |
| 5016 25ce 01F4 brne .+2 |
| 5017 25d0 00C0 rjmp .L693 |
| 5018 25d2 8C3F cpi r24,lo8(-4) |
| 5019 25d4 01F4 brne .+2 |
| 5020 25d6 00C0 rjmp .L694 |
| 5021 25d8 8D3F cpi r24,lo8(-3) |
| 5022 25da 01F4 brne .+2 |
| 5023 25dc 00C0 rjmp .L695 |
| 5024 25de 8E3F cpi r24,lo8(-2) |
| 5025 25e0 01F4 brne .L547 |
| 5026 25e2 8091 0000 lds r24,Poti4 |
| 5027 .L539: |
| 5028 25e6 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 5029 .L547: |
| 5030 25ea 8091 0000 lds r24,EE_Parameter+52 |
| 5031 25ee 8B3F cpi r24,lo8(-5) |
| 5032 25f0 00F0 brlo .L548 |
| 5033 25f2 8B3F cpi r24,lo8(-5) |
| 5034 25f4 01F4 brne .+2 |
| 5035 25f6 00C0 rjmp .L696 |
| 5036 25f8 8C3F cpi r24,lo8(-4) |
| 5037 25fa 01F4 brne .+2 |
| 5038 25fc 00C0 rjmp .L697 |
| 5039 25fe 8D3F cpi r24,lo8(-3) |
| 5040 2600 01F4 brne .+2 |
| 5041 2602 00C0 rjmp .L698 |
| 5042 2604 8E3F cpi r24,lo8(-2) |
| 5043 2606 01F4 brne .L556 |
| 5044 2608 8091 0000 lds r24,Poti4 |
| 5045 .L548: |
| 5046 260c 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 5047 .L556: |
| 5048 2610 8091 0000 lds r24,EE_Parameter+53 |
| 5049 2614 8B3F cpi r24,lo8(-5) |
| 5050 2616 00F0 brlo .L557 |
| 5051 2618 8B3F cpi r24,lo8(-5) |
| 5052 261a 01F4 brne .+2 |
| 5053 261c 00C0 rjmp .L699 |
| 5054 261e 8C3F cpi r24,lo8(-4) |
| 5055 2620 01F4 brne .+2 |
| 5056 2622 00C0 rjmp .L700 |
| 5057 2624 8D3F cpi r24,lo8(-3) |
| 5058 2626 01F4 brne .+2 |
| 5059 2628 00C0 rjmp .L701 |
| 5060 262a 8E3F cpi r24,lo8(-2) |
| 5061 262c 01F4 brne .L565 |
| 5062 262e 8091 0000 lds r24,Poti4 |
| 5063 .L557: |
| 5064 2632 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 5065 .L565: |
| 5066 2636 8091 0000 lds r24,EE_Parameter+58 |
| 5067 263a 8B3F cpi r24,lo8(-5) |
| 5068 263c 00F0 brlo .L566 |
| 5069 263e 8B3F cpi r24,lo8(-5) |
| 5070 2640 01F4 brne .+2 |
| 5071 2642 00C0 rjmp .L702 |
| 5072 2644 8C3F cpi r24,lo8(-4) |
| 5073 2646 01F4 brne .+2 |
| 5074 2648 00C0 rjmp .L703 |
| 5075 264a 8D3F cpi r24,lo8(-3) |
| 5076 264c 01F4 brne .+2 |
| 5077 264e 00C0 rjmp .L704 |
| 5078 2650 8E3F cpi r24,lo8(-2) |
| 5079 2652 01F4 brne .L574 |
| 5080 2654 8091 0000 lds r24,Poti4 |
| 5081 .L566: |
| 5082 2658 8093 0000 sts Parameter_DynamicStability,r24 |
| 5083 .L574: |
| 5084 265c 8091 0000 lds r24,EE_Parameter+64 |
| 5085 2660 8B3F cpi r24,lo8(-5) |
| 5086 2662 00F4 brsh .+2 |
| 5087 2664 00C0 rjmp .L575 |
| 5088 2666 8B3F cpi r24,lo8(-5) |
| 5089 2668 01F4 brne .+2 |
| 5090 266a 00C0 rjmp .L705 |
| 5091 266c 8C3F cpi r24,lo8(-4) |
| 5092 266e 01F4 brne .+2 |
| 5093 2670 00C0 rjmp .L706 |
| 5094 2672 8D3F cpi r24,lo8(-3) |
| 5095 2674 01F4 brne .+2 |
| 5096 2676 00C0 rjmp .L707 |
| 5097 2678 8E3F cpi r24,lo8(-2) |
| 5098 267a 01F4 brne .+2 |
| 5099 267c 00C0 rjmp .L708 |
| 5100 267e 8091 0000 lds r24,Parameter_J16Timing |
| 5101 2682 8230 cpi r24,lo8(2) |
| 5102 2684 00F4 brsh .+2 |
| 5103 2686 00C0 rjmp .L709 |
| 5104 .L584: |
| 5105 2688 8F3F cpi r24,lo8(-1) |
| 5106 268a 01F4 brne .L585 |
| 5107 .L617: |
| 5108 268c 8093 0000 sts Parameter_J16Timing,r24 |
| 5109 .L585: |
| 5110 2690 8091 0000 lds r24,EE_Parameter+66 |
| 5111 2694 8B3F cpi r24,lo8(-5) |
| 5112 2696 00F4 brsh .+2 |
| 5113 2698 00C0 rjmp .L587 |
| 5114 269a 8B3F cpi r24,lo8(-5) |
| 5115 269c 01F4 brne .+2 |
| 5116 269e 00C0 rjmp .L710 |
| 5117 26a0 8C3F cpi r24,lo8(-4) |
| 5118 26a2 01F4 brne .+2 |
| 5119 26a4 00C0 rjmp .L711 |
| 5120 26a6 8D3F cpi r24,lo8(-3) |
| 5121 26a8 01F4 brne .+2 |
| 5122 26aa 00C0 rjmp .L712 |
| 5123 26ac 8E3F cpi r24,lo8(-2) |
| 5124 26ae 01F4 brne .+2 |
| 5125 26b0 00C0 rjmp .L713 |
| 5126 26b2 8091 0000 lds r24,Parameter_J17Timing |
| 5127 26b6 8230 cpi r24,lo8(2) |
| 5128 26b8 00F4 brsh .+2 |
| 5129 26ba 00C0 rjmp .L714 |
| 5130 .L596: |
| 5131 26bc 8F3F cpi r24,lo8(-1) |
| 5132 26be 01F4 brne .L597 |
| 5133 .L618: |
| 5134 26c0 8093 0000 sts Parameter_J17Timing,r24 |
| 5135 .L597: |
| 5136 26c4 8091 0000 lds r24,EE_Parameter+85 |
| 5137 26c8 8B3F cpi r24,lo8(-5) |
| 5138 26ca 00F0 brlo .L599 |
| 5139 26cc 8B3F cpi r24,lo8(-5) |
| 5140 26ce 01F4 brne .+2 |
| 5141 26d0 00C0 rjmp .L715 |
| 5142 26d2 8C3F cpi r24,lo8(-4) |
| 5143 26d4 01F4 brne .+2 |
| 5144 26d6 00C0 rjmp .L716 |
| 5145 26d8 8D3F cpi r24,lo8(-3) |
| 5146 26da 01F4 brne .+2 |
| 5147 26dc 00C0 rjmp .L717 |
| 5148 26de 8E3F cpi r24,lo8(-2) |
| 5149 26e0 01F0 breq .+2 |
| 5150 26e2 00C0 rjmp .L607 |
| 5151 26e4 8091 0000 lds r24,Poti4 |
| 5152 .L599: |
| 5153 26e8 8093 0000 sts Parameter_ExternalControl,r24 |
| 5154 26ec 00C0 rjmp .L607 |
| 5155 .L622: |
| 5156 26ee 8091 0000 lds r24,Poti1 |
| 5157 .L332: |
| 5158 26f2 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 5159 26f6 8823 tst r24 |
| 5160 26f8 01F4 brne .+2 |
| 5161 26fa 00C0 rjmp .L614 |
| 5162 .L626: |
| 5163 26fc 8436 cpi r24,lo8(100) |
| 5164 26fe 00F4 brsh .+2 |
| 5165 2700 00C0 rjmp .L342 |
| 5166 2702 84E6 ldi r24,lo8(100) |
| 5167 2704 00C0 rjmp .L614 |
| 5168 .L627: |
| 5169 2706 8091 0000 lds r24,Poti1 |
| 5170 .L344: |
| 5171 270a 8093 0000 sts Parameter_Hoehe_P,r24 |
| 5172 270e 8823 tst r24 |
| 5173 2710 01F4 brne .+2 |
| 5174 2712 00C0 rjmp .L615 |
| 5175 .L631: |
| 5176 2714 8436 cpi r24,lo8(100) |
| 5177 2716 00F4 brsh .+2 |
| 5178 2718 00C0 rjmp .L354 |
| 5179 271a 84E6 ldi r24,lo8(100) |
| 5180 271c 00C0 rjmp .L615 |
| 5181 .L641: |
| 5182 271e 8091 0000 lds r24,Poti1 |
| 5183 .L383: |
| 5184 2722 8093 0000 sts Parameter_Gyro_P,r24 |
| 5185 2726 8B30 cpi r24,lo8(11) |
| 5186 2728 00F0 brlo .+2 |
| 5187 272a 00C0 rjmp .L392 |
| 5188 .L645: |
| 5189 272c 8AE0 ldi r24,lo8(10) |
| 5190 272e 00C0 rjmp .L616 |
| 5191 .L658: |
| 5192 2730 2091 0000 lds r18,Poti1 |
| 5193 .L431: |
| 5194 2734 2093 0000 sts Parameter_I_Faktor,r18 |
| 5195 2738 8091 0000 lds r24,EE_Parameter+35 |
| 5196 273c 8B3F cpi r24,lo8(-5) |
| 5197 273e 00F4 brsh .+2 |
| 5198 2740 00C0 rjmp .L440 |
| 5199 .L662: |
| 5200 2742 8B3F cpi r24,lo8(-5) |
| 5201 2744 01F4 brne .+2 |
| 5202 2746 00C0 rjmp .L718 |
| 5203 2748 8C3F cpi r24,lo8(-4) |
| 5204 274a 01F4 brne .+2 |
| 5205 274c 00C0 rjmp .L719 |
| 5206 274e 8D3F cpi r24,lo8(-3) |
| 5207 2750 01F4 brne .+2 |
| 5208 2752 00C0 rjmp .L720 |
| 5209 2754 8E3F cpi r24,lo8(-2) |
| 5210 2756 01F0 breq .+2 |
| 5211 2758 00C0 rjmp .L448 |
| 5212 275a 8091 0000 lds r24,Poti4 |
| 5213 275e 00C0 rjmp .L440 |
| 5214 .L705: |
| 5215 2760 8091 0000 lds r24,Poti1 |
| 5216 .L575: |
| 5217 2764 8093 0000 sts Parameter_J16Timing,r24 |
| 5218 2768 8230 cpi r24,lo8(2) |
| 5219 276a 00F0 brlo .+2 |
| 5220 276c 00C0 rjmp .L584 |
| 5221 .L709: |
| 5222 276e 81E0 ldi r24,lo8(1) |
| 5223 2770 00C0 rjmp .L617 |
| 5224 .L710: |
| 5225 2772 8091 0000 lds r24,Poti1 |
| 5226 .L587: |
| 5227 2776 8093 0000 sts Parameter_J17Timing,r24 |
| 5228 277a 8230 cpi r24,lo8(2) |
| 5229 277c 00F0 brlo .+2 |
| 5230 277e 00C0 rjmp .L596 |
| 5231 .L714: |
| 5232 2780 81E0 ldi r24,lo8(1) |
| 5233 2782 00C0 rjmp .L618 |
| 5234 .L666: |
| 5235 2784 8091 0000 lds r24,Poti1 |
| 5236 2788 00C0 rjmp .L458 |
| 5237 .L669: |
| 5238 278a 8091 0000 lds r24,Poti1 |
| 5239 278e 00C0 rjmp .L467 |
| 5240 .L672: |
| 5241 2790 8091 0000 lds r24,Poti1 |
| 5242 2794 00C0 rjmp .L476 |
| 5243 .L675: |
| 5244 2796 8091 0000 lds r24,Poti1 |
| 5245 279a 00C0 rjmp .L485 |
| 5246 .L678: |
| 5247 279c 8091 0000 lds r24,Poti1 |
| 5248 27a0 00C0 rjmp .L494 |
| 5249 .L681: |
| 5250 27a2 8091 0000 lds r24,Poti1 |
| 5251 27a6 00C0 rjmp .L503 |
| 5252 .L684: |
| 5253 27a8 8091 0000 lds r24,Poti1 |
| 5254 27ac 00C0 rjmp .L512 |
| 5255 .L687: |
| 5256 27ae 8091 0000 lds r24,Poti1 |
| 5257 27b2 00C0 rjmp .L521 |
| 5258 .L690: |
| 5259 27b4 8091 0000 lds r24,Poti1 |
| 5260 27b8 00C0 rjmp .L530 |
| 5261 .L693: |
| 5262 27ba 8091 0000 lds r24,Poti1 |
| 5263 27be 00C0 rjmp .L539 |
| 5264 .L696: |
| 5265 27c0 8091 0000 lds r24,Poti1 |
| 5266 27c4 00C0 rjmp .L548 |
| 5267 .L699: |
| 5268 27c6 8091 0000 lds r24,Poti1 |
| 5269 27ca 00C0 rjmp .L557 |
| 5270 .L702: |
| 5271 27cc 8091 0000 lds r24,Poti1 |
| 5272 27d0 00C0 rjmp .L566 |
| 5273 .L715: |
| 5274 27d2 8091 0000 lds r24,Poti1 |
| 5275 27d6 00C0 rjmp .L599 |
| 5276 .L646: |
| 5277 27d8 8091 0000 lds r24,Poti1 |
| 5278 27dc 00C0 rjmp .L395 |
| 5279 .L649: |
| 5280 27de 8091 0000 lds r24,Poti1 |
| 5281 27e2 00C0 rjmp .L404 |
| 5282 .L652: |
| 5283 27e4 8091 0000 lds r24,Poti1 |
| 5284 27e8 00C0 rjmp .L413 |
| 5285 .L655: |
| 5286 27ea 8091 0000 lds r24,Poti1 |
| 5287 27ee 00C0 rjmp .L422 |
| 5288 .L718: |
| 5289 27f0 8091 0000 lds r24,Poti1 |
| 5290 27f4 00C0 rjmp .L440 |
| 5291 .L663: |
| 5292 27f6 8091 0000 lds r24,Poti1 |
| 5293 27fa 00C0 rjmp .L449 |
| 5294 .L635: |
| 5295 27fc 8091 0000 lds r24,Poti1 |
| 5296 2800 00C0 rjmp .L365 |
| 5297 .L638: |
| 5298 2802 8091 0000 lds r24,Poti1 |
| 5299 2806 00C0 rjmp .L374 |
| 5300 .L619: |
| 5301 2808 8091 0000 lds r24,Poti1 |
| 5302 280c 00C0 rjmp .L323 |
| 5303 .L632: |
| 5304 280e 8091 0000 lds r24,Poti1 |
| 5305 2812 00C0 rjmp .L356 |
| 5306 .L717: |
| 5307 2814 8091 0000 lds r24,Poti3 |
| 5308 2818 00C0 rjmp .L599 |
| 5309 .L674: |
| 5310 281a 8091 0000 lds r24,Poti3 |
| 5311 281e 00C0 rjmp .L476 |
| 5312 .L677: |
| 5313 2820 8091 0000 lds r24,Poti3 |
| 5314 2824 00C0 rjmp .L485 |
| 5315 .L720: |
| 5316 2826 8091 0000 lds r24,Poti3 |
| 5317 282a 00C0 rjmp .L440 |
| 5318 .L668: |
| 5319 282c 8091 0000 lds r24,Poti3 |
| 5320 2830 00C0 rjmp .L458 |
| 5321 .L671: |
| 5322 2832 8091 0000 lds r24,Poti3 |
| 5323 2836 00C0 rjmp .L467 |
| 5324 .L660: |
| 5325 2838 2091 0000 lds r18,Poti3 |
| 5326 283c 00C0 rjmp .L431 |
| 5327 .L665: |
| 5328 283e 8091 0000 lds r24,Poti3 |
| 5329 2842 00C0 rjmp .L449 |
| 5330 .L624: |
| 5331 2844 8091 0000 lds r24,Poti3 |
| 5332 2848 00C0 rjmp .L332 |
| 5333 .L629: |
| 5334 284a 8091 0000 lds r24,Poti3 |
| 5335 284e 00C0 rjmp .L344 |
| 5336 .L634: |
| 5337 2850 8091 0000 lds r24,Poti3 |
| 5338 2854 00C0 rjmp .L356 |
| 5339 .L621: |
| 5340 2856 8091 0000 lds r24,Poti3 |
| 5341 285a 00C0 rjmp .L323 |
| 5342 .L640: |
| 5343 285c 8091 0000 lds r24,Poti3 |
| 5344 2860 00C0 rjmp .L374 |
| 5345 .L648: |
| 5346 2862 8091 0000 lds r24,Poti3 |
| 5347 2866 00C0 rjmp .L395 |
| 5348 .L692: |
| 5349 2868 8091 0000 lds r24,Poti3 |
| 5350 286c 00C0 rjmp .L530 |
| 5351 .L695: |
| 5352 286e 8091 0000 lds r24,Poti3 |
| 5353 2872 00C0 rjmp .L539 |
| 5354 .L686: |
| 5355 2874 8091 0000 lds r24,Poti3 |
| 5356 2878 00C0 rjmp .L512 |
| 5357 .L689: |
| 5358 287a 8091 0000 lds r24,Poti3 |
| 5359 287e 00C0 rjmp .L521 |
| 5360 .L657: |
| 5361 2880 8091 0000 lds r24,Poti3 |
| 5362 2884 00C0 rjmp .L422 |
| 5363 .L654: |
| 5364 2886 8091 0000 lds r24,Poti3 |
| 5365 288a 00C0 rjmp .L413 |
| 5366 .L643: |
| 5367 288c 8091 0000 lds r24,Poti3 |
| 5368 2890 00C0 rjmp .L383 |
| 5369 .L637: |
| 5370 2892 8091 0000 lds r24,Poti3 |
| 5371 2896 00C0 rjmp .L365 |
| 5372 .L651: |
| 5373 2898 8091 0000 lds r24,Poti3 |
| 5374 289c 00C0 rjmp .L404 |
| 5375 .L698: |
| 5376 289e 8091 0000 lds r24,Poti3 |
| 5377 28a2 00C0 rjmp .L548 |
| 5378 .L701: |
| 5379 28a4 8091 0000 lds r24,Poti3 |
| 5380 28a8 00C0 rjmp .L557 |
| 5381 .L680: |
| 5382 28aa 8091 0000 lds r24,Poti3 |
| 5383 28ae 00C0 rjmp .L494 |
| 5384 .L683: |
| 5385 28b0 8091 0000 lds r24,Poti3 |
| 5386 28b4 00C0 rjmp .L503 |
| 5387 .L704: |
| 5388 28b6 8091 0000 lds r24,Poti3 |
| 5389 28ba 00C0 rjmp .L566 |
| 5390 .L707: |
| 5391 28bc 8091 0000 lds r24,Poti3 |
| 5392 28c0 00C0 rjmp .L575 |
| 5393 .L712: |
| 5394 28c2 8091 0000 lds r24,Poti3 |
| 5395 28c6 00C0 rjmp .L587 |
| 5396 .L650: |
| 5397 28c8 8091 0000 lds r24,Poti2 |
| 5398 28cc 00C0 rjmp .L404 |
| 5399 .L653: |
| 5400 28ce 8091 0000 lds r24,Poti2 |
| 5401 28d2 00C0 rjmp .L413 |
| 5402 .L636: |
| 5403 28d4 8091 0000 lds r24,Poti2 |
| 5404 28d8 00C0 rjmp .L365 |
| 5405 .L697: |
| 5406 28da 8091 0000 lds r24,Poti2 |
| 5407 28de 00C0 rjmp .L548 |
| 5408 .L706: |
| 5409 28e0 8091 0000 lds r24,Poti2 |
| 5410 28e4 00C0 rjmp .L575 |
| 5411 .L711: |
| 5412 28e6 8091 0000 lds r24,Poti2 |
| 5413 28ea 00C0 rjmp .L587 |
| 5414 .L700: |
| 5415 28ec 8091 0000 lds r24,Poti2 |
| 5416 28f0 00C0 rjmp .L557 |
| 5417 .L679: |
| 5418 28f2 8091 0000 lds r24,Poti2 |
| 5419 28f6 00C0 rjmp .L494 |
| 5420 .L682: |
| 5421 28f8 8091 0000 lds r24,Poti2 |
| 5422 28fc 00C0 rjmp .L503 |
| 5423 .L703: |
| 5424 28fe 8091 0000 lds r24,Poti2 |
| 5425 2902 00C0 rjmp .L566 |
| 5426 .L685: |
| 5427 2904 8091 0000 lds r24,Poti2 |
| 5428 2908 00C0 rjmp .L512 |
| 5429 .L688: |
| 5430 290a 8091 0000 lds r24,Poti2 |
| 5431 290e 00C0 rjmp .L521 |
| 5432 .L691: |
| 5433 2910 8091 0000 lds r24,Poti2 |
| 5434 2914 00C0 rjmp .L530 |
| 5435 .L694: |
| 5436 2916 8091 0000 lds r24,Poti2 |
| 5437 291a 00C0 rjmp .L539 |
| 5438 .L623: |
| 5439 291c 8091 0000 lds r24,Poti2 |
| 5440 2920 00C0 rjmp .L332 |
| 5441 .L659: |
| 5442 2922 2091 0000 lds r18,Poti2 |
| 5443 2926 00C0 rjmp .L431 |
| 5444 .L664: |
| 5445 2928 8091 0000 lds r24,Poti2 |
| 5446 292c 00C0 rjmp .L449 |
| 5447 .L639: |
| 5448 292e 8091 0000 lds r24,Poti2 |
| 5449 2932 00C0 rjmp .L374 |
| 5450 .L647: |
| 5451 2934 8091 0000 lds r24,Poti2 |
| 5452 2938 00C0 rjmp .L395 |
| 5453 .L642: |
| 5454 293a 8091 0000 lds r24,Poti2 |
| 5455 293e 00C0 rjmp .L383 |
| 5456 .L628: |
| 5457 2940 8091 0000 lds r24,Poti2 |
| 5458 2944 00C0 rjmp .L344 |
| 5459 .L633: |
| 5460 2946 8091 0000 lds r24,Poti2 |
| 5461 294a 00C0 rjmp .L356 |
| 5462 .L620: |
| 5463 294c 8091 0000 lds r24,Poti2 |
| 5464 2950 00C0 rjmp .L323 |
| 5465 .L676: |
| 5466 2952 8091 0000 lds r24,Poti2 |
| 5467 2956 00C0 rjmp .L485 |
| 5468 .L656: |
| 5469 2958 8091 0000 lds r24,Poti2 |
| 5470 295c 00C0 rjmp .L422 |
| 5471 .L719: |
| 5472 295e 8091 0000 lds r24,Poti2 |
| 5473 2962 00C0 rjmp .L440 |
| 5474 .L667: |
| 5475 2964 8091 0000 lds r24,Poti2 |
| 5476 2968 00C0 rjmp .L458 |
| 5477 .L670: |
| 5478 296a 8091 0000 lds r24,Poti2 |
| 5479 296e 00C0 rjmp .L467 |
| 5480 .L716: |
| 5481 2970 8091 0000 lds r24,Poti2 |
| 5482 2974 00C0 rjmp .L599 |
| 5483 .L673: |
| 5484 2976 8091 0000 lds r24,Poti2 |
| 5485 297a 00C0 rjmp .L476 |
| 5486 .L630: |
| 5487 297c 8091 0000 lds r24,Poti4 |
| 5488 2980 00C0 rjmp .L344 |
| 5489 .L661: |
| 5490 2982 2091 0000 lds r18,Poti4 |
| 5491 2986 00C0 rjmp .L431 |
| 5492 .L625: |
| 5493 2988 8091 0000 lds r24,Poti4 |
| 5494 298c 00C0 rjmp .L332 |
| 5495 .L644: |
| 5496 298e 8091 0000 lds r24,Poti4 |
| 5497 2992 00C0 rjmp .L383 |
| 5498 .L708: |
| 5499 2994 8091 0000 lds r24,Poti4 |
| 5500 2998 00C0 rjmp .L575 |
| 5501 .L713: |
| 5502 299a 8091 0000 lds r24,Poti4 |
| 5503 299e 00C0 rjmp .L587 |
| 5504 .L607: |
| 5505 29a0 3327 clr r19 |
| 5506 29a2 2F5F subi r18,lo8(-(1)) |
| 5507 29a4 3F4F sbci r19,hi8(-(1)) |
| 5508 29a6 8CE3 ldi r24,lo8(10300) |
| 5509 29a8 98E2 ldi r25,hi8(10300) |
| 5510 29aa B901 movw r22,r18 |
| 5511 29ac 0E94 0000 call __divmodhi4 |
| 5512 29b0 7093 0000 sts (Ki)+1,r23 |
| 5513 29b4 6093 0000 sts Ki,r22 |
| 5514 29b8 8091 0000 lds r24,EE_Parameter+22 |
| 5515 29bc 8093 0000 sts MAX_GAS,r24 |
| 5516 29c0 8091 0000 lds r24,EE_Parameter+21 |
| 5517 29c4 8093 0000 sts MIN_GAS,r24 |
| 5518 /* epilogue: frame size=0 */ |
| 5519 29c8 0895 ret |
| 5520 /* epilogue end (size=1) */ |
| 5521 /* function ParameterZuordnung size 957 (956) */ |
| 5523 .lcomm SummeNick.0,4 |
| 5524 .lcomm SummeRoll.1,4 |
| 5525 .lcomm sollGier.2,4 |
| 5526 .lcomm tmp_long.3,4 |
| 5527 .lcomm tmp_long2.4,4 |
| 5528 .lcomm IntegralFehlerNick.5,4 |
| 5529 .lcomm IntegralFehlerRoll.6,4 |
| 5530 .lcomm RcLostTimer.7,2 |
| 5531 .lcomm delay_neutral.8,1 |
| 5532 .lcomm delay_einschalten.9,1 |
| 5533 .lcomm delay_ausschalten.10,1 |
| 5534 .lcomm TimerWerteausgabe.11,1 |
| 5535 .lcomm NeueKompassRichtungMerken.12,1 |
| 5536 .lcomm ausgleichNick.13,4 |
| 5537 .lcomm ausgleichRoll.14,4 |
| 5538 .lcomm stick_nick.15,2 |
| 5539 .lcomm stick_roll.16,2 |
| 5540 .lcomm cnt.17,2 |
| 5541 .lcomm last_n_p.18,1 |
| 5542 .lcomm last_n_n.19,1 |
| 5543 .lcomm last_r_p.20,1 |
| 5544 .lcomm last_r_n.21,1 |
| 5545 .lcomm MittelIntegralNick_Alt.22,4 |
| 5546 .lcomm MittelIntegralRoll_Alt.23,4 |
| 5547 .lcomm HeightTrimming.24,2 |
| 5548 .lcomm FilterHCGas.25,2 |
| 5549 .data |
| 5552 StickGasHoover.26: |
| 5553 0045 7800 .word 120 |
| 5554 .lcomm HooverGas.27,2 |
| 5555 .lcomm HooverGasMin.28,2 |
| 5558 HooverGasMax.29: |
| 5559 0047 FF03 .word 1023 |
| 5560 .lcomm HooverGasFilter.30,4 |
| 5563 delay.31: |
| 5564 0049 64 .byte 100 |
| 5565 .lcomm BaroAtUpperLimit.32,1 |
| 5566 .lcomm BaroAtLowerLimit.33,1 |
| 5567 .lcomm HeightTrimmingFlag.34,1 |
| 5568 .text |
| 5569 .global MotorRegler |
| 5571 MotorRegler: |
| 5572 /* prologue: frame size=40 */ |
| 5573 29ca A8E2 ldi r26,lo8(40) |
| 5574 29cc B0E0 ldi r27,hi8(40) |
| 5575 29ce E0E0 ldi r30,pm_lo8(1f) |
| 5576 29d0 F0E0 ldi r31,pm_hi8(1f) |
| 5577 29d2 0C94 0000 jmp __prologue_saves__+0 |
| 5578 1: |
| 5579 /* prologue end (size=6) */ |
| 5580 29d6 8091 0000 lds r24,LoadHandler |
| 5581 29da 8150 subi r24,lo8(-(-1)) |
| 5582 29dc 01F4 brne .L1168 |
| 5583 29de 85E0 ldi r24,lo8(5) |
| 5584 .L1168: |
| 5585 29e0 8093 0000 sts LoadHandler,r24 |
| 5586 29e4 0E94 0000 call Mittelwert |
| 5587 29e8 2091 0000 lds r18,PlatinenVersion |
| 5588 29ec 2C30 cpi r18,lo8(12) |
| 5589 29ee 00F0 brlo .+2 |
| 5590 29f0 00C0 rjmp .L723 |
| 5591 29f2 299A sbi 37-0x20,1 |
| 5592 .L724: |
| 5593 29f4 E090 0000 lds r14,StickGas |
| 5594 29f8 F090 0000 lds r15,(StickGas)+1 |
| 5595 29fc FA82 std Y+2,r15 |
| 5596 29fe E982 std Y+1,r14 |
| 5597 2a00 8091 0000 lds r24,MIN_GAS |
| 5598 2a04 9927 clr r25 |
| 5599 2a06 0A96 adiw r24,10 |
| 5600 2a08 E816 cp r14,r24 |
| 5601 2a0a F906 cpc r15,r25 |
| 5602 2a0c 04F4 brge .L725 |
| 5603 2a0e 9A83 std Y+2,r25 |
| 5604 2a10 8983 std Y+1,r24 |
| 5605 .L725: |
| 5606 2a12 8091 0000 lds r24,SenderOkay |
| 5607 2a16 8436 cpi r24,lo8(100) |
| 5608 2a18 00F0 brlo .+2 |
| 5609 2a1a 00C0 rjmp .L726 |
| 5610 2a1c 8091 0000 lds r24,RcLostTimer.7 |
| 5611 2a20 9091 0000 lds r25,(RcLostTimer.7)+1 |
| 5612 2a24 0097 sbiw r24,0 |
| 5613 2a26 01F0 breq .+2 |
| 5614 2a28 00C0 rjmp .L1211 |
| 5615 2a2a 1092 0000 sts MotorenEin,__zero_reg__ |
| 5616 2a2e 8091 0000 lds r24,MikroKopterFlags |
| 5617 2a32 8F7E andi r24,lo8(-17) |
| 5618 2a34 8093 0000 sts MikroKopterFlags,r24 |
| 5619 2a38 2A30 cpi r18,lo8(10) |
| 5620 2a3a 01F4 brne .+2 |
| 5621 2a3c 00C0 rjmp .L730 |
| 5622 .L1232: |
| 5623 2a3e 2431 cpi r18,lo8(20) |
| 5624 2a40 01F4 brne .+2 |
| 5625 2a42 00C0 rjmp .L730 |
| 5626 2a44 2898 cbi 37-0x20,0 |
| 5627 2a46 8091 0000 lds r24,modell_fliegt |
| 5628 2a4a 9091 0000 lds r25,(modell_fliegt)+1 |
| 5629 2a4e 895E subi r24,lo8(1001) |
| 5630 2a50 9340 sbci r25,hi8(1001) |
| 5631 2a52 00F4 brsh .+2 |
| 5632 2a54 00C0 rjmp .L732 |
| 5633 .L1233: |
| 5634 2a56 8091 0000 lds r24,EE_Parameter+31 |
| 5635 2a5a 282F mov r18,r24 |
| 5636 2a5c 3327 clr r19 |
| 5637 2a5e 3A83 std Y+2,r19 |
| 5638 2a60 2983 std Y+1,r18 |
| 5639 2a62 8091 0000 lds r24,MikroKopterFlags |
| 5640 2a66 8061 ori r24,lo8(16) |
| 5641 2a68 8093 0000 sts MikroKopterFlags,r24 |
| 5642 2a6c 8091 0000 lds r24,EE_Parameter |
| 5643 2a70 A82F mov r26,r24 |
| 5644 2a72 BB27 clr r27 |
| 5645 2a74 AA0F add r26,r26 |
| 5646 2a76 BB1F adc r27,r27 |
| 5647 2a78 FD01 movw r30,r26 |
| 5648 2a7a E050 subi r30,lo8(-(PPM_diff)) |
| 5649 2a7c F040 sbci r31,hi8(-(PPM_diff)) |
| 5650 2a7e 1182 std Z+1,__zero_reg__ |
| 5651 2a80 1082 st Z,__zero_reg__ |
| 5652 2a82 8091 0000 lds r24,EE_Parameter+1 |
| 5653 2a86 282F mov r18,r24 |
| 5654 2a88 3327 clr r19 |
| 5655 2a8a 220F add r18,r18 |
| 5656 2a8c 331F adc r19,r19 |
| 5657 2a8e C901 movw r24,r18 |
| 5658 2a90 8050 subi r24,lo8(-(PPM_diff)) |
| 5659 2a92 9040 sbci r25,hi8(-(PPM_diff)) |
| 5660 2a94 FC01 movw r30,r24 |
| 5661 2a96 1182 std Z+1,__zero_reg__ |
| 5662 2a98 1082 st Z,__zero_reg__ |
| 5663 2a9a A050 subi r26,lo8(-(PPM_in)) |
| 5664 2a9c B040 sbci r27,hi8(-(PPM_in)) |
| 5665 2a9e 1196 adiw r26,1 |
| 5666 2aa0 1C92 st X,__zero_reg__ |
| 5667 2aa2 1E92 st -X,__zero_reg__ |
| 5668 2aa4 2050 subi r18,lo8(-(PPM_in)) |
| 5669 2aa6 3040 sbci r19,hi8(-(PPM_in)) |
| 5670 2aa8 D901 movw r26,r18 |
| 5671 2aaa 1196 adiw r26,1 |
| 5672 2aac 1C92 st X,__zero_reg__ |
| 5673 2aae 1E92 st -X,__zero_reg__ |
| 5674 2ab0 8091 0000 lds r24,EE_Parameter+3 |
| 5675 2ab4 E82F mov r30,r24 |
| 5676 2ab6 FF27 clr r31 |
| 5677 2ab8 EE0F add r30,r30 |
| 5678 2aba FF1F adc r31,r31 |
| 5679 2abc E050 subi r30,lo8(-(PPM_in)) |
| 5680 2abe F040 sbci r31,hi8(-(PPM_in)) |
| 5681 2ac0 1182 std Z+1,__zero_reg__ |
| 5682 2ac2 1082 st Z,__zero_reg__ |
| 5683 .L734: |
| 5684 2ac4 8091 0000 lds r24,NewPpmData |
| 5685 2ac8 8150 subi r24,lo8(-(-1)) |
| 5686 2aca 8093 0000 sts NewPpmData,r24 |
| 5687 2ace 8091 0000 lds r24,NewPpmData |
| 5688 2ad2 8F3F cpi r24,lo8(-1) |
| 5689 2ad4 01F0 breq .L808 |
| 5690 2ad6 8091 0000 lds r24,MikroKopterFlags |
| 5691 2ada 84FF sbrs r24,4 |
| 5692 2adc 00C0 rjmp .L1149 |
| 5693 .L808: |
| 5694 2ade 0E94 0000 call ParameterZuordnung |
| 5695 2ae2 8091 0000 lds r24,stick_nick.15 |
| 5696 2ae6 9091 0000 lds r25,(stick_nick.15)+1 |
| 5697 2aea 9C01 movw r18,r24 |
| 5698 2aec 220F lsl r18 |
| 5699 2aee 331F rol r19 |
| 5700 2af0 280F add r18,r24 |
| 5701 2af2 391F adc r19,r25 |
| 5702 2af4 0091 0000 lds r16,EE_Parameter |
| 5703 2af8 A02F mov r26,r16 |
| 5704 2afa BB27 clr r27 |
| 5705 2afc AA0F add r26,r26 |
| 5706 2afe BB1F adc r27,r27 |
| 5707 2b00 FD01 movw r30,r26 |
| 5708 2b02 E050 subi r30,lo8(-(PPM_in)) |
| 5709 2b04 F040 sbci r31,hi8(-(PPM_in)) |
| 5710 2b06 E090 0000 lds r14,EE_Parameter+18 |
| 5711 2b0a 6E2D mov r22,r14 |
| 5712 2b0c 7727 clr r23 |
| 5713 2b0e 8081 ld r24,Z |
| 5714 2b10 9181 ldd r25,Z+1 |
| 5715 2b12 869F mul r24,r22 |
| 5716 2b14 A001 movw r20,r0 |
| 5717 2b16 879F mul r24,r23 |
| 5718 2b18 500D add r21,r0 |
| 5719 2b1a 969F mul r25,r22 |
| 5720 2b1c 500D add r21,r0 |
| 5721 2b1e 1124 clr r1 |
| 5722 2b20 240F add r18,r20 |
| 5723 2b22 351F adc r19,r21 |
| 5724 2b24 37FF sbrs r19,7 |
| 5725 2b26 00C0 rjmp .+4 |
| 5726 2b28 0C94 0000 jmp .L1212 |
| 5727 .L809: |
| 5728 2b2c 3595 asr r19 |
| 5729 2b2e 2795 ror r18 |
| 5730 2b30 3595 asr r19 |
| 5731 2b32 2795 ror r18 |
| 5732 2b34 A050 subi r26,lo8(-(PPM_diff)) |
| 5733 2b36 B040 sbci r27,hi8(-(PPM_diff)) |
| 5734 2b38 8091 0000 lds r24,EE_Parameter+19 |
| 5735 2b3c 482F mov r20,r24 |
| 5736 2b3e 5527 clr r21 |
| 5737 2b40 8D91 ld r24,X+ |
| 5738 2b42 9C91 ld r25,X |
| 5739 2b44 849F mul r24,r20 |
| 5740 2b46 D001 movw r26,r0 |
| 5741 2b48 859F mul r24,r21 |
| 5742 2b4a B00D add r27,r0 |
| 5743 2b4c 949F mul r25,r20 |
| 5744 2b4e B00D add r27,r0 |
| 5745 2b50 1124 clr r1 |
| 5746 2b52 CD01 movw r24,r26 |
| 5747 2b54 820F add r24,r18 |
| 5748 2b56 931F adc r25,r19 |
| 5749 2b58 9093 0000 sts (stick_nick.15)+1,r25 |
| 5750 2b5c 8093 0000 sts stick_nick.15,r24 |
| 5751 2b60 9093 0000 sts (StickNick)+1,r25 |
| 5752 2b64 8093 0000 sts StickNick,r24 |
| 5753 2b68 8091 0000 lds r24,stick_roll.16 |
| 5754 2b6c 9091 0000 lds r25,(stick_roll.16)+1 |
| 5755 2b70 9C01 movw r18,r24 |
| 5756 2b72 220F lsl r18 |
| 5757 2b74 331F rol r19 |
| 5758 2b76 280F add r18,r24 |
| 5759 2b78 391F adc r19,r25 |
| 5760 2b7a 1091 0000 lds r17,EE_Parameter+1 |
| 5761 2b7e A12F mov r26,r17 |
| 5762 2b80 BB27 clr r27 |
| 5763 2b82 AA0F add r26,r26 |
| 5764 2b84 BB1F adc r27,r27 |
| 5765 2b86 FD01 movw r30,r26 |
| 5766 2b88 E050 subi r30,lo8(-(PPM_in)) |
| 5767 2b8a F040 sbci r31,hi8(-(PPM_in)) |
| 5768 2b8c 8081 ld r24,Z |
| 5769 2b8e 9181 ldd r25,Z+1 |
| 5770 2b90 869F mul r24,r22 |
| 5771 2b92 F001 movw r30,r0 |
| 5772 2b94 879F mul r24,r23 |
| 5773 2b96 F00D add r31,r0 |
| 5774 2b98 969F mul r25,r22 |
| 5775 2b9a F00D add r31,r0 |
| 5776 2b9c 1124 clr r1 |
| 5777 2b9e 2E0F add r18,r30 |
| 5778 2ba0 3F1F adc r19,r31 |
| 5779 2ba2 37FF sbrs r19,7 |
| 5780 2ba4 00C0 rjmp .+4 |
| 5781 2ba6 0C94 0000 jmp .L1213 |
| 5782 .L810: |
| 5783 2baa 3595 asr r19 |
| 5784 2bac 2795 ror r18 |
| 5785 2bae 3595 asr r19 |
| 5786 2bb0 2795 ror r18 |
| 5787 2bb2 A050 subi r26,lo8(-(PPM_diff)) |
| 5788 2bb4 B040 sbci r27,hi8(-(PPM_diff)) |
| 5789 2bb6 8D91 ld r24,X+ |
| 5790 2bb8 9C91 ld r25,X |
| 5791 2bba 849F mul r24,r20 |
| 5792 2bbc B001 movw r22,r0 |
| 5793 2bbe 859F mul r24,r21 |
| 5794 2bc0 700D add r23,r0 |
| 5795 2bc2 949F mul r25,r20 |
| 5796 2bc4 700D add r23,r0 |
| 5797 2bc6 1124 clr r1 |
| 5798 2bc8 CB01 movw r24,r22 |
| 5799 2bca 820F add r24,r18 |
| 5800 2bcc 931F adc r25,r19 |
| 5801 2bce 9093 0000 sts (stick_roll.16)+1,r25 |
| 5802 2bd2 8093 0000 sts stick_roll.16,r24 |
| 5803 2bd6 9093 0000 sts (StickRoll)+1,r25 |
| 5804 2bda 8093 0000 sts StickRoll,r24 |
| 5805 2bde 8091 0000 lds r24,EE_Parameter+3 |
| 5806 2be2 E82F mov r30,r24 |
| 5807 2be4 FF27 clr r31 |
| 5808 2be6 EE0F add r30,r30 |
| 5809 2be8 FF1F adc r31,r31 |
| 5810 2bea E050 subi r30,lo8(-(PPM_in)) |
| 5811 2bec F040 sbci r31,hi8(-(PPM_in)) |
| 5812 2bee 8081 ld r24,Z |
| 5813 2bf0 9181 ldd r25,Z+1 |
| 5814 2bf2 9095 com r25 |
| 5815 2bf4 8195 neg r24 |
| 5816 2bf6 9F4F sbci r25,lo8(-1) |
| 5817 2bf8 8330 cpi r24,3 |
| 5818 2bfa 9105 cpc r25,__zero_reg__ |
| 5819 2bfc 04F4 brge .+4 |
| 5820 2bfe 0C94 0000 jmp .L811 |
| 5821 2c02 0297 sbiw r24,2 |
| 5822 .L1201: |
| 5823 2c04 9093 0000 sts (StickGier)+1,r25 |
| 5824 2c08 8093 0000 sts StickGier,r24 |
| 5825 .L812: |
| 5826 2c0c 8091 0000 lds r24,EE_Parameter+2 |
| 5827 2c10 E82F mov r30,r24 |
| 5828 2c12 FF27 clr r31 |
| 5829 2c14 EE0F add r30,r30 |
| 5830 2c16 FF1F adc r31,r31 |
| 5831 2c18 E050 subi r30,lo8(-(PPM_in)) |
| 5832 2c1a F040 sbci r31,hi8(-(PPM_in)) |
| 5833 2c1c C080 ld r12,Z |
| 5834 2c1e D180 ldd r13,Z+1 |
| 5835 2c20 88E7 ldi r24,lo8(120) |
| 5836 2c22 90E0 ldi r25,hi8(120) |
| 5837 2c24 C80E add r12,r24 |
| 5838 2c26 D91E adc r13,r25 |
| 5839 2c28 8091 0000 lds r24,Parameter_Gyro_P |
| 5840 2c2c 9927 clr r25 |
| 5841 2c2e AA27 clr r26 |
| 5842 2c30 97FD sbrc r25,7 |
| 5843 2c32 A095 com r26 |
| 5844 2c34 BA2F mov r27,r26 |
| 5845 2c36 BC01 movw r22,r24 |
| 5846 2c38 CD01 movw r24,r26 |
| 5847 2c3a 0E94 0000 call __floatsisf |
| 5848 2c3e DC01 movw r26,r24 |
| 5849 2c40 CB01 movw r24,r22 |
| 5850 2c42 20E0 ldi r18,lo8(0x41200000) |
| 5851 2c44 30E0 ldi r19,hi8(0x41200000) |
| 5852 2c46 40E2 ldi r20,hlo8(0x41200000) |
| 5853 2c48 51E4 ldi r21,hhi8(0x41200000) |
| 5854 2c4a BC01 movw r22,r24 |
| 5855 2c4c CD01 movw r24,r26 |
| 5856 2c4e 0E94 0000 call __addsf3 |
| 5857 2c52 DC01 movw r26,r24 |
| 5858 2c54 CB01 movw r24,r22 |
| 5859 2c56 BC01 movw r22,r24 |
| 5860 2c58 CD01 movw r24,r26 |
| 5861 2c5a 0E94 0000 call __fixunssfsi |
| 5862 2c5e DC01 movw r26,r24 |
| 5863 2c60 CB01 movw r24,r22 |
| 5864 2c62 8093 0000 sts GyroFaktor,r24 |
| 5865 2c66 F090 0000 lds r15,Parameter_Gyro_I |
| 5866 2c6a 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 5867 2c6e 9927 clr r25 |
| 5868 2c70 AA27 clr r26 |
| 5869 2c72 97FD sbrc r25,7 |
| 5870 2c74 A095 com r26 |
| 5871 2c76 BA2F mov r27,r26 |
| 5872 2c78 BC01 movw r22,r24 |
| 5873 2c7a CD01 movw r24,r26 |
| 5874 2c7c 0E94 0000 call __floatsisf |
| 5875 2c80 DC01 movw r26,r24 |
| 5876 2c82 CB01 movw r24,r22 |
| 5877 2c84 20E0 ldi r18,lo8(0x41200000) |
| 5878 2c86 30E0 ldi r19,hi8(0x41200000) |
| 5879 2c88 40E2 ldi r20,hlo8(0x41200000) |
| 5880 2c8a 51E4 ldi r21,hhi8(0x41200000) |
| 5881 2c8c BC01 movw r22,r24 |
| 5882 2c8e CD01 movw r24,r26 |
| 5883 2c90 0E94 0000 call __addsf3 |
| 5884 2c94 DC01 movw r26,r24 |
| 5885 2c96 CB01 movw r24,r22 |
| 5886 2c98 BC01 movw r22,r24 |
| 5887 2c9a CD01 movw r24,r26 |
| 5888 2c9c 0E94 0000 call __fixunssfsi |
| 5889 2ca0 DC01 movw r26,r24 |
| 5890 2ca2 CB01 movw r24,r22 |
| 5891 2ca4 8093 0000 sts GyroFaktorGier,r24 |
| 5892 2ca8 9091 0000 lds r25,Parameter_Gyro_Gier_I |
| 5893 2cac 9093 0000 sts IntegralFaktorGier,r25 |
| 5894 2cb0 8091 0000 lds r24,ExternControl+10 |
| 5895 2cb4 80FF sbrs r24,0 |
| 5896 2cb6 00C0 rjmp .L1175 |
| 5897 2cb8 8091 0000 lds r24,Parameter_ExternalControl |
| 5898 2cbc 8138 cpi r24,lo8(-127) |
| 5899 2cbe 00F0 brlo .+4 |
| 5900 2cc0 0C94 0000 jmp .L1214 |
| 5901 .L1175: |
| 5902 2cc4 D092 0000 sts (StickGas)+1,r13 |
| 5903 2cc8 C092 0000 sts StickGas,r12 |
| 5904 .L815: |
| 5905 2ccc 8091 0000 lds r24,StickGas |
| 5906 2cd0 9091 0000 lds r25,(StickGas)+1 |
| 5907 2cd4 97FF sbrs r25,7 |
| 5908 2cd6 00C0 rjmp .+4 |
| 5909 2cd8 0C94 0000 jmp .L1215 |
| 5910 .L817: |
| 5911 2cdc 5091 0000 lds r21,EE_Parameter+8 |
| 5912 2ce0 588B std Y+16,r21 |
| 5913 2ce2 52FD sbrc r21,2 |
| 5914 2ce4 00C0 rjmp .+4 |
| 5915 2ce6 0C94 0000 jmp .L1176 |
| 5916 2cea 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 5917 2cee 4091 0000 lds r20,StickNick |
| 5918 2cf2 5091 0000 lds r21,(StickNick)+1 |
| 5919 2cf6 CA01 movw r24,r20 |
| 5920 2cf8 57FF sbrs r21,7 |
| 5921 2cfa 00C0 rjmp .+4 |
| 5922 2cfc 0C94 0000 jmp .L1216 |
| 5923 .L820: |
| 5924 2d00 9595 asr r25 |
| 5925 2d02 8795 ror r24 |
| 5926 2d04 9595 asr r25 |
| 5927 2d06 8795 ror r24 |
| 5928 2d08 97FF sbrs r25,7 |
| 5929 2d0a 00C0 rjmp .+4 |
| 5930 2d0c 0C94 0000 jmp .L1217 |
| 5931 .L821: |
| 5932 2d10 2091 0000 lds r18,MaxStickNick |
| 5933 2d14 3091 0000 lds r19,(MaxStickNick)+1 |
| 5934 2d18 2817 cp r18,r24 |
| 5935 2d1a 3907 cpc r19,r25 |
| 5936 2d1c 04F0 brlt .+4 |
| 5937 2d1e 0C94 0000 jmp .L819 |
| 5938 2d22 CA01 movw r24,r20 |
| 5939 2d24 57FF sbrs r21,7 |
| 5940 2d26 00C0 rjmp .+4 |
| 5941 2d28 0C94 0000 jmp .L1218 |
| 5942 .L822: |
| 5943 2d2c 97FF sbrs r25,7 |
| 5944 2d2e 00C0 rjmp .+4 |
| 5945 2d30 0C94 0000 jmp .L1219 |
| 5946 .L823: |
| 5947 2d34 BC01 movw r22,r24 |
| 5948 2d36 7595 asr r23 |
| 5949 2d38 6795 ror r22 |
| 5950 2d3a 7595 asr r23 |
| 5951 2d3c 6795 ror r22 |
| 5952 2d3e 6536 cpi r22,101 |
| 5953 2d40 7105 cpc r23,__zero_reg__ |
| 5954 2d42 04F4 brge .+4 |
| 5955 2d44 0C94 0000 jmp .L825 |
| 5956 2d48 64E6 ldi r22,lo8(100) |
| 5957 2d4a 70E0 ldi r23,hi8(100) |
| 5958 2d4c 4091 0000 lds r20,StickRoll |
| 5959 2d50 5091 0000 lds r21,(StickRoll)+1 |
| 5960 2d54 CA01 movw r24,r20 |
| 5961 2d56 57FD sbrc r21,7 |
| 5962 2d58 00C0 rjmp .+4 |
| 5963 2d5a 0C94 0000 jmp .L827 |
| 5964 .L1266: |
| 5965 2d5e 0396 adiw r24,3 |
| 5966 2d60 9595 asr r25 |
| 5967 2d62 8795 ror r24 |
| 5968 2d64 9595 asr r25 |
| 5969 2d66 8795 ror r24 |
| 5970 2d68 97FD sbrc r25,7 |
| 5971 2d6a 00C0 rjmp .+4 |
| 5972 2d6c 0C94 0000 jmp .L828 |
| 5973 .L1267: |
| 5974 2d70 9095 com r25 |
| 5975 2d72 8195 neg r24 |
| 5976 2d74 9F4F sbci r25,lo8(-1) |
| 5977 2d76 2091 0000 lds r18,MaxStickRoll |
| 5978 2d7a 3091 0000 lds r19,(MaxStickRoll)+1 |
| 5979 2d7e 2817 cp r18,r24 |
| 5980 2d80 3907 cpc r19,r25 |
| 5981 2d82 04F4 brge .+4 |
| 5982 2d84 0C94 0000 jmp .L1220 |
| 5983 .L826: |
| 5984 2d88 2150 subi r18,lo8(-(-1)) |
| 5985 2d8a 3040 sbci r19,hi8(-(-1)) |
| 5986 .L832: |
| 5987 2d8c 8091 0000 lds r24,MikroKopterFlags |
| 5988 2d90 84FD sbrc r24,4 |
| 5989 2d92 00C0 rjmp .+4 |
| 5990 2d94 0C94 0000 jmp .L1177 |
| 5991 .L1270: |
| 5992 2d98 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5993 2d9c 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5994 2da0 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5995 2da4 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5996 .L833: |
| 5997 2da8 E12F mov r30,r17 |
| 5998 2daa FF27 clr r31 |
| 5999 2dac EE0F add r30,r30 |
| 6000 2dae FF1F adc r31,r31 |
| 6001 2db0 E050 subi r30,lo8(-(PPM_in)) |
| 6002 2db2 F040 sbci r31,hi8(-(PPM_in)) |
| 6003 2db4 4091 0000 lds r20,EE_Parameter+49 |
| 6004 2db8 242F mov r18,r20 |
| 6005 2dba 3327 clr r19 |
| 6006 2dbc 8081 ld r24,Z |
| 6007 2dbe 9181 ldd r25,Z+1 |
| 6008 2dc0 2817 cp r18,r24 |
| 6009 2dc2 3907 cpc r19,r25 |
| 6010 2dc4 04F4 brge .L834 |
| 6011 2dc6 8091 0000 lds r24,EE_Parameter+86 |
| 6012 2dca 82FF sbrs r24,2 |
| 6013 2dcc 00C0 rjmp .+4 |
| 6014 2dce 0C94 0000 jmp .L1221 |
| 6015 .L834: |
| 6016 2dd2 E12F mov r30,r17 |
| 6017 2dd4 FF27 clr r31 |
| 6018 2dd6 EE0F add r30,r30 |
| 6019 2dd8 FF1F adc r31,r31 |
| 6020 2dda E050 subi r30,lo8(-(PPM_in)) |
| 6021 2ddc F040 sbci r31,hi8(-(PPM_in)) |
| 6022 2dde 842F mov r24,r20 |
| 6023 2de0 9927 clr r25 |
| 6024 2de2 2091 0000 lds r18,EE_Parameter+50 |
| 6025 2de6 821B sub r24,r18 |
| 6026 2de8 9109 sbc r25,__zero_reg__ |
| 6027 2dea 2081 ld r18,Z |
| 6028 2dec 3181 ldd r19,Z+1 |
| 6029 2dee 2817 cp r18,r24 |
| 6030 2df0 3907 cpc r19,r25 |
| 6031 2df2 04F4 brge .L835 |
| 6032 2df4 1092 0000 sts Looping_Links,__zero_reg__ |
| 6033 .L835: |
| 6034 2df8 E12F mov r30,r17 |
| 6035 2dfa FF27 clr r31 |
| 6036 2dfc EE0F add r30,r30 |
| 6037 2dfe FF1F adc r31,r31 |
| 6038 2e00 E050 subi r30,lo8(-(PPM_in)) |
| 6039 2e02 F040 sbci r31,hi8(-(PPM_in)) |
| 6040 2e04 842F mov r24,r20 |
| 6041 2e06 9927 clr r25 |
| 6042 2e08 2227 clr r18 |
| 6043 2e0a 3327 clr r19 |
| 6044 2e0c 281B sub r18,r24 |
| 6045 2e0e 390B sbc r19,r25 |
| 6046 2e10 8081 ld r24,Z |
| 6047 2e12 9181 ldd r25,Z+1 |
| 6048 2e14 8217 cp r24,r18 |
| 6049 2e16 9307 cpc r25,r19 |
| 6050 2e18 04F4 brge .L837 |
| 6051 2e1a 8091 0000 lds r24,EE_Parameter+86 |
| 6052 2e1e 83FF sbrs r24,3 |
| 6053 2e20 00C0 rjmp .+4 |
| 6054 2e22 0C94 0000 jmp .L1222 |
| 6055 .L837: |
| 6056 2e26 8091 0000 lds r24,Looping_Rechts |
| 6057 2e2a 8823 tst r24 |
| 6058 2e2c 01F0 breq .L838 |
| 6059 2e2e E12F mov r30,r17 |
| 6060 2e30 FF27 clr r31 |
| 6061 2e32 EE0F add r30,r30 |
| 6062 2e34 FF1F adc r31,r31 |
| 6063 2e36 E050 subi r30,lo8(-(PPM_in)) |
| 6064 2e38 F040 sbci r31,hi8(-(PPM_in)) |
| 6065 2e3a 8091 0000 lds r24,EE_Parameter+50 |
| 6066 2e3e 9927 clr r25 |
| 6067 2e40 841B sub r24,r20 |
| 6068 2e42 9109 sbc r25,__zero_reg__ |
| 6069 2e44 2081 ld r18,Z |
| 6070 2e46 3181 ldd r19,Z+1 |
| 6071 2e48 8217 cp r24,r18 |
| 6072 2e4a 9307 cpc r25,r19 |
| 6073 2e4c 04F4 brge .+4 |
| 6074 2e4e 0C94 0000 jmp .L1223 |
| 6075 .L838: |
| 6076 2e52 E02F mov r30,r16 |
| 6077 2e54 FF27 clr r31 |
| 6078 2e56 EE0F add r30,r30 |
| 6079 2e58 FF1F adc r31,r31 |
| 6080 2e5a E050 subi r30,lo8(-(PPM_in)) |
| 6081 2e5c F040 sbci r31,hi8(-(PPM_in)) |
| 6082 2e5e 242F mov r18,r20 |
| 6083 2e60 3327 clr r19 |
| 6084 2e62 8081 ld r24,Z |
| 6085 2e64 9181 ldd r25,Z+1 |
| 6086 2e66 2817 cp r18,r24 |
| 6087 2e68 3907 cpc r19,r25 |
| 6088 2e6a 04F4 brge .L841 |
| 6089 2e6c 8091 0000 lds r24,EE_Parameter+86 |
| 6090 2e70 80FF sbrs r24,0 |
| 6091 2e72 00C0 rjmp .+4 |
| 6092 2e74 0C94 0000 jmp .L1224 |
| 6093 .L841: |
| 6094 2e78 5091 0000 lds r21,Looping_Oben |
| 6095 2e7c 5523 tst r21 |
| 6096 2e7e 01F0 breq .L842 |
| 6097 2e80 E02F mov r30,r16 |
| 6098 2e82 FF27 clr r31 |
| 6099 2e84 EE0F add r30,r30 |
| 6100 2e86 FF1F adc r31,r31 |
| 6101 2e88 E050 subi r30,lo8(-(PPM_in)) |
| 6102 2e8a F040 sbci r31,hi8(-(PPM_in)) |
| 6103 2e8c 842F mov r24,r20 |
| 6104 2e8e 9927 clr r25 |
| 6105 2e90 2091 0000 lds r18,EE_Parameter+50 |
| 6106 2e94 821B sub r24,r18 |
| 6107 2e96 9109 sbc r25,__zero_reg__ |
| 6108 2e98 2081 ld r18,Z |
| 6109 2e9a 3181 ldd r19,Z+1 |
| 6110 2e9c 2817 cp r18,r24 |
| 6111 2e9e 3907 cpc r19,r25 |
| 6112 2ea0 04F4 brge .+4 |
| 6113 2ea2 0C94 0000 jmp .L1225 |
| 6114 .L842: |
| 6115 2ea6 E02F mov r30,r16 |
| 6116 2ea8 FF27 clr r31 |
| 6117 2eaa EE0F add r30,r30 |
| 6118 2eac FF1F adc r31,r31 |
| 6119 2eae E050 subi r30,lo8(-(PPM_in)) |
| 6120 2eb0 F040 sbci r31,hi8(-(PPM_in)) |
| 6121 2eb2 842F mov r24,r20 |
| 6122 2eb4 9927 clr r25 |
| 6123 2eb6 2227 clr r18 |
| 6124 2eb8 3327 clr r19 |
| 6125 2eba 281B sub r18,r24 |
| 6126 2ebc 390B sbc r19,r25 |
| 6127 2ebe 8081 ld r24,Z |
| 6128 2ec0 9181 ldd r25,Z+1 |
| 6129 2ec2 8217 cp r24,r18 |
| 6130 2ec4 9307 cpc r25,r19 |
| 6131 2ec6 04F4 brge .L845 |
| 6132 2ec8 8091 0000 lds r24,EE_Parameter+86 |
| 6133 2ecc 81FF sbrs r24,1 |
| 6134 2ece 00C0 rjmp .+4 |
| 6135 2ed0 0C94 0000 jmp .L1226 |
| 6136 .L845: |
| 6137 2ed4 8091 0000 lds r24,Looping_Unten |
| 6138 2ed8 8823 tst r24 |
| 6139 2eda 01F0 breq .L846 |
| 6140 2edc E02F mov r30,r16 |
| 6141 2ede FF27 clr r31 |
| 6142 2ee0 EE0F add r30,r30 |
| 6143 2ee2 FF1F adc r31,r31 |
| 6144 2ee4 E050 subi r30,lo8(-(PPM_in)) |
| 6145 2ee6 F040 sbci r31,hi8(-(PPM_in)) |
| 6146 2ee8 8091 0000 lds r24,EE_Parameter+50 |
| 6147 2eec 9927 clr r25 |
| 6148 2eee 841B sub r24,r20 |
| 6149 2ef0 9109 sbc r25,__zero_reg__ |
| 6150 2ef2 2081 ld r18,Z |
| 6151 2ef4 3181 ldd r19,Z+1 |
| 6152 2ef6 8217 cp r24,r18 |
| 6153 2ef8 9307 cpc r25,r19 |
| 6154 2efa 04F4 brge .+4 |
| 6155 2efc 0C94 0000 jmp .L1227 |
| 6156 .L846: |
| 6157 2f00 8091 0000 lds r24,Looping_Links |
| 6158 2f04 8823 tst r24 |
| 6159 2f06 01F4 brne .L850 |
| 6160 2f08 8091 0000 lds r24,Looping_Rechts |
| 6161 2f0c 8823 tst r24 |
| 6162 2f0e 01F4 brne .+4 |
| 6163 2f10 0C94 0000 jmp .L849 |
| 6164 .L850: |
| 6165 2f14 91E0 ldi r25,lo8(1) |
| 6166 .L851: |
| 6167 2f16 5523 tst r21 |
| 6168 2f18 01F4 brne .L853 |
| 6169 2f1a 8091 0000 lds r24,Looping_Unten |
| 6170 2f1e 8823 tst r24 |
| 6171 2f20 01F4 brne .+4 |
| 6172 2f22 0C94 0000 jmp .L852 |
| 6173 .L853: |
| 6174 2f26 81E0 ldi r24,lo8(1) |
| 6175 2f28 8093 0000 sts Looping_Nick,r24 |
| 6176 2f2c 1092 0000 sts Looping_Roll,__zero_reg__ |
| 6177 2f30 1092 0000 sts Looping_Links,__zero_reg__ |
| 6178 2f34 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 6179 2f38 00C0 rjmp .L807 |
| 6180 .L723: |
| 6181 2f3a 2998 cbi 37-0x20,1 |
| 6182 2f3c 00C0 rjmp .L724 |
| 6183 .L726: |
| 6184 2f3e 8091 0000 lds r24,SenderOkay |
| 6185 2f42 8D38 cpi r24,lo8(-115) |
| 6186 2f44 00F4 brsh .+2 |
| 6187 2f46 00C0 rjmp .L734 |
| 6188 2f48 8091 0000 lds r24,MikroKopterFlags |
| 6189 2f4c 8F7E andi r24,lo8(-17) |
| 6190 2f4e 8093 0000 sts MikroKopterFlags,r24 |
| 6191 2f52 9091 0000 lds r25,EE_Parameter+32 |
| 6192 2f56 82E3 ldi r24,lo8(50) |
| 6193 2f58 989F mul r25,r24 |
| 6194 2f5a C001 movw r24,r0 |
| 6195 2f5c 1124 clr r1 |
| 6196 2f5e 9093 0000 sts (RcLostTimer.7)+1,r25 |
| 6197 2f62 8093 0000 sts RcLostTimer.7,r24 |
| 6198 2f66 E981 ldd r30,Y+1 |
| 6199 2f68 FA81 ldd r31,Y+2 |
| 6200 2f6a B997 sbiw r30,41 |
| 6201 2f6c 04F0 brlt .+4 |
| 6202 2f6e 0C94 0000 jmp .L1228 |
| 6203 .L1147: |
| 6204 2f72 8091 0000 lds r24,modell_fliegt |
| 6205 2f76 9091 0000 lds r25,(modell_fliegt)+1 |
| 6206 .L736: |
| 6207 2f7a 8F3F cpi r24,255 |
| 6208 2f7c 9105 cpc r25,__zero_reg__ |
| 6209 2f7e 01F0 breq .+6 |
| 6210 2f80 00F0 brlo .+4 |
| 6211 2f82 0C94 0000 jmp .L738 |
| 6212 2f86 1092 0000 sts SummeNick.0,__zero_reg__ |
| 6213 2f8a 1092 0000 sts (SummeNick.0)+1,__zero_reg__ |
| 6214 2f8e 1092 0000 sts (SummeNick.0)+2,__zero_reg__ |
| 6215 2f92 1092 0000 sts (SummeNick.0)+3,__zero_reg__ |
| 6216 2f96 1092 0000 sts SummeRoll.1,__zero_reg__ |
| 6217 2f9a 1092 0000 sts (SummeRoll.1)+1,__zero_reg__ |
| 6218 2f9e 1092 0000 sts (SummeRoll.1)+2,__zero_reg__ |
| 6219 2fa2 1092 0000 sts (SummeRoll.1)+3,__zero_reg__ |
| 6220 2fa6 8A3F cpi r24,250 |
| 6221 2fa8 9105 cpc r25,__zero_reg__ |
| 6222 2faa 01F4 brne .+4 |
| 6223 2fac 0C94 0000 jmp .L1229 |
| 6224 .L740: |
| 6225 2fb0 3091 0000 lds r19,EE_Parameter+2 |
| 6226 2fb4 E32F mov r30,r19 |
| 6227 2fb6 FF27 clr r31 |
| 6228 2fb8 EE0F add r30,r30 |
| 6229 2fba FF1F adc r31,r31 |
| 6230 2fbc E050 subi r30,lo8(-(PPM_in)) |
| 6231 2fbe F040 sbci r31,hi8(-(PPM_in)) |
| 6232 2fc0 8081 ld r24,Z |
| 6233 2fc2 9181 ldd r25,Z+1 |
| 6234 2fc4 8135 cpi r24,81 |
| 6235 2fc6 9105 cpc r25,__zero_reg__ |
| 6236 2fc8 04F4 brge .+2 |
| 6237 2fca 00C0 rjmp .L741 |
| 6238 2fcc 4091 0000 lds r20,MotorenEin |
| 6239 2fd0 4423 tst r20 |
| 6240 2fd2 01F0 breq .+2 |
| 6241 2fd4 00C0 rjmp .L741 |
| 6242 2fd6 8091 0000 lds r24,EE_Parameter+3 |
| 6243 2fda E82F mov r30,r24 |
| 6244 2fdc FF27 clr r31 |
| 6245 2fde EE0F add r30,r30 |
| 6246 2fe0 FF1F adc r31,r31 |
| 6247 2fe2 E050 subi r30,lo8(-(PPM_in)) |
| 6248 2fe4 F040 sbci r31,hi8(-(PPM_in)) |
| 6249 2fe6 8081 ld r24,Z |
| 6250 2fe8 9181 ldd r25,Z+1 |
| 6251 2fea 8C34 cpi r24,76 |
| 6252 2fec 9105 cpc r25,__zero_reg__ |
| 6253 2fee 04F4 brge .+4 |
| 6254 2ff0 0C94 0000 jmp .L742 |
| 6255 2ff4 8091 0000 lds r24,delay_neutral.8 |
| 6256 2ff8 8F5F subi r24,lo8(-(1)) |
| 6257 2ffa 893C cpi r24,lo8(-55) |
| 6258 2ffc 00F4 brsh .+4 |
| 6259 2ffe 0C94 0000 jmp .L1170 |
| 6260 3002 2C30 cpi r18,lo8(12) |
| 6261 3004 00F0 brlo .+4 |
| 6262 3006 0C94 0000 jmp .L744 |
| 6263 300a 2998 cbi 37-0x20,1 |
| 6264 .L745: |
| 6265 300c 1092 0000 sts MotorenEin,__zero_reg__ |
| 6266 3010 1092 0000 sts delay_neutral.8,__zero_reg__ |
| 6267 3014 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 6268 3018 1092 0000 sts modell_fliegt,__zero_reg__ |
| 6269 301c 0091 0000 lds r16,EE_Parameter |
| 6270 3020 E02F mov r30,r16 |
| 6271 3022 FF27 clr r31 |
| 6272 3024 EE0F add r30,r30 |
| 6273 3026 FF1F adc r31,r31 |
| 6274 3028 E050 subi r30,lo8(-(PPM_in)) |
| 6275 302a F040 sbci r31,hi8(-(PPM_in)) |
| 6276 302c 8081 ld r24,Z |
| 6277 302e 9181 ldd r25,Z+1 |
| 6278 3030 8734 cpi r24,71 |
| 6279 3032 9105 cpc r25,__zero_reg__ |
| 6280 3034 04F0 brlt .+4 |
| 6281 3036 0C94 0000 jmp .L1148 |
| 6282 303a 1091 0000 lds r17,EE_Parameter+1 |
| 6283 303e E12F mov r30,r17 |
| 6284 3040 FF27 clr r31 |
| 6285 3042 EE0F add r30,r30 |
| 6286 3044 FF1F adc r31,r31 |
| 6287 3046 E050 subi r30,lo8(-(PPM_in)) |
| 6288 3048 F040 sbci r31,hi8(-(PPM_in)) |
| 6289 304a 8081 ld r24,Z |
| 6290 304c 9181 ldd r25,Z+1 |
| 6291 304e 0190 ld __tmp_reg__,Z+ |
| 6292 3050 F081 ld r31,Z |
| 6293 3052 E02D mov r30,__tmp_reg__ |
| 6294 3054 F7FF sbrs r31,7 |
| 6295 3056 00C0 rjmp .+4 |
| 6296 3058 0C94 0000 jmp .L1230 |
| 6297 .L748: |
| 6298 305c E734 cpi r30,71 |
| 6299 305e F105 cpc r31,__zero_reg__ |
| 6300 3060 04F4 brge .+2 |
| 6301 3062 00C0 rjmp .L746 |
| 6302 .L747: |
| 6303 3064 21E0 ldi r18,lo8(1) |
| 6304 3066 A12F mov r26,r17 |
| 6305 3068 BB27 clr r27 |
| 6306 306a AA0F add r26,r26 |
| 6307 306c BB1F adc r27,r27 |
| 6308 306e A050 subi r26,lo8(-(PPM_in)) |
| 6309 3070 B040 sbci r27,hi8(-(PPM_in)) |
| 6310 3072 8D91 ld r24,X+ |
| 6311 3074 9C91 ld r25,X |
| 6312 3076 1197 sbiw r26,1 |
| 6313 3078 8734 cpi r24,71 |
| 6314 307a 9105 cpc r25,__zero_reg__ |
| 6315 307c 04F0 brlt .L749 |
| 6316 307e E02F mov r30,r16 |
| 6317 3080 FF27 clr r31 |
| 6318 3082 EE0F add r30,r30 |
| 6319 3084 FF1F adc r31,r31 |
| 6320 3086 E050 subi r30,lo8(-(PPM_in)) |
| 6321 3088 F040 sbci r31,hi8(-(PPM_in)) |
| 6322 308a 8081 ld r24,Z |
| 6323 308c 9181 ldd r25,Z+1 |
| 6324 .L749: |
| 6325 308e 8D91 ld r24,X+ |
| 6326 3090 9C91 ld r25,X |
| 6327 3092 8734 cpi r24,71 |
| 6328 3094 9105 cpc r25,__zero_reg__ |
| 6329 3096 04F0 brlt .L750 |
| 6330 3098 E02F mov r30,r16 |
| 6331 309a FF27 clr r31 |
| 6332 309c EE0F add r30,r30 |
| 6333 309e FF1F adc r31,r31 |
| 6334 30a0 E050 subi r30,lo8(-(PPM_in)) |
| 6335 30a2 F040 sbci r31,hi8(-(PPM_in)) |
| 6336 30a4 8081 ld r24,Z |
| 6337 30a6 9181 ldd r25,Z+1 |
| 6338 30a8 8734 cpi r24,71 |
| 6339 30aa 9105 cpc r25,__zero_reg__ |
| 6340 30ac 04F0 brlt .L750 |
| 6341 30ae 22E0 ldi r18,lo8(2) |
| 6342 .L750: |
| 6343 30b0 E12F mov r30,r17 |
| 6344 30b2 FF27 clr r31 |
| 6345 30b4 EE0F add r30,r30 |
| 6346 30b6 FF1F adc r31,r31 |
| 6347 30b8 E050 subi r30,lo8(-(PPM_in)) |
| 6348 30ba F040 sbci r31,hi8(-(PPM_in)) |
| 6349 30bc 8081 ld r24,Z |
| 6350 30be 9181 ldd r25,Z+1 |
| 6351 30c0 8634 cpi r24,70 |
| 6352 30c2 9105 cpc r25,__zero_reg__ |
| 6353 30c4 04F4 brge .L751 |
| 6354 30c6 E02F mov r30,r16 |
| 6355 30c8 FF27 clr r31 |
| 6356 30ca EE0F add r30,r30 |
| 6357 30cc FF1F adc r31,r31 |
| 6358 30ce E050 subi r30,lo8(-(PPM_in)) |
| 6359 30d0 F040 sbci r31,hi8(-(PPM_in)) |
| 6360 30d2 8081 ld r24,Z |
| 6361 30d4 9181 ldd r25,Z+1 |
| 6362 30d6 8734 cpi r24,71 |
| 6363 30d8 9105 cpc r25,__zero_reg__ |
| 6364 30da 04F0 brlt .L751 |
| 6365 30dc 23E0 ldi r18,lo8(3) |
| 6366 .L751: |
| 6367 30de E12F mov r30,r17 |
| 6368 30e0 FF27 clr r31 |
| 6369 30e2 EE0F add r30,r30 |
| 6370 30e4 FF1F adc r31,r31 |
| 6371 30e6 E050 subi r30,lo8(-(PPM_in)) |
| 6372 30e8 F040 sbci r31,hi8(-(PPM_in)) |
| 6373 30ea 8081 ld r24,Z |
| 6374 30ec 9181 ldd r25,Z+1 |
| 6375 30ee 8A5B subi r24,lo8(-70) |
| 6376 30f0 9F4F sbci r25,hi8(-70) |
| 6377 30f2 04F4 brge .L752 |
| 6378 30f4 E02F mov r30,r16 |
| 6379 30f6 FF27 clr r31 |
| 6380 30f8 EE0F add r30,r30 |
| 6381 30fa FF1F adc r31,r31 |
| 6382 30fc E050 subi r30,lo8(-(PPM_in)) |
| 6383 30fe F040 sbci r31,hi8(-(PPM_in)) |
| 6384 3100 8081 ld r24,Z |
| 6385 3102 9181 ldd r25,Z+1 |
| 6386 3104 8734 cpi r24,71 |
| 6387 3106 9105 cpc r25,__zero_reg__ |
| 6388 3108 04F0 brlt .L752 |
| 6389 310a 24E0 ldi r18,lo8(4) |
| 6390 .L752: |
| 6391 310c E12F mov r30,r17 |
| 6392 310e FF27 clr r31 |
| 6393 3110 EE0F add r30,r30 |
| 6394 3112 FF1F adc r31,r31 |
| 6395 3114 E050 subi r30,lo8(-(PPM_in)) |
| 6396 3116 F040 sbci r31,hi8(-(PPM_in)) |
| 6397 3118 8081 ld r24,Z |
| 6398 311a 9181 ldd r25,Z+1 |
| 6399 311c 8A5B subi r24,lo8(-70) |
| 6400 311e 9F4F sbci r25,hi8(-70) |
| 6401 3120 04F4 brge .L753 |
| 6402 3122 E02F mov r30,r16 |
| 6403 3124 FF27 clr r31 |
| 6404 3126 EE0F add r30,r30 |
| 6405 3128 FF1F adc r31,r31 |
| 6406 312a E050 subi r30,lo8(-(PPM_in)) |
| 6407 312c F040 sbci r31,hi8(-(PPM_in)) |
| 6408 312e 8081 ld r24,Z |
| 6409 3130 9181 ldd r25,Z+1 |
| 6410 3132 8634 cpi r24,70 |
| 6411 3134 9105 cpc r25,__zero_reg__ |
| 6412 3136 04F4 brge .L753 |
| 6413 3138 25E0 ldi r18,lo8(5) |
| 6414 .L753: |
| 6415 313a 822F mov r24,r18 |
| 6416 313c 0E94 0000 call SetActiveParamSetNumber |
| 6417 3140 1091 0000 lds r17,EE_Parameter+1 |
| 6418 .L746: |
| 6419 3144 E12F mov r30,r17 |
| 6420 3146 FF27 clr r31 |
| 6421 3148 EE0F add r30,r30 |
| 6422 314a FF1F adc r31,r31 |
| 6423 314c E050 subi r30,lo8(-(PPM_in)) |
| 6424 314e F040 sbci r31,hi8(-(PPM_in)) |
| 6425 3150 8081 ld r24,Z |
| 6426 3152 9181 ldd r25,Z+1 |
| 6427 3154 0190 ld __tmp_reg__,Z+ |
| 6428 3156 F081 ld r31,Z |
| 6429 3158 E02D mov r30,__tmp_reg__ |
| 6430 315a F7FF sbrs r31,7 |
| 6431 315c 00C0 rjmp .+4 |
| 6432 315e 0C94 0000 jmp .L1231 |
| 6433 .L755: |
| 6434 3162 7E97 sbiw r30,30 |
| 6435 3164 04F0 brlt .+4 |
| 6436 3166 0C94 0000 jmp .L754 |
| 6437 316a 8091 0000 lds r24,EE_Parameter |
| 6438 316e E82F mov r30,r24 |
| 6439 3170 FF27 clr r31 |
| 6440 3172 EE0F add r30,r30 |
| 6441 3174 FF1F adc r31,r31 |
| 6442 3176 E050 subi r30,lo8(-(PPM_in)) |
| 6443 3178 F040 sbci r31,hi8(-(PPM_in)) |
| 6444 317a 8081 ld r24,Z |
| 6445 317c 9181 ldd r25,Z+1 |
| 6446 317e 8A5B subi r24,lo8(-70) |
| 6447 3180 9F4F sbci r25,hi8(-70) |
| 6448 3182 04F0 brlt .+4 |
| 6449 3184 0C94 0000 jmp .L754 |
| 6450 3188 81E0 ldi r24,lo8(1) |
| 6451 318a 8093 0000 sts WinkelOut+6,r24 |
| 6452 318e 88EE ldi r24,lo8(1000) |
| 6453 3190 93E0 ldi r25,hi8(1000) |
| 6454 3192 9093 0000 sts (beeptime)+1,r25 |
| 6455 3196 8093 0000 sts beeptime,r24 |
| 6456 319a 3091 0000 lds r19,EE_Parameter+2 |
| 6457 .L741: |
| 6458 319e E32F mov r30,r19 |
| 6459 31a0 FF27 clr r31 |
| 6460 31a2 EE0F add r30,r30 |
| 6461 31a4 FF1F adc r31,r31 |
| 6462 31a6 E050 subi r30,lo8(-(PPM_in)) |
| 6463 31a8 F040 sbci r31,hi8(-(PPM_in)) |
| 6464 31aa 8081 ld r24,Z |
| 6465 31ac 9181 ldd r25,Z+1 |
| 6466 31ae 8B5A subi r24,lo8(-85) |
| 6467 31b0 9F4F sbci r25,hi8(-85) |
| 6468 31b2 04F0 brlt .+2 |
| 6469 31b4 00C0 rjmp .L734 |
| 6470 31b6 D090 0000 lds r13,EE_Parameter+3 |
| 6471 31ba ED2D mov r30,r13 |
| 6472 31bc FF27 clr r31 |
| 6473 31be EE0F add r30,r30 |
| 6474 31c0 FF1F adc r31,r31 |
| 6475 31c2 E050 subi r30,lo8(-(PPM_in)) |
| 6476 31c4 F040 sbci r31,hi8(-(PPM_in)) |
| 6477 31c6 8081 ld r24,Z |
| 6478 31c8 9181 ldd r25,Z+1 |
| 6479 31ca 855B subi r24,lo8(-75) |
| 6480 31cc 9F4F sbci r25,hi8(-75) |
| 6481 31ce 04F0 brlt .+4 |
| 6482 31d0 0C94 0000 jmp .L801 |
| 6483 31d4 8091 0000 lds r24,delay_einschalten.9 |
| 6484 31d8 8F5F subi r24,lo8(-(1)) |
| 6485 31da 893C cpi r24,lo8(-55) |
| 6486 31dc 00F4 brsh .+4 |
| 6487 31de 0C94 0000 jmp .L1171 |
| 6488 31e2 88EC ldi r24,lo8(-56) |
| 6489 31e4 8093 0000 sts delay_einschalten.9,r24 |
| 6490 31e8 81E0 ldi r24,lo8(1) |
| 6491 31ea 90E0 ldi r25,hi8(1) |
| 6492 31ec 9093 0000 sts (modell_fliegt)+1,r25 |
| 6493 31f0 8093 0000 sts modell_fliegt,r24 |
| 6494 31f4 81E0 ldi r24,lo8(1) |
| 6495 31f6 8093 0000 sts MotorenEin,r24 |
| 6496 31fa 1092 0000 sts sollGier.2,__zero_reg__ |
| 6497 31fe 1092 0000 sts (sollGier.2)+1,__zero_reg__ |
| 6498 3202 1092 0000 sts (sollGier.2)+2,__zero_reg__ |
| 6499 3206 1092 0000 sts (sollGier.2)+3,__zero_reg__ |
| 6500 320a 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 6501 320e 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 6502 3212 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 6503 3216 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 6504 321a 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 6505 321e 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 6506 3222 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 6507 3226 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 6508 322a 8091 0000 lds r24,EE_Parameter+23 |
| 6509 322e E82E mov r14,r24 |
| 6510 3230 FF24 clr r15 |
| 6511 3232 0027 clr r16 |
| 6512 3234 1127 clr r17 |
| 6513 3236 8091 0000 lds r24,Mittelwert_AccNick |
| 6514 323a 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 6515 323e 9C01 movw r18,r24 |
| 6516 3240 4427 clr r20 |
| 6517 3242 37FD sbrc r19,7 |
| 6518 3244 4095 com r20 |
| 6519 3246 542F mov r21,r20 |
| 6520 3248 C801 movw r24,r16 |
| 6521 324a B701 movw r22,r14 |
| 6522 324c 0E94 0000 call __mulsi3 |
| 6523 3250 DC01 movw r26,r24 |
| 6524 3252 CB01 movw r24,r22 |
| 6525 3254 8093 0000 sts Mess_IntegralNick,r24 |
| 6526 3258 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 6527 325c A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 6528 3260 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 6529 3264 8091 0000 lds r24,Mittelwert_AccRoll |
| 6530 3268 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 6531 326c 9C01 movw r18,r24 |
| 6532 326e 4427 clr r20 |
| 6533 3270 37FD sbrc r19,7 |
| 6534 3272 4095 com r20 |
| 6535 3274 542F mov r21,r20 |
| 6536 3276 C801 movw r24,r16 |
| 6537 3278 B701 movw r22,r14 |
| 6538 327a 0E94 0000 call __mulsi3 |
| 6539 327e DC01 movw r26,r24 |
| 6540 3280 CB01 movw r24,r22 |
| 6541 3282 8093 0000 sts Mess_IntegralRoll,r24 |
| 6542 3286 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 6543 328a A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 6544 328e B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 6545 3292 8091 0000 lds r24,IntegralNick |
| 6546 3296 9091 0000 lds r25,(IntegralNick)+1 |
| 6547 329a A091 0000 lds r26,(IntegralNick)+2 |
| 6548 329e B091 0000 lds r27,(IntegralNick)+3 |
| 6549 32a2 8093 0000 sts Mess_IntegralNick2,r24 |
| 6550 32a6 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6551 32aa A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6552 32ae B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6553 32b2 8091 0000 lds r24,IntegralRoll |
| 6554 32b6 9091 0000 lds r25,(IntegralRoll)+1 |
| 6555 32ba A091 0000 lds r26,(IntegralRoll)+2 |
| 6556 32be B091 0000 lds r27,(IntegralRoll)+3 |
| 6557 32c2 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6558 32c6 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6559 32ca A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6560 32ce B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6561 32d2 1092 0000 sts SummeNick.0,__zero_reg__ |
| 6562 32d6 1092 0000 sts (SummeNick.0)+1,__zero_reg__ |
| 6563 32da 1092 0000 sts (SummeNick.0)+2,__zero_reg__ |
| 6564 32de 1092 0000 sts (SummeNick.0)+3,__zero_reg__ |
| 6565 32e2 1092 0000 sts SummeRoll.1,__zero_reg__ |
| 6566 32e6 1092 0000 sts (SummeRoll.1)+1,__zero_reg__ |
| 6567 32ea 1092 0000 sts (SummeRoll.1)+2,__zero_reg__ |
| 6568 32ee 1092 0000 sts (SummeRoll.1)+3,__zero_reg__ |
| 6569 32f2 8091 0000 lds r24,MikroKopterFlags |
| 6570 32f6 8860 ori r24,lo8(8) |
| 6571 32f8 8093 0000 sts MikroKopterFlags,r24 |
| 6572 32fc 0C94 0000 jmp .L803 |
| 6573 .L1211: |
| 6574 3300 0197 sbiw r24,1 |
| 6575 3302 9093 0000 sts (RcLostTimer.7)+1,r25 |
| 6576 3306 8093 0000 sts RcLostTimer.7,r24 |
| 6577 330a 2A30 cpi r18,lo8(10) |
| 6578 330c 01F0 breq .+2 |
| 6579 330e 00C0 rjmp .L1232 |
| 6580 .L730: |
| 6581 3310 289A sbi 37-0x20,0 |
| 6582 3312 8091 0000 lds r24,modell_fliegt |
| 6583 3316 9091 0000 lds r25,(modell_fliegt)+1 |
| 6584 331a 895E subi r24,lo8(1001) |
| 6585 331c 9340 sbci r25,hi8(1001) |
| 6586 331e 00F0 brlo .+2 |
| 6587 3320 00C0 rjmp .L1233 |
| 6588 .L732: |
| 6589 3322 1092 0000 sts MotorenEin,__zero_reg__ |
| 6590 3326 00C0 rjmp .L734 |
| 6591 .L1149: |
| 6592 3328 6091 0000 lds r22,EE_Parameter+8 |
| 6593 332c 688B std Y+16,r22 |
| 6594 .L807: |
| 6595 332e 7091 0000 lds r23,Looping_Roll |
| 6596 3332 7B8F std Y+27,r23 |
| 6597 3334 7723 tst r23 |
| 6598 3336 01F4 brne .L856 |
| 6599 3338 8091 0000 lds r24,Looping_Nick |
| 6600 333c 8823 tst r24 |
| 6601 333e 01F0 breq .L855 |
| 6602 .L856: |
| 6603 3340 8091 0000 lds r24,EE_Parameter+48 |
| 6604 3344 9927 clr r25 |
| 6605 3346 A981 ldd r26,Y+1 |
| 6606 3348 BA81 ldd r27,Y+2 |
| 6607 334a 8A17 cp r24,r26 |
| 6608 334c 9B07 cpc r25,r27 |
| 6609 334e 04F4 brge .L857 |
| 6610 3350 9A83 std Y+2,r25 |
| 6611 3352 8983 std Y+1,r24 |
| 6612 .L857: |
| 6613 3354 81E0 ldi r24,lo8(1) |
| 6614 3356 8093 0000 sts TrichterFlug,r24 |
| 6615 .L855: |
| 6616 335a 8091 0000 lds r24,MikroKopterFlags |
| 6617 335e 84FF sbrs r24,4 |
| 6618 3360 00C0 rjmp .L1150 |
| 6619 3362 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 6620 3366 1092 0000 sts StickGier,__zero_reg__ |
| 6621 336a 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 6622 336e 1092 0000 sts StickNick,__zero_reg__ |
| 6623 3372 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 6624 3376 1092 0000 sts StickRoll,__zero_reg__ |
| 6625 337a 9AE5 ldi r25,lo8(90) |
| 6626 337c 9093 0000 sts GyroFaktor,r25 |
| 6627 3380 88E7 ldi r24,lo8(120) |
| 6628 3382 8093 0000 sts IntegralFaktor,r24 |
| 6629 3386 9093 0000 sts GyroFaktorGier,r25 |
| 6630 338a 8A8F std Y+26,r24 |
| 6631 338c 8093 0000 sts IntegralFaktorGier,r24 |
| 6632 3390 1092 0000 sts Looping_Roll,__zero_reg__ |
| 6633 3394 1092 0000 sts Looping_Nick,__zero_reg__ |
| 6634 3398 1B8E std Y+27,__zero_reg__ |
| 6635 .L858: |
| 6636 339a 2091 0000 lds r18,MittelIntegralNick |
| 6637 339e 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6638 33a2 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6639 33a6 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6640 33aa E090 0000 lds r14,IntegralNick |
| 6641 33ae F090 0000 lds r15,(IntegralNick)+1 |
| 6642 33b2 0091 0000 lds r16,(IntegralNick)+2 |
| 6643 33b6 1091 0000 lds r17,(IntegralNick)+3 |
| 6644 33ba ED8E std Y+29,r14 |
| 6645 33bc FE8E std Y+30,r15 |
| 6646 33be 0F8F std Y+31,r16 |
| 6647 33c0 18A3 std Y+32,r17 |
| 6648 33c2 2E0D add r18,r14 |
| 6649 33c4 3F1D adc r19,r15 |
| 6650 33c6 401F adc r20,r16 |
| 6651 33c8 511F adc r21,r17 |
| 6652 33ca 8091 0000 lds r24,MittelIntegralRoll |
| 6653 33ce 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6654 33d2 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6655 33d6 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6656 33da E090 0000 lds r14,IntegralRoll |
| 6657 33de F090 0000 lds r15,(IntegralRoll)+1 |
| 6658 33e2 0091 0000 lds r16,(IntegralRoll)+2 |
| 6659 33e6 1091 0000 lds r17,(IntegralRoll)+3 |
| 6660 33ea EC86 std Y+12,r14 |
| 6661 33ec FD86 std Y+13,r15 |
| 6662 33ee 0E87 std Y+14,r16 |
| 6663 33f0 1F87 std Y+15,r17 |
| 6664 33f2 8E0D add r24,r14 |
| 6665 33f4 9F1D adc r25,r15 |
| 6666 33f6 A01F adc r26,r16 |
| 6667 33f8 B11F adc r27,r17 |
| 6668 33fa 2090 0000 lds r2,MittelIntegralNick2 |
| 6669 33fe 3090 0000 lds r3,(MittelIntegralNick2)+1 |
| 6670 3402 4090 0000 lds r4,(MittelIntegralNick2)+2 |
| 6671 3406 5090 0000 lds r5,(MittelIntegralNick2)+3 |
| 6672 340a E090 0000 lds r14,IntegralNick2 |
| 6673 340e F090 0000 lds r15,(IntegralNick2)+1 |
| 6674 3412 0091 0000 lds r16,(IntegralNick2)+2 |
| 6675 3416 1091 0000 lds r17,(IntegralNick2)+3 |
| 6676 341a EE8A std Y+22,r14 |
| 6677 341c FF8A std Y+23,r15 |
| 6678 341e 088F std Y+24,r16 |
| 6679 3420 198F std Y+25,r17 |
| 6680 3422 2E0C add r2,r14 |
| 6681 3424 3F1C adc r3,r15 |
| 6682 3426 401E adc r4,r16 |
| 6683 3428 511E adc r5,r17 |
| 6684 342a 6090 0000 lds r6,MittelIntegralRoll2 |
| 6685 342e 7090 0000 lds r7,(MittelIntegralRoll2)+1 |
| 6686 3432 8090 0000 lds r8,(MittelIntegralRoll2)+2 |
| 6687 3436 9090 0000 lds r9,(MittelIntegralRoll2)+3 |
| 6688 343a E090 0000 lds r14,IntegralRoll2 |
| 6689 343e F090 0000 lds r15,(IntegralRoll2)+1 |
| 6690 3442 0091 0000 lds r16,(IntegralRoll2)+2 |
| 6691 3446 1091 0000 lds r17,(IntegralRoll2)+3 |
| 6692 344a E9A2 std Y+33,r14 |
| 6693 344c FAA2 std Y+34,r15 |
| 6694 344e 0BA3 std Y+35,r16 |
| 6695 3450 1CA3 std Y+36,r17 |
| 6696 3452 6E0C add r6,r14 |
| 6697 3454 7F1C adc r7,r15 |
| 6698 3456 801E adc r8,r16 |
| 6699 3458 911E adc r9,r17 |
| 6700 345a F090 0000 lds r15,Looping_Nick |
| 6701 345e FB86 std Y+11,r15 |
| 6702 3460 FF20 tst r15 |
| 6703 3462 01F0 breq .+2 |
| 6704 3464 00C0 rjmp .L860 |
| 6705 3466 0B8D ldd r16,Y+27 |
| 6706 3468 0023 tst r16 |
| 6707 346a 01F0 breq .+2 |
| 6708 346c 00C0 rjmp .L860 |
| 6709 346e 8093 0000 sts MittelIntegralRoll,r24 |
| 6710 3472 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6711 3476 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6712 347a B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6713 347e 2093 0000 sts MittelIntegralNick,r18 |
| 6714 3482 3093 0000 sts (MittelIntegralNick)+1,r19 |
| 6715 3486 4093 0000 sts (MittelIntegralNick)+2,r20 |
| 6716 348a 5093 0000 sts (MittelIntegralNick)+3,r21 |
| 6717 .L1196: |
| 6718 348e 8091 0000 lds r24,Aktuell_az |
| 6719 3492 9091 0000 lds r25,(Aktuell_az)+1 |
| 6720 3496 8150 subi r24,lo8(513) |
| 6721 3498 9240 sbci r25,hi8(513) |
| 6722 349a 04F0 brlt .+2 |
| 6723 349c 00C0 rjmp .L862 |
| 6724 349e 8091 0000 lds r24,MotorenEin |
| 6725 34a2 8823 tst r24 |
| 6726 34a4 01F0 breq .+2 |
| 6727 34a6 00C0 rjmp .L862 |
| 6728 .L861: |
| 6729 34a8 8091 0000 lds r24,ZaehlMessungen |
| 6730 34ac 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 6731 34b0 8F3F cpi r24,255 |
| 6732 34b2 9105 cpc r25,__zero_reg__ |
| 6733 34b4 01F0 breq .+2 |
| 6734 34b6 00F4 brsh .+2 |
| 6735 34b8 00C0 rjmp .L1151 |
| 6736 .L1265: |
| 6737 34ba 8B85 ldd r24,Y+11 |
| 6738 34bc 8823 tst r24 |
| 6739 34be 01F0 breq .+2 |
| 6740 34c0 00C0 rjmp .L874 |
| 6741 34c2 9B8D ldd r25,Y+27 |
| 6742 34c4 9923 tst r25 |
| 6743 34c6 01F0 breq .+2 |
| 6744 34c8 00C0 rjmp .L874 |
| 6745 34ca A091 0000 lds r26,TrichterFlug |
| 6746 34ce AC8F std Y+28,r26 |
| 6747 34d0 AA23 tst r26 |
| 6748 34d2 01F0 breq .+2 |
| 6749 34d4 00C0 rjmp .L874 |
| 6750 34d6 B091 0000 lds r27,EE_Parameter+57 |
| 6751 34da B98B std Y+17,r27 |
| 6752 34dc BB23 tst r27 |
| 6753 34de 01F4 brne .+2 |
| 6754 34e0 00C0 rjmp .L874 |
| 6755 34e2 2092 0000 sts MittelIntegralNick2,r2 |
| 6756 34e6 3092 0000 sts (MittelIntegralNick2)+1,r3 |
| 6757 34ea 4092 0000 sts (MittelIntegralNick2)+2,r4 |
| 6758 34ee 5092 0000 sts (MittelIntegralNick2)+3,r5 |
| 6759 34f2 6092 0000 sts MittelIntegralRoll2,r6 |
| 6760 34f6 7092 0000 sts (MittelIntegralRoll2)+1,r7 |
| 6761 34fa 8092 0000 sts (MittelIntegralRoll2)+2,r8 |
| 6762 34fe 9092 0000 sts (MittelIntegralRoll2)+3,r9 |
| 6763 3502 8091 0000 lds r24,MittelIntegralNick |
| 6764 3506 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 6765 350a A091 0000 lds r26,(MittelIntegralNick)+2 |
| 6766 350e B091 0000 lds r27,(MittelIntegralNick)+3 |
| 6767 3512 B7FF sbrs r27,7 |
| 6768 3514 00C0 rjmp .+4 |
| 6769 3516 0C94 0000 jmp .L1234 |
| 6770 .L875: |
| 6771 351a 292E mov r2,r25 |
| 6772 351c 3A2E mov r3,r26 |
| 6773 351e 4B2E mov r4,r27 |
| 6774 3520 5524 clr r5 |
| 6775 3522 47FC sbrc r4,7 |
| 6776 3524 5A94 dec r5 |
| 6777 3526 2092 0000 sts MittelIntegralNick,r2 |
| 6778 352a 3092 0000 sts (MittelIntegralNick)+1,r3 |
| 6779 352e 4092 0000 sts (MittelIntegralNick)+2,r4 |
| 6780 3532 5092 0000 sts (MittelIntegralNick)+3,r5 |
| 6781 3536 8091 0000 lds r24,MittelIntegralRoll |
| 6782 353a 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6783 353e A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6784 3542 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6785 3546 B7FF sbrs r27,7 |
| 6786 3548 00C0 rjmp .+4 |
| 6787 354a 0C94 0000 jmp .L1235 |
| 6788 .L876: |
| 6789 354e 892F mov r24,r25 |
| 6790 3550 9A2F mov r25,r26 |
| 6791 3552 AB2F mov r26,r27 |
| 6792 3554 BB27 clr r27 |
| 6793 3556 A7FD sbrc r26,7 |
| 6794 3558 BA95 dec r27 |
| 6795 355a 8B83 std Y+3,r24 |
| 6796 355c 9C83 std Y+4,r25 |
| 6797 355e AD83 std Y+5,r26 |
| 6798 3560 BE83 std Y+6,r27 |
| 6799 3562 8093 0000 sts MittelIntegralRoll,r24 |
| 6800 3566 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6801 356a A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6802 356e B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6803 3572 8091 0000 lds r24,EE_Parameter+23 |
| 6804 3576 E82E mov r14,r24 |
| 6805 3578 FF24 clr r15 |
| 6806 357a 0027 clr r16 |
| 6807 357c 1127 clr r17 |
| 6808 357e 2091 0000 lds r18,IntegralAccNick |
| 6809 3582 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6810 3586 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6811 358a 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6812 358e C801 movw r24,r16 |
| 6813 3590 B701 movw r22,r14 |
| 6814 3592 0E94 0000 call __mulsi3 |
| 6815 3596 97FF sbrs r25,7 |
| 6816 3598 00C0 rjmp .+4 |
| 6817 359a 0C94 0000 jmp .L1236 |
| 6818 .L877: |
| 6819 359e 672E mov r6,r23 |
| 6820 35a0 782E mov r7,r24 |
| 6821 35a2 892E mov r8,r25 |
| 6822 35a4 9924 clr r9 |
| 6823 35a6 87FC sbrc r8,7 |
| 6824 35a8 9A94 dec r9 |
| 6825 35aa 2091 0000 lds r18,IntegralAccRoll |
| 6826 35ae 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6827 35b2 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6828 35b6 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6829 35ba C801 movw r24,r16 |
| 6830 35bc B701 movw r22,r14 |
| 6831 35be 0E94 0000 call __mulsi3 |
| 6832 35c2 97FF sbrs r25,7 |
| 6833 35c4 00C0 rjmp .+4 |
| 6834 35c6 0C94 0000 jmp .L1237 |
| 6835 .L878: |
| 6836 35ca A72E mov r10,r23 |
| 6837 35cc B82E mov r11,r24 |
| 6838 35ce C92E mov r12,r25 |
| 6839 35d0 DD24 clr r13 |
| 6840 35d2 C7FC sbrc r12,7 |
| 6841 35d4 DA94 dec r13 |
| 6842 35d6 D201 movw r26,r4 |
| 6843 35d8 C101 movw r24,r2 |
| 6844 35da 8619 sub r24,r6 |
| 6845 35dc 9709 sbc r25,r7 |
| 6846 35de A809 sbc r26,r8 |
| 6847 35e0 B909 sbc r27,r9 |
| 6848 35e2 2091 0000 lds r18,EE_Parameter+56 |
| 6849 35e6 E22E mov r14,r18 |
| 6850 35e8 FF24 clr r15 |
| 6851 35ea 0027 clr r16 |
| 6852 35ec 1127 clr r17 |
| 6853 35ee BC01 movw r22,r24 |
| 6854 35f0 CD01 movw r24,r26 |
| 6855 35f2 A801 movw r20,r16 |
| 6856 35f4 9701 movw r18,r14 |
| 6857 35f6 0E94 0000 call __divmodsi4 |
| 6858 35fa 3901 movw r6,r18 |
| 6859 35fc 4A01 movw r8,r20 |
| 6860 35fe 1901 movw r2,r18 |
| 6861 3600 2A01 movw r4,r20 |
| 6862 3602 8B81 ldd r24,Y+3 |
| 6863 3604 9C81 ldd r25,Y+4 |
| 6864 3606 AD81 ldd r26,Y+5 |
| 6865 3608 BE81 ldd r27,Y+6 |
| 6866 360a 8A19 sub r24,r10 |
| 6867 360c 9B09 sbc r25,r11 |
| 6868 360e AC09 sbc r26,r12 |
| 6869 3610 BD09 sbc r27,r13 |
| 6870 3612 BC01 movw r22,r24 |
| 6871 3614 CD01 movw r24,r26 |
| 6872 3616 A801 movw r20,r16 |
| 6873 3618 9701 movw r18,r14 |
| 6874 361a 0E94 0000 call __divmodsi4 |
| 6875 361e D401 movw r26,r8 |
| 6876 3620 C301 movw r24,r6 |
| 6877 3622 97FE sbrs r9,7 |
| 6878 3624 00C0 rjmp .+4 |
| 6879 3626 0C94 0000 jmp .L1238 |
| 6880 .L880: |
| 6881 362a 892F mov r24,r25 |
| 6882 362c 9A2F mov r25,r26 |
| 6883 362e AB2F mov r26,r27 |
| 6884 3630 BB27 clr r27 |
| 6885 3632 A7FD sbrc r26,7 |
| 6886 3634 BA95 dec r27 |
| 6887 3636 BC01 movw r22,r24 |
| 6888 3638 DA01 movw r26,r20 |
| 6889 363a C901 movw r24,r18 |
| 6890 363c 57FF sbrs r21,7 |
| 6891 363e 00C0 rjmp .+4 |
| 6892 3640 0C94 0000 jmp .L1239 |
| 6893 .L881: |
| 6894 3644 892F mov r24,r25 |
| 6895 3646 9A2F mov r25,r26 |
| 6896 3648 AB2F mov r26,r27 |
| 6897 364a BB27 clr r27 |
| 6898 364c A7FD sbrc r26,7 |
| 6899 364e BA95 dec r27 |
| 6900 3650 6C01 movw r12,r24 |
| 6901 3652 8091 0000 lds r24,MaxStickNick |
| 6902 3656 9091 0000 lds r25,(MaxStickNick)+1 |
| 6903 365a 8134 cpi r24,65 |
| 6904 365c 9105 cpc r25,__zero_reg__ |
| 6905 365e 04F4 brge .L883 |
| 6906 3660 8091 0000 lds r24,MaxStickRoll |
| 6907 3664 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6908 3668 8134 cpi r24,65 |
| 6909 366a 9105 cpc r25,__zero_reg__ |
| 6910 366c 04F4 brge .L883 |
| 6911 366e 8091 0000 lds r24,EE_Parameter+3 |
| 6912 3672 E82F mov r30,r24 |
| 6913 3674 FF27 clr r31 |
| 6914 3676 EE0F add r30,r30 |
| 6915 3678 FF1F adc r31,r31 |
| 6916 367a E050 subi r30,lo8(-(PPM_in)) |
| 6917 367c F040 sbci r31,hi8(-(PPM_in)) |
| 6918 367e 8081 ld r24,Z |
| 6919 3680 9181 ldd r25,Z+1 |
| 6920 3682 0190 ld __tmp_reg__,Z+ |
| 6921 3684 F081 ld r31,Z |
| 6922 3686 E02D mov r30,__tmp_reg__ |
| 6923 3688 F7FF sbrs r31,7 |
| 6924 368a 00C0 rjmp .+4 |
| 6925 368c 0C94 0000 jmp .L1240 |
| 6926 .L884: |
| 6927 3690 7A97 sbiw r30,26 |
| 6928 3692 04F0 brlt .L882 |
| 6929 .L883: |
| 6930 3694 7093 0000 sts (LageKorrekturNick)+1,r23 |
| 6931 3698 6093 0000 sts LageKorrekturNick,r22 |
| 6932 369c D092 0000 sts (LageKorrekturRoll)+1,r13 |
| 6933 36a0 C092 0000 sts LageKorrekturRoll,r12 |
| 6934 36a4 CB01 movw r24,r22 |
| 6935 36a6 77FF sbrs r23,7 |
| 6936 36a8 00C0 rjmp .+4 |
| 6937 36aa 0C94 0000 jmp .L1241 |
| 6938 .L885: |
| 6939 36ae BC01 movw r22,r24 |
| 6940 36b0 7595 asr r23 |
| 6941 36b2 6795 ror r22 |
| 6942 36b4 C601 movw r24,r12 |
| 6943 36b6 D7FE sbrs r13,7 |
| 6944 36b8 00C0 rjmp .+4 |
| 6945 36ba 0C94 0000 jmp .L1242 |
| 6946 .L886: |
| 6947 36be 6C01 movw r12,r24 |
| 6948 36c0 D594 asr r13 |
| 6949 36c2 C794 ror r12 |
| 6950 .L882: |
| 6951 36c4 EE88 ldd r14,Y+22 |
| 6952 36c6 FF88 ldd r15,Y+23 |
| 6953 36c8 088D ldd r16,Y+24 |
| 6954 36ca 198D ldd r17,Y+25 |
| 6955 36cc 2D8D ldd r18,Y+29 |
| 6956 36ce 3E8D ldd r19,Y+30 |
| 6957 36d0 4F8D ldd r20,Y+31 |
| 6958 36d2 58A1 ldd r21,Y+32 |
| 6959 36d4 E21A sub r14,r18 |
| 6960 36d6 F30A sbc r15,r19 |
| 6961 36d8 040B sbc r16,r20 |
| 6962 36da 150B sbc r17,r21 |
| 6963 36dc EDA2 std Y+37,r14 |
| 6964 36de FEA2 std Y+38,r15 |
| 6965 36e0 0FA3 std Y+39,r16 |
| 6966 36e2 18A7 std Y+40,r17 |
| 6967 36e4 E092 0000 sts tmp_long.3,r14 |
| 6968 36e8 F092 0000 sts (tmp_long.3)+1,r15 |
| 6969 36ec 0093 0000 sts (tmp_long.3)+2,r16 |
| 6970 36f0 1093 0000 sts (tmp_long.3)+3,r17 |
| 6971 36f4 89A1 ldd r24,Y+33 |
| 6972 36f6 9AA1 ldd r25,Y+34 |
| 6973 36f8 ABA1 ldd r26,Y+35 |
| 6974 36fa BCA1 ldd r27,Y+36 |
| 6975 36fc EC84 ldd r14,Y+12 |
| 6976 36fe FD84 ldd r15,Y+13 |
| 6977 3700 0E85 ldd r16,Y+14 |
| 6978 3702 1F85 ldd r17,Y+15 |
| 6979 3704 8E19 sub r24,r14 |
| 6980 3706 9F09 sbc r25,r15 |
| 6981 3708 A00B sbc r26,r16 |
| 6982 370a B10B sbc r27,r17 |
| 6983 370c 8F83 std Y+7,r24 |
| 6984 370e 9887 std Y+8,r25 |
| 6985 3710 A987 std Y+9,r26 |
| 6986 3712 BA87 std Y+10,r27 |
| 6987 3714 8093 0000 sts tmp_long2.4,r24 |
| 6988 3718 9093 0000 sts (tmp_long2.4)+1,r25 |
| 6989 371c A093 0000 sts (tmp_long2.4)+2,r26 |
| 6990 3720 B093 0000 sts (tmp_long2.4)+3,r27 |
| 6991 3724 0DA1 ldd r16,Y+37 |
| 6992 3726 1EA1 ldd r17,Y+38 |
| 6993 3728 2FA1 ldd r18,Y+39 |
| 6994 372a 38A5 ldd r19,Y+40 |
| 6995 372c 0093 0000 sts IntegralFehlerNick.5,r16 |
| 6996 3730 1093 0000 sts (IntegralFehlerNick.5)+1,r17 |
| 6997 3734 2093 0000 sts (IntegralFehlerNick.5)+2,r18 |
| 6998 3738 3093 0000 sts (IntegralFehlerNick.5)+3,r19 |
| 6999 373c 8093 0000 sts IntegralFehlerRoll.6,r24 |
| 7000 3740 9093 0000 sts (IntegralFehlerRoll.6)+1,r25 |
| 7001 3744 A093 0000 sts (IntegralFehlerRoll.6)+2,r26 |
| 7002 3748 B093 0000 sts (IntegralFehlerRoll.6)+3,r27 |
| 7003 374c 8091 0000 lds r24,Mess_IntegralNick2 |
| 7004 3750 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 7005 3754 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 7006 3758 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 7007 375c 801B sub r24,r16 |
| 7008 375e 910B sbc r25,r17 |
| 7009 3760 A20B sbc r26,r18 |
| 7010 3762 B30B sbc r27,r19 |
| 7011 3764 8093 0000 sts Mess_IntegralNick2,r24 |
| 7012 3768 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 7013 376c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 7014 3770 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 7015 3774 8091 0000 lds r24,Mess_IntegralRoll2 |
| 7016 3778 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 7017 377c A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 7018 3780 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 7019 3784 2F81 ldd r18,Y+7 |
| 7020 3786 3885 ldd r19,Y+8 |
| 7021 3788 4985 ldd r20,Y+9 |
| 7022 378a 5A85 ldd r21,Y+10 |
| 7023 378c 821B sub r24,r18 |
| 7024 378e 930B sbc r25,r19 |
| 7025 3790 A40B sbc r26,r20 |
| 7026 3792 B50B sbc r27,r21 |
| 7027 3794 8093 0000 sts Mess_IntegralRoll2,r24 |
| 7028 3798 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 7029 379c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 7030 37a0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 7031 37a4 3989 ldd r19,Y+17 |
| 7032 37a6 3323 tst r19 |
| 7033 37a8 01F0 breq .L889 |
| 7034 37aa 2091 0000 lds r18,GierGyroFehler |
| 7035 37ae 3091 0000 lds r19,(GierGyroFehler)+1 |
| 7036 37b2 2138 cpi r18,129 |
| 7037 37b4 3105 cpc r19,__zero_reg__ |
| 7038 37b6 04F0 brlt .L890 |
| 7039 37b8 8091 0000 lds r24,AdNeutralGier |
| 7040 37bc 9091 0000 lds r25,(AdNeutralGier)+1 |
| 7041 37c0 0196 adiw r24,1 |
| 7042 37c2 9093 0000 sts (AdNeutralGier)+1,r25 |
| 7043 37c6 8093 0000 sts AdNeutralGier,r24 |
| 7044 37ca 8091 0000 lds r24,AdNeutralGierBias |
| 7045 37ce 9091 0000 lds r25,(AdNeutralGierBias)+1 |
| 7046 37d2 0196 adiw r24,1 |
| 7047 37d4 9093 0000 sts (AdNeutralGierBias)+1,r25 |
| 7048 37d8 8093 0000 sts AdNeutralGierBias,r24 |
| 7049 .L890: |
| 7050 37dc 2058 subi r18,lo8(-128) |
| 7051 37de 3F4F sbci r19,hi8(-128) |
| 7052 37e0 04F4 brge .L889 |
| 7053 37e2 8091 0000 lds r24,AdNeutralGier |
| 7054 37e6 9091 0000 lds r25,(AdNeutralGier)+1 |
| 7055 37ea 0197 sbiw r24,1 |
| 7056 37ec 9093 0000 sts (AdNeutralGier)+1,r25 |
| 7057 37f0 8093 0000 sts AdNeutralGier,r24 |
| 7058 37f4 8091 0000 lds r24,AdNeutralGierBias |
| 7059 37f8 9091 0000 lds r25,(AdNeutralGierBias)+1 |
| 7060 37fc 0197 sbiw r24,1 |
| 7061 37fe 9093 0000 sts (AdNeutralGierBias)+1,r25 |
| 7062 3802 8093 0000 sts AdNeutralGierBias,r24 |
| 7063 .L889: |
| 7064 3806 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 7065 380a 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 7066 380e 41E0 ldi r20,lo8(1) |
| 7067 3810 A42E mov r10,r20 |
| 7068 3812 B12C mov r11,__zero_reg__ |
| 7069 3814 8DA1 ldd r24,Y+37 |
| 7070 3816 9EA1 ldd r25,Y+38 |
| 7071 3818 AFA1 ldd r26,Y+39 |
| 7072 381a B8A5 ldd r27,Y+40 |
| 7073 381c B7FF sbrs r27,7 |
| 7074 381e 00C0 rjmp .+4 |
| 7075 3820 0C94 0000 jmp .L1243 |
| 7076 .L893: |
| 7077 3824 8150 subi r24,lo8(513) |
| 7078 3826 9240 sbci r25,hi8(513) |
| 7079 3828 A040 sbci r26,hlo8(513) |
| 7080 382a B040 sbci r27,hhi8(513) |
| 7081 382c 04F0 brlt .L892 |
| 7082 382e 34E0 ldi r19,lo8(4) |
| 7083 3830 A32E mov r10,r19 |
| 7084 3832 B12C mov r11,__zero_reg__ |
| 7085 .L892: |
| 7086 3834 8091 0000 lds r24,MittelIntegralNick_Alt.22 |
| 7087 3838 9091 0000 lds r25,(MittelIntegralNick_Alt.22)+1 |
| 7088 383c A091 0000 lds r26,(MittelIntegralNick_Alt.22)+2 |
| 7089 3840 B091 0000 lds r27,(MittelIntegralNick_Alt.22)+3 |
| 7090 3844 E090 0000 lds r14,MittelIntegralNick |
| 7091 3848 F090 0000 lds r15,(MittelIntegralNick)+1 |
| 7092 384c 0091 0000 lds r16,(MittelIntegralNick)+2 |
| 7093 3850 1091 0000 lds r17,(MittelIntegralNick)+3 |
| 7094 3854 8E19 sub r24,r14 |
| 7095 3856 9F09 sbc r25,r15 |
| 7096 3858 A00B sbc r26,r16 |
| 7097 385a B10B sbc r27,r17 |
| 7098 385c 815E subi r24,lo8(-(19999)) |
| 7099 385e 914B sbci r25,hi8(-(19999)) |
| 7100 3860 AF4F sbci r26,hlo8(-(19999)) |
| 7101 3862 BF4F sbci r27,hhi8(-(19999)) |
| 7102 3864 8F53 subi r24,lo8(39999) |
| 7103 3866 9C49 sbci r25,hi8(39999) |
| 7104 3868 A040 sbci r26,hlo8(39999) |
| 7105 386a B040 sbci r27,hhi8(39999) |
| 7106 386c 00F0 brlo .+4 |
| 7107 386e 0C94 0000 jmp .L894 |
| 7108 3872 B092 0000 sts (cnt.17)+1,r11 |
| 7109 3876 A092 0000 sts cnt.17,r10 |
| 7110 387a 2DA1 ldd r18,Y+37 |
| 7111 387c 3EA1 ldd r19,Y+38 |
| 7112 387e 4FA1 ldd r20,Y+39 |
| 7113 3880 58A5 ldd r21,Y+40 |
| 7114 3882 2130 cpi r18,lo8(4097) |
| 7115 3884 80E1 ldi r24,hi8(4097) |
| 7116 3886 3807 cpc r19,r24 |
| 7117 3888 80E0 ldi r24,hlo8(4097) |
| 7118 388a 4807 cpc r20,r24 |
| 7119 388c 80E0 ldi r24,hhi8(4097) |
| 7120 388e 5807 cpc r21,r24 |
| 7121 3890 04F4 brge .+4 |
| 7122 3892 0C94 0000 jmp .L895 |
| 7123 3896 8091 0000 lds r24,last_n_p.18 |
| 7124 389a 8823 tst r24 |
| 7125 389c 01F4 brne .+4 |
| 7126 389e 0C94 0000 jmp .L896 |
| 7127 38a2 7093 0000 sts (LageKorrekturNick)+1,r23 |
| 7128 38a6 6093 0000 sts LageKorrekturNick,r22 |
| 7129 38aa DA01 movw r26,r20 |
| 7130 38ac C901 movw r24,r18 |
| 7131 38ae 57FF sbrs r21,7 |
| 7132 38b0 00C0 rjmp .+4 |
| 7133 38b2 0C94 0000 jmp .L1244 |
| 7134 .L897: |
| 7135 38b6 B7FF sbrs r27,7 |
| 7136 38b8 00C0 rjmp .+4 |
| 7137 38ba 0C94 0000 jmp .L1245 |
| 7138 .L898: |
| 7139 38be 29E0 ldi r18,9 |
| 7140 38c0 B595 1: asr r27 |
| 7141 38c2 A795 ror r26 |
| 7142 38c4 9795 ror r25 |
| 7143 38c6 8795 ror r24 |
| 7144 38c8 2A95 dec r18 |
| 7145 38ca 01F4 brne 1b |
| 7146 38cc A80E add r10,r24 |
| 7147 38ce B91E adc r11,r25 |
| 7148 38d0 B092 0000 sts (cnt.17)+1,r11 |
| 7149 38d4 A092 0000 sts cnt.17,r10 |
| 7150 38d8 2DA1 ldd r18,Y+37 |
| 7151 38da 3EA1 ldd r19,Y+38 |
| 7152 38dc 4FA1 ldd r20,Y+39 |
| 7153 38de 58A5 ldd r21,Y+40 |
| 7154 38e0 57FF sbrs r21,7 |
| 7155 38e2 00C0 rjmp .+4 |
| 7156 38e4 0C94 0000 jmp .L1246 |
| 7157 .L899: |
| 7158 38e8 3901 movw r6,r18 |
| 7159 38ea 4A01 movw r8,r20 |
| 7160 38ec A3E0 ldi r26,3 |
| 7161 38ee 9594 1: asr r9 |
| 7162 38f0 8794 ror r8 |
| 7163 38f2 7794 ror r7 |
| 7164 38f4 6794 ror r6 |
| 7165 38f6 AA95 dec r26 |
| 7166 38f8 01F4 brne 1b |
| 7167 38fa 1301 movw r2,r6 |
| 7168 38fc 2401 movw r4,r8 |
| 7169 38fe 99E8 ldi r25,lo8(5001) |
| 7170 3900 6916 cp r6,r25 |
| 7171 3902 93E1 ldi r25,hi8(5001) |
| 7172 3904 7906 cpc r7,r25 |
| 7173 3906 90E0 ldi r25,hlo8(5001) |
| 7174 3908 8906 cpc r8,r25 |
| 7175 390a 90E0 ldi r25,hhi8(5001) |
| 7176 390c 9906 cpc r9,r25 |
| 7177 390e 04F0 brlt .L900 |
| 7178 3910 F8E8 ldi r31,lo8(5000) |
| 7179 3912 6F2E mov r6,r31 |
| 7180 3914 F3E1 ldi r31,hi8(5000) |
| 7181 3916 7F2E mov r7,r31 |
| 7182 3918 812C mov r8,__zero_reg__ |
| 7183 391a 912C mov r9,__zero_reg__ |
| 7184 391c 1301 movw r2,r6 |
| 7185 391e 2401 movw r4,r8 |
| 7186 .L900: |
| 7187 3920 D401 movw r26,r8 |
| 7188 3922 C301 movw r24,r6 |
| 7189 3924 97FE sbrs r9,7 |
| 7190 3926 00C0 rjmp .+4 |
| 7191 3928 0C94 0000 jmp .L1247 |
| 7192 .L901: |
| 7193 392c 892F mov r24,r25 |
| 7194 392e 9A2F mov r25,r26 |
| 7195 3930 AB2F mov r26,r27 |
| 7196 3932 BB27 clr r27 |
| 7197 3934 A7FD sbrc r26,7 |
| 7198 3936 BA95 dec r27 |
| 7199 3938 680F add r22,r24 |
| 7200 393a 791F adc r23,r25 |
| 7201 .L903: |
| 7202 393c 2DA1 ldd r18,Y+37 |
| 7203 393e 3EA1 ldd r19,Y+38 |
| 7204 3940 4FA1 ldd r20,Y+39 |
| 7205 3942 58A5 ldd r21,Y+40 |
| 7206 3944 2030 cpi r18,lo8(-4096) |
| 7207 3946 80EF ldi r24,hi8(-4096) |
| 7208 3948 3807 cpc r19,r24 |
| 7209 394a 8FEF ldi r24,hlo8(-4096) |
| 7210 394c 4807 cpc r20,r24 |
| 7211 394e 8FEF ldi r24,hhi8(-4096) |
| 7212 3950 5807 cpc r21,r24 |
| 7213 3952 04F0 brlt .+4 |
| 7214 3954 0C94 0000 jmp .L904 |
| 7215 3958 8091 0000 lds r24,last_n_n.19 |
| 7216 395c 8823 tst r24 |
| 7217 395e 01F4 brne .+4 |
| 7218 3960 0C94 0000 jmp .L905 |
| 7219 3964 7093 0000 sts (LageKorrekturNick)+1,r23 |
| 7220 3968 6093 0000 sts LageKorrekturNick,r22 |
| 7221 396c DA01 movw r26,r20 |
| 7222 396e C901 movw r24,r18 |
| 7223 3970 57FF sbrs r21,7 |
| 7224 3972 00C0 rjmp .+4 |
| 7225 3974 0C94 0000 jmp .L1248 |
| 7226 .L906: |
| 7227 3978 9C01 movw r18,r24 |
| 7228 397a AD01 movw r20,r26 |
| 7229 397c B7FF sbrs r27,7 |
| 7230 397e 00C0 rjmp .+4 |
| 7231 3980 0C94 0000 jmp .L1249 |
| 7232 .L907: |
| 7233 3984 69E0 ldi r22,9 |
| 7234 3986 5595 1: asr r21 |
| 7235 3988 4795 ror r20 |
| 7236 398a 3795 ror r19 |
| 7237 398c 2795 ror r18 |
| 7238 398e 6A95 dec r22 |
| 7239 3990 01F4 brne 1b |
| 7240 3992 8091 0000 lds r24,cnt.17 |
| 7241 3996 9091 0000 lds r25,(cnt.17)+1 |
| 7242 399a 820F add r24,r18 |
| 7243 399c 931F adc r25,r19 |
| 7244 399e 9093 0000 sts (cnt.17)+1,r25 |
| 7245 39a2 8093 0000 sts cnt.17,r24 |
| 7246 39a6 2DA1 ldd r18,Y+37 |
| 7247 39a8 3EA1 ldd r19,Y+38 |
| 7248 39aa 4FA1 ldd r20,Y+39 |
| 7249 39ac 58A5 ldd r21,Y+40 |
| 7250 39ae 57FF sbrs r21,7 |
| 7251 39b0 00C0 rjmp .+4 |
| 7252 39b2 0C94 0000 jmp .L1250 |
| 7253 .L908: |
| 7254 39b6 3901 movw r6,r18 |
| 7255 39b8 4A01 movw r8,r20 |
| 7256 39ba 43E0 ldi r20,3 |
| 7257 39bc 9594 1: asr r9 |
| 7258 39be 8794 ror r8 |
| 7259 39c0 7794 ror r7 |
| 7260 39c2 6794 ror r6 |
| 7261 39c4 4A95 dec r20 |
| 7262 39c6 01F4 brne 1b |
| 7263 39c8 98E7 ldi r25,lo8(-5000) |
| 7264 39ca 6916 cp r6,r25 |
| 7265 39cc 9CEE ldi r25,hi8(-5000) |
| 7266 39ce 7906 cpc r7,r25 |
| 7267 39d0 9FEF ldi r25,hlo8(-5000) |
| 7268 39d2 8906 cpc r8,r25 |
| 7269 39d4 9FEF ldi r25,hhi8(-5000) |
| 7270 39d6 9906 cpc r9,r25 |
| 7271 39d8 04F4 brge .L1179 |
| 7272 39da 38E7 ldi r19,lo8(-5000) |
| 7273 39dc 632E mov r6,r19 |
| 7274 39de 3CEE ldi r19,hi8(-5000) |
| 7275 39e0 732E mov r7,r19 |
| 7276 39e2 3FEF ldi r19,hlo8(-5000) |
| 7277 39e4 832E mov r8,r19 |
| 7278 39e6 3FEF ldi r19,hhi8(-5000) |
| 7279 39e8 932E mov r9,r19 |
| 7280 .L1179: |
| 7281 39ea 6092 0000 sts ausgleichNick.13,r6 |
| 7282 39ee 7092 0000 sts (ausgleichNick.13)+1,r7 |
| 7283 39f2 8092 0000 sts (ausgleichNick.13)+2,r8 |
| 7284 39f6 9092 0000 sts (ausgleichNick.13)+3,r9 |
| 7285 39fa D401 movw r26,r8 |
| 7286 39fc C301 movw r24,r6 |
| 7287 39fe 97FE sbrs r9,7 |
| 7288 3a00 00C0 rjmp .+4 |
| 7289 3a02 0C94 0000 jmp .L1251 |
| 7290 .L910: |
| 7291 3a06 892F mov r24,r25 |
| 7292 3a08 9A2F mov r25,r26 |
| 7293 3a0a AB2F mov r26,r27 |
| 7294 3a0c BB27 clr r27 |
| 7295 3a0e A7FD sbrc r26,7 |
| 7296 3a10 BA95 dec r27 |
| 7297 3a12 6091 0000 lds r22,LageKorrekturNick |
| 7298 3a16 7091 0000 lds r23,(LageKorrekturNick)+1 |
| 7299 3a1a 680F add r22,r24 |
| 7300 3a1c 791F adc r23,r25 |
| 7301 .L913: |
| 7302 3a1e A989 ldd r26,Y+17 |
| 7303 3a20 2A2F mov r18,r26 |
| 7304 3a22 3327 clr r19 |
| 7305 3a24 8091 0000 lds r24,cnt.17 |
| 7306 3a28 9091 0000 lds r25,(cnt.17)+1 |
| 7307 3a2c 2817 cp r18,r24 |
| 7308 3a2e 3907 cpc r19,r25 |
| 7309 3a30 04F4 brge .L914 |
| 7310 3a32 3093 0000 sts (cnt.17)+1,r19 |
| 7311 3a36 2093 0000 sts cnt.17,r18 |
| 7312 .L914: |
| 7313 3a3a 2DA1 ldd r18,Y+37 |
| 7314 3a3c 3EA1 ldd r19,Y+38 |
| 7315 3a3e 4FA1 ldd r20,Y+39 |
| 7316 3a40 58A5 ldd r21,Y+40 |
| 7317 3a42 2138 cpi r18,lo8(129) |
| 7318 3a44 3105 cpc r19,__zero_reg__ |
| 7319 3a46 4105 cpc r20,__zero_reg__ |
| 7320 3a48 5105 cpc r21,__zero_reg__ |
| 7321 3a4a 04F0 brlt .L915 |
| 7322 3a4c 8091 0000 lds r24,AdNeutralNick |
| 7323 3a50 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7324 3a54 2091 0000 lds r18,cnt.17 |
| 7325 3a58 3091 0000 lds r19,(cnt.17)+1 |
| 7326 3a5c 820F add r24,r18 |
| 7327 3a5e 931F adc r25,r19 |
| 7328 3a60 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7329 3a64 8093 0000 sts AdNeutralNick,r24 |
| 7330 .L915: |
| 7331 3a68 8DA1 ldd r24,Y+37 |
| 7332 3a6a 9EA1 ldd r25,Y+38 |
| 7333 3a6c AFA1 ldd r26,Y+39 |
| 7334 3a6e B8A5 ldd r27,Y+40 |
| 7335 3a70 8058 subi r24,lo8(-128) |
| 7336 3a72 9F4F sbci r25,hi8(-128) |
| 7337 3a74 AF4F sbci r26,hlo8(-128) |
| 7338 3a76 BF4F sbci r27,hhi8(-128) |
| 7339 3a78 04F4 brge .L916 |
| 7340 3a7a 8091 0000 lds r24,AdNeutralNick |
| 7341 3a7e 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7342 3a82 2091 0000 lds r18,cnt.17 |
| 7343 3a86 3091 0000 lds r19,(cnt.17)+1 |
| 7344 3a8a 821B sub r24,r18 |
| 7345 3a8c 930B sbc r25,r19 |
| 7346 3a8e 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7347 3a92 8093 0000 sts AdNeutralNick,r24 |
| 7348 .L916: |
| 7349 3a96 B1E0 ldi r27,lo8(1) |
| 7350 3a98 AB2E mov r10,r27 |
| 7351 3a9a B12C mov r11,__zero_reg__ |
| 7352 3a9c 8F81 ldd r24,Y+7 |
| 7353 3a9e 9885 ldd r25,Y+8 |
| 7354 3aa0 A985 ldd r26,Y+9 |
| 7355 3aa2 BA85 ldd r27,Y+10 |
| 7356 3aa4 B7FF sbrs r27,7 |
| 7357 3aa6 00C0 rjmp .+4 |
| 7358 3aa8 0C94 0000 jmp .L1252 |
| 7359 .L918: |
| 7360 3aac 8150 subi r24,lo8(513) |
| 7361 3aae 9240 sbci r25,hi8(513) |
| 7362 3ab0 A040 sbci r26,hlo8(513) |
| 7363 3ab2 B040 sbci r27,hhi8(513) |
| 7364 3ab4 04F0 brlt .L917 |
| 7365 3ab6 A4E0 ldi r26,lo8(4) |
| 7366 3ab8 AA2E mov r10,r26 |
| 7367 3aba B12C mov r11,__zero_reg__ |
| 7368 .L917: |
| 7369 3abc 20E0 ldi r18,lo8(0) |
| 7370 3abe 30E0 ldi r19,hi8(0) |
| 7371 3ac0 40E0 ldi r20,hlo8(0) |
| 7372 3ac2 50E0 ldi r21,hhi8(0) |
| 7373 3ac4 8091 0000 lds r24,MittelIntegralRoll_Alt.23 |
| 7374 3ac8 9091 0000 lds r25,(MittelIntegralRoll_Alt.23)+1 |
| 7375 3acc A091 0000 lds r26,(MittelIntegralRoll_Alt.23)+2 |
| 7376 3ad0 B091 0000 lds r27,(MittelIntegralRoll_Alt.23)+3 |
| 7377 3ad4 6090 0000 lds r6,MittelIntegralRoll |
| 7378 3ad8 7090 0000 lds r7,(MittelIntegralRoll)+1 |
| 7379 3adc 8090 0000 lds r8,(MittelIntegralRoll)+2 |
| 7380 3ae0 9090 0000 lds r9,(MittelIntegralRoll)+3 |
| 7381 3ae4 8619 sub r24,r6 |
| 7382 3ae6 9709 sbc r25,r7 |
| 7383 3ae8 A809 sbc r26,r8 |
| 7384 3aea B909 sbc r27,r9 |
| 7385 3aec 815E subi r24,lo8(-(19999)) |
| 7386 3aee 914B sbci r25,hi8(-(19999)) |
| 7387 3af0 AF4F sbci r26,hlo8(-(19999)) |
| 7388 3af2 BF4F sbci r27,hhi8(-(19999)) |
| 7389 3af4 8F53 subi r24,lo8(39999) |
| 7390 3af6 9C49 sbci r25,hi8(39999) |
| 7391 3af8 A040 sbci r26,hlo8(39999) |
| 7392 3afa B040 sbci r27,hhi8(39999) |
| 7393 3afc 00F0 brlo .+4 |
| 7394 3afe 0C94 0000 jmp .L919 |
| 7395 3b02 B092 0000 sts (cnt.17)+1,r11 |
| 7396 3b06 A092 0000 sts cnt.17,r10 |
| 7397 3b0a 8F81 ldd r24,Y+7 |
| 7398 3b0c 9885 ldd r25,Y+8 |
| 7399 3b0e A985 ldd r26,Y+9 |
| 7400 3b10 BA85 ldd r27,Y+10 |
| 7401 3b12 8150 subi r24,lo8(4097) |
| 7402 3b14 9041 sbci r25,hi8(4097) |
| 7403 3b16 A040 sbci r26,hlo8(4097) |
| 7404 3b18 B040 sbci r27,hhi8(4097) |
| 7405 3b1a 04F4 brge .+4 |
| 7406 3b1c 0C94 0000 jmp .L920 |
| 7407 3b20 8091 0000 lds r24,last_r_p.20 |
| 7408 3b24 8823 tst r24 |
| 7409 3b26 01F4 brne .+4 |
| 7410 3b28 0C94 0000 jmp .L921 |
| 7411 3b2c D092 0000 sts (LageKorrekturRoll)+1,r13 |
| 7412 3b30 C092 0000 sts LageKorrekturRoll,r12 |
| 7413 3b34 8F81 ldd r24,Y+7 |
| 7414 3b36 9885 ldd r25,Y+8 |
| 7415 3b38 A985 ldd r26,Y+9 |
| 7416 3b3a BA85 ldd r27,Y+10 |
| 7417 3b3c B7FF sbrs r27,7 |
| 7418 3b3e 00C0 rjmp .+4 |
| 7419 3b40 0C94 0000 jmp .L1253 |
| 7420 .L922: |
| 7421 3b44 B7FF sbrs r27,7 |
| 7422 3b46 00C0 rjmp .+4 |
| 7423 3b48 0C94 0000 jmp .L1254 |
| 7424 .L923: |
| 7425 3b4c F9E0 ldi r31,9 |
| 7426 3b4e B595 1: asr r27 |
| 7427 3b50 A795 ror r26 |
| 7428 3b52 9795 ror r25 |
| 7429 3b54 8795 ror r24 |
| 7430 3b56 FA95 dec r31 |
| 7431 3b58 01F4 brne 1b |
| 7432 3b5a A80E add r10,r24 |
| 7433 3b5c B91E adc r11,r25 |
| 7434 3b5e B092 0000 sts (cnt.17)+1,r11 |
| 7435 3b62 A092 0000 sts cnt.17,r10 |
| 7436 3b66 2F81 ldd r18,Y+7 |
| 7437 3b68 3885 ldd r19,Y+8 |
| 7438 3b6a 4985 ldd r20,Y+9 |
| 7439 3b6c 5A85 ldd r21,Y+10 |
| 7440 3b6e 57FF sbrs r21,7 |
| 7441 3b70 00C0 rjmp .+4 |
| 7442 3b72 0C94 0000 jmp .L1255 |
| 7443 .L924: |
| 7444 3b76 E3E0 ldi r30,3 |
| 7445 3b78 5595 1: asr r21 |
| 7446 3b7a 4795 ror r20 |
| 7447 3b7c 3795 ror r19 |
| 7448 3b7e 2795 ror r18 |
| 7449 3b80 EA95 dec r30 |
| 7450 3b82 01F4 brne 1b |
| 7451 3b84 2938 cpi r18,lo8(5001) |
| 7452 3b86 F3E1 ldi r31,hi8(5001) |
| 7453 3b88 3F07 cpc r19,r31 |
| 7454 3b8a F0E0 ldi r31,hlo8(5001) |
| 7455 3b8c 4F07 cpc r20,r31 |
| 7456 3b8e F0E0 ldi r31,hhi8(5001) |
| 7457 3b90 5F07 cpc r21,r31 |
| 7458 3b92 04F4 brge .+4 |
| 7459 3b94 0C94 0000 jmp .L1180 |
| 7460 3b98 88E8 ldi r24,lo8(5000) |
| 7461 3b9a 93E1 ldi r25,hi8(5000) |
| 7462 3b9c A0E0 ldi r26,hlo8(5000) |
| 7463 3b9e B0E0 ldi r27,hhi8(5000) |
| 7464 3ba0 8093 0000 sts ausgleichRoll.14,r24 |
| 7465 3ba4 9093 0000 sts (ausgleichRoll.14)+1,r25 |
| 7466 3ba8 A093 0000 sts (ausgleichRoll.14)+2,r26 |
| 7467 3bac B093 0000 sts (ausgleichRoll.14)+3,r27 |
| 7468 .L925: |
| 7469 3bb0 8091 0000 lds r24,ausgleichRoll.14 |
| 7470 3bb4 9091 0000 lds r25,(ausgleichRoll.14)+1 |
| 7471 3bb8 A091 0000 lds r26,(ausgleichRoll.14)+2 |
| 7472 3bbc B091 0000 lds r27,(ausgleichRoll.14)+3 |
| 7473 3bc0 B7FF sbrs r27,7 |
| 7474 3bc2 00C0 rjmp .+4 |
| 7475 3bc4 0C94 0000 jmp .L1256 |
| 7476 .L926: |
| 7477 3bc8 892F mov r24,r25 |
| 7478 3bca 9A2F mov r25,r26 |
| 7479 3bcc AB2F mov r26,r27 |
| 7480 3bce BB27 clr r27 |
| 7481 3bd0 A7FD sbrc r26,7 |
| 7482 3bd2 BA95 dec r27 |
| 7483 3bd4 C090 0000 lds r12,LageKorrekturRoll |
| 7484 3bd8 D090 0000 lds r13,(LageKorrekturRoll)+1 |
| 7485 3bdc C80E add r12,r24 |
| 7486 3bde D91E adc r13,r25 |
| 7487 .L928: |
| 7488 3be0 2F81 ldd r18,Y+7 |
| 7489 3be2 3885 ldd r19,Y+8 |
| 7490 3be4 4985 ldd r20,Y+9 |
| 7491 3be6 5A85 ldd r21,Y+10 |
| 7492 3be8 2030 cpi r18,lo8(-4096) |
| 7493 3bea 80EF ldi r24,hi8(-4096) |
| 7494 3bec 3807 cpc r19,r24 |
| 7495 3bee 8FEF ldi r24,hlo8(-4096) |
| 7496 3bf0 4807 cpc r20,r24 |
| 7497 3bf2 8FEF ldi r24,hhi8(-4096) |
| 7498 3bf4 5807 cpc r21,r24 |
| 7499 3bf6 04F0 brlt .+4 |
| 7500 3bf8 0C94 0000 jmp .L929 |
| 7501 3bfc 8091 0000 lds r24,last_r_n.21 |
| 7502 3c00 8823 tst r24 |
| 7503 3c02 01F4 brne .+4 |
| 7504 3c04 0C94 0000 jmp .L930 |
| 7505 3c08 D092 0000 sts (LageKorrekturRoll)+1,r13 |
| 7506 3c0c C092 0000 sts LageKorrekturRoll,r12 |
| 7507 3c10 DA01 movw r26,r20 |
| 7508 3c12 C901 movw r24,r18 |
| 7509 3c14 57FF sbrs r21,7 |
| 7510 3c16 00C0 rjmp .+4 |
| 7511 3c18 0C94 0000 jmp .L1257 |
| 7512 .L931: |
| 7513 3c1c 9C01 movw r18,r24 |
| 7514 3c1e AD01 movw r20,r26 |
| 7515 3c20 B7FF sbrs r27,7 |
| 7516 3c22 00C0 rjmp .+4 |
| 7517 3c24 0C94 0000 jmp .L1258 |
| 7518 .L932: |
| 7519 3c28 B9E0 ldi r27,9 |
| 7520 3c2a 5595 1: asr r21 |
| 7521 3c2c 4795 ror r20 |
| 7522 3c2e 3795 ror r19 |
| 7523 3c30 2795 ror r18 |
| 7524 3c32 BA95 dec r27 |
| 7525 3c34 01F4 brne 1b |
| 7526 3c36 8091 0000 lds r24,cnt.17 |
| 7527 3c3a 9091 0000 lds r25,(cnt.17)+1 |
| 7528 3c3e 820F add r24,r18 |
| 7529 3c40 931F adc r25,r19 |
| 7530 3c42 9093 0000 sts (cnt.17)+1,r25 |
| 7531 3c46 8093 0000 sts cnt.17,r24 |
| 7532 3c4a 2F81 ldd r18,Y+7 |
| 7533 3c4c 3885 ldd r19,Y+8 |
| 7534 3c4e 4985 ldd r20,Y+9 |
| 7535 3c50 5A85 ldd r21,Y+10 |
| 7536 3c52 57FF sbrs r21,7 |
| 7537 3c54 00C0 rjmp .+4 |
| 7538 3c56 0C94 0000 jmp .L1259 |
| 7539 .L933: |
| 7540 3c5a A3E0 ldi r26,3 |
| 7541 3c5c 5595 1: asr r21 |
| 7542 3c5e 4795 ror r20 |
| 7543 3c60 3795 ror r19 |
| 7544 3c62 2795 ror r18 |
| 7545 3c64 AA95 dec r26 |
| 7546 3c66 01F4 brne 1b |
| 7547 3c68 2837 cpi r18,lo8(-5000) |
| 7548 3c6a 9CEE ldi r25,hi8(-5000) |
| 7549 3c6c 3907 cpc r19,r25 |
| 7550 3c6e 9FEF ldi r25,hlo8(-5000) |
| 7551 3c70 4907 cpc r20,r25 |
| 7552 3c72 9FEF ldi r25,hhi8(-5000) |
| 7553 3c74 5907 cpc r21,r25 |
| 7554 3c76 04F0 brlt .+4 |
| 7555 3c78 0C94 0000 jmp .L1181 |
| 7556 3c7c 88E7 ldi r24,lo8(-5000) |
| 7557 3c7e 9CEE ldi r25,hi8(-5000) |
| 7558 3c80 AFEF ldi r26,hlo8(-5000) |
| 7559 3c82 BFEF ldi r27,hhi8(-5000) |
| 7560 3c84 8093 0000 sts ausgleichRoll.14,r24 |
| 7561 3c88 9093 0000 sts (ausgleichRoll.14)+1,r25 |
| 7562 3c8c A093 0000 sts (ausgleichRoll.14)+2,r26 |
| 7563 3c90 B093 0000 sts (ausgleichRoll.14)+3,r27 |
| 7564 .L934: |
| 7565 3c94 8091 0000 lds r24,ausgleichRoll.14 |
| 7566 3c98 9091 0000 lds r25,(ausgleichRoll.14)+1 |
| 7567 3c9c A091 0000 lds r26,(ausgleichRoll.14)+2 |
| 7568 3ca0 B091 0000 lds r27,(ausgleichRoll.14)+3 |
| 7569 3ca4 B7FF sbrs r27,7 |
| 7570 3ca6 00C0 rjmp .+4 |
| 7571 3ca8 0C94 0000 jmp .L1260 |
| 7572 .L935: |
| 7573 3cac 892F mov r24,r25 |
| 7574 3cae 9A2F mov r25,r26 |
| 7575 3cb0 AB2F mov r26,r27 |
| 7576 3cb2 BB27 clr r27 |
| 7577 3cb4 A7FD sbrc r26,7 |
| 7578 3cb6 BA95 dec r27 |
| 7579 3cb8 C090 0000 lds r12,LageKorrekturRoll |
| 7580 3cbc D090 0000 lds r13,(LageKorrekturRoll)+1 |
| 7581 3cc0 C80E add r12,r24 |
| 7582 3cc2 D91E adc r13,r25 |
| 7583 .L938: |
| 7584 3cc4 A989 ldd r26,Y+17 |
| 7585 3cc6 2A2F mov r18,r26 |
| 7586 3cc8 3327 clr r19 |
| 7587 3cca 8091 0000 lds r24,cnt.17 |
| 7588 3cce 9091 0000 lds r25,(cnt.17)+1 |
| 7589 3cd2 2817 cp r18,r24 |
| 7590 3cd4 3907 cpc r19,r25 |
| 7591 3cd6 04F4 brge .L939 |
| 7592 3cd8 3093 0000 sts (cnt.17)+1,r19 |
| 7593 3cdc 2093 0000 sts cnt.17,r18 |
| 7594 .L939: |
| 7595 3ce0 2F81 ldd r18,Y+7 |
| 7596 3ce2 3885 ldd r19,Y+8 |
| 7597 3ce4 4985 ldd r20,Y+9 |
| 7598 3ce6 5A85 ldd r21,Y+10 |
| 7599 3ce8 2138 cpi r18,lo8(129) |
| 7600 3cea 3105 cpc r19,__zero_reg__ |
| 7601 3cec 4105 cpc r20,__zero_reg__ |
| 7602 3cee 5105 cpc r21,__zero_reg__ |
| 7603 3cf0 04F0 brlt .L940 |
| 7604 3cf2 8091 0000 lds r24,AdNeutralRoll |
| 7605 3cf6 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7606 3cfa 2091 0000 lds r18,cnt.17 |
| 7607 3cfe 3091 0000 lds r19,(cnt.17)+1 |
| 7608 3d02 820F add r24,r18 |
| 7609 3d04 931F adc r25,r19 |
| 7610 3d06 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7611 3d0a 8093 0000 sts AdNeutralRoll,r24 |
| 7612 .L940: |
| 7613 3d0e 8F81 ldd r24,Y+7 |
| 7614 3d10 9885 ldd r25,Y+8 |
| 7615 3d12 A985 ldd r26,Y+9 |
| 7616 3d14 BA85 ldd r27,Y+10 |
| 7617 3d16 8058 subi r24,lo8(-128) |
| 7618 3d18 9F4F sbci r25,hi8(-128) |
| 7619 3d1a AF4F sbci r26,hlo8(-128) |
| 7620 3d1c BF4F sbci r27,hhi8(-128) |
| 7621 3d1e 04F0 brlt .+2 |
| 7622 3d20 00C0 rjmp .L942 |
| 7623 3d22 8091 0000 lds r24,AdNeutralRoll |
| 7624 3d26 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7625 3d2a 2091 0000 lds r18,cnt.17 |
| 7626 3d2e 3091 0000 lds r19,(cnt.17)+1 |
| 7627 3d32 821B sub r24,r18 |
| 7628 3d34 930B sbc r25,r19 |
| 7629 3d36 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7630 3d3a 8093 0000 sts AdNeutralRoll,r24 |
| 7631 3d3e 00C0 rjmp .L942 |
| 7632 .L862: |
| 7633 3d40 8091 0000 lds r24,EE_Parameter+23 |
| 7634 3d44 E82E mov r14,r24 |
| 7635 3d46 FF24 clr r15 |
| 7636 3d48 0027 clr r16 |
| 7637 3d4a 1127 clr r17 |
| 7638 3d4c 6D8D ldd r22,Y+29 |
| 7639 3d4e 7E8D ldd r23,Y+30 |
| 7640 3d50 8F8D ldd r24,Y+31 |
| 7641 3d52 98A1 ldd r25,Y+32 |
| 7642 3d54 A801 movw r20,r16 |
| 7643 3d56 9701 movw r18,r14 |
| 7644 3d58 0E94 0000 call __divmodsi4 |
| 7645 3d5c 5901 movw r10,r18 |
| 7646 3d5e 6A01 movw r12,r20 |
| 7647 3d60 8091 0000 lds r24,Mittelwert_AccNick |
| 7648 3d64 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 7649 3d68 AA27 clr r26 |
| 7650 3d6a 97FD sbrc r25,7 |
| 7651 3d6c A095 com r26 |
| 7652 3d6e BA2F mov r27,r26 |
| 7653 3d70 A81A sub r10,r24 |
| 7654 3d72 B90A sbc r11,r25 |
| 7655 3d74 CA0A sbc r12,r26 |
| 7656 3d76 DB0A sbc r13,r27 |
| 7657 3d78 6C85 ldd r22,Y+12 |
| 7658 3d7a 7D85 ldd r23,Y+13 |
| 7659 3d7c 8E85 ldd r24,Y+14 |
| 7660 3d7e 9F85 ldd r25,Y+15 |
| 7661 3d80 A801 movw r20,r16 |
| 7662 3d82 9701 movw r18,r14 |
| 7663 3d84 0E94 0000 call __divmodsi4 |
| 7664 3d88 7901 movw r14,r18 |
| 7665 3d8a 8A01 movw r16,r20 |
| 7666 3d8c 8091 0000 lds r24,Mittelwert_AccRoll |
| 7667 3d90 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 7668 3d94 AA27 clr r26 |
| 7669 3d96 97FD sbrc r25,7 |
| 7670 3d98 A095 com r26 |
| 7671 3d9a BA2F mov r27,r26 |
| 7672 3d9c E81A sub r14,r24 |
| 7673 3d9e F90A sbc r15,r25 |
| 7674 3da0 0A0B sbc r16,r26 |
| 7675 3da2 1B0B sbc r17,r27 |
| 7676 3da4 D601 movw r26,r12 |
| 7677 3da6 C501 movw r24,r10 |
| 7678 3da8 D7FE sbrs r13,7 |
| 7679 3daa 00C0 rjmp .+4 |
| 7680 3dac 0C94 0000 jmp .L1261 |
| 7681 .L863: |
| 7682 3db0 5C01 movw r10,r24 |
| 7683 3db2 6D01 movw r12,r26 |
| 7684 3db4 A4E0 ldi r26,4 |
| 7685 3db6 D594 1: asr r13 |
| 7686 3db8 C794 ror r12 |
| 7687 3dba B794 ror r11 |
| 7688 3dbc A794 ror r10 |
| 7689 3dbe AA95 dec r26 |
| 7690 3dc0 01F4 brne 1b |
| 7691 3dc2 D801 movw r26,r16 |
| 7692 3dc4 C701 movw r24,r14 |
| 7693 3dc6 17FF sbrs r17,7 |
| 7694 3dc8 00C0 rjmp .+4 |
| 7695 3dca 0C94 0000 jmp .L1262 |
| 7696 .L864: |
| 7697 3dce 7C01 movw r14,r24 |
| 7698 3dd0 8D01 movw r16,r26 |
| 7699 3dd2 F4E0 ldi r31,4 |
| 7700 3dd4 1595 1: asr r17 |
| 7701 3dd6 0795 ror r16 |
| 7702 3dd8 F794 ror r15 |
| 7703 3dda E794 ror r14 |
| 7704 3ddc FA95 dec r31 |
| 7705 3dde 01F4 brne 1b |
| 7706 3de0 8091 0000 lds r24,MaxStickNick |
| 7707 3de4 9091 0000 lds r25,(MaxStickNick)+1 |
| 7708 3de8 8134 cpi r24,65 |
| 7709 3dea 9105 cpc r25,__zero_reg__ |
| 7710 3dec 04F4 brge .+2 |
| 7711 3dee 00C0 rjmp .L1263 |
| 7712 .L866: |
| 7713 3df0 C601 movw r24,r12 |
| 7714 3df2 B501 movw r22,r10 |
| 7715 3df4 23E0 ldi r18,lo8(3) |
| 7716 3df6 30E0 ldi r19,hi8(3) |
| 7717 3df8 40E0 ldi r20,hlo8(3) |
| 7718 3dfa 50E0 ldi r21,hhi8(3) |
| 7719 3dfc 0E94 0000 call __divmodsi4 |
| 7720 3e00 5901 movw r10,r18 |
| 7721 3e02 6A01 movw r12,r20 |
| 7722 3e04 C801 movw r24,r16 |
| 7723 3e06 B701 movw r22,r14 |
| 7724 3e08 23E0 ldi r18,lo8(3) |
| 7725 3e0a 30E0 ldi r19,hi8(3) |
| 7726 3e0c 40E0 ldi r20,hlo8(3) |
| 7727 3e0e 50E0 ldi r21,hhi8(3) |
| 7728 3e10 0E94 0000 call __divmodsi4 |
| 7729 3e14 7901 movw r14,r18 |
| 7730 3e16 8A01 movw r16,r20 |
| 7731 .L865: |
| 7732 3e18 8091 0000 lds r24,EE_Parameter+3 |
| 7733 3e1c E82F mov r30,r24 |
| 7734 3e1e FF27 clr r31 |
| 7735 3e20 EE0F add r30,r30 |
| 7736 3e22 FF1F adc r31,r31 |
| 7737 3e24 E050 subi r30,lo8(-(PPM_in)) |
| 7738 3e26 F040 sbci r31,hi8(-(PPM_in)) |
| 7739 3e28 8081 ld r24,Z |
| 7740 3e2a 9181 ldd r25,Z+1 |
| 7741 3e2c 0190 ld __tmp_reg__,Z+ |
| 7742 3e2e F081 ld r31,Z |
| 7743 3e30 E02D mov r30,__tmp_reg__ |
| 7744 3e32 F7FF sbrs r31,7 |
| 7745 3e34 00C0 rjmp .+4 |
| 7746 3e36 0C94 0000 jmp .L1264 |
| 7747 .L868: |
| 7748 3e3a 7A97 sbiw r30,26 |
| 7749 3e3c 04F0 brlt .L867 |
| 7750 3e3e C601 movw r24,r12 |
| 7751 3e40 B501 movw r22,r10 |
| 7752 3e42 23E0 ldi r18,lo8(3) |
| 7753 3e44 30E0 ldi r19,hi8(3) |
| 7754 3e46 40E0 ldi r20,hlo8(3) |
| 7755 3e48 50E0 ldi r21,hhi8(3) |
| 7756 3e4a 0E94 0000 call __divmodsi4 |
| 7757 3e4e 5901 movw r10,r18 |
| 7758 3e50 6A01 movw r12,r20 |
| 7759 3e52 C801 movw r24,r16 |
| 7760 3e54 B701 movw r22,r14 |
| 7761 3e56 23E0 ldi r18,lo8(3) |
| 7762 3e58 30E0 ldi r19,hi8(3) |
| 7763 3e5a 40E0 ldi r20,hlo8(3) |
| 7764 3e5c 50E0 ldi r21,hhi8(3) |
| 7765 3e5e 0E94 0000 call __divmodsi4 |
| 7766 3e62 7901 movw r14,r18 |
| 7767 3e64 8A01 movw r16,r20 |
| 7768 .L867: |
| 7769 3e66 41E2 ldi r20,lo8(33) |
| 7770 3e68 A416 cp r10,r20 |
| 7771 3e6a B104 cpc r11,__zero_reg__ |
| 7772 3e6c C104 cpc r12,__zero_reg__ |
| 7773 3e6e D104 cpc r13,__zero_reg__ |
| 7774 3e70 04F0 brlt .L869 |
| 7775 3e72 E0E2 ldi r30,lo8(32) |
| 7776 3e74 AE2E mov r10,r30 |
| 7777 3e76 B12C mov r11,__zero_reg__ |
| 7778 3e78 C12C mov r12,__zero_reg__ |
| 7779 3e7a D12C mov r13,__zero_reg__ |
| 7780 .L869: |
| 7781 3e7c 50EE ldi r21,lo8(-32) |
| 7782 3e7e A516 cp r10,r21 |
| 7783 3e80 5FEF ldi r21,hi8(-32) |
| 7784 3e82 B506 cpc r11,r21 |
| 7785 3e84 5FEF ldi r21,hlo8(-32) |
| 7786 3e86 C506 cpc r12,r21 |
| 7787 3e88 5FEF ldi r21,hhi8(-32) |
| 7788 3e8a D506 cpc r13,r21 |
| 7789 3e8c 04F4 brge .L870 |
| 7790 3e8e 70EE ldi r23,lo8(-32) |
| 7791 3e90 A72E mov r10,r23 |
| 7792 3e92 7FEF ldi r23,hi8(-32) |
| 7793 3e94 B72E mov r11,r23 |
| 7794 3e96 7FEF ldi r23,hlo8(-32) |
| 7795 3e98 C72E mov r12,r23 |
| 7796 3e9a 7FEF ldi r23,hhi8(-32) |
| 7797 3e9c D72E mov r13,r23 |
| 7798 .L870: |
| 7799 3e9e 61E2 ldi r22,lo8(33) |
| 7800 3ea0 E616 cp r14,r22 |
| 7801 3ea2 F104 cpc r15,__zero_reg__ |
| 7802 3ea4 0105 cpc r16,__zero_reg__ |
| 7803 3ea6 1105 cpc r17,__zero_reg__ |
| 7804 3ea8 04F0 brlt .L871 |
| 7805 3eaa 60E2 ldi r22,lo8(32) |
| 7806 3eac E62E mov r14,r22 |
| 7807 3eae F12C mov r15,__zero_reg__ |
| 7808 3eb0 012D mov r16,__zero_reg__ |
| 7809 3eb2 112D mov r17,__zero_reg__ |
| 7810 .L871: |
| 7811 3eb4 70EE ldi r23,lo8(-32) |
| 7812 3eb6 E716 cp r14,r23 |
| 7813 3eb8 7FEF ldi r23,hi8(-32) |
| 7814 3eba F706 cpc r15,r23 |
| 7815 3ebc 7FEF ldi r23,hlo8(-32) |
| 7816 3ebe 0707 cpc r16,r23 |
| 7817 3ec0 7FEF ldi r23,hhi8(-32) |
| 7818 3ec2 1707 cpc r17,r23 |
| 7819 3ec4 04F4 brge .L872 |
| 7820 3ec6 50EE ldi r21,lo8(-32) |
| 7821 3ec8 E52E mov r14,r21 |
| 7822 3eca 5FEF ldi r21,hi8(-32) |
| 7823 3ecc F52E mov r15,r21 |
| 7824 3ece 5FEF ldi r21,hlo8(-32) |
| 7825 3ed0 052F mov r16,r21 |
| 7826 3ed2 5FEF ldi r21,hhi8(-32) |
| 7827 3ed4 152F mov r17,r21 |
| 7828 .L872: |
| 7829 3ed6 8091 0000 lds r24,Mess_IntegralNick |
| 7830 3eda 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 7831 3ede A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 7832 3ee2 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 7833 3ee6 8A19 sub r24,r10 |
| 7834 3ee8 9B09 sbc r25,r11 |
| 7835 3eea AC09 sbc r26,r12 |
| 7836 3eec BD09 sbc r27,r13 |
| 7837 3eee 8093 0000 sts Mess_IntegralNick,r24 |
| 7838 3ef2 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 7839 3ef6 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 7840 3efa B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 7841 3efe 8091 0000 lds r24,Mess_IntegralRoll |
| 7842 3f02 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 7843 3f06 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 7844 3f0a B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 7845 3f0e 8E19 sub r24,r14 |
| 7846 3f10 9F09 sbc r25,r15 |
| 7847 3f12 A00B sbc r26,r16 |
| 7848 3f14 B10B sbc r27,r17 |
| 7849 3f16 8093 0000 sts Mess_IntegralRoll,r24 |
| 7850 3f1a 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 7851 3f1e A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 7852 3f22 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 7853 3f26 8091 0000 lds r24,ZaehlMessungen |
| 7854 3f2a 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 7855 3f2e 8F3F cpi r24,255 |
| 7856 3f30 9105 cpc r25,__zero_reg__ |
| 7857 3f32 01F0 breq .+4 |
| 7858 3f34 00F0 brlo .+2 |
| 7859 3f36 00C0 rjmp .L1265 |
| 7860 .L1151: |
| 7861 3f38 2092 0000 sts MittelIntegralNick2,r2 |
| 7862 3f3c 3092 0000 sts (MittelIntegralNick2)+1,r3 |
| 7863 3f40 4092 0000 sts (MittelIntegralNick2)+2,r4 |
| 7864 3f44 5092 0000 sts (MittelIntegralNick2)+3,r5 |
| 7865 3f48 6092 0000 sts MittelIntegralRoll2,r6 |
| 7866 3f4c 7092 0000 sts (MittelIntegralRoll2)+1,r7 |
| 7867 3f50 8092 0000 sts (MittelIntegralRoll2)+2,r8 |
| 7868 3f54 9092 0000 sts (MittelIntegralRoll2)+3,r9 |
| 7869 3f58 F091 0000 lds r31,TrichterFlug |
| 7870 3f5c FC8F std Y+28,r31 |
| 7871 3f5e 0091 0000 lds r16,StickGier |
| 7872 3f62 1091 0000 lds r17,(StickGier)+1 |
| 7873 3f66 C801 movw r24,r16 |
| 7874 3f68 17FF sbrs r17,7 |
| 7875 3f6a 00C0 rjmp .L945 |
| 7876 .L1271: |
| 7877 3f6c 8827 clr r24 |
| 7878 3f6e 9927 clr r25 |
| 7879 3f70 801B sub r24,r16 |
| 7880 3f72 910B sbc r25,r17 |
| 7881 3f74 00C0 rjmp .L945 |
| 7882 .L860: |
| 7883 3f76 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7884 3f7a 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7885 3f7e 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7886 3f82 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7887 3f86 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7888 3f8a 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7889 3f8e 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7890 3f92 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7891 3f96 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7892 3f9a 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7893 3f9e 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7894 3fa2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7895 3fa6 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7896 3faa 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7897 3fae 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7898 3fb2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7899 3fb6 6624 clr r6 |
| 7900 3fb8 7724 clr r7 |
| 7901 3fba 4301 movw r8,r6 |
| 7902 3fbc 1301 movw r2,r6 |
| 7903 3fbe 2401 movw r4,r8 |
| 7904 3fc0 8091 0000 lds r24,Mess_IntegralNick |
| 7905 3fc4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 7906 3fc8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 7907 3fcc B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 7908 3fd0 8093 0000 sts Mess_IntegralNick2,r24 |
| 7909 3fd4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 7910 3fd8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 7911 3fdc B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 7912 3fe0 8091 0000 lds r24,Mess_IntegralRoll |
| 7913 3fe4 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 7914 3fe8 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 7915 3fec B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 7916 3ff0 8093 0000 sts Mess_IntegralRoll2,r24 |
| 7917 3ff4 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 7918 3ff8 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 7919 3ffc B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 7920 4000 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7921 4004 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7922 4008 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7923 400c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7924 4010 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7925 4014 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7926 4018 1B85 ldd r17,Y+11 |
| 7927 401a 1123 tst r17 |
| 7928 401c 01F0 breq .+2 |
| 7929 401e 00C0 rjmp .L861 |
| 7930 4020 2B8D ldd r18,Y+27 |
| 7931 4022 2223 tst r18 |
| 7932 4024 01F0 breq .+2 |
| 7933 4026 00C0 rjmp .L861 |
| 7934 4028 00C0 rjmp .L1196 |
| 7935 .L1150: |
| 7936 402a B091 0000 lds r27,IntegralFaktorGier |
| 7937 402e BA8F std Y+26,r27 |
| 7938 4030 00C0 rjmp .L858 |
| 7939 .L811: |
| 7940 4032 7FEF ldi r23,hi8(-2) |
| 7941 4034 8E3F cpi r24,lo8(-2) |
| 7942 4036 9707 cpc r25,r23 |
| 7943 4038 04F0 brlt .+2 |
| 7944 403a 00C0 rjmp .L813 |
| 7945 403c 0296 adiw r24,2 |
| 7946 403e 0C94 0000 jmp .L1201 |
| 7947 .L819: |
| 7948 4042 B901 movw r22,r18 |
| 7949 4044 6150 subi r22,lo8(-(-1)) |
| 7950 4046 7040 sbci r23,hi8(-(-1)) |
| 7951 .L825: |
| 7952 4048 4091 0000 lds r20,StickRoll |
| 7953 404c 5091 0000 lds r21,(StickRoll)+1 |
| 7954 4050 CA01 movw r24,r20 |
| 7955 4052 57FF sbrs r21,7 |
| 7956 4054 00C0 rjmp .+4 |
| 7957 4056 0C94 0000 jmp .L1266 |
| 7958 .L827: |
| 7959 405a 9595 asr r25 |
| 7960 405c 8795 ror r24 |
| 7961 405e 9595 asr r25 |
| 7962 4060 8795 ror r24 |
| 7963 4062 97FF sbrs r25,7 |
| 7964 4064 00C0 rjmp .+4 |
| 7965 4066 0C94 0000 jmp .L1267 |
| 7966 .L828: |
| 7967 406a 2091 0000 lds r18,MaxStickRoll |
| 7968 406e 3091 0000 lds r19,(MaxStickRoll)+1 |
| 7969 4072 2817 cp r18,r24 |
| 7970 4074 3907 cpc r19,r25 |
| 7971 4076 04F0 brlt .+4 |
| 7972 4078 0C94 0000 jmp .L826 |
| 7973 .L1220: |
| 7974 407c CA01 movw r24,r20 |
| 7975 407e 57FF sbrs r21,7 |
| 7976 4080 00C0 rjmp .+4 |
| 7977 4082 0C94 0000 jmp .L1268 |
| 7978 .L829: |
| 7979 4086 97FF sbrs r25,7 |
| 7980 4088 00C0 rjmp .+4 |
| 7981 408a 0C94 0000 jmp .L1269 |
| 7982 .L830: |
| 7983 408e 9C01 movw r18,r24 |
| 7984 4090 3595 asr r19 |
| 7985 4092 2795 ror r18 |
| 7986 4094 3595 asr r19 |
| 7987 4096 2795 ror r18 |
| 7988 4098 2536 cpi r18,101 |
| 7989 409a 3105 cpc r19,__zero_reg__ |
| 7990 409c 04F4 brge .+4 |
| 7991 409e 0C94 0000 jmp .L832 |
| 7992 40a2 24E6 ldi r18,lo8(100) |
| 7993 40a4 30E0 ldi r19,hi8(100) |
| 7994 40a6 8091 0000 lds r24,MikroKopterFlags |
| 7995 40aa 84FF sbrs r24,4 |
| 7996 40ac 00C0 rjmp .+4 |
| 7997 40ae 0C94 0000 jmp .L1270 |
| 7998 .L1177: |
| 7999 40b2 3093 0000 sts (MaxStickRoll)+1,r19 |
| 8000 40b6 2093 0000 sts MaxStickRoll,r18 |
| 8001 40ba 7093 0000 sts (MaxStickNick)+1,r23 |
| 8002 40be 6093 0000 sts MaxStickNick,r22 |
| 8003 40c2 0C94 0000 jmp .L833 |
| 8004 .L1176: |
| 8005 40c6 F092 0000 sts IntegralFaktor,r15 |
| 8006 40ca 4091 0000 lds r20,StickNick |
| 8007 40ce 5091 0000 lds r21,(StickNick)+1 |
| 8008 40d2 CA01 movw r24,r20 |
| 8009 40d4 57FD sbrc r21,7 |
| 8010 40d6 00C0 rjmp .+4 |
| 8011 40d8 0C94 0000 jmp .L820 |
| 8012 .L1216: |
| 8013 40dc 0396 adiw r24,3 |
| 8014 40de 9595 asr r25 |
| 8015 40e0 8795 ror r24 |
| 8016 40e2 9595 asr r25 |
| 8017 40e4 8795 ror r24 |
| 8018 40e6 97FD sbrc r25,7 |
| 8019 40e8 00C0 rjmp .+4 |
| 8020 40ea 0C94 0000 jmp .L821 |
| 8021 .L1217: |
| 8022 40ee 9095 com r25 |
| 8023 40f0 8195 neg r24 |
| 8024 40f2 9F4F sbci r25,lo8(-1) |
| 8025 40f4 0C94 0000 jmp .L821 |
| 8026 .L1263: |
| 8027 40f8 8091 0000 lds r24,MaxStickRoll |
| 8028 40fc 9091 0000 lds r25,(MaxStickRoll)+1 |
| 8029 4100 8134 cpi r24,65 |
| 8030 4102 9105 cpc r25,__zero_reg__ |
| 8031 4104 04F4 brge .+2 |
| 8032 4106 00C0 rjmp .L865 |
| 8033 4108 00C0 rjmp .L866 |
| 8034 .L852: |
| 8035 410a 9093 0000 sts Looping_Roll,r25 |
| 8036 410e 8093 0000 sts Looping_Nick,r24 |
| 8037 4112 00C0 rjmp .L807 |
| 8038 .L813: |
| 8039 4114 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 8040 4118 1092 0000 sts StickGier,__zero_reg__ |
| 8041 411c 0C94 0000 jmp .L812 |
| 8042 .L849: |
| 8043 4120 982F mov r25,r24 |
| 8044 4122 0C94 0000 jmp .L851 |
| 8045 .L1226: |
| 8046 4126 81E0 ldi r24,lo8(1) |
| 8047 4128 8093 0000 sts Looping_Unten,r24 |
| 8048 412c 0C94 0000 jmp .L846 |
| 8049 .L1224: |
| 8050 4130 81E0 ldi r24,lo8(1) |
| 8051 4132 8093 0000 sts Looping_Oben,r24 |
| 8052 4136 582F mov r21,r24 |
| 8053 4138 0C94 0000 jmp .L842 |
| 8054 .L1222: |
| 8055 413c 81E0 ldi r24,lo8(1) |
| 8056 413e 8093 0000 sts Looping_Rechts,r24 |
| 8057 4142 0C94 0000 jmp .L838 |
| 8058 .L1221: |
| 8059 4146 81E0 ldi r24,lo8(1) |
| 8060 4148 8093 0000 sts Looping_Links,r24 |
| 8061 414c 0C94 0000 jmp .L835 |
| 8062 .L1214: |
| 8063 4150 8091 0000 lds r24,ExternControl+3 |
| 8064 4154 9927 clr r25 |
| 8065 4156 87FD sbrc r24,7 |
| 8066 4158 9095 com r25 |
| 8067 415a 4E2D mov r20,r14 |
| 8068 415c 5527 clr r21 |
| 8069 415e 849F mul r24,r20 |
| 8070 4160 D001 movw r26,r0 |
| 8071 4162 859F mul r24,r21 |
| 8072 4164 B00D add r27,r0 |
| 8073 4166 949F mul r25,r20 |
| 8074 4168 B00D add r27,r0 |
| 8075 416a 1124 clr r1 |
| 8076 416c CD01 movw r24,r26 |
| 8077 416e 2091 0000 lds r18,StickNick |
| 8078 4172 3091 0000 lds r19,(StickNick)+1 |
| 8079 4176 820F add r24,r18 |
| 8080 4178 931F adc r25,r19 |
| 8081 417a 9093 0000 sts (StickNick)+1,r25 |
| 8082 417e 8093 0000 sts StickNick,r24 |
| 8083 4182 8091 0000 lds r24,ExternControl+4 |
| 8084 4186 9927 clr r25 |
| 8085 4188 87FD sbrc r24,7 |
| 8086 418a 9095 com r25 |
| 8087 418c 849F mul r24,r20 |
| 8088 418e F001 movw r30,r0 |
| 8089 4190 859F mul r24,r21 |
| 8090 4192 F00D add r31,r0 |
| 8091 4194 949F mul r25,r20 |
| 8092 4196 F00D add r31,r0 |
| 8093 4198 1124 clr r1 |
| 8094 419a CF01 movw r24,r30 |
| 8095 419c 2091 0000 lds r18,StickRoll |
| 8096 41a0 3091 0000 lds r19,(StickRoll)+1 |
| 8097 41a4 820F add r24,r18 |
| 8098 41a6 931F adc r25,r19 |
| 8099 41a8 9093 0000 sts (StickRoll)+1,r25 |
| 8100 41ac 8093 0000 sts StickRoll,r24 |
| 8101 41b0 8091 0000 lds r24,ExternControl+5 |
| 8102 41b4 9927 clr r25 |
| 8103 41b6 87FD sbrc r24,7 |
| 8104 41b8 9095 com r25 |
| 8105 41ba 2091 0000 lds r18,StickGier |
| 8106 41be 3091 0000 lds r19,(StickGier)+1 |
| 8107 41c2 820F add r24,r18 |
| 8108 41c4 931F adc r25,r19 |
| 8109 41c6 9093 0000 sts (StickGier)+1,r25 |
| 8110 41ca 8093 0000 sts StickGier,r24 |
| 8111 41ce 8091 0000 lds r24,ExternControl+7 |
| 8112 41d2 282F mov r18,r24 |
| 8113 41d4 3327 clr r19 |
| 8114 41d6 27FD sbrc r18,7 |
| 8115 41d8 3095 com r19 |
| 8116 41da 8091 0000 lds r24,EE_Parameter+13 |
| 8117 41de 9927 clr r25 |
| 8118 41e0 289F mul r18,r24 |
| 8119 41e2 A001 movw r20,r0 |
| 8120 41e4 299F mul r18,r25 |
| 8121 41e6 500D add r21,r0 |
| 8122 41e8 389F mul r19,r24 |
| 8123 41ea 500D add r21,r0 |
| 8124 41ec 1124 clr r1 |
| 8125 41ee 5093 0000 sts (ExternHoehenValue)+1,r21 |
| 8126 41f2 4093 0000 sts ExternHoehenValue,r20 |
| 8127 41f6 8091 0000 lds r24,ExternControl+6 |
| 8128 41fa 9927 clr r25 |
| 8129 41fc 8C15 cp r24,r12 |
| 8130 41fe 9D05 cpc r25,r13 |
| 8131 4200 04F0 brlt .+4 |
| 8132 4202 0C94 0000 jmp .L1175 |
| 8133 4206 9093 0000 sts (StickGas)+1,r25 |
| 8134 420a 8093 0000 sts StickGas,r24 |
| 8135 420e 0C94 0000 jmp .L815 |
| 8136 .L1228: |
| 8137 4212 8091 0000 lds r24,MotorenEin |
| 8138 4216 8823 tst r24 |
| 8139 4218 01F4 brne .+4 |
| 8140 421a 0C94 0000 jmp .L1147 |
| 8141 421e 8091 0000 lds r24,modell_fliegt |
| 8142 4222 9091 0000 lds r25,(modell_fliegt)+1 |
| 8143 4226 FFEF ldi r31,hi8(-1) |
| 8144 4228 8F3F cpi r24,lo8(-1) |
| 8145 422a 9F07 cpc r25,r31 |
| 8146 422c 01F4 brne .+4 |
| 8147 422e 0C94 0000 jmp .L736 |
| 8148 4232 0196 adiw r24,1 |
| 8149 4234 9093 0000 sts (modell_fliegt)+1,r25 |
| 8150 4238 8093 0000 sts modell_fliegt,r24 |
| 8151 423c 0C94 0000 jmp .L736 |
| 8152 .L1223: |
| 8153 4240 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 8154 4244 0C94 0000 jmp .L838 |
| 8155 .L1227: |
| 8156 4248 1092 0000 sts Looping_Unten,__zero_reg__ |
| 8157 424c 0C94 0000 jmp .L846 |
| 8158 .L1225: |
| 8159 4250 1092 0000 sts Looping_Oben,__zero_reg__ |
| 8160 4254 50E0 ldi r21,lo8(0) |
| 8161 4256 0C94 0000 jmp .L842 |
| 8162 .L874: |
| 8163 425a 60E0 ldi r22,lo8(0) |
| 8164 425c 70E0 ldi r23,hi8(0) |
| 8165 425e 6B01 movw r12,r22 |
| 8166 4260 1092 0000 sts TrichterFlug,__zero_reg__ |
| 8167 4264 1C8E std Y+28,__zero_reg__ |
| 8168 4266 E090 0000 lds r14,MittelIntegralNick |
| 8169 426a F090 0000 lds r15,(MittelIntegralNick)+1 |
| 8170 426e 0091 0000 lds r16,(MittelIntegralNick)+2 |
| 8171 4272 1091 0000 lds r17,(MittelIntegralNick)+3 |
| 8172 4276 6090 0000 lds r6,MittelIntegralRoll |
| 8173 427a 7090 0000 lds r7,(MittelIntegralRoll)+1 |
| 8174 427e 8090 0000 lds r8,(MittelIntegralRoll)+2 |
| 8175 4282 9090 0000 lds r9,(MittelIntegralRoll)+3 |
| 8176 .L942: |
| 8177 4286 8091 0000 lds r24,IntegralFaktor |
| 8178 428a 8823 tst r24 |
| 8179 428c 01F0 breq .+2 |
| 8180 428e 00C0 rjmp .L1182 |
| 8181 4290 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 8182 4294 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 8183 4298 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 8184 429c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 8185 .L943: |
| 8186 42a0 E092 0000 sts MittelIntegralNick_Alt.22,r14 |
| 8187 42a4 F092 0000 sts (MittelIntegralNick_Alt.22)+1,r15 |
| 8188 42a8 0093 0000 sts (MittelIntegralNick_Alt.22)+2,r16 |
| 8189 42ac 1093 0000 sts (MittelIntegralNick_Alt.22)+3,r17 |
| 8190 42b0 6092 0000 sts MittelIntegralRoll_Alt.23,r6 |
| 8191 42b4 7092 0000 sts (MittelIntegralRoll_Alt.23)+1,r7 |
| 8192 42b8 8092 0000 sts (MittelIntegralRoll_Alt.23)+2,r8 |
| 8193 42bc 9092 0000 sts (MittelIntegralRoll_Alt.23)+3,r9 |
| 8194 42c0 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 8195 42c4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 8196 42c8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 8197 42cc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 8198 42d0 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 8199 42d4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 8200 42d8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 8201 42dc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 8202 42e0 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 8203 42e4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 8204 42e8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 8205 42ec 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 8206 42f0 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 8207 42f4 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 8208 42f8 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 8209 42fc 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 8210 4300 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 8211 4304 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 8212 4308 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 8213 430c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 8214 4310 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 8215 4314 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 8216 4318 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 8217 431c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 8218 4320 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 8219 4324 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 8220 4328 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 8221 432c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 8222 4330 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 8223 4334 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 8224 4338 0091 0000 lds r16,StickGier |
| 8225 433c 1091 0000 lds r17,(StickGier)+1 |
| 8226 4340 C801 movw r24,r16 |
| 8227 4342 17FD sbrc r17,7 |
| 8228 4344 00C0 rjmp .L1271 |
| 8229 .L945: |
| 8230 4346 4097 sbiw r24,16 |
| 8231 4348 04F0 brlt .L944 |
| 8232 434a 68EE ldi r22,lo8(1000) |
| 8233 434c 262E mov r2,r22 |
| 8234 434e 63E0 ldi r22,hi8(1000) |
| 8235 4350 362E mov r3,r22 |
| 8236 4352 3092 0000 sts (KompassSignalSchlecht)+1,r3 |
| 8237 4356 2092 0000 sts KompassSignalSchlecht,r2 |
| 8238 435a E888 ldd r14,Y+16 |
| 8239 435c E4FC sbrc r14,4 |
| 8240 435e 00C0 rjmp .L944 |
| 8241 4360 81E0 ldi r24,lo8(1) |
| 8242 4362 8093 0000 sts NeueKompassRichtungMerken.12,r24 |
| 8243 .L944: |
| 8244 4366 B090 0000 lds r11,EE_Parameter+20 |
| 8245 436a CB2C mov r12,r11 |
| 8246 436c DD24 clr r13 |
| 8247 436e EE24 clr r14 |
| 8248 4370 FF24 clr r15 |
| 8249 4372 B801 movw r22,r16 |
| 8250 4374 8827 clr r24 |
| 8251 4376 77FD sbrc r23,7 |
| 8252 4378 8095 com r24 |
| 8253 437a 982F mov r25,r24 |
| 8254 437c 9801 movw r18,r16 |
| 8255 437e 17FD sbrc r17,7 |
| 8256 4380 00C0 rjmp .L1272 |
| 8257 .L947: |
| 8258 4382 4427 clr r20 |
| 8259 4384 37FD sbrc r19,7 |
| 8260 4386 4095 com r20 |
| 8261 4388 542F mov r21,r20 |
| 8262 438a 0E94 0000 call __mulsi3 |
| 8263 438e 9B01 movw r18,r22 |
| 8264 4390 AC01 movw r20,r24 |
| 8265 4392 C701 movw r24,r14 |
| 8266 4394 B601 movw r22,r12 |
| 8267 4396 0E94 0000 call __mulsi3 |
| 8268 439a 97FD sbrc r25,7 |
| 8269 439c 00C0 rjmp .L1273 |
| 8270 .L948: |
| 8271 439e 59E0 ldi r21,9 |
| 8272 43a0 9595 1: asr r25 |
| 8273 43a2 8795 ror r24 |
| 8274 43a4 7795 ror r23 |
| 8275 43a6 6795 ror r22 |
| 8276 43a8 5A95 dec r21 |
| 8277 43aa 01F4 brne 1b |
| 8278 43ac 9B01 movw r18,r22 |
| 8279 43ae 8B2D mov r24,r11 |
| 8280 43b0 9927 clr r25 |
| 8281 43b2 809F mul r24,r16 |
| 8282 43b4 A001 movw r20,r0 |
| 8283 43b6 819F mul r24,r17 |
| 8284 43b8 500D add r21,r0 |
| 8285 43ba 909F mul r25,r16 |
| 8286 43bc 500D add r21,r0 |
| 8287 43be 1124 clr r1 |
| 8288 43c0 CA01 movw r24,r20 |
| 8289 43c2 57FD sbrc r21,7 |
| 8290 43c4 00C0 rjmp .L1274 |
| 8291 .L949: |
| 8292 43c6 9595 asr r25 |
| 8293 43c8 8795 ror r24 |
| 8294 43ca 9595 asr r25 |
| 8295 43cc 8795 ror r24 |
| 8296 43ce 280F add r18,r24 |
| 8297 43d0 391F adc r19,r25 |
| 8298 43d2 C901 movw r24,r18 |
| 8299 43d4 AA27 clr r26 |
| 8300 43d6 97FD sbrc r25,7 |
| 8301 43d8 A095 com r26 |
| 8302 43da BA2F mov r27,r26 |
| 8303 43dc 8093 0000 sts sollGier.2,r24 |
| 8304 43e0 9093 0000 sts (sollGier.2)+1,r25 |
| 8305 43e4 A093 0000 sts (sollGier.2)+2,r26 |
| 8306 43e8 B093 0000 sts (sollGier.2)+3,r27 |
| 8307 43ec 2091 0000 lds r18,Mess_Integral_Gier |
| 8308 43f0 3091 0000 lds r19,(Mess_Integral_Gier)+1 |
| 8309 43f4 4091 0000 lds r20,(Mess_Integral_Gier)+2 |
| 8310 43f8 5091 0000 lds r21,(Mess_Integral_Gier)+3 |
| 8311 43fc 281B sub r18,r24 |
| 8312 43fe 390B sbc r19,r25 |
| 8313 4400 4A0B sbc r20,r26 |
| 8314 4402 5B0B sbc r21,r27 |
| 8315 4404 2135 cpi r18,lo8(50001) |
| 8316 4406 63EC ldi r22,hi8(50001) |
| 8317 4408 3607 cpc r19,r22 |
| 8318 440a 60E0 ldi r22,hlo8(50001) |
| 8319 440c 4607 cpc r20,r22 |
| 8320 440e 60E0 ldi r22,hhi8(50001) |
| 8321 4410 5607 cpc r21,r22 |
| 8322 4412 04F4 brge .+2 |
| 8323 4414 00C0 rjmp .L1183 |
| 8324 4416 80E5 ldi r24,lo8(50000) |
| 8325 4418 93EC ldi r25,hi8(50000) |
| 8326 441a A0E0 ldi r26,hlo8(50000) |
| 8327 441c B0E0 ldi r27,hhi8(50000) |
| 8328 441e 8093 0000 sts Mess_Integral_Gier,r24 |
| 8329 4422 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 8330 4426 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 8331 442a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 8332 .L950: |
| 8333 442e 8091 0000 lds r24,Mess_Integral_Gier |
| 8334 4432 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 8335 4436 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 8336 443a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 8337 443e 805B subi r24,lo8(-50000) |
| 8338 4440 9C43 sbci r25,hi8(-50000) |
| 8339 4442 AF4F sbci r26,hlo8(-50000) |
| 8340 4444 BF4F sbci r27,hhi8(-50000) |
| 8341 4446 04F4 brge .L951 |
| 8342 4448 80EB ldi r24,lo8(-50000) |
| 8343 444a 9CE3 ldi r25,hi8(-50000) |
| 8344 444c AFEF ldi r26,hlo8(-50000) |
| 8345 444e BFEF ldi r27,hhi8(-50000) |
| 8346 4450 8093 0000 sts Mess_Integral_Gier,r24 |
| 8347 4454 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 8348 4458 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 8349 445c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 8350 .L951: |
| 8351 4460 8091 0000 lds r24,KompassValue |
| 8352 4464 9091 0000 lds r25,(KompassValue)+1 |
| 8353 4468 9EA3 std Y+38,r25 |
| 8354 446a 8DA3 std Y+37,r24 |
| 8355 446c 892B or r24,r25 |
| 8356 446e 01F4 brne .+2 |
| 8357 4470 00C0 rjmp .L1153 |
| 8358 4472 9889 ldd r25,Y+16 |
| 8359 4474 93FF sbrs r25,3 |
| 8360 4476 00C0 rjmp .L1153 |
| 8361 4478 8D8D ldd r24,Y+29 |
| 8362 447a 9E8D ldd r25,Y+30 |
| 8363 447c AF8D ldd r26,Y+31 |
| 8364 447e B8A1 ldd r27,Y+32 |
| 8365 4480 B7FF sbrs r27,7 |
| 8366 4482 00C0 rjmp .+4 |
| 8367 4484 0C94 0000 jmp .L1275 |
| 8368 .L953: |
| 8369 4488 29E0 ldi r18,9 |
| 8370 448a B595 1: asr r27 |
| 8371 448c A795 ror r26 |
| 8372 448e 9795 ror r25 |
| 8373 4490 8795 ror r24 |
| 8374 4492 2A95 dec r18 |
| 8375 4494 01F4 brne 1b |
| 8376 4496 6C01 movw r12,r24 |
| 8377 4498 97FF sbrs r25,7 |
| 8378 449a 00C0 rjmp .+4 |
| 8379 449c 0C94 0000 jmp .L1276 |
| 8380 .L954: |
| 8381 44a0 8C85 ldd r24,Y+12 |
| 8382 44a2 9D85 ldd r25,Y+13 |
| 8383 44a4 AE85 ldd r26,Y+14 |
| 8384 44a6 BF85 ldd r27,Y+15 |
| 8385 44a8 B7FF sbrs r27,7 |
| 8386 44aa 00C0 rjmp .+4 |
| 8387 44ac 0C94 0000 jmp .L1277 |
| 8388 .L955: |
| 8389 44b0 09E0 ldi r16,9 |
| 8390 44b2 B595 1: asr r27 |
| 8391 44b4 A795 ror r26 |
| 8392 44b6 9795 ror r25 |
| 8393 44b8 8795 ror r24 |
| 8394 44ba 0A95 dec r16 |
| 8395 44bc 01F4 brne 1b |
| 8396 44be BC01 movw r22,r24 |
| 8397 44c0 97FF sbrs r25,7 |
| 8398 44c2 00C0 rjmp .+4 |
| 8399 44c4 0C94 0000 jmp .L1278 |
| 8400 .L956: |
| 8401 44c8 C616 cp r12,r22 |
| 8402 44ca D706 cpc r13,r23 |
| 8403 44cc 04F4 brge .L957 |
| 8404 44ce 6B01 movw r12,r22 |
| 8405 .L957: |
| 8406 44d0 B601 movw r22,r12 |
| 8407 44d2 D7FE sbrs r13,7 |
| 8408 44d4 00C0 rjmp .+4 |
| 8409 44d6 0C94 0000 jmp .L1279 |
| 8410 .L958: |
| 8411 44da 5B01 movw r10,r22 |
| 8412 44dc B594 asr r11 |
| 8413 44de A794 ror r10 |
| 8414 44e0 B594 asr r11 |
| 8415 44e2 A794 ror r10 |
| 8416 44e4 B594 asr r11 |
| 8417 44e6 A794 ror r10 |
| 8418 44e8 0894 sec |
| 8419 44ea A11C adc r10,__zero_reg__ |
| 8420 44ec B11C adc r11,__zero_reg__ |
| 8421 44ee ADA1 ldd r26,Y+37 |
| 8422 44f0 BEA1 ldd r27,Y+38 |
| 8423 44f2 A45E subi r26,lo8(-(540)) |
| 8424 44f4 BD4F sbci r27,hi8(-(540)) |
| 8425 44f6 7D01 movw r14,r26 |
| 8426 44f8 0027 clr r16 |
| 8427 44fa F7FC sbrc r15,7 |
| 8428 44fc 0095 com r16 |
| 8429 44fe 102F mov r17,r16 |
| 8430 4500 AC51 subi r26,lo8(-(-540)) |
| 8431 4502 B240 sbci r27,hi8(-(-540)) |
| 8432 4504 BEA3 std Y+38,r27 |
| 8433 4506 ADA3 std Y+37,r26 |
| 8434 4508 4090 0000 lds r4,ErsatzKompass |
| 8435 450c 5090 0000 lds r5,(ErsatzKompass)+1 |
| 8436 4510 6090 0000 lds r6,(ErsatzKompass)+2 |
| 8437 4514 7090 0000 lds r7,(ErsatzKompass)+3 |
| 8438 4518 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 8439 451c 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 8440 4520 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 8441 4524 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 8442 4528 2A8B std Y+18,r18 |
| 8443 452a 3B8B std Y+19,r19 |
| 8444 452c 4C8B std Y+20,r20 |
| 8445 452e 5D8B std Y+21,r21 |
| 8446 4530 C301 movw r24,r6 |
| 8447 4532 B201 movw r22,r4 |
| 8448 4534 0E94 0000 call __divmodsi4 |
| 8449 4538 E21A sub r14,r18 |
| 8450 453a F30A sbc r15,r19 |
| 8451 453c 040B sbc r16,r20 |
| 8452 453e 150B sbc r17,r21 |
| 8453 4540 C801 movw r24,r16 |
| 8454 4542 B701 movw r22,r14 |
| 8455 4544 28E6 ldi r18,lo8(360) |
| 8456 4546 31E0 ldi r19,hi8(360) |
| 8457 4548 40E0 ldi r20,hlo8(360) |
| 8458 454a 50E0 ldi r21,hhi8(360) |
| 8459 454c 0E94 0000 call __divmodsi4 |
| 8460 4550 DC01 movw r26,r24 |
| 8461 4552 CB01 movw r24,r22 |
| 8462 4554 8C01 movw r16,r24 |
| 8463 4556 045B subi r16,lo8(-(-180)) |
| 8464 4558 1040 sbci r17,hi8(-(-180)) |
| 8465 455a 8090 0000 lds r8,MesswertGier |
| 8466 455e 9090 0000 lds r9,(MesswertGier)+1 |
| 8467 4562 C401 movw r24,r8 |
| 8468 4564 97FE sbrs r9,7 |
| 8469 4566 00C0 rjmp .+4 |
| 8470 4568 0C94 0000 jmp .L1280 |
| 8471 .L960: |
| 8472 456c 8138 cpi r24,129 |
| 8473 456e 9105 cpc r25,__zero_reg__ |
| 8474 4570 04F0 brlt .L959 |
| 8475 4572 00E0 ldi r16,lo8(0) |
| 8476 4574 10E0 ldi r17,hi8(0) |
| 8477 .L959: |
| 8478 4576 2090 0000 lds r2,KompassSignalSchlecht |
| 8479 457a 3090 0000 lds r3,(KompassSignalSchlecht)+1 |
| 8480 457e 2114 cp r2,__zero_reg__ |
| 8481 4580 3104 cpc r3,__zero_reg__ |
| 8482 4582 01F4 brne .L961 |
| 8483 4584 39E1 ldi r19,lo8(25) |
| 8484 4586 C316 cp r12,r19 |
| 8485 4588 D104 cpc r13,__zero_reg__ |
| 8486 458a 04F4 brge .L961 |
| 8487 458c 8091 0000 lds r24,GierGyroFehler |
| 8488 4590 9091 0000 lds r25,(GierGyroFehler)+1 |
| 8489 4594 800F add r24,r16 |
| 8490 4596 911F adc r25,r17 |
| 8491 4598 9093 0000 sts (GierGyroFehler)+1,r25 |
| 8492 459c 8093 0000 sts GierGyroFehler,r24 |
| 8493 45a0 8091 0000 lds r24,NeueKompassRichtungMerken.12 |
| 8494 45a4 8823 tst r24 |
| 8495 45a6 01F0 breq .+4 |
| 8496 45a8 0C94 0000 jmp .L1281 |
| 8497 .L961: |
| 8498 45ac C801 movw r24,r16 |
| 8499 45ae 880F lsl r24 |
| 8500 45b0 991F rol r25 |
| 8501 45b2 880F lsl r24 |
| 8502 45b4 991F rol r25 |
| 8503 45b6 880F lsl r24 |
| 8504 45b8 991F rol r25 |
| 8505 45ba B501 movw r22,r10 |
| 8506 45bc 0E94 0000 call __divmodhi4 |
| 8507 45c0 9B01 movw r18,r22 |
| 8508 45c2 4427 clr r20 |
| 8509 45c4 37FD sbrc r19,7 |
| 8510 45c6 4095 com r20 |
| 8511 45c8 542F mov r21,r20 |
| 8512 45ca 240D add r18,r4 |
| 8513 45cc 351D adc r19,r5 |
| 8514 45ce 461D adc r20,r6 |
| 8515 45d0 571D adc r21,r7 |
| 8516 45d2 2093 0000 sts ErsatzKompass,r18 |
| 8517 45d6 3093 0000 sts (ErsatzKompass)+1,r19 |
| 8518 45da 4093 0000 sts (ErsatzKompass)+2,r20 |
| 8519 45de 5093 0000 sts (ErsatzKompass)+3,r21 |
| 8520 45e2 1091 0000 lds r17,Parameter_KompassWirkung |
| 8521 45e6 612F mov r22,r17 |
| 8522 45e8 7727 clr r23 |
| 8523 45ea 6C9D mul r22,r12 |
| 8524 45ec C001 movw r24,r0 |
| 8525 45ee 6D9D mul r22,r13 |
| 8526 45f0 900D add r25,r0 |
| 8527 45f2 7C9D mul r23,r12 |
| 8528 45f4 900D add r25,r0 |
| 8529 45f6 1124 clr r1 |
| 8530 45f8 97FF sbrs r25,7 |
| 8531 45fa 00C0 rjmp .+4 |
| 8532 45fc 0C94 0000 jmp .L1282 |
| 8533 .L963: |
| 8534 4600 6C01 movw r12,r24 |
| 8535 4602 D594 asr r13 |
| 8536 4604 C794 ror r12 |
| 8537 4606 D594 asr r13 |
| 8538 4608 C794 ror r12 |
| 8539 460a D594 asr r13 |
| 8540 460c C794 ror r12 |
| 8541 460e D594 asr r13 |
| 8542 4610 C794 ror r12 |
| 8543 4612 D594 asr r13 |
| 8544 4614 C794 ror r12 |
| 8545 4616 6C19 sub r22,r12 |
| 8546 4618 7D09 sbc r23,r13 |
| 8547 461a 6B01 movw r12,r22 |
| 8548 461c 77FF sbrs r23,7 |
| 8549 461e 00C0 rjmp .+4 |
| 8550 4620 0C94 0000 jmp .L964 |
| 8551 4624 2114 cp r2,__zero_reg__ |
| 8552 4626 3104 cpc r3,__zero_reg__ |
| 8553 4628 01F0 breq .+4 |
| 8554 462a 0C94 0000 jmp .L1198 |
| 8555 462e E090 0000 lds r14,MaxStickNick |
| 8556 4632 F090 0000 lds r15,(MaxStickNick)+1 |
| 8557 4636 8091 0000 lds r24,MaxStickRoll |
| 8558 463a 9091 0000 lds r25,(MaxStickRoll)+1 |
| 8559 463e E80E add r14,r24 |
| 8560 4640 F91E adc r15,r25 |
| 8561 4642 F7FE sbrs r15,7 |
| 8562 4644 00C0 rjmp .+4 |
| 8563 4646 0C94 0000 jmp .L1283 |
| 8564 .L966: |
| 8565 464a F594 asr r15 |
| 8566 464c E794 ror r14 |
| 8567 464e F594 asr r15 |
| 8568 4650 E794 ror r14 |
| 8569 4652 F594 asr r15 |
| 8570 4654 E794 ror r14 |
| 8571 4656 80E4 ldi r24,lo8(64) |
| 8572 4658 90E0 ldi r25,hi8(64) |
| 8573 465a E80E add r14,r24 |
| 8574 465c F91E adc r15,r25 |
| 8575 465e CA01 movw r24,r20 |
| 8576 4660 B901 movw r22,r18 |
| 8577 4662 2A89 ldd r18,Y+18 |
| 8578 4664 3B89 ldd r19,Y+19 |
| 8579 4666 4C89 ldd r20,Y+20 |
| 8580 4668 5D89 ldd r21,Y+21 |
| 8581 466a 0E94 0000 call __divmodsi4 |
| 8582 466e DA01 movw r26,r20 |
| 8583 4670 C901 movw r24,r18 |
| 8584 4672 2091 0000 lds r18,KompassStartwert |
| 8585 4676 3091 0000 lds r19,(KompassStartwert)+1 |
| 8586 467a 4427 clr r20 |
| 8587 467c 37FD sbrc r19,7 |
| 8588 467e 4095 com r20 |
| 8589 4680 542F mov r21,r20 |
| 8590 4682 821B sub r24,r18 |
| 8591 4684 930B sbc r25,r19 |
| 8592 4686 A40B sbc r26,r20 |
| 8593 4688 B50B sbc r27,r21 |
| 8594 468a 845E subi r24,lo8(-(540)) |
| 8595 468c 9D4F sbci r25,hi8(-(540)) |
| 8596 468e AF4F sbci r26,hlo8(-(540)) |
| 8597 4690 BF4F sbci r27,hhi8(-(540)) |
| 8598 4692 BC01 movw r22,r24 |
| 8599 4694 CD01 movw r24,r26 |
| 8600 4696 28E6 ldi r18,lo8(360) |
| 8601 4698 31E0 ldi r19,hi8(360) |
| 8602 469a 40E0 ldi r20,hlo8(360) |
| 8603 469c 50E0 ldi r21,hhi8(360) |
| 8604 469e 0E94 0000 call __divmodsi4 |
| 8605 46a2 DC01 movw r26,r24 |
| 8606 46a4 CB01 movw r24,r22 |
| 8607 46a6 845B subi r24,lo8(-(-180)) |
| 8608 46a8 9040 sbci r25,hi8(-(-180)) |
| 8609 46aa 8C9D mul r24,r12 |
| 8610 46ac D001 movw r26,r0 |
| 8611 46ae 8D9D mul r24,r13 |
| 8612 46b0 B00D add r27,r0 |
| 8613 46b2 9C9D mul r25,r12 |
| 8614 46b4 B00D add r27,r0 |
| 8615 46b6 1124 clr r1 |
| 8616 46b8 CD01 movw r24,r26 |
| 8617 46ba B701 movw r22,r14 |
| 8618 46bc 0E94 0000 call __divmodhi4 |
| 8619 46c0 83E0 ldi r24,lo8(3) |
| 8620 46c2 189F mul r17,r24 |
| 8621 46c4 6001 movw r12,r0 |
| 8622 46c6 1124 clr r1 |
| 8623 46c8 C616 cp r12,r22 |
| 8624 46ca D706 cpc r13,r23 |
| 8625 46cc 04F4 brge .+4 |
| 8626 46ce 0C94 0000 jmp .L1284 |
| 8627 46d2 8827 clr r24 |
| 8628 46d4 9927 clr r25 |
| 8629 46d6 8C19 sub r24,r12 |
| 8630 46d8 9D09 sbc r25,r13 |
| 8631 46da 6817 cp r22,r24 |
| 8632 46dc 7907 cpc r23,r25 |
| 8633 46de 04F4 brge .L968 |
| 8634 46e0 BC01 movw r22,r24 |
| 8635 .L968: |
| 8636 46e2 CB01 movw r24,r22 |
| 8637 46e4 AA27 clr r26 |
| 8638 46e6 97FD sbrc r25,7 |
| 8639 46e8 A095 com r26 |
| 8640 46ea BA2F mov r27,r26 |
| 8641 46ec 2091 0000 lds r18,Mess_Integral_Gier |
| 8642 46f0 3091 0000 lds r19,(Mess_Integral_Gier)+1 |
| 8643 46f4 4091 0000 lds r20,(Mess_Integral_Gier)+2 |
| 8644 46f8 5091 0000 lds r21,(Mess_Integral_Gier)+3 |
| 8645 46fc 820F add r24,r18 |
| 8646 46fe 931F adc r25,r19 |
| 8647 4700 A41F adc r26,r20 |
| 8648 4702 B51F adc r27,r21 |
| 8649 4704 8093 0000 sts Mess_Integral_Gier,r24 |
| 8650 4708 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 8651 470c A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 8652 4710 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 8653 4714 00C0 rjmp .L952 |
| 8654 .L1153: |
| 8655 4716 8090 0000 lds r8,MesswertGier |
| 8656 471a 9090 0000 lds r9,(MesswertGier)+1 |
| 8657 .L952: |
| 8658 471e 8091 0000 lds r24,TimerWerteausgabe.11 |
| 8659 4722 8150 subi r24,lo8(-(-1)) |
| 8660 4724 8F3F cpi r24,lo8(-1) |
| 8661 4726 01F4 brne .+2 |
| 8662 4728 00C0 rjmp .L1285 |
| 8663 472a 8093 0000 sts TimerWerteausgabe.11,r24 |
| 8664 472e A090 0000 lds r10,MesswertNick |
| 8665 4732 B090 0000 lds r11,(MesswertNick)+1 |
| 8666 .L972: |
| 8667 4736 BC8D ldd r27,Y+28 |
| 8668 4738 BB23 tst r27 |
| 8669 473a 01F0 breq .L974 |
| 8670 473c 1092 0000 sts SummeRoll.1,__zero_reg__ |
| 8671 4740 1092 0000 sts (SummeRoll.1)+1,__zero_reg__ |
| 8672 4744 1092 0000 sts (SummeRoll.1)+2,__zero_reg__ |
| 8673 4748 1092 0000 sts (SummeRoll.1)+3,__zero_reg__ |
| 8674 474c 1092 0000 sts SummeNick.0,__zero_reg__ |
| 8675 4750 1092 0000 sts (SummeNick.0)+1,__zero_reg__ |
| 8676 4754 1092 0000 sts (SummeNick.0)+2,__zero_reg__ |
| 8677 4758 1092 0000 sts (SummeNick.0)+3,__zero_reg__ |
| 8678 .L974: |
| 8679 475c EB85 ldd r30,Y+11 |
| 8680 475e EE23 tst r30 |
| 8681 4760 01F0 breq .+2 |
| 8682 4762 00C0 rjmp .L975 |
| 8683 4764 8091 0000 lds r24,IntegralFaktor |
| 8684 4768 9927 clr r25 |
| 8685 476a AA27 clr r26 |
| 8686 476c BB27 clr r27 |
| 8687 476e BC01 movw r22,r24 |
| 8688 4770 CD01 movw r24,r26 |
| 8689 4772 2D8D ldd r18,Y+29 |
| 8690 4774 3E8D ldd r19,Y+30 |
| 8691 4776 4F8D ldd r20,Y+31 |
| 8692 4778 58A1 ldd r21,Y+32 |
| 8693 477a 0E94 0000 call __mulsi3 |
| 8694 477e DC01 movw r26,r24 |
| 8695 4780 CB01 movw r24,r22 |
| 8696 4782 BC01 movw r22,r24 |
| 8697 4784 CD01 movw r24,r26 |
| 8698 4786 28EF ldi r18,lo8(11000) |
| 8699 4788 3AE2 ldi r19,hi8(11000) |
| 8700 478a 40E0 ldi r20,hlo8(11000) |
| 8701 478c 50E0 ldi r21,hhi8(11000) |
| 8702 478e 0E94 0000 call __divmodsi4 |
| 8703 4792 2901 movw r4,r18 |
| 8704 .L976: |
| 8705 4794 FB8D ldd r31,Y+27 |
| 8706 4796 FF23 tst r31 |
| 8707 4798 01F0 breq .+2 |
| 8708 479a 00C0 rjmp .L977 |
| 8709 479c 8091 0000 lds r24,IntegralFaktor |
| 8710 47a0 9927 clr r25 |
| 8711 47a2 AA27 clr r26 |
| 8712 47a4 BB27 clr r27 |
| 8713 47a6 BC01 movw r22,r24 |
| 8714 47a8 CD01 movw r24,r26 |
| 8715 47aa 2C85 ldd r18,Y+12 |
| 8716 47ac 3D85 ldd r19,Y+13 |
| 8717 47ae 4E85 ldd r20,Y+14 |
| 8718 47b0 5F85 ldd r21,Y+15 |
| 8719 47b2 0E94 0000 call __mulsi3 |
| 8720 47b6 DC01 movw r26,r24 |
| 8721 47b8 CB01 movw r24,r22 |
| 8722 47ba BC01 movw r22,r24 |
| 8723 47bc CD01 movw r24,r26 |
| 8724 47be 28EF ldi r18,lo8(11000) |
| 8725 47c0 3AE2 ldi r19,hi8(11000) |
| 8726 47c2 40E0 ldi r20,hlo8(11000) |
| 8727 47c4 50E0 ldi r21,hhi8(11000) |
| 8728 47c6 0E94 0000 call __divmodsi4 |
| 8729 47ca 1901 movw r2,r18 |
| 8730 .L978: |
| 8731 47cc 0091 0000 lds r16,TrimNick |
| 8732 47d0 1091 0000 lds r17,(TrimNick)+1 |
| 8733 47d4 093C cpi r16,201 |
| 8734 47d6 1105 cpc r17,__zero_reg__ |
| 8735 47d8 04F4 brge .+2 |
| 8736 47da 00C0 rjmp .L979 |
| 8737 47dc 08EC ldi r16,lo8(200) |
| 8738 47de 10E0 ldi r17,hi8(200) |
| 8739 .L1202: |
| 8740 47e0 1093 0000 sts (TrimNick)+1,r17 |
| 8741 47e4 0093 0000 sts TrimNick,r16 |
| 8742 .L980: |
| 8743 47e8 4091 0000 lds r20,TrimRoll |
| 8744 47ec 5091 0000 lds r21,(TrimRoll)+1 |
| 8745 47f0 5EA3 std Y+38,r21 |
| 8746 47f2 4DA3 std Y+37,r20 |
| 8747 47f4 493C cpi r20,201 |
| 8748 47f6 5105 cpc r21,__zero_reg__ |
| 8749 47f8 04F4 brge .+2 |
| 8750 47fa 00C0 rjmp .L982 |
| 8751 47fc 68EC ldi r22,lo8(200) |
| 8752 47fe 70E0 ldi r23,hi8(200) |
| 8753 4800 7EA3 std Y+38,r23 |
| 8754 4802 6DA3 std Y+37,r22 |
| 8755 4804 7093 0000 sts (TrimRoll)+1,r23 |
| 8756 4808 6093 0000 sts TrimRoll,r22 |
| 8757 .L983: |
| 8758 480c C501 movw r24,r10 |
| 8759 480e AA27 clr r26 |
| 8760 4810 97FD sbrc r25,7 |
| 8761 4812 A095 com r26 |
| 8762 4814 BA2F mov r27,r26 |
| 8763 4816 2091 0000 lds r18,GyroFaktor |
| 8764 481a C22E mov r12,r18 |
| 8765 481c DD24 clr r13 |
| 8766 481e EE24 clr r14 |
| 8767 4820 FF24 clr r15 |
| 8768 4822 BC01 movw r22,r24 |
| 8769 4824 CD01 movw r24,r26 |
| 8770 4826 A701 movw r20,r14 |
| 8771 4828 9601 movw r18,r12 |
| 8772 482a 0E94 0000 call __mulsi3 |
| 8773 482e 9B01 movw r18,r22 |
| 8774 4830 AC01 movw r20,r24 |
| 8775 4832 C801 movw r24,r16 |
| 8776 4834 AA27 clr r26 |
| 8777 4836 97FD sbrc r25,7 |
| 8778 4838 A095 com r26 |
| 8779 483a BA2F mov r27,r26 |
| 8780 483c 67E0 ldi r22,7 |
| 8781 483e 880F 1: lsl r24 |
| 8782 4840 991F rol r25 |
| 8783 4842 AA1F rol r26 |
| 8784 4844 BB1F rol r27 |
| 8785 4846 6A95 dec r22 |
| 8786 4848 01F4 brne 1b |
| 8787 484a 280F add r18,r24 |
| 8788 484c 391F adc r19,r25 |
| 8789 484e 4A1F adc r20,r26 |
| 8790 4850 5B1F adc r21,r27 |
| 8791 4852 57FD sbrc r21,7 |
| 8792 4854 00C0 rjmp .L1286 |
| 8793 .L985: |
| 8794 4856 86E0 ldi r24,6 |
| 8795 4858 5595 1: asr r21 |
| 8796 485a 4795 ror r20 |
| 8797 485c 3795 ror r19 |
| 8798 485e 2795 ror r18 |
| 8799 4860 8A95 dec r24 |
| 8800 4862 01F4 brne 1b |
| 8801 4864 5201 movw r10,r4 |
| 8802 4866 A20E add r10,r18 |
| 8803 4868 B31E adc r11,r19 |
| 8804 486a 3501 movw r6,r10 |
| 8805 486c 8091 0000 lds r24,MesswertRoll |
| 8806 4870 9091 0000 lds r25,(MesswertRoll)+1 |
| 8807 4874 AA27 clr r26 |
| 8808 4876 97FD sbrc r25,7 |
| 8809 4878 A095 com r26 |
| 8810 487a BA2F mov r27,r26 |
| 8811 487c BC01 movw r22,r24 |
| 8812 487e CD01 movw r24,r26 |
| 8813 4880 A701 movw r20,r14 |
| 8814 4882 9601 movw r18,r12 |
| 8815 4884 0E94 0000 call __mulsi3 |
| 8816 4888 9B01 movw r18,r22 |
| 8817 488a AC01 movw r20,r24 |
| 8818 488c EDA0 ldd r14,Y+37 |
| 8819 488e FEA0 ldd r15,Y+38 |
| 8820 4890 C701 movw r24,r14 |
| 8821 4892 AA27 clr r26 |
| 8822 4894 97FD sbrc r25,7 |
| 8823 4896 A095 com r26 |
| 8824 4898 BA2F mov r27,r26 |
| 8825 489a 07E0 ldi r16,7 |
| 8826 489c 880F 1: lsl r24 |
| 8827 489e 991F rol r25 |
| 8828 48a0 AA1F rol r26 |
| 8829 48a2 BB1F rol r27 |
| 8830 48a4 0A95 dec r16 |
| 8831 48a6 01F4 brne 1b |
| 8832 48a8 280F add r18,r24 |
| 8833 48aa 391F adc r19,r25 |
| 8834 48ac 4A1F adc r20,r26 |
| 8835 48ae 5B1F adc r21,r27 |
| 8836 48b0 57FD sbrc r21,7 |
| 8837 48b2 00C0 rjmp .L1287 |
| 8838 .L986: |
| 8839 48b4 16E0 ldi r17,6 |
| 8840 48b6 5595 1: asr r21 |
| 8841 48b8 4795 ror r20 |
| 8842 48ba 3795 ror r19 |
| 8843 48bc 2795 ror r18 |
| 8844 48be 1A95 dec r17 |
| 8845 48c0 01F4 brne 1b |
| 8846 48c2 8101 movw r16,r2 |
| 8847 48c4 020F add r16,r18 |
| 8848 48c6 131F adc r17,r19 |
| 8849 48c8 1EA3 std Y+38,r17 |
| 8850 48ca 0DA3 std Y+37,r16 |
| 8851 48cc 6801 movw r12,r16 |
| 8852 48ce 880C add r8,r8 |
| 8853 48d0 991C adc r9,r9 |
| 8854 48d2 C401 movw r24,r8 |
| 8855 48d4 AA27 clr r26 |
| 8856 48d6 97FD sbrc r25,7 |
| 8857 48d8 A095 com r26 |
| 8858 48da BA2F mov r27,r26 |
| 8859 48dc 2091 0000 lds r18,GyroFaktorGier |
| 8860 48e0 3327 clr r19 |
| 8861 48e2 4427 clr r20 |
| 8862 48e4 5527 clr r21 |
| 8863 48e6 BC01 movw r22,r24 |
| 8864 48e8 CD01 movw r24,r26 |
| 8865 48ea 0E94 0000 call __mulsi3 |
| 8866 48ee 7B01 movw r14,r22 |
| 8867 48f0 8C01 movw r16,r24 |
| 8868 48f2 97FD sbrc r25,7 |
| 8869 48f4 00C0 rjmp .L1288 |
| 8870 .L987: |
| 8871 48f6 B6E0 ldi r27,6 |
| 8872 48f8 1595 1: asr r17 |
| 8873 48fa 0795 ror r16 |
| 8874 48fc F794 ror r15 |
| 8875 48fe E794 ror r14 |
| 8876 4900 BA95 dec r27 |
| 8877 4902 01F4 brne 1b |
| 8878 4904 3A8D ldd r19,Y+26 |
| 8879 4906 832F mov r24,r19 |
| 8880 4908 9927 clr r25 |
| 8881 490a AA27 clr r26 |
| 8882 490c BB27 clr r27 |
| 8883 490e 2091 0000 lds r18,Integral_Gier |
| 8884 4912 3091 0000 lds r19,(Integral_Gier)+1 |
| 8885 4916 4091 0000 lds r20,(Integral_Gier)+2 |
| 8886 491a 5091 0000 lds r21,(Integral_Gier)+3 |
| 8887 491e BC01 movw r22,r24 |
| 8888 4920 CD01 movw r24,r26 |
| 8889 4922 0E94 0000 call __mulsi3 |
| 8890 4926 DC01 movw r26,r24 |
| 8891 4928 CB01 movw r24,r22 |
| 8892 492a BC01 movw r22,r24 |
| 8893 492c CD01 movw r24,r26 |
| 8894 492e 20EF ldi r18,lo8(22000) |
| 8895 4930 35E5 ldi r19,hi8(22000) |
| 8896 4932 40E0 ldi r20,hlo8(22000) |
| 8897 4934 50E0 ldi r21,hhi8(22000) |
| 8898 4936 0E94 0000 call __divmodsi4 |
| 8899 493a 4701 movw r8,r14 |
| 8900 493c 820E add r8,r18 |
| 8901 493e 931E adc r9,r19 |
| 8902 4940 C401 movw r24,r8 |
| 8903 4942 41E0 ldi r20,lo8(16385) |
| 8904 4944 A416 cp r10,r20 |
| 8905 4946 40E4 ldi r20,hi8(16385) |
| 8906 4948 B406 cpc r11,r20 |
| 8907 494a 04F0 brlt .L988 |
| 8908 494c A12C mov r10,__zero_reg__ |
| 8909 494e A0E4 ldi r26,hi8(16384) |
| 8910 4950 BA2E mov r11,r26 |
| 8911 4952 3501 movw r6,r10 |
| 8912 .L988: |
| 8913 4954 50E0 ldi r21,lo8(-16384) |
| 8914 4956 A516 cp r10,r21 |
| 8915 4958 50EC ldi r21,hi8(-16384) |
| 8916 495a B506 cpc r11,r21 |
| 8917 495c 04F0 brlt .+2 |
| 8918 495e 00C0 rjmp .L1184 |
| 8919 4960 A12C mov r10,__zero_reg__ |
| 8920 4962 F0EC ldi r31,hi8(-16384) |
| 8921 4964 BF2E mov r11,r31 |
| 8922 4966 B092 0000 sts (MesswertNick)+1,r11 |
| 8923 496a A092 0000 sts MesswertNick,r10 |
| 8924 .L989: |
| 8925 496e 6DA1 ldd r22,Y+37 |
| 8926 4970 7EA1 ldd r23,Y+38 |
| 8927 4972 6150 subi r22,lo8(16385) |
| 8928 4974 7044 sbci r23,hi8(16385) |
| 8929 4976 04F0 brlt .L990 |
| 8930 4978 E0E0 ldi r30,lo8(16384) |
| 8931 497a F0E4 ldi r31,hi8(16384) |
| 8932 497c FEA3 std Y+38,r31 |
| 8933 497e EDA3 std Y+37,r30 |
| 8934 4980 6F01 movw r12,r30 |
| 8935 .L990: |
| 8936 4982 0DA1 ldd r16,Y+37 |
| 8937 4984 1EA1 ldd r17,Y+38 |
| 8938 4986 0050 subi r16,lo8(-16384) |
| 8939 4988 104C sbci r17,hi8(-16384) |
| 8940 498a 04F0 brlt .+2 |
| 8941 498c 00C0 rjmp .L1185 |
| 8942 498e 40E0 ldi r20,lo8(-16384) |
| 8943 4990 50EC ldi r21,hi8(-16384) |
| 8944 4992 5EA3 std Y+38,r21 |
| 8945 4994 4DA3 std Y+37,r20 |
| 8946 4996 5093 0000 sts (MesswertRoll)+1,r21 |
| 8947 499a 4093 0000 sts MesswertRoll,r20 |
| 8948 .L991: |
| 8949 499e 51E0 ldi r21,lo8(16385) |
| 8950 49a0 8516 cp r8,r21 |
| 8951 49a2 50E4 ldi r21,hi8(16385) |
| 8952 49a4 9506 cpc r9,r21 |
| 8953 49a6 04F0 brlt .L992 |
| 8954 49a8 812C mov r8,__zero_reg__ |
| 8955 49aa E0E4 ldi r30,hi8(16384) |
| 8956 49ac 9E2E mov r9,r30 |
| 8957 49ae C401 movw r24,r8 |
| 8958 .L992: |
| 8959 49b0 60E0 ldi r22,lo8(-16384) |
| 8960 49b2 8616 cp r8,r22 |
| 8961 49b4 60EC ldi r22,hi8(-16384) |
| 8962 49b6 9606 cpc r9,r22 |
| 8963 49b8 04F0 brlt .+2 |
| 8964 49ba 00C0 rjmp .L1186 |
| 8965 49bc 812C mov r8,__zero_reg__ |
| 8966 49be 70EC ldi r23,hi8(-16384) |
| 8967 49c0 972E mov r9,r23 |
| 8968 49c2 9092 0000 sts (MesswertGier)+1,r9 |
| 8969 49c6 8092 0000 sts MesswertGier,r8 |
| 8970 .L993: |
| 8971 49ca 8091 0000 lds r24,BattLowVoltageWarning |
| 8972 49ce 482F mov r20,r24 |
| 8973 49d0 5527 clr r21 |
| 8974 49d2 8091 0000 lds r24,UBat |
| 8975 49d6 9091 0000 lds r25,(UBat)+1 |
| 8976 49da 4817 cp r20,r24 |
| 8977 49dc 5907 cpc r21,r25 |
| 8978 49de 04F4 brge .L994 |
| 8979 49e0 2091 0000 lds r18,UBat |
| 8980 49e4 3091 0000 lds r19,(UBat)+1 |
| 8981 49e8 A981 ldd r26,Y+1 |
| 8982 49ea BA81 ldd r27,Y+2 |
| 8983 49ec 4A9F mul r20,r26 |
| 8984 49ee C001 movw r24,r0 |
| 8985 49f0 4B9F mul r20,r27 |
| 8986 49f2 900D add r25,r0 |
| 8987 49f4 5A9F mul r21,r26 |
| 8988 49f6 900D add r25,r0 |
| 8989 49f8 1124 clr r1 |
| 8990 49fa B901 movw r22,r18 |
| 8991 49fc 0E94 0000 call __udivmodhi4 |
| 8992 4a00 7A83 std Y+2,r23 |
| 8993 4a02 6983 std Y+1,r22 |
| 8994 .L994: |
| 8995 4a04 E981 ldd r30,Y+1 |
| 8996 4a06 FA81 ldd r31,Y+2 |
| 8997 4a08 EE0F lsl r30 |
| 8998 4a0a FF1F rol r31 |
| 8999 4a0c EE0F lsl r30 |
| 9000 4a0e FF1F rol r31 |
| 9001 4a10 FA83 std Y+2,r31 |
| 9002 4a12 E983 std Y+1,r30 |
| 9003 4a14 F889 ldd r31,Y+16 |
| 9004 4a16 F0FF sbrs r31,0 |
| 9005 4a18 00C0 rjmp .L1157 |
| 9006 4a1a 0B8D ldd r16,Y+27 |
| 9007 4a1c 0023 tst r16 |
| 9008 4a1e 01F4 brne .L1157 |
| 9009 4a20 1B85 ldd r17,Y+11 |
| 9010 4a22 1123 tst r17 |
| 9011 4a24 01F4 brne .L1157 |
| 9012 4a26 2091 0000 lds r18,BaroExpandActive |
| 9013 4a2a 3091 0000 lds r19,(BaroExpandActive)+1 |
| 9014 4a2e 2115 cp r18,__zero_reg__ |
| 9015 4a30 3105 cpc r19,__zero_reg__ |
| 9016 4a32 01F0 breq .+2 |
| 9017 4a34 00C0 rjmp .L996 |
| 9018 4a36 8091 0000 lds r24,MessLuftdruck |
| 9019 4a3a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 9020 4a3e 8959 subi r24,lo8(921) |
| 9021 4a40 9340 sbci r25,hi8(921) |
| 9022 4a42 00F0 brlo .+2 |
| 9023 4a44 00C0 rjmp .L1289 |
| 9024 4a46 8091 0000 lds r24,MessLuftdruck |
| 9025 4a4a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 9026 4a4e 8436 cpi r24,100 |
| 9027 4a50 9105 cpc r25,__zero_reg__ |
| 9028 4a52 00F0 brlo .+4 |
| 9029 4a54 0C94 0000 jmp .L1001 |
| 9030 4a58 87B5 in r24,71-0x20 |
| 9031 4a5a 8B30 cpi r24,lo8(11) |
| 9032 4a5c 00F4 brsh .+4 |
| 9033 4a5e 0C94 0000 jmp .L1002 |
| 9034 4a62 8091 0000 lds r24,ExpandBaro |
| 9035 4a66 8F5F subi r24,lo8(-(1)) |
| 9036 .L1203: |
| 9037 4a68 8093 0000 sts ExpandBaro,r24 |
| 9038 4a6c 9AE0 ldi r25,lo8(10) |
| 9039 4a6e 8902 muls r24,r25 |
| 9040 4a70 9001 movw r18,r0 |
| 9041 4a72 1124 clr r1 |
| 9042 4a74 8091 0000 lds r24,DruckOffsetSetting |
| 9043 4a78 821B sub r24,r18 |
| 9044 4a7a 87BD out 71-0x20,r24 |
| 9045 4a7c 8CE2 ldi r24,lo8(300) |
| 9046 4a7e 91E0 ldi r25,hi8(300) |
| 9047 4a80 9093 0000 sts (beeptime)+1,r25 |
| 9048 4a84 8093 0000 sts beeptime,r24 |
| 9049 4a88 8EE5 ldi r24,lo8(350) |
| 9050 4a8a 91E0 ldi r25,hi8(350) |
| 9051 4a8c 9093 0000 sts (BaroExpandActive)+1,r25 |
| 9052 4a90 8093 0000 sts BaroExpandActive,r24 |
| 9053 4a94 00C0 rjmp .L1005 |
| 9054 .L1157: |
| 9055 4a96 D090 0000 lds r13,MAX_GAS |
| 9056 .L995: |
| 9057 4a9a 8091 0000 lds r24,MIN_GAS |
| 9058 4a9e 9927 clr r25 |
| 9059 4aa0 880F lsl r24 |
| 9060 4aa2 991F rol r25 |
| 9061 4aa4 880F lsl r24 |
| 9062 4aa6 991F rol r25 |
| 9063 4aa8 8896 adiw r24,40 |
| 9064 4aaa 6981 ldd r22,Y+1 |
| 9065 4aac 7A81 ldd r23,Y+2 |
| 9066 4aae 6817 cp r22,r24 |
| 9067 4ab0 7907 cpc r23,r25 |
| 9068 4ab2 04F4 brge .L1088 |
| 9069 4ab4 9A83 std Y+2,r25 |
| 9070 4ab6 8983 std Y+1,r24 |
| 9071 .L1088: |
| 9072 4ab8 8D2D mov r24,r13 |
| 9073 4aba 9927 clr r25 |
| 9074 4abc 880F lsl r24 |
| 9075 4abe 991F rol r25 |
| 9076 4ac0 880F lsl r24 |
| 9077 4ac2 991F rol r25 |
| 9078 4ac4 8055 subi r24,lo8(-(-80)) |
| 9079 4ac6 9040 sbci r25,hi8(-(-80)) |
| 9080 4ac8 A981 ldd r26,Y+1 |
| 9081 4aca BA81 ldd r27,Y+2 |
| 9082 4acc 8A17 cp r24,r26 |
| 9083 4ace 9B07 cpc r25,r27 |
| 9084 4ad0 04F4 brge .L1089 |
| 9085 4ad2 9A83 std Y+2,r25 |
| 9086 4ad4 8983 std Y+1,r24 |
| 9087 .L1089: |
| 9088 4ad6 8091 0000 lds r24,MissingMotor |
| 9089 4ada 8823 tst r24 |
| 9090 4adc 01F0 breq .L1090 |
| 9091 4ade 8091 0000 lds r24,modell_fliegt |
| 9092 4ae2 9091 0000 lds r25,(modell_fliegt)+1 |
| 9093 4ae6 0297 sbiw r24,2 |
| 9094 4ae8 C097 sbiw r24,48 |
| 9095 4aea 00F4 brsh .L1090 |
| 9096 4aec E981 ldd r30,Y+1 |
| 9097 4aee FA81 ldd r31,Y+2 |
| 9098 4af0 1E16 cp __zero_reg__,r30 |
| 9099 4af2 1F06 cpc __zero_reg__,r31 |
| 9100 4af4 04F4 brge .L1090 |
| 9101 4af6 81E0 ldi r24,lo8(1) |
| 9102 4af8 90E0 ldi r25,hi8(1) |
| 9103 4afa 9093 0000 sts (modell_fliegt)+1,r25 |
| 9104 4afe 8093 0000 sts modell_fliegt,r24 |
| 9105 .L1090: |
| 9106 4b02 8091 0000 lds r24,StickNick |
| 9107 4b06 9091 0000 lds r25,(StickNick)+1 |
| 9108 4b0a B501 movw r22,r10 |
| 9109 4b0c 681B sub r22,r24 |
| 9110 4b0e 790B sbc r23,r25 |
| 9111 4b10 7093 0000 sts (DiffNick)+1,r23 |
| 9112 4b14 6093 0000 sts DiffNick,r22 |
| 9113 4b18 E091 0000 lds r30,IntegralFaktor |
| 9114 4b1c EE23 tst r30 |
| 9115 4b1e 01F4 brne .+2 |
| 9116 4b20 00C0 rjmp .L1104 |
| 9117 4b22 481A sub r4,r24 |
| 9118 4b24 590A sbc r5,r25 |
| 9119 4b26 C201 movw r24,r4 |
| 9120 4b28 AA27 clr r26 |
| 9121 4b2a 97FD sbrc r25,7 |
| 9122 4b2c A095 com r26 |
| 9123 4b2e BA2F mov r27,r26 |
| 9124 .L1208: |
| 9125 4b30 2091 0000 lds r18,SummeNick.0 |
| 9126 4b34 3091 0000 lds r19,(SummeNick.0)+1 |
| 9127 4b38 4091 0000 lds r20,(SummeNick.0)+2 |
| 9128 4b3c 5091 0000 lds r21,(SummeNick.0)+3 |
| 9129 4b40 820F add r24,r18 |
| 9130 4b42 931F adc r25,r19 |
| 9131 4b44 A41F adc r26,r20 |
| 9132 4b46 B51F adc r27,r21 |
| 9133 4b48 8093 0000 sts SummeNick.0,r24 |
| 9134 4b4c 9093 0000 sts (SummeNick.0)+1,r25 |
| 9135 4b50 A093 0000 sts (SummeNick.0)+2,r26 |
| 9136 4b54 B093 0000 sts (SummeNick.0)+3,r27 |
| 9137 4b58 8091 0000 lds r24,SummeNick.0 |
| 9138 4b5c 9091 0000 lds r25,(SummeNick.0)+1 |
| 9139 4b60 A091 0000 lds r26,(SummeNick.0)+2 |
| 9140 4b64 B091 0000 lds r27,(SummeNick.0)+3 |
| 9141 4b68 8130 cpi r24,lo8(64001) |
| 9142 4b6a FAEF ldi r31,hi8(64001) |
| 9143 4b6c 9F07 cpc r25,r31 |
| 9144 4b6e F0E0 ldi r31,hlo8(64001) |
| 9145 4b70 AF07 cpc r26,r31 |
| 9146 4b72 F0E0 ldi r31,hhi8(64001) |
| 9147 4b74 BF07 cpc r27,r31 |
| 9148 4b76 04F0 brlt .L1106 |
| 9149 4b78 80E0 ldi r24,lo8(64000) |
| 9150 4b7a 9AEF ldi r25,hi8(64000) |
| 9151 4b7c A0E0 ldi r26,hlo8(64000) |
| 9152 4b7e B0E0 ldi r27,hhi8(64000) |
| 9153 4b80 8093 0000 sts SummeNick.0,r24 |
| 9154 4b84 9093 0000 sts (SummeNick.0)+1,r25 |
| 9155 4b88 A093 0000 sts (SummeNick.0)+2,r26 |
| 9156 4b8c B093 0000 sts (SummeNick.0)+3,r27 |
| 9157 .L1106: |
| 9158 4b90 8050 subi r24,lo8(-64000) |
| 9159 4b92 9640 sbci r25,hi8(-64000) |
| 9160 4b94 AF4F sbci r26,hlo8(-64000) |
| 9161 4b96 BF4F sbci r27,hhi8(-64000) |
| 9162 4b98 04F4 brge .L1107 |
| 9163 4b9a 80E0 ldi r24,lo8(-64000) |
| 9164 4b9c 96E0 ldi r25,hi8(-64000) |
| 9165 4b9e AFEF ldi r26,hlo8(-64000) |
| 9166 4ba0 BFEF ldi r27,hhi8(-64000) |
| 9167 4ba2 8093 0000 sts SummeNick.0,r24 |
| 9168 4ba6 9093 0000 sts (SummeNick.0)+1,r25 |
| 9169 4baa A093 0000 sts (SummeNick.0)+2,r26 |
| 9170 4bae B093 0000 sts (SummeNick.0)+3,r27 |
| 9171 .L1107: |
| 9172 4bb2 8091 0000 lds r24,StickRoll |
| 9173 4bb6 9091 0000 lds r25,(StickRoll)+1 |
| 9174 4bba 6DA1 ldd r22,Y+37 |
| 9175 4bbc 7EA1 ldd r23,Y+38 |
| 9176 4bbe 681B sub r22,r24 |
| 9177 4bc0 790B sbc r23,r25 |
| 9178 4bc2 7093 0000 sts (DiffRoll)+1,r23 |
| 9179 4bc6 6093 0000 sts DiffRoll,r22 |
| 9180 4bca EE23 tst r30 |
| 9181 4bcc 01F4 brne .+2 |
| 9182 4bce 00C0 rjmp .L1113 |
| 9183 4bd0 281A sub r2,r24 |
| 9184 4bd2 390A sbc r3,r25 |
| 9185 4bd4 C101 movw r24,r2 |
| 9186 4bd6 AA27 clr r26 |
| 9187 4bd8 97FD sbrc r25,7 |
| 9188 4bda A095 com r26 |
| 9189 4bdc BA2F mov r27,r26 |
| 9190 .L1209: |
| 9191 4bde 2091 0000 lds r18,SummeRoll.1 |
| 9192 4be2 3091 0000 lds r19,(SummeRoll.1)+1 |
| 9193 4be6 4091 0000 lds r20,(SummeRoll.1)+2 |
| 9194 4bea 5091 0000 lds r21,(SummeRoll.1)+3 |
| 9195 4bee 820F add r24,r18 |
| 9196 4bf0 931F adc r25,r19 |
| 9197 4bf2 A41F adc r26,r20 |
| 9198 4bf4 B51F adc r27,r21 |
| 9199 4bf6 8093 0000 sts SummeRoll.1,r24 |
| 9200 4bfa 9093 0000 sts (SummeRoll.1)+1,r25 |
| 9201 4bfe A093 0000 sts (SummeRoll.1)+2,r26 |
| 9202 4c02 B093 0000 sts (SummeRoll.1)+3,r27 |
| 9203 4c06 8091 0000 lds r24,SummeRoll.1 |
| 9204 4c0a 9091 0000 lds r25,(SummeRoll.1)+1 |
| 9205 4c0e A091 0000 lds r26,(SummeRoll.1)+2 |
| 9206 4c12 B091 0000 lds r27,(SummeRoll.1)+3 |
| 9207 4c16 8130 cpi r24,lo8(64001) |
| 9208 4c18 1AEF ldi r17,hi8(64001) |
| 9209 4c1a 9107 cpc r25,r17 |
| 9210 4c1c 10E0 ldi r17,hlo8(64001) |
| 9211 4c1e A107 cpc r26,r17 |
| 9212 4c20 10E0 ldi r17,hhi8(64001) |
| 9213 4c22 B107 cpc r27,r17 |
| 9214 4c24 04F0 brlt .L1115 |
| 9215 4c26 80E0 ldi r24,lo8(64000) |
| 9216 4c28 9AEF ldi r25,hi8(64000) |
| 9217 4c2a A0E0 ldi r26,hlo8(64000) |
| 9218 4c2c B0E0 ldi r27,hhi8(64000) |
| 9219 4c2e 8093 0000 sts SummeRoll.1,r24 |
| 9220 4c32 9093 0000 sts (SummeRoll.1)+1,r25 |
| 9221 4c36 A093 0000 sts (SummeRoll.1)+2,r26 |
| 9222 4c3a B093 0000 sts (SummeRoll.1)+3,r27 |
| 9223 .L1115: |
| 9224 4c3e 8050 subi r24,lo8(-64000) |
| 9225 4c40 9640 sbci r25,hi8(-64000) |
| 9226 4c42 AF4F sbci r26,hlo8(-64000) |
| 9227 4c44 BF4F sbci r27,hhi8(-64000) |
| 9228 4c46 04F4 brge .L1116 |
| 9229 4c48 80E0 ldi r24,lo8(-64000) |
| 9230 4c4a 96E0 ldi r25,hi8(-64000) |
| 9231 4c4c AFEF ldi r26,hlo8(-64000) |
| 9232 4c4e BFEF ldi r27,hhi8(-64000) |
| 9233 4c50 8093 0000 sts SummeRoll.1,r24 |
| 9234 4c54 9093 0000 sts (SummeRoll.1)+1,r25 |
| 9235 4c58 A093 0000 sts (SummeRoll.1)+2,r26 |
| 9236 4c5c B093 0000 sts (SummeRoll.1)+3,r27 |
| 9237 .L1116: |
| 9238 4c60 8091 0000 lds r24,PPM_in+4 |
| 9239 4c64 9091 0000 lds r25,(PPM_in+4)+1 |
| 9240 4c68 845C subi r24,lo8(-60) |
| 9241 4c6a 9F4F sbci r25,hi8(-60) |
| 9242 4c6c 04F4 brge .L1122 |
| 9243 4c6e 8091 0000 lds r24,ucflg2 |
| 9244 4c72 8130 cpi r24,lo8(1) |
| 9245 4c74 01F4 brne .+2 |
| 9246 4c76 00C0 rjmp .L1290 |
| 9247 .L1122: |
| 9248 4c78 8091 0000 lds r24,PPM_in+4 |
| 9249 4c7c 9091 0000 lds r25,(PPM_in+4)+1 |
| 9250 4c80 8D5E subi r24,lo8(-19) |
| 9251 4c82 9F4F sbci r25,hi8(-19) |
| 9252 4c84 04F0 brlt .L1125 |
| 9253 4c86 8091 0000 lds r24,PPM_in+4 |
| 9254 4c8a 9091 0000 lds r25,(PPM_in+4)+1 |
| 9255 4c8e 4497 sbiw r24,20 |
| 9256 4c90 04F4 brge .L1125 |
| 9257 4c92 81E0 ldi r24,lo8(1) |
| 9258 4c94 8093 0000 sts ucflg2,r24 |
| 9259 .L1125: |
| 9260 4c98 8091 0000 lds r24,PPM_in+10 |
| 9261 4c9c 9091 0000 lds r25,(PPM_in+10)+1 |
| 9262 4ca0 805B subi r24,lo8(-80) |
| 9263 4ca2 9F4F sbci r25,hi8(-80) |
| 9264 4ca4 04F4 brge .L1126 |
| 9265 4ca6 8091 0000 lds r24,ucflg3 |
| 9266 4caa 8130 cpi r24,lo8(1) |
| 9267 4cac 01F4 brne .+2 |
| 9268 4cae 00C0 rjmp .L1291 |
| 9269 .L1126: |
| 9270 4cb0 8091 0000 lds r24,PPM_in+10 |
| 9271 4cb4 9091 0000 lds r25,(PPM_in+10)+1 |
| 9272 4cb8 8135 cpi r24,81 |
| 9273 4cba 9105 cpc r25,__zero_reg__ |
| 9274 4cbc 04F0 brlt .L1128 |
| 9275 4cbe 81E0 ldi r24,lo8(1) |
| 9276 4cc0 8093 0000 sts ucflg3,r24 |
| 9277 .L1128: |
| 9278 4cc4 0091 0000 lds r16,ipk |
| 9279 4cc8 1091 0000 lds r17,(ipk)+1 |
| 9280 4ccc 1093 0000 sts (kp)+1,r17 |
| 9281 4cd0 0093 0000 sts kp,r16 |
| 9282 4cd4 E090 0000 lds r14,ipk+2 |
| 9283 4cd8 F090 0000 lds r15,(ipk+2)+1 |
| 9284 4cdc F092 0000 sts (kd)+1,r15 |
| 9285 4ce0 E092 0000 sts kd,r14 |
| 9286 4ce4 C090 0000 lds r12,ipk+4 |
| 9287 4ce8 D090 0000 lds r13,(ipk+4)+1 |
| 9288 4cec D092 0000 sts (kdd)+1,r13 |
| 9289 4cf0 C092 0000 sts kdd,r12 |
| 9290 4cf4 A090 0000 lds r10,PPM_in+2 |
| 9291 4cf8 B090 0000 lds r11,(PPM_in+2)+1 |
| 9292 4cfc 6FE7 ldi r22,lo8(127) |
| 9293 4cfe 70E0 ldi r23,hi8(127) |
| 9294 4d00 A60E add r10,r22 |
| 9295 4d02 B71E adc r11,r23 |
| 9296 4d04 C501 movw r24,r10 |
| 9297 4d06 7AE0 ldi r23,lo8(10) |
| 9298 4d08 A716 cp r10,r23 |
| 9299 4d0a B104 cpc r11,__zero_reg__ |
| 9300 4d0c 04F4 brge .L1129 |
| 9301 4d0e EAE0 ldi r30,lo8(10) |
| 9302 4d10 AE2E mov r10,r30 |
| 9303 4d12 B12C mov r11,__zero_reg__ |
| 9304 4d14 C501 movw r24,r10 |
| 9305 .L1129: |
| 9306 4d16 A3E3 ldi r26,lo8(51) |
| 9307 4d18 AA16 cp r10,r26 |
| 9308 4d1a B104 cpc r11,__zero_reg__ |
| 9309 4d1c 04F4 brge .+2 |
| 9310 4d1e 00C0 rjmp .L1192 |
| 9311 4d20 72E3 ldi r23,lo8(50) |
| 9312 4d22 A72E mov r10,r23 |
| 9313 4d24 B12C mov r11,__zero_reg__ |
| 9314 4d26 B092 0000 sts (thrust)+1,r11 |
| 9315 4d2a A092 0000 sts thrust,r10 |
| 9316 .L1130: |
| 9317 4d2e B092 0000 sts (DebugOut+16)+1,r11 |
| 9318 4d32 A092 0000 sts DebugOut+16,r10 |
| 9319 4d36 1092 0000 sts (desiredAngle)+1,__zero_reg__ |
| 9320 4d3a 1092 0000 sts desiredAngle,__zero_reg__ |
| 9321 4d3e 8091 0000 lds r24,EE_Parameter+23 |
| 9322 4d42 9927 clr r25 |
| 9323 4d44 880F lsl r24 |
| 9324 4d46 991F rol r25 |
| 9325 4d48 880F lsl r24 |
| 9326 4d4a 991F rol r25 |
| 9327 4d4c 9C01 movw r18,r24 |
| 9328 4d4e 4427 clr r20 |
| 9329 4d50 37FD sbrc r19,7 |
| 9330 4d52 4095 com r20 |
| 9331 4d54 542F mov r21,r20 |
| 9332 4d56 6D8D ldd r22,Y+29 |
| 9333 4d58 7E8D ldd r23,Y+30 |
| 9334 4d5a 8F8D ldd r24,Y+31 |
| 9335 4d5c 98A1 ldd r25,Y+32 |
| 9336 4d5e 0E94 0000 call __divmodsi4 |
| 9337 4d62 3093 0000 sts (angle)+1,r19 |
| 9338 4d66 2093 0000 sts angle,r18 |
| 9339 4d6a A091 0000 lds r26,HiResNick |
| 9340 4d6e B091 0000 lds r27,(HiResNick)+1 |
| 9341 4d72 B093 0000 sts (gyroScaled)+1,r27 |
| 9342 4d76 A093 0000 sts gyroScaled,r26 |
| 9343 4d7a 6091 0000 lds r22,PPM_in+4 |
| 9344 4d7e 7091 0000 lds r23,(PPM_in+4)+1 |
| 9345 4d82 77FD sbrc r23,7 |
| 9346 4d84 00C0 rjmp .L1292 |
| 9347 .L1131: |
| 9348 4d86 7595 asr r23 |
| 9349 4d88 6795 ror r22 |
| 9350 4d8a 7595 asr r23 |
| 9351 4d8c 6795 ror r22 |
| 9352 4d8e C901 movw r24,r18 |
| 9353 4d90 2227 clr r18 |
| 9354 4d92 3327 clr r19 |
| 9355 4d94 281B sub r18,r24 |
| 9356 4d96 390B sbc r19,r25 |
| 9357 4d98 37FD sbrc r19,7 |
| 9358 4d9a 00C0 rjmp .L1293 |
| 9359 .L1132: |
| 9360 4d9c 3595 asr r19 |
| 9361 4d9e 2795 ror r18 |
| 9362 4da0 3595 asr r19 |
| 9363 4da2 2795 ror r18 |
| 9364 4da4 3595 asr r19 |
| 9365 4da6 2795 ror r18 |
| 9366 4da8 3595 asr r19 |
| 9367 4daa 2795 ror r18 |
| 9368 4dac 209F mul r18,r16 |
| 9369 4dae F001 movw r30,r0 |
| 9370 4db0 219F mul r18,r17 |
| 9371 4db2 F00D add r31,r0 |
| 9372 4db4 309F mul r19,r16 |
| 9373 4db6 F00D add r31,r0 |
| 9374 4db8 1124 clr r1 |
| 9375 4dba E60F add r30,r22 |
| 9376 4dbc F71F adc r31,r23 |
| 9377 4dbe F093 0000 sts (controllerP)+1,r31 |
| 9378 4dc2 E093 0000 sts controllerP,r30 |
| 9379 4dc6 8091 0000 lds r24,maxcontrollerP |
| 9380 4dca 9091 0000 lds r25,(maxcontrollerP)+1 |
| 9381 4dce 8E17 cp r24,r30 |
| 9382 4dd0 9F07 cpc r25,r31 |
| 9383 4dd2 04F4 brge .L1133 |
| 9384 4dd4 F093 0000 sts (maxcontrollerP)+1,r31 |
| 9385 4dd8 E093 0000 sts maxcontrollerP,r30 |
| 9386 .L1133: |
| 9387 4ddc 8091 0000 lds r24,mincontrollerP |
| 9388 4de0 9091 0000 lds r25,(mincontrollerP)+1 |
| 9389 4de4 E817 cp r30,r24 |
| 9390 4de6 F907 cpc r31,r25 |
| 9391 4de8 04F4 brge .L1134 |
| 9392 4dea F093 0000 sts (mincontrollerP)+1,r31 |
| 9393 4dee E093 0000 sts mincontrollerP,r30 |
| 9394 .L1134: |
| 9395 4df2 8827 clr r24 |
| 9396 4df4 9927 clr r25 |
| 9397 4df6 8A1B sub r24,r26 |
| 9398 4df8 9B0B sbc r25,r27 |
| 9399 4dfa 8E9D mul r24,r14 |
| 9400 4dfc 8001 movw r16,r0 |
| 9401 4dfe 8F9D mul r24,r15 |
| 9402 4e00 100D add r17,r0 |
| 9403 4e02 9E9D mul r25,r14 |
| 9404 4e04 100D add r17,r0 |
| 9405 4e06 1124 clr r1 |
| 9406 4e08 C801 movw r24,r16 |
| 9407 4e0a 17FD sbrc r17,7 |
| 9408 4e0c 00C0 rjmp .L1294 |
| 9409 .L1135: |
| 9410 4e0e BC01 movw r22,r24 |
| 9411 4e10 672F mov r22,r23 |
| 9412 4e12 770F lsl r23 |
| 9413 4e14 770B sbc r23,r23 |
| 9414 4e16 6595 asr r22 |
| 9415 4e18 7093 0000 sts (controllerD)+1,r23 |
| 9416 4e1c 6093 0000 sts controllerD,r22 |
| 9417 4e20 8091 0000 lds r24,maxcontrollerD |
| 9418 4e24 9091 0000 lds r25,(maxcontrollerD)+1 |
| 9419 4e28 8617 cp r24,r22 |
| 9420 4e2a 9707 cpc r25,r23 |
| 9421 4e2c 04F4 brge .L1136 |
| 9422 4e2e 7093 0000 sts (maxcontrollerD)+1,r23 |
| 9423 4e32 6093 0000 sts maxcontrollerD,r22 |
| 9424 .L1136: |
| 9425 4e36 8091 0000 lds r24,mincontrollerD |
| 9426 4e3a 9091 0000 lds r25,(mincontrollerD)+1 |
| 9427 4e3e 6817 cp r22,r24 |
| 9428 4e40 7907 cpc r23,r25 |
| 9429 4e42 04F4 brge .L1137 |
| 9430 4e44 7093 0000 sts (mincontrollerD)+1,r23 |
| 9431 4e48 6093 0000 sts mincontrollerD,r22 |
| 9432 .L1137: |
| 9433 4e4c 8091 0000 lds r24,gyroScaledOld |
| 9434 4e50 9091 0000 lds r25,(gyroScaledOld)+1 |
| 9435 4e54 8A1B sub r24,r26 |
| 9436 4e56 9B0B sbc r25,r27 |
| 9437 4e58 8C9D mul r24,r12 |
| 9438 4e5a A001 movw r20,r0 |
| 9439 4e5c 8D9D mul r24,r13 |
| 9440 4e5e 500D add r21,r0 |
| 9441 4e60 9C9D mul r25,r12 |
| 9442 4e62 500D add r21,r0 |
| 9443 4e64 1124 clr r1 |
| 9444 4e66 8091 0000 lds r24,filtersum |
| 9445 4e6a 9091 0000 lds r25,(filtersum)+1 |
| 9446 4e6e 2091 0000 lds r18,filterDD |
| 9447 4e72 3091 0000 lds r19,(filterDD)+1 |
| 9448 4e76 821B sub r24,r18 |
| 9449 4e78 930B sbc r25,r19 |
| 9450 4e7a 840F add r24,r20 |
| 9451 4e7c 951F adc r25,r21 |
| 9452 4e7e 9093 0000 sts (filtersum)+1,r25 |
| 9453 4e82 8093 0000 sts filtersum,r24 |
| 9454 4e86 97FD sbrc r25,7 |
| 9455 4e88 00C0 rjmp .L1295 |
| 9456 .L1138: |
| 9457 4e8a 9595 asr r25 |
| 9458 4e8c 8795 ror r24 |
| 9459 4e8e 9595 asr r25 |
| 9460 4e90 8795 ror r24 |
| 9461 4e92 9595 asr r25 |
| 9462 4e94 8795 ror r24 |
| 9463 4e96 9093 0000 sts (filterDD)+1,r25 |
| 9464 4e9a 8093 0000 sts filterDD,r24 |
| 9465 4e9e 97FD sbrc r25,7 |
| 9466 4ea0 00C0 rjmp .L1296 |
| 9467 .L1139: |
| 9468 4ea2 9C01 movw r18,r24 |
| 9469 4ea4 022E mov __tmp_reg__,r18 |
| 9470 4ea6 232F mov r18,r19 |
| 9471 4ea8 000C lsl __tmp_reg__ |
| 9472 4eaa 221F rol r18 |
| 9473 4eac 330B sbc r19,r19 |
| 9474 4eae 000C lsl __tmp_reg__ |
| 9475 4eb0 221F rol r18 |
| 9476 4eb2 331F rol r19 |
| 9477 4eb4 3093 0000 sts (controllerDD)+1,r19 |
| 9478 4eb8 2093 0000 sts controllerDD,r18 |
| 9479 4ebc B093 0000 sts (gyroScaledOld)+1,r27 |
| 9480 4ec0 A093 0000 sts gyroScaledOld,r26 |
| 9481 4ec4 8091 0000 lds r24,maxcontrollerDD |
| 9482 4ec8 9091 0000 lds r25,(maxcontrollerDD)+1 |
| 9483 4ecc 8217 cp r24,r18 |
| 9484 4ece 9307 cpc r25,r19 |
| 9485 4ed0 04F4 brge .L1140 |
| 9486 4ed2 3093 0000 sts (maxcontrollerDD)+1,r19 |
| 9487 4ed6 2093 0000 sts maxcontrollerDD,r18 |
| 9488 .L1140: |
| 9489 4eda 8091 0000 lds r24,mincontrollerDD |
| 9490 4ede 9091 0000 lds r25,(mincontrollerDD)+1 |
| 9491 4ee2 2817 cp r18,r24 |
| 9492 4ee4 3907 cpc r19,r25 |
| 9493 4ee6 04F4 brge .L1141 |
| 9494 4ee8 3093 0000 sts (mincontrollerDD)+1,r19 |
| 9495 4eec 2093 0000 sts mincontrollerDD,r18 |
| 9496 .L1141: |
| 9497 4ef0 A501 movw r20,r10 |
| 9498 4ef2 460F add r20,r22 |
| 9499 4ef4 571F adc r21,r23 |
| 9500 4ef6 420F add r20,r18 |
| 9501 4ef8 531F adc r21,r19 |
| 9502 4efa 4E0F add r20,r30 |
| 9503 4efc 5F1F adc r21,r31 |
| 9504 4efe C501 movw r24,r10 |
| 9505 4f00 861B sub r24,r22 |
| 9506 4f02 970B sbc r25,r23 |
| 9507 4f04 821B sub r24,r18 |
| 9508 4f06 930B sbc r25,r19 |
| 9509 4f08 8E1B sub r24,r30 |
| 9510 4f0a 9F0B sbc r25,r31 |
| 9511 4f0c 8333 cpi r24,51 |
| 9512 4f0e 9105 cpc r25,__zero_reg__ |
| 9513 4f10 04F0 brlt .L1193 |
| 9514 4f12 82E3 ldi r24,lo8(50) |
| 9515 4f14 90E0 ldi r25,hi8(50) |
| 9516 .L1193: |
| 9517 4f16 9093 0000 sts (motorOutFront)+1,r25 |
| 9518 4f1a 8093 0000 sts motorOutFront,r24 |
| 9519 4f1e 8091 0000 lds r24,motorOutFront |
| 9520 4f22 9091 0000 lds r25,(motorOutFront)+1 |
| 9521 4f26 1816 cp __zero_reg__,r24 |
| 9522 4f28 1906 cpc __zero_reg__,r25 |
| 9523 4f2a 04F0 brlt .+2 |
| 9524 4f2c 00C0 rjmp .L1297 |
| 9525 .L1143: |
| 9526 4f2e 4333 cpi r20,51 |
| 9527 4f30 5105 cpc r21,__zero_reg__ |
| 9528 4f32 04F0 brlt .L1194 |
| 9529 4f34 82E3 ldi r24,lo8(50) |
| 9530 4f36 90E0 ldi r25,hi8(50) |
| 9531 4f38 9093 0000 sts (motorOutRear)+1,r25 |
| 9532 4f3c 8093 0000 sts motorOutRear,r24 |
| 9533 4f40 8091 0000 lds r24,motorOutRear |
| 9534 4f44 9091 0000 lds r25,(motorOutRear)+1 |
| 9535 4f48 1816 cp __zero_reg__,r24 |
| 9536 4f4a 1906 cpc __zero_reg__,r25 |
| 9537 4f4c 04F4 brge .+4 |
| 9538 4f4e 0C94 0000 jmp .L1145 |
| 9539 4f52 00C0 rjmp .L1298 |
| 9540 .L1192: |
| 9541 4f54 9093 0000 sts (thrust)+1,r25 |
| 9542 4f58 8093 0000 sts thrust,r24 |
| 9543 4f5c 00C0 rjmp .L1130 |
| 9544 .L1194: |
| 9545 4f5e 5093 0000 sts (motorOutRear)+1,r21 |
| 9546 4f62 4093 0000 sts motorOutRear,r20 |
| 9547 4f66 8091 0000 lds r24,motorOutRear |
| 9548 4f6a 9091 0000 lds r25,(motorOutRear)+1 |
| 9549 4f6e 1816 cp __zero_reg__,r24 |
| 9550 4f70 1906 cpc __zero_reg__,r25 |
| 9551 4f72 04F4 brge .+4 |
| 9552 4f74 0C94 0000 jmp .L1145 |
| 9553 .L1298: |
| 9554 4f78 1092 0000 sts (motorOutRear)+1,__zero_reg__ |
| 9555 4f7c 1092 0000 sts motorOutRear,__zero_reg__ |
| 9556 4f80 0C94 0000 jmp .L1145 |
| 9557 .L982: |
| 9558 4f84 8DA1 ldd r24,Y+37 |
| 9559 4f86 9EA1 ldd r25,Y+38 |
| 9560 4f88 8853 subi r24,lo8(-200) |
| 9561 4f8a 9F4F sbci r25,hi8(-200) |
| 9562 4f8c 04F0 brlt .+2 |
| 9563 4f8e 00C0 rjmp .L983 |
| 9564 4f90 E8E3 ldi r30,lo8(-200) |
| 9565 4f92 FFEF ldi r31,hi8(-200) |
| 9566 4f94 FEA3 std Y+38,r31 |
| 9567 4f96 EDA3 std Y+37,r30 |
| 9568 4f98 F093 0000 sts (TrimRoll)+1,r31 |
| 9569 4f9c E093 0000 sts TrimRoll,r30 |
| 9570 4fa0 00C0 rjmp .L983 |
| 9571 .L979: |
| 9572 4fa2 2FEF ldi r18,hi8(-200) |
| 9573 4fa4 0833 cpi r16,lo8(-200) |
| 9574 4fa6 1207 cpc r17,r18 |
| 9575 4fa8 04F0 brlt .+2 |
| 9576 4faa 00C0 rjmp .L980 |
| 9577 4fac 08E3 ldi r16,lo8(-200) |
| 9578 4fae 1FEF ldi r17,hi8(-200) |
| 9579 4fb0 00C0 rjmp .L1202 |
| 9580 .L977: |
| 9581 4fb2 2224 clr r2 |
| 9582 4fb4 3324 clr r3 |
| 9583 4fb6 00C0 rjmp .L978 |
| 9584 .L975: |
| 9585 4fb8 4424 clr r4 |
| 9586 4fba 5524 clr r5 |
| 9587 4fbc 00C0 rjmp .L976 |
| 9588 .L1186: |
| 9589 4fbe 9093 0000 sts (MesswertGier)+1,r25 |
| 9590 4fc2 8093 0000 sts MesswertGier,r24 |
| 9591 4fc6 00C0 rjmp .L993 |
| 9592 .L1185: |
| 9593 4fc8 D092 0000 sts (MesswertRoll)+1,r13 |
| 9594 4fcc C092 0000 sts MesswertRoll,r12 |
| 9595 4fd0 00C0 rjmp .L991 |
| 9596 .L1184: |
| 9597 4fd2 7092 0000 sts (MesswertNick)+1,r7 |
| 9598 4fd6 6092 0000 sts MesswertNick,r6 |
| 9599 4fda 00C0 rjmp .L989 |
| 9600 .L1104: |
| 9601 4fdc CB01 movw r24,r22 |
| 9602 4fde AA27 clr r26 |
| 9603 4fe0 97FD sbrc r25,7 |
| 9604 4fe2 A095 com r26 |
| 9605 4fe4 BA2F mov r27,r26 |
| 9606 4fe6 00C0 rjmp .L1208 |
| 9607 .L1113: |
| 9608 4fe8 CB01 movw r24,r22 |
| 9609 4fea AA27 clr r26 |
| 9610 4fec 97FD sbrc r25,7 |
| 9611 4fee A095 com r26 |
| 9612 4ff0 BA2F mov r27,r26 |
| 9613 4ff2 00C0 rjmp .L1209 |
| 9614 .L1183: |
| 9615 4ff4 2093 0000 sts Mess_Integral_Gier,r18 |
| 9616 4ff8 3093 0000 sts (Mess_Integral_Gier)+1,r19 |
| 9617 4ffc 4093 0000 sts (Mess_Integral_Gier)+2,r20 |
| 9618 5000 5093 0000 sts (Mess_Integral_Gier)+3,r21 |
| 9619 5004 00C0 rjmp .L950 |
| 9620 .L1285: |
| 9621 5006 88E1 ldi r24,lo8(24) |
| 9622 5008 8093 0000 sts TimerWerteausgabe.11,r24 |
| 9623 500c 8091 0000 lds r24,EE_Parameter+23 |
| 9624 5010 9927 clr r25 |
| 9625 5012 880F lsl r24 |
| 9626 5014 991F rol r25 |
| 9627 5016 880F lsl r24 |
| 9628 5018 991F rol r25 |
| 9629 501a 9C01 movw r18,r24 |
| 9630 501c 4427 clr r20 |
| 9631 501e 37FD sbrc r19,7 |
| 9632 5020 4095 com r20 |
| 9633 5022 542F mov r21,r20 |
| 9634 5024 6D8D ldd r22,Y+29 |
| 9635 5026 7E8D ldd r23,Y+30 |
| 9636 5028 8F8D ldd r24,Y+31 |
| 9637 502a 98A1 ldd r25,Y+32 |
| 9638 502c 0E94 0000 call __divmodsi4 |
| 9639 5030 3093 0000 sts (DebugOut+2)+1,r19 |
| 9640 5034 2093 0000 sts DebugOut+2,r18 |
| 9641 5038 8091 0000 lds r24,Mittelwert_AccNick |
| 9642 503c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 9643 5040 97FD sbrc r25,7 |
| 9644 5042 00C0 rjmp .L1299 |
| 9645 .L973: |
| 9646 5044 9595 asr r25 |
| 9647 5046 8795 ror r24 |
| 9648 5048 9595 asr r25 |
| 9649 504a 8795 ror r24 |
| 9650 504c 9093 0000 sts (DebugOut+4)+1,r25 |
| 9651 5050 8093 0000 sts DebugOut+4,r24 |
| 9652 5054 8091 0000 lds r24,maxcontrollerDD |
| 9653 5058 9091 0000 lds r25,(maxcontrollerDD)+1 |
| 9654 505c 9093 0000 sts (DebugOut+6)+1,r25 |
| 9655 5060 8093 0000 sts DebugOut+6,r24 |
| 9656 5064 8091 0000 lds r24,mincontrollerDD |
| 9657 5068 9091 0000 lds r25,(mincontrollerDD)+1 |
| 9658 506c 9093 0000 sts (DebugOut+8)+1,r25 |
| 9659 5070 8093 0000 sts DebugOut+8,r24 |
| 9660 5074 A090 0000 lds r10,MesswertNick |
| 9661 5078 B090 0000 lds r11,(MesswertNick)+1 |
| 9662 507c B092 0000 sts (DebugOut+10)+1,r11 |
| 9663 5080 A092 0000 sts DebugOut+10,r10 |
| 9664 5084 8091 0000 lds r24,HiResNick |
| 9665 5088 9091 0000 lds r25,(HiResNick)+1 |
| 9666 508c 9093 0000 sts (DebugOut+12)+1,r25 |
| 9667 5090 8093 0000 sts DebugOut+12,r24 |
| 9668 5094 8091 0000 lds r24,AdWertAccNick |
| 9669 5098 9091 0000 lds r25,(AdWertAccNick)+1 |
| 9670 509c 9093 0000 sts (DebugOut+14)+1,r25 |
| 9671 50a0 8093 0000 sts DebugOut+14,r24 |
| 9672 50a4 1092 0000 sts (DebugOut+18)+1,__zero_reg__ |
| 9673 50a8 1092 0000 sts DebugOut+18,__zero_reg__ |
| 9674 50ac 8091 0000 lds r24,UBat |
| 9675 50b0 9091 0000 lds r25,(UBat)+1 |
| 9676 50b4 9093 0000 sts (DebugOut+20)+1,r25 |
| 9677 50b8 8093 0000 sts DebugOut+20,r24 |
| 9678 50bc 8091 0000 lds r24,SenderOkay |
| 9679 50c0 9927 clr r25 |
| 9680 50c2 9093 0000 sts (DebugOut+22)+1,r25 |
| 9681 50c6 8093 0000 sts DebugOut+22,r24 |
| 9682 50ca 8091 0000 lds r24,controllerP |
| 9683 50ce 9091 0000 lds r25,(controllerP)+1 |
| 9684 50d2 9093 0000 sts (DebugOut+24)+1,r25 |
| 9685 50d6 8093 0000 sts DebugOut+24,r24 |
| 9686 50da 8091 0000 lds r24,controllerD |
| 9687 50de 9091 0000 lds r25,(controllerD)+1 |
| 9688 50e2 9093 0000 sts (DebugOut+30)+1,r25 |
| 9689 50e6 8093 0000 sts DebugOut+30,r24 |
| 9690 50ea 8091 0000 lds r24,controllerDD |
| 9691 50ee 9091 0000 lds r25,(controllerDD)+1 |
| 9692 50f2 9093 0000 sts (DebugOut+32)+1,r25 |
| 9693 50f6 8093 0000 sts DebugOut+32,r24 |
| 9694 50fa 8091 0000 lds r24,PPM_in+6 |
| 9695 50fe 9091 0000 lds r25,(PPM_in+6)+1 |
| 9696 5102 9093 0000 sts (DebugOut+34)+1,r25 |
| 9697 5106 8093 0000 sts DebugOut+34,r24 |
| 9698 510a 8091 0000 lds r24,ipk |
| 9699 510e 9091 0000 lds r25,(ipk)+1 |
| 9700 5112 9093 0000 sts (DebugOut+36)+1,r25 |
| 9701 5116 8093 0000 sts DebugOut+36,r24 |
| 9702 511a 8091 0000 lds r24,ipk+2 |
| 9703 511e 9091 0000 lds r25,(ipk+2)+1 |
| 9704 5122 9093 0000 sts (DebugOut+38)+1,r25 |
| 9705 5126 8093 0000 sts DebugOut+38,r24 |
| 9706 512a 8091 0000 lds r24,ipk+4 |
| 9707 512e 9091 0000 lds r25,(ipk+4)+1 |
| 9708 5132 9093 0000 sts (DebugOut+40)+1,r25 |
| 9709 5136 8093 0000 sts DebugOut+40,r24 |
| 9710 513a 8091 0000 lds r24,ucflg1 |
| 9711 513e 9927 clr r25 |
| 9712 5140 9093 0000 sts (DebugOut+42)+1,r25 |
| 9713 5144 8093 0000 sts DebugOut+42,r24 |
| 9714 5148 8091 0000 lds r24,PPM_in+10 |
| 9715 514c 9091 0000 lds r25,(PPM_in+10)+1 |
| 9716 5150 9093 0000 sts (DebugOut+44)+1,r25 |
| 9717 5154 8093 0000 sts DebugOut+44,r24 |
| 9718 5158 B092 0000 sts (DebugOut+46)+1,r11 |
| 9719 515c A092 0000 sts DebugOut+46,r10 |
| 9720 5160 8091 0000 lds r24,maxcontrollerD |
| 9721 5164 9091 0000 lds r25,(maxcontrollerD)+1 |
| 9722 5168 9093 0000 sts (DebugOut+48)+1,r25 |
| 9723 516c 8093 0000 sts DebugOut+48,r24 |
| 9724 5170 8091 0000 lds r24,mincontrollerD |
| 9725 5174 9091 0000 lds r25,(mincontrollerD)+1 |
| 9726 5178 9093 0000 sts (DebugOut+50)+1,r25 |
| 9727 517c 8093 0000 sts DebugOut+50,r24 |
| 9728 5180 8091 0000 lds r24,AdWertNick |
| 9729 5184 9091 0000 lds r25,(AdWertNick)+1 |
| 9730 5188 9093 0000 sts (DebugOut+52)+1,r25 |
| 9731 518c 8093 0000 sts DebugOut+52,r24 |
| 9732 5190 8091 0000 lds r24,maxcontrollerP |
| 9733 5194 9091 0000 lds r25,(maxcontrollerP)+1 |
| 9734 5198 9093 0000 sts (DebugOut+54)+1,r25 |
| 9735 519c 8093 0000 sts DebugOut+54,r24 |
| 9736 51a0 8091 0000 lds r24,mincontrollerP |
| 9737 51a4 9091 0000 lds r25,(mincontrollerP)+1 |
| 9738 51a8 9093 0000 sts (DebugOut+56)+1,r25 |
| 9739 51ac 8093 0000 sts DebugOut+56,r24 |
| 9740 51b0 8091 0000 lds r24,PPM_in+8 |
| 9741 51b4 9091 0000 lds r25,(PPM_in+8)+1 |
| 9742 51b8 9093 0000 sts (DebugOut+58)+1,r25 |
| 9743 51bc 8093 0000 sts DebugOut+58,r24 |
| 9744 51c0 8091 0000 lds r24,PPM_in+6 |
| 9745 51c4 9091 0000 lds r25,(PPM_in+6)+1 |
| 9746 51c8 9093 0000 sts (DebugOut+60)+1,r25 |
| 9747 51cc 8093 0000 sts DebugOut+60,r24 |
| 9748 51d0 8091 0000 lds r24,PPM_in+4 |
| 9749 51d4 9091 0000 lds r25,(PPM_in+4)+1 |
| 9750 51d8 9093 0000 sts (DebugOut+62)+1,r25 |
| 9751 51dc 8093 0000 sts DebugOut+62,r24 |
| 9752 51e0 8091 0000 lds r24,PPM_in+2 |
| 9753 51e4 9091 0000 lds r25,(PPM_in+2)+1 |
| 9754 51e8 9093 0000 sts (DebugOut+64)+1,r25 |
| 9755 51ec 8093 0000 sts DebugOut+64,r24 |
| 9756 51f0 00C0 rjmp .L972 |
| 9757 .L1182: |
| 9758 51f2 D092 0000 sts (LageKorrekturRoll)+1,r13 |
| 9759 51f6 C092 0000 sts LageKorrekturRoll,r12 |
| 9760 51fa 7093 0000 sts (LageKorrekturNick)+1,r23 |
| 9761 51fe 6093 0000 sts LageKorrekturNick,r22 |
| 9762 5202 00C0 rjmp .L943 |
| 9763 .L1296: |
| 9764 5204 CF96 adiw r24,63 |
| 9765 5206 00C0 rjmp .L1139 |
| 9766 .L1297: |
| 9767 5208 1092 0000 sts (motorOutFront)+1,__zero_reg__ |
| 9768 520c 1092 0000 sts motorOutFront,__zero_reg__ |
| 9769 5210 00C0 rjmp .L1143 |
| 9770 .L1295: |
| 9771 5212 0796 adiw r24,7 |
| 9772 5214 00C0 rjmp .L1138 |
| 9773 .L1294: |
| 9774 5216 8150 subi r24,lo8(-(511)) |
| 9775 5218 9E4F sbci r25,hi8(-(511)) |
| 9776 521a 00C0 rjmp .L1135 |
| 9777 .L1293: |
| 9778 521c 215F subi r18,lo8(-(15)) |
| 9779 521e 3F4F sbci r19,hi8(-(15)) |
| 9780 5220 00C0 rjmp .L1132 |
| 9781 .L1292: |
| 9782 5222 6D5F subi r22,lo8(-(3)) |
| 9783 5224 7F4F sbci r23,hi8(-(3)) |
| 9784 5226 00C0 rjmp .L1131 |
| 9785 .L1287: |
| 9786 5228 215C subi r18,lo8(-(63)) |
| 9787 522a 3F4F sbci r19,hi8(-(63)) |
| 9788 522c 4F4F sbci r20,hlo8(-(63)) |
| 9789 522e 5F4F sbci r21,hhi8(-(63)) |
| 9790 5230 00C0 rjmp .L986 |
| 9791 .L1286: |
| 9792 5232 215C subi r18,lo8(-(63)) |
| 9793 5234 3F4F sbci r19,hi8(-(63)) |
| 9794 5236 4F4F sbci r20,hlo8(-(63)) |
| 9795 5238 5F4F sbci r21,hhi8(-(63)) |
| 9796 523a 00C0 rjmp .L985 |
| 9797 .L1288: |
| 9798 523c 2FE3 ldi r18,lo8(63) |
| 9799 523e 30E0 ldi r19,hi8(63) |
| 9800 5240 40E0 ldi r20,hlo8(63) |
| 9801 5242 50E0 ldi r21,hhi8(63) |
| 9802 5244 E20E add r14,r18 |
| 9803 5246 F31E adc r15,r19 |
| 9804 5248 041F adc r16,r20 |
| 9805 524a 151F adc r17,r21 |
| 9806 524c 00C0 rjmp .L987 |
| 9807 .L1274: |
| 9808 524e 0396 adiw r24,3 |
| 9809 5250 00C0 rjmp .L949 |
| 9810 .L1273: |
| 9811 5252 6150 subi r22,lo8(-(511)) |
| 9812 5254 7E4F sbci r23,hi8(-(511)) |
| 9813 5256 8F4F sbci r24,hlo8(-(511)) |
| 9814 5258 9F4F sbci r25,hhi8(-(511)) |
| 9815 525a 00C0 rjmp .L948 |
| 9816 .L1272: |
| 9817 525c 2227 clr r18 |
| 9818 525e 3327 clr r19 |
| 9819 5260 201B sub r18,r16 |
| 9820 5262 310B sbc r19,r17 |
| 9821 5264 00C0 rjmp .L947 |
| 9822 .L1290: |
| 9823 5266 1092 0000 sts ucflg2,__zero_reg__ |
| 9824 526a 8091 0000 lds r24,ucflg1 |
| 9825 526e 8230 cpi r24,lo8(2) |
| 9826 5270 01F4 brne .+2 |
| 9827 5272 00C0 rjmp .L1300 |
| 9828 5274 8F5F subi r24,lo8(-(1)) |
| 9829 5276 8093 0000 sts ucflg1,r24 |
| 9830 527a 00C0 rjmp .L1122 |
| 9831 .L1291: |
| 9832 527c 1092 0000 sts ucflg3,__zero_reg__ |
| 9833 5280 E091 0000 lds r30,ucflg1 |
| 9834 5284 E330 cpi r30,lo8(3) |
| 9835 5286 00F0 brlo .+2 |
| 9836 5288 00C0 rjmp .L1126 |
| 9837 528a FF27 clr r31 |
| 9838 528c EE0F add r30,r30 |
| 9839 528e FF1F adc r31,r31 |
| 9840 5290 E050 subi r30,lo8(-(ipk)) |
| 9841 5292 F040 sbci r31,hi8(-(ipk)) |
| 9842 5294 8081 ld r24,Z |
| 9843 5296 9181 ldd r25,Z+1 |
| 9844 5298 2091 0000 lds r18,PPM_in+6 |
| 9845 529c 3091 0000 lds r19,(PPM_in+6)+1 |
| 9846 52a0 820F add r24,r18 |
| 9847 52a2 931F adc r25,r19 |
| 9848 52a4 9183 std Z+1,r25 |
| 9849 52a6 8083 st Z,r24 |
| 9850 52a8 00C0 rjmp .L1126 |
| 9851 .L738: |
| 9852 52aa 8091 0000 lds r24,MikroKopterFlags |
| 9853 52ae 8260 ori r24,lo8(2) |
| 9854 52b0 8093 0000 sts MikroKopterFlags,r24 |
| 9855 52b4 0C94 0000 jmp .L740 |
| 9856 .L1215: |
| 9857 52b8 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 9858 52bc 1092 0000 sts StickGas,__zero_reg__ |
| 9859 52c0 0C94 0000 jmp .L817 |
| 9860 .L1212: |
| 9861 52c4 2D5F subi r18,lo8(-(3)) |
| 9862 52c6 3F4F sbci r19,hi8(-(3)) |
| 9863 52c8 0C94 0000 jmp .L809 |
| 9864 .L1213: |
| 9865 52cc 2D5F subi r18,lo8(-(3)) |
| 9866 52ce 3F4F sbci r19,hi8(-(3)) |
| 9867 52d0 0C94 0000 jmp .L810 |
| 9868 .L1261: |
| 9869 52d4 0F96 adiw r24,15 |
| 9870 52d6 A11D adc r26,__zero_reg__ |
| 9871 52d8 B11D adc r27,__zero_reg__ |
| 9872 52da 0C94 0000 jmp .L863 |
| 9873 .L1262: |
| 9874 52de 0F96 adiw r24,15 |
| 9875 52e0 A11D adc r26,__zero_reg__ |
| 9876 52e2 B11D adc r27,__zero_reg__ |
| 9877 52e4 0C94 0000 jmp .L864 |
| 9878 .L1264: |
| 9879 52e8 F095 com r31 |
| 9880 52ea E195 neg r30 |
| 9881 52ec FF4F sbci r31,lo8(-1) |
| 9882 52ee 0C94 0000 jmp .L868 |
| 9883 .L801: |
| 9884 52f2 1092 0000 sts delay_einschalten.9,__zero_reg__ |
| 9885 .L803: |
| 9886 52f6 ED2D mov r30,r13 |
| 9887 52f8 FF27 clr r31 |
| 9888 52fa EE0F add r30,r30 |
| 9889 52fc FF1F adc r31,r31 |
| 9890 52fe E050 subi r30,lo8(-(PPM_in)) |
| 9891 5300 F040 sbci r31,hi8(-(PPM_in)) |
| 9892 5302 8081 ld r24,Z |
| 9893 5304 9181 ldd r25,Z+1 |
| 9894 5306 8C34 cpi r24,76 |
| 9895 5308 9105 cpc r25,__zero_reg__ |
| 9896 530a 04F4 brge .+2 |
| 9897 530c 00C0 rjmp .L804 |
| 9898 530e 8091 0000 lds r24,delay_ausschalten.10 |
| 9899 5312 8F5F subi r24,lo8(-(1)) |
| 9900 5314 893C cpi r24,lo8(-55) |
| 9901 5316 00F4 brsh .+2 |
| 9902 5318 00C0 rjmp .L1172 |
| 9903 531a 1092 0000 sts MotorenEin,__zero_reg__ |
| 9904 531e 88EC ldi r24,lo8(-56) |
| 9905 5320 8093 0000 sts delay_ausschalten.10,r24 |
| 9906 5324 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 9907 5328 1092 0000 sts modell_fliegt,__zero_reg__ |
| 9908 532c 0C94 0000 jmp .L734 |
| 9909 .L996: |
| 9910 5330 8091 0000 lds r24,HoehenWert |
| 9911 5334 9091 0000 lds r25,(HoehenWert)+1 |
| 9912 5338 A091 0000 lds r26,(HoehenWert)+2 |
| 9913 533c B091 0000 lds r27,(HoehenWert)+3 |
| 9914 5340 54E0 ldi r21,4 |
| 9915 5342 880F 1: lsl r24 |
| 9916 5344 991F rol r25 |
| 9917 5346 AA1F rol r26 |
| 9918 5348 BB1F rol r27 |
| 9919 534a 5A95 dec r21 |
| 9920 534c 01F4 brne 1b |
| 9921 534e 8093 0000 sts SummenHoehe,r24 |
| 9922 5352 9093 0000 sts (SummenHoehe)+1,r25 |
| 9923 5356 A093 0000 sts (SummenHoehe)+2,r26 |
| 9924 535a B093 0000 sts (SummenHoehe)+3,r27 |
| 9925 535e 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 9926 5362 1092 0000 sts VarioMeter,__zero_reg__ |
| 9927 5366 2150 subi r18,lo8(-(-1)) |
| 9928 5368 3040 sbci r19,hi8(-(-1)) |
| 9929 536a 3093 0000 sts (BaroExpandActive)+1,r19 |
| 9930 536e 2093 0000 sts BaroExpandActive,r18 |
| 9931 .L1005: |
| 9932 5372 4889 ldd r20,Y+16 |
| 9933 5374 41FF sbrs r20,1 |
| 9934 5376 00C0 rjmp .L1006 |
| 9935 5378 8091 0000 lds r24,Parameter_MaxHoehe |
| 9936 537c 8233 cpi r24,lo8(50) |
| 9937 537e 00F0 brlo .+2 |
| 9938 5380 00C0 rjmp .L1007 |
| 9939 5382 8091 0000 lds r24,delay.31 |
| 9940 5386 8150 subi r24,1 |
| 9941 5388 00F4 brcc .L1187 |
| 9942 538a 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 9943 538e 8091 0000 lds r24,HoehenWert |
| 9944 5392 9091 0000 lds r25,(HoehenWert)+1 |
| 9945 5396 A091 0000 lds r26,(HoehenWert)+2 |
| 9946 539a B091 0000 lds r27,(HoehenWert)+3 |
| 9947 539e 8093 0000 sts SollHoehe,r24 |
| 9948 53a2 9093 0000 sts (SollHoehe)+1,r25 |
| 9949 53a6 A093 0000 sts (SollHoehe)+2,r26 |
| 9950 53aa B093 0000 sts (SollHoehe)+3,r27 |
| 9951 53ae 81E0 ldi r24,lo8(1) |
| 9952 .L1187: |
| 9953 53b0 8093 0000 sts delay.31,r24 |
| 9954 53b4 00C0 rjmp .L1010 |
| 9955 .L804: |
| 9956 53b6 1092 0000 sts delay_ausschalten.10,__zero_reg__ |
| 9957 53ba 0C94 0000 jmp .L734 |
| 9958 .L1006: |
| 9959 53be 2091 0000 lds r18,Parameter_MaxHoehe |
| 9960 53c2 8091 0000 lds r24,ExternHoehenValue |
| 9961 53c6 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 9962 53ca 820F add r24,r18 |
| 9963 53cc 911D adc r25,__zero_reg__ |
| 9964 53ce 2091 0000 lds r18,EE_Parameter+13 |
| 9965 53d2 3327 clr r19 |
| 9966 53d4 829F mul r24,r18 |
| 9967 53d6 B001 movw r22,r0 |
| 9968 53d8 839F mul r24,r19 |
| 9969 53da 700D add r23,r0 |
| 9970 53dc 929F mul r25,r18 |
| 9971 53de 700D add r23,r0 |
| 9972 53e0 1124 clr r1 |
| 9973 53e2 CB01 movw r24,r22 |
| 9974 53e4 AA27 clr r26 |
| 9975 53e6 97FD sbrc r25,7 |
| 9976 53e8 A095 com r26 |
| 9977 53ea BA2F mov r27,r26 |
| 9978 53ec 8093 0000 sts SollHoehe,r24 |
| 9979 53f0 9093 0000 sts (SollHoehe)+1,r25 |
| 9980 53f4 A093 0000 sts (SollHoehe)+2,r26 |
| 9981 53f8 B093 0000 sts (SollHoehe)+3,r27 |
| 9982 53fc 81E0 ldi r24,lo8(1) |
| 9983 53fe 8093 0000 sts HoehenReglerAktiv,r24 |
| 9984 .L1010: |
| 9985 5402 E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 9986 5406 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 9987 540a 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 9988 540e 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 9989 5412 6D8D ldd r22,Y+29 |
| 9990 5414 7E8D ldd r23,Y+30 |
| 9991 5416 8F8D ldd r24,Y+31 |
| 9992 5418 98A1 ldd r25,Y+32 |
| 9993 541a A801 movw r20,r16 |
| 9994 541c 9701 movw r18,r14 |
| 9995 541e 0E94 0000 call __divmodsi4 |
| 9996 5422 5901 movw r10,r18 |
| 9997 5424 6A01 movw r12,r20 |
| 9998 5426 6C85 ldd r22,Y+12 |
| 9999 5428 7D85 ldd r23,Y+13 |
| 10000 542a 8E85 ldd r24,Y+14 |
| 10001 542c 9F85 ldd r25,Y+15 |
| 10002 542e A801 movw r20,r16 |
| 10003 5430 9701 movw r18,r14 |
| 10004 5432 0E94 0000 call __divmodsi4 |
| 10005 5436 B901 movw r22,r18 |
| 10006 5438 C501 movw r24,r10 |
| 10007 543a 0E94 0000 call ihypot |
| 10008 543e 5C01 movw r10,r24 |
| 10009 5440 CD97 sbiw r24,61 |
| 10010 5442 04F0 brlt .L1011 |
| 10011 5444 4CE3 ldi r20,lo8(60) |
| 10012 5446 A42E mov r10,r20 |
| 10013 5448 B12C mov r11,__zero_reg__ |
| 10014 .L1011: |
| 10015 544a C501 movw r24,r10 |
| 10016 544c 0E94 0000 call c_cos_8192 |
| 10017 5450 5C01 movw r10,r24 |
| 10018 5452 8091 0000 lds r24,HoehenReglerAktiv |
| 10019 5456 8823 tst r24 |
| 10020 5458 01F4 brne .+2 |
| 10021 545a 00C0 rjmp .L1012 |
| 10022 545c 8091 0000 lds r24,MikroKopterFlags |
| 10023 5460 9927 clr r25 |
| 10024 5462 9C01 movw r18,r24 |
| 10025 5464 2071 andi r18,lo8(16) |
| 10026 5466 3070 andi r19,hi8(16) |
| 10027 5468 84FD sbrc r24,4 |
| 10028 546a 00C0 rjmp .L1012 |
| 10029 546c C090 0000 lds r12,EE_Parameter+88 |
| 10030 5470 C0FC sbrc r12,0 |
| 10031 5472 00C0 rjmp .L1014 |
| 10032 5474 8091 0000 lds r24,EE_Parameter+8 |
| 10033 5478 81FD sbrc r24,1 |
| 10034 547a 00C0 rjmp .L1013 |
| 10035 .L1014: |
| 10036 547c 0981 ldd r16,Y+1 |
| 10037 547e 1A81 ldd r17,Y+2 |
| 10038 5480 3093 0000 sts (HeightTrimming.24)+1,r19 |
| 10039 5484 2093 0000 sts HeightTrimming.24,r18 |
| 10040 5488 6090 0000 lds r6,HoehenWert |
| 10041 548c 7090 0000 lds r7,(HoehenWert)+1 |
| 10042 5490 8090 0000 lds r8,(HoehenWert)+2 |
| 10043 5494 9090 0000 lds r9,(HoehenWert)+3 |
| 10044 .L1163: |
| 10045 5498 8091 0000 lds r24,SollHoehe |
| 10046 549c 9091 0000 lds r25,(SollHoehe)+1 |
| 10047 54a0 A091 0000 lds r26,(SollHoehe)+2 |
| 10048 54a4 B091 0000 lds r27,(SollHoehe)+3 |
| 10049 .L1015: |
| 10050 54a8 8615 cp r24,r6 |
| 10051 54aa 9705 cpc r25,r7 |
| 10052 54ac A805 cpc r26,r8 |
| 10053 54ae B905 cpc r27,r9 |
| 10054 54b0 04F0 brlt .L1040 |
| 10055 54b2 C0FC sbrc r12,0 |
| 10056 54b4 00C0 rjmp .L1164 |
| 10057 .L1040: |
| 10058 54b6 E090 0000 lds r14,HoehenWert |
| 10059 54ba F090 0000 lds r15,(HoehenWert)+1 |
| 10060 54be 8091 0000 lds r24,SollHoehe |
| 10061 54c2 9091 0000 lds r25,(SollHoehe)+1 |
| 10062 54c6 E81A sub r14,r24 |
| 10063 54c8 F90A sbc r15,r25 |
| 10064 54ca 8091 0000 lds r24,Parameter_Hoehe_P |
| 10065 54ce 9927 clr r25 |
| 10066 54d0 8E9D mul r24,r14 |
| 10067 54d2 9001 movw r18,r0 |
| 10068 54d4 8F9D mul r24,r15 |
| 10069 54d6 300D add r19,r0 |
| 10070 54d8 9E9D mul r25,r14 |
| 10071 54da 300D add r19,r0 |
| 10072 54dc 1124 clr r1 |
| 10073 54de C901 movw r24,r18 |
| 10074 54e0 37FD sbrc r19,7 |
| 10075 54e2 00C0 rjmp .L1301 |
| 10076 .L1041: |
| 10077 54e4 9595 asr r25 |
| 10078 54e6 8795 ror r24 |
| 10079 54e8 9595 asr r25 |
| 10080 54ea 8795 ror r24 |
| 10081 54ec 9595 asr r25 |
| 10082 54ee 8795 ror r24 |
| 10083 54f0 9595 asr r25 |
| 10084 54f2 8795 ror r24 |
| 10085 54f4 081B sub r16,r24 |
| 10086 54f6 190B sbc r17,r25 |
| 10087 54f8 2091 0000 lds r18,VarioMeter |
| 10088 54fc 3091 0000 lds r19,(VarioMeter)+1 |
| 10089 5500 37FD sbrc r19,7 |
| 10090 5502 00C0 rjmp .L1302 |
| 10091 .L1042: |
| 10092 5504 3595 asr r19 |
| 10093 5506 2795 ror r18 |
| 10094 5508 3595 asr r19 |
| 10095 550a 2795 ror r18 |
| 10096 550c 3595 asr r19 |
| 10097 550e 2795 ror r18 |
| 10098 5510 2930 cpi r18,9 |
| 10099 5512 3105 cpc r19,__zero_reg__ |
| 10100 5514 04F4 brge .+2 |
| 10101 5516 00C0 rjmp .L1043 |
| 10102 5518 28E0 ldi r18,lo8(8) |
| 10103 551a 30E0 ldi r19,hi8(8) |
| 10104 .L1197: |
| 10105 551c 229F mul r18,r18 |
| 10106 551e A001 movw r20,r0 |
| 10107 5520 239F mul r18,r19 |
| 10108 5522 500D add r21,r0 |
| 10109 5524 329F mul r19,r18 |
| 10110 5526 500D add r21,r0 |
| 10111 5528 1124 clr r1 |
| 10112 552a 9A01 movw r18,r20 |
| 10113 552c 57FD sbrc r21,7 |
| 10114 552e 00C0 rjmp .L1303 |
| 10115 .L1045: |
| 10116 5530 3595 asr r19 |
| 10117 5532 2795 ror r18 |
| 10118 5534 3595 asr r19 |
| 10119 5536 2795 ror r18 |
| 10120 5538 8091 0000 lds r24,VarioMeter |
| 10121 553c 9091 0000 lds r25,(VarioMeter)+1 |
| 10122 5540 280F add r18,r24 |
| 10123 5542 391F adc r19,r25 |
| 10124 .L1046: |
| 10125 5544 8091 0000 lds r24,Parameter_Luftdruck_D |
| 10126 5548 9927 clr r25 |
| 10127 554a AA27 clr r26 |
| 10128 554c BB27 clr r27 |
| 10129 554e 4427 clr r20 |
| 10130 5550 37FD sbrc r19,7 |
| 10131 5552 4095 com r20 |
| 10132 5554 542F mov r21,r20 |
| 10133 5556 BC01 movw r22,r24 |
| 10134 5558 CD01 movw r24,r26 |
| 10135 555a 0E94 0000 call __mulsi3 |
| 10136 555e 97FD sbrc r25,7 |
| 10137 5560 00C0 rjmp .L1304 |
| 10138 .L1048: |
| 10139 5562 A7E0 ldi r26,7 |
| 10140 5564 9595 1: asr r25 |
| 10141 5566 8795 ror r24 |
| 10142 5568 7795 ror r23 |
| 10143 556a 6795 ror r22 |
| 10144 556c AA95 dec r26 |
| 10145 556e 01F4 brne 1b |
| 10146 5570 9B01 movw r18,r22 |
| 10147 5572 5FEF ldi r21,hi8(-127) |
| 10148 5574 6138 cpi r22,lo8(-127) |
| 10149 5576 7507 cpc r23,r21 |
| 10150 5578 04F0 brlt .+2 |
| 10151 557a 00C0 rjmp .L1049 |
| 10152 557c 21E8 ldi r18,lo8(-127) |
| 10153 557e 3FEF ldi r19,hi8(-127) |
| 10154 .L1050: |
| 10155 5580 021B sub r16,r18 |
| 10156 5582 130B sbc r17,r19 |
| 10157 5584 6090 0000 lds r6,Mess_Integral_Hoch |
| 10158 5588 7090 0000 lds r7,(Mess_Integral_Hoch)+1 |
| 10159 558c 8090 0000 lds r8,(Mess_Integral_Hoch)+2 |
| 10160 5590 9090 0000 lds r9,(Mess_Integral_Hoch)+3 |
| 10161 5594 97FC sbrc r9,7 |
| 10162 5596 00C0 rjmp .L1305 |
| 10163 .L1052: |
| 10164 5598 F7E0 ldi r31,7 |
| 10165 559a 9594 1: asr r9 |
| 10166 559c 8794 ror r8 |
| 10167 559e 7794 ror r7 |
| 10168 55a0 6794 ror r6 |
| 10169 55a2 FA95 dec r31 |
| 10170 55a4 01F4 brne 1b |
| 10171 55a6 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung |
| 10172 55aa 282F mov r18,r24 |
| 10173 55ac 3327 clr r19 |
| 10174 55ae 4427 clr r20 |
| 10175 55b0 5527 clr r21 |
| 10176 55b2 C401 movw r24,r8 |
| 10177 55b4 B301 movw r22,r6 |
| 10178 55b6 0E94 0000 call __mulsi3 |
| 10179 55ba 97FD sbrc r25,7 |
| 10180 55bc 00C0 rjmp .L1306 |
| 10181 .L1053: |
| 10182 55be E5E0 ldi r30,5 |
| 10183 55c0 9595 1: asr r25 |
| 10184 55c2 8795 ror r24 |
| 10185 55c4 7795 ror r23 |
| 10186 55c6 6795 ror r22 |
| 10187 55c8 EA95 dec r30 |
| 10188 55ca 01F4 brne 1b |
| 10189 55cc 9B01 movw r18,r22 |
| 10190 55ce 7FEF ldi r23,hi8(-127) |
| 10191 55d0 2138 cpi r18,lo8(-127) |
| 10192 55d2 3707 cpc r19,r23 |
| 10193 55d4 04F0 brlt .+2 |
| 10194 55d6 00C0 rjmp .L1054 |
| 10195 55d8 21E8 ldi r18,lo8(-127) |
| 10196 55da 3FEF ldi r19,hi8(-127) |
| 10197 .L1055: |
| 10198 55dc 021B sub r16,r18 |
| 10199 55de 130B sbc r17,r19 |
| 10200 55e0 85E9 ldi r24,lo8(149) |
| 10201 55e2 90E0 ldi r25,hi8(149) |
| 10202 55e4 E80E add r14,r24 |
| 10203 55e6 F91E adc r15,r25 |
| 10204 55e8 9BE2 ldi r25,lo8(299) |
| 10205 55ea E916 cp r14,r25 |
| 10206 55ec 91E0 ldi r25,hi8(299) |
| 10207 55ee F906 cpc r15,r25 |
| 10208 55f0 00F4 brsh .L1057 |
| 10209 55f2 8091 0000 lds r24,HeightTrimming.24 |
| 10210 55f6 9091 0000 lds r25,(HeightTrimming.24)+1 |
| 10211 55fa 892B or r24,r25 |
| 10212 55fc 01F4 brne .L1057 |
| 10213 55fe 8091 0000 lds r24,HooverGas.27 |
| 10214 5602 9091 0000 lds r25,(HooverGas.27)+1 |
| 10215 5606 1816 cp __zero_reg__,r24 |
| 10216 5608 1906 cpc __zero_reg__,r25 |
| 10217 560a 04F4 brge .L1057 |
| 10218 560c 8091 0000 lds r24,HooverGasMin.28 |
| 10219 5610 9091 0000 lds r25,(HooverGasMin.28)+1 |
| 10220 5614 0817 cp r16,r24 |
| 10221 5616 1907 cpc r17,r25 |
| 10222 5618 04F4 brge .+2 |
| 10223 561a 00C0 rjmp .L1206 |
| 10224 561c 8091 0000 lds r24,HooverGasMax.29 |
| 10225 5620 9091 0000 lds r25,(HooverGasMax.29)+1 |
| 10226 5624 8017 cp r24,r16 |
| 10227 5626 9107 cpc r25,r17 |
| 10228 5628 04F4 brge .+2 |
| 10229 562a 00C0 rjmp .L1206 |
| 10230 .L1057: |
| 10231 562c 8091 0000 lds r24,BaroExpandActive |
| 10232 5630 9091 0000 lds r25,(BaroExpandActive)+1 |
| 10233 5634 892B or r24,r25 |
| 10234 5636 01F0 breq .L1061 |
| 10235 5638 0091 0000 lds r16,HooverGas.27 |
| 10236 563c 1091 0000 lds r17,(HooverGas.27)+1 |
| 10237 .L1061: |
| 10238 5640 C801 movw r24,r16 |
| 10239 5642 AA27 clr r26 |
| 10240 5644 97FD sbrc r25,7 |
| 10241 5646 A095 com r26 |
| 10242 5648 BA2F mov r27,r26 |
| 10243 564a 5DE0 ldi r21,13 |
| 10244 564c 880F 1: lsl r24 |
| 10245 564e 991F rol r25 |
| 10246 5650 AA1F rol r26 |
| 10247 5652 BB1F rol r27 |
| 10248 5654 5A95 dec r21 |
| 10249 5656 01F4 brne 1b |
| 10250 5658 9501 movw r18,r10 |
| 10251 565a 4427 clr r20 |
| 10252 565c 37FD sbrc r19,7 |
| 10253 565e 4095 com r20 |
| 10254 5660 542F mov r21,r20 |
| 10255 5662 BC01 movw r22,r24 |
| 10256 5664 CD01 movw r24,r26 |
| 10257 5666 0E94 0000 call __divmodsi4 |
| 10258 566a 2093 0000 sts tmp_long2.4,r18 |
| 10259 566e 3093 0000 sts (tmp_long2.4)+1,r19 |
| 10260 5672 4093 0000 sts (tmp_long2.4)+2,r20 |
| 10261 5676 5093 0000 sts (tmp_long2.4)+3,r21 |
| 10262 567a 0091 0000 lds r16,tmp_long2.4 |
| 10263 567e 1091 0000 lds r17,(tmp_long2.4)+1 |
| 10264 5682 8091 0000 lds r24,FilterHCGas.25 |
| 10265 5686 9091 0000 lds r25,(FilterHCGas.25)+1 |
| 10266 568a 9C01 movw r18,r24 |
| 10267 568c 220F lsl r18 |
| 10268 568e 331F rol r19 |
| 10269 5690 280F add r18,r24 |
| 10270 5692 391F adc r19,r25 |
| 10271 5694 200F add r18,r16 |
| 10272 5696 311F adc r19,r17 |
| 10273 5698 37FD sbrc r19,7 |
| 10274 569a 00C0 rjmp .L1307 |
| 10275 .L1062: |
| 10276 569c A901 movw r20,r18 |
| 10277 569e 5595 asr r21 |
| 10278 56a0 4795 ror r20 |
| 10279 56a2 5595 asr r21 |
| 10280 56a4 4795 ror r20 |
| 10281 56a6 BA01 movw r22,r20 |
| 10282 56a8 8091 0000 lds r24,EE_Parameter+9 |
| 10283 56ac 282F mov r18,r24 |
| 10284 56ae 3327 clr r19 |
| 10285 56b0 220F lsl r18 |
| 10286 56b2 331F rol r19 |
| 10287 56b4 220F lsl r18 |
| 10288 56b6 331F rol r19 |
| 10289 56b8 4217 cp r20,r18 |
| 10290 56ba 5307 cpc r21,r19 |
| 10291 56bc 04F0 brlt .+2 |
| 10292 56be 00C0 rjmp .L1063 |
| 10293 56c0 A901 movw r20,r18 |
| 10294 56c2 B901 movw r22,r18 |
| 10295 56c4 D090 0000 lds r13,MAX_GAS |
| 10296 .L1064: |
| 10297 56c8 C0FE sbrs r12,0 |
| 10298 56ca 00C0 rjmp .L1190 |
| 10299 56cc A981 ldd r26,Y+1 |
| 10300 56ce BA81 ldd r27,Y+2 |
| 10301 56d0 A417 cp r26,r20 |
| 10302 56d2 B507 cpc r27,r21 |
| 10303 56d4 04F0 brlt .+2 |
| 10304 56d6 00C0 rjmp .L1190 |
| 10305 56d8 AD01 movw r20,r26 |
| 10306 56da B093 0000 sts (FilterHCGas.25)+1,r27 |
| 10307 56de A093 0000 sts FilterHCGas.25,r26 |
| 10308 56e2 5A83 std Y+2,r21 |
| 10309 56e4 4983 std Y+1,r20 |
| 10310 56e6 00C0 rjmp .L1068 |
| 10311 .L1012: |
| 10312 56e8 6091 0000 lds r22,EE_Parameter+17 |
| 10313 56ec 6623 tst r22 |
| 10314 56ee 01F4 brne .+2 |
| 10315 56f0 00C0 rjmp .L1308 |
| 10316 56f2 7727 clr r23 |
| 10317 .L1071: |
| 10318 56f4 6634 cpi r22,70 |
| 10319 56f6 7105 cpc r23,__zero_reg__ |
| 10320 56f8 04F0 brlt .+2 |
| 10321 56fa 00C0 rjmp .L1072 |
| 10322 56fc 26E4 ldi r18,lo8(70) |
| 10323 56fe 30E0 ldi r19,hi8(70) |
| 10324 5700 3093 0000 sts (StickGasHoover.26)+1,r19 |
| 10325 5704 2093 0000 sts StickGasHoover.26,r18 |
| 10326 .L1073: |
| 10327 5708 E980 ldd r14,Y+1 |
| 10328 570a FA80 ldd r15,Y+2 |
| 10329 570c F092 0000 sts (FilterHCGas.25)+1,r15 |
| 10330 5710 E092 0000 sts FilterHCGas.25,r14 |
| 10331 .L1164: |
| 10332 5714 D090 0000 lds r13,MAX_GAS |
| 10333 .L1068: |
| 10334 5718 8091 0000 lds r24,MikroKopterFlags |
| 10335 571c 81FF sbrs r24,1 |
| 10336 571e 00C0 rjmp .L1165 |
| 10337 5720 8091 0000 lds r24,MikroKopterFlags |
| 10338 5724 84FD sbrc r24,4 |
| 10339 5726 00C0 rjmp .L1166 |
| 10340 5728 E090 0000 lds r14,HooverGasFilter.30 |
| 10341 572c F090 0000 lds r15,(HooverGasFilter.30)+1 |
| 10342 5730 0091 0000 lds r16,(HooverGasFilter.30)+2 |
| 10343 5734 1091 0000 lds r17,(HooverGasFilter.30)+3 |
| 10344 5738 E114 cp r14,__zero_reg__ |
| 10345 573a F104 cpc r15,__zero_reg__ |
| 10346 573c 0105 cpc r16,__zero_reg__ |
| 10347 573e 1105 cpc r17,__zero_reg__ |
| 10348 5740 01F4 brne .L1076 |
| 10349 5742 2981 ldd r18,Y+1 |
| 10350 5744 3A81 ldd r19,Y+2 |
| 10351 5746 7901 movw r14,r18 |
| 10352 5748 0027 clr r16 |
| 10353 574a F7FC sbrc r15,7 |
| 10354 574c 0095 com r16 |
| 10355 574e 102F mov r17,r16 |
| 10356 5750 ECE0 ldi r30,12 |
| 10357 5752 EE0C 1: lsl r14 |
| 10358 5754 FF1C rol r15 |
| 10359 5756 001F rol r16 |
| 10360 5758 111F rol r17 |
| 10361 575a EA95 dec r30 |
| 10362 575c 01F4 brne 1b |
| 10363 575e E092 0000 sts HooverGasFilter.30,r14 |
| 10364 5762 F092 0000 sts (HooverGasFilter.30)+1,r15 |
| 10365 5766 0093 0000 sts (HooverGasFilter.30)+2,r16 |
| 10366 576a 1093 0000 sts (HooverGasFilter.30)+3,r17 |
| 10367 .L1076: |
| 10368 576e 8091 0000 lds r24,VarioMeter |
| 10369 5772 9091 0000 lds r25,(VarioMeter)+1 |
| 10370 5776 8091 0000 lds r24,VarioMeter |
| 10371 577a 9091 0000 lds r25,(VarioMeter)+1 |
| 10372 577e 97FD sbrc r25,7 |
| 10373 5780 00C0 rjmp .L1309 |
| 10374 .L1078: |
| 10375 5782 8436 cpi r24,100 |
| 10376 5784 9105 cpc r25,__zero_reg__ |
| 10377 5786 04F0 brlt .+2 |
| 10378 5788 00C0 rjmp .L1167 |
| 10379 578a 6981 ldd r22,Y+1 |
| 10380 578c 7A81 ldd r23,Y+2 |
| 10381 578e 9B01 movw r18,r22 |
| 10382 5790 4427 clr r20 |
| 10383 5792 37FD sbrc r19,7 |
| 10384 5794 4095 com r20 |
| 10385 5796 542F mov r21,r20 |
| 10386 5798 C501 movw r24,r10 |
| 10387 579a AA27 clr r26 |
| 10388 579c 97FD sbrc r25,7 |
| 10389 579e A095 com r26 |
| 10390 57a0 BA2F mov r27,r26 |
| 10391 57a2 BC01 movw r22,r24 |
| 10392 57a4 CD01 movw r24,r26 |
| 10393 57a6 0E94 0000 call __mulsi3 |
| 10394 57aa 97FD sbrc r25,7 |
| 10395 57ac 00C0 rjmp .L1310 |
| 10396 .L1079: |
| 10397 57ae 9B01 movw r18,r22 |
| 10398 57b0 AC01 movw r20,r24 |
| 10399 57b2 7DE0 ldi r23,13 |
| 10400 57b4 5595 1: asr r21 |
| 10401 57b6 4795 ror r20 |
| 10402 57b8 3795 ror r19 |
| 10403 57ba 2795 ror r18 |
| 10404 57bc 7A95 dec r23 |
| 10405 57be 01F4 brne 1b |
| 10406 57c0 2093 0000 sts tmp_long2.4,r18 |
| 10407 57c4 3093 0000 sts (tmp_long2.4)+1,r19 |
| 10408 57c8 4093 0000 sts (tmp_long2.4)+2,r20 |
| 10409 57cc 5093 0000 sts (tmp_long2.4)+3,r21 |
| 10410 57d0 8091 0000 lds r24,modell_fliegt |
| 10411 57d4 9091 0000 lds r25,(modell_fliegt)+1 |
| 10412 57d8 77E0 ldi r23,hi8(2000) |
| 10413 57da 803D cpi r24,lo8(2000) |
| 10414 57dc 9707 cpc r25,r23 |
| 10415 57de 00F0 brlo .+2 |
| 10416 57e0 00C0 rjmp .L1080 |
| 10417 57e2 D801 movw r26,r16 |
| 10418 57e4 C701 movw r24,r14 |
| 10419 57e6 69E0 ldi r22,9 |
| 10420 57e8 B695 1: lsr r27 |
| 10421 57ea A795 ror r26 |
| 10422 57ec 9795 ror r25 |
| 10423 57ee 8795 ror r24 |
| 10424 57f0 6A95 dec r22 |
| 10425 57f2 01F4 brne 1b |
| 10426 57f4 E81A sub r14,r24 |
| 10427 57f6 F90A sbc r15,r25 |
| 10428 57f8 0A0B sbc r16,r26 |
| 10429 57fa 1B0B sbc r17,r27 |
| 10430 57fc DA01 movw r26,r20 |
| 10431 57fe C901 movw r24,r18 |
| 10432 5800 23E0 ldi r18,3 |
| 10433 5802 880F 1: lsl r24 |
| 10434 5804 991F rol r25 |
| 10435 5806 AA1F rol r26 |
| 10436 5808 BB1F rol r27 |
| 10437 580a 2A95 dec r18 |
| 10438 580c 01F4 brne 1b |
| 10439 .L1210: |
| 10440 580e E80E add r14,r24 |
| 10441 5810 F91E adc r15,r25 |
| 10442 5812 0A1F adc r16,r26 |
| 10443 5814 1B1F adc r17,r27 |
| 10444 .L1207: |
| 10445 5816 E092 0000 sts HooverGasFilter.30,r14 |
| 10446 581a F092 0000 sts (HooverGasFilter.30)+1,r15 |
| 10447 581e 0093 0000 sts (HooverGasFilter.30)+2,r16 |
| 10448 5822 1093 0000 sts (HooverGasFilter.30)+3,r17 |
| 10449 5826 D801 movw r26,r16 |
| 10450 5828 C701 movw r24,r14 |
| 10451 582a 1CE0 ldi r17,12 |
| 10452 582c B695 1: lsr r27 |
| 10453 582e A795 ror r26 |
| 10454 5830 9795 ror r25 |
| 10455 5832 8795 ror r24 |
| 10456 5834 1A95 dec r17 |
| 10457 5836 01F4 brne 1b |
| 10458 5838 9093 0000 sts (HooverGas.27)+1,r25 |
| 10459 583c 8093 0000 sts HooverGas.27,r24 |
| 10460 5840 4091 0000 lds r20,EE_Parameter+15 |
| 10461 5844 4423 tst r20 |
| 10462 5846 01F4 brne .+2 |
| 10463 5848 00C0 rjmp .L1086 |
| 10464 584a 5527 clr r21 |
| 10465 584c 9C01 movw r18,r24 |
| 10466 584e BA01 movw r22,r20 |
| 10467 5850 0E94 0000 call __divmodhi4 |
| 10468 5854 C901 movw r24,r18 |
| 10469 5856 861B sub r24,r22 |
| 10470 5858 970B sbc r25,r23 |
| 10471 585a 9093 0000 sts (HooverGasMin.28)+1,r25 |
| 10472 585e 8093 0000 sts HooverGasMin.28,r24 |
| 10473 5862 260F add r18,r22 |
| 10474 5864 371F adc r19,r23 |
| 10475 5866 3093 0000 sts (HooverGasMax.29)+1,r19 |
| 10476 586a 2093 0000 sts HooverGasMax.29,r18 |
| 10477 .L1166: |
| 10478 586e E090 0000 lds r14,IntegralNick |
| 10479 5872 F090 0000 lds r15,(IntegralNick)+1 |
| 10480 5876 0091 0000 lds r16,(IntegralNick)+2 |
| 10481 587a 1091 0000 lds r17,(IntegralNick)+3 |
| 10482 587e ED8E std Y+29,r14 |
| 10483 5880 FE8E std Y+30,r15 |
| 10484 5882 0F8F std Y+31,r16 |
| 10485 5884 18A3 std Y+32,r17 |
| 10486 5886 A090 0000 lds r10,MesswertNick |
| 10487 588a B090 0000 lds r11,(MesswertNick)+1 |
| 10488 588e 0091 0000 lds r16,MesswertRoll |
| 10489 5892 1091 0000 lds r17,(MesswertRoll)+1 |
| 10490 5896 1EA3 std Y+38,r17 |
| 10491 5898 0DA3 std Y+37,r16 |
| 10492 589a 00C0 rjmp .L995 |
| 10493 .L1299: |
| 10494 589c 0396 adiw r24,3 |
| 10495 589e 00C0 rjmp .L973 |
| 10496 .L1268: |
| 10497 58a0 9095 com r25 |
| 10498 58a2 8195 neg r24 |
| 10499 58a4 9F4F sbci r25,lo8(-1) |
| 10500 58a6 0C94 0000 jmp .L829 |
| 10501 .L1219: |
| 10502 58aa 0396 adiw r24,3 |
| 10503 58ac 0C94 0000 jmp .L823 |
| 10504 .L1218: |
| 10505 58b0 9095 com r25 |
| 10506 58b2 8195 neg r24 |
| 10507 58b4 9F4F sbci r25,lo8(-1) |
| 10508 58b6 0C94 0000 jmp .L822 |
| 10509 .L1269: |
| 10510 58ba 0396 adiw r24,3 |
| 10511 58bc 0C94 0000 jmp .L830 |
| 10512 .L1280: |
| 10513 58c0 8827 clr r24 |
| 10514 58c2 9927 clr r25 |
| 10515 58c4 8819 sub r24,r8 |
| 10516 58c6 9909 sbc r25,r9 |
| 10517 58c8 0C94 0000 jmp .L960 |
| 10518 .L1279: |
| 10519 58cc 695F subi r22,lo8(-(7)) |
| 10520 58ce 7F4F sbci r23,hi8(-(7)) |
| 10521 58d0 0C94 0000 jmp .L958 |
| 10522 .L1278: |
| 10523 58d4 7095 com r23 |
| 10524 58d6 6195 neg r22 |
| 10525 58d8 7F4F sbci r23,lo8(-1) |
| 10526 58da 0C94 0000 jmp .L956 |
| 10527 .L1277: |
| 10528 58de 8150 subi r24,lo8(-(511)) |
| 10529 58e0 9E4F sbci r25,hi8(-(511)) |
| 10530 58e2 AF4F sbci r26,hlo8(-(511)) |
| 10531 58e4 BF4F sbci r27,hhi8(-(511)) |
| 10532 58e6 0C94 0000 jmp .L955 |
| 10533 .L1276: |
| 10534 58ea D094 com r13 |
| 10535 58ec C194 neg r12 |
| 10536 58ee D108 sbc r13,__zero_reg__ |
| 10537 58f0 D394 inc r13 |
| 10538 58f2 0C94 0000 jmp .L954 |
| 10539 .L1275: |
| 10540 58f6 8150 subi r24,lo8(-(511)) |
| 10541 58f8 9E4F sbci r25,hi8(-(511)) |
| 10542 58fa AF4F sbci r26,hlo8(-(511)) |
| 10543 58fc BF4F sbci r27,hhi8(-(511)) |
| 10544 58fe 0C94 0000 jmp .L953 |
| 10545 .L964: |
| 10546 5902 84EF ldi r24,lo8(500) |
| 10547 5904 91E0 ldi r25,hi8(500) |
| 10548 5906 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 10549 590a 8093 0000 sts KompassSignalSchlecht,r24 |
| 10550 590e 0C94 0000 jmp .L952 |
| 10551 .L1282: |
| 10552 5912 4F96 adiw r24,31 |
| 10553 5914 0C94 0000 jmp .L963 |
| 10554 .L1284: |
| 10555 5918 B601 movw r22,r12 |
| 10556 591a 0C94 0000 jmp .L968 |
| 10557 .L1308: |
| 10558 591e 4091 0000 lds r20,HooverGas.27 |
| 10559 5922 5091 0000 lds r21,(HooverGas.27)+1 |
| 10560 5926 57FD sbrc r21,7 |
| 10561 5928 00C0 rjmp .L1311 |
| 10562 .L1070: |
| 10563 592a 5595 asr r21 |
| 10564 592c 4795 ror r20 |
| 10565 592e 5595 asr r21 |
| 10566 5930 4795 ror r20 |
| 10567 5932 8091 0000 lds r24,UBat |
| 10568 5936 9091 0000 lds r25,(UBat)+1 |
| 10569 593a 2091 0000 lds r18,BattLowVoltageWarning |
| 10570 593e 3327 clr r19 |
| 10571 5940 489F mul r20,r24 |
| 10572 5942 F001 movw r30,r0 |
| 10573 5944 499F mul r20,r25 |
| 10574 5946 F00D add r31,r0 |
| 10575 5948 589F mul r21,r24 |
| 10576 594a F00D add r31,r0 |
| 10577 594c 1124 clr r1 |
| 10578 594e CF01 movw r24,r30 |
| 10579 5950 B901 movw r22,r18 |
| 10580 5952 0E94 0000 call __divmodhi4 |
| 10581 5956 00C0 rjmp .L1071 |
| 10582 .L1007: |
| 10583 5958 81E0 ldi r24,lo8(1) |
| 10584 595a 8093 0000 sts HoehenReglerAktiv,r24 |
| 10585 595e 88EC ldi r24,lo8(-56) |
| 10586 5960 8093 0000 sts delay.31,r24 |
| 10587 5964 00C0 rjmp .L1010 |
| 10588 .L1172: |
| 10589 5966 8093 0000 sts delay_ausschalten.10,r24 |
| 10590 596a 0C94 0000 jmp .L734 |
| 10591 .L1171: |
| 10592 596e 8093 0000 sts delay_einschalten.9,r24 |
| 10593 5972 00C0 rjmp .L803 |
| 10594 .L1289: |
| 10595 5974 87B5 in r24,71-0x20 |
| 10596 5976 853F cpi r24,lo8(-11) |
| 10597 5978 00F0 brlo .+2 |
| 10598 597a 00C0 rjmp .L998 |
| 10599 597c 8091 0000 lds r24,ExpandBaro |
| 10600 5980 8150 subi r24,lo8(-(-1)) |
| 10601 5982 00C0 rjmp .L1203 |
| 10602 .L1281: |
| 10603 5984 4DA1 ldd r20,Y+37 |
| 10604 5986 5EA1 ldd r21,Y+38 |
| 10605 5988 CA01 movw r24,r20 |
| 10606 598a AA27 clr r26 |
| 10607 598c 97FD sbrc r25,7 |
| 10608 598e A095 com r26 |
| 10609 5990 BA2F mov r27,r26 |
| 10610 5992 BC01 movw r22,r24 |
| 10611 5994 CD01 movw r24,r26 |
| 10612 5996 2A89 ldd r18,Y+18 |
| 10613 5998 3B89 ldd r19,Y+19 |
| 10614 599a 4C89 ldd r20,Y+20 |
| 10615 599c 5D89 ldd r21,Y+21 |
| 10616 599e 0E94 0000 call __mulsi3 |
| 10617 59a2 2B01 movw r4,r22 |
| 10618 59a4 3C01 movw r6,r24 |
| 10619 59a6 0E94 0000 call __divmodsi4 |
| 10620 59aa 3093 0000 sts (KompassStartwert)+1,r19 |
| 10621 59ae 2093 0000 sts KompassStartwert,r18 |
| 10622 59b2 1092 0000 sts NeueKompassRichtungMerken.12,__zero_reg__ |
| 10623 59b6 0C94 0000 jmp .L961 |
| 10624 .L742: |
| 10625 59ba 8081 ld r24,Z |
| 10626 59bc 9181 ldd r25,Z+1 |
| 10627 59be 855B subi r24,lo8(-75) |
| 10628 59c0 9F4F sbci r25,hi8(-75) |
| 10629 59c2 04F0 brlt .+2 |
| 10630 59c4 00C0 rjmp .L761 |
| 10631 59c6 8091 0000 lds r24,delay_neutral.8 |
| 10632 59ca 8F5F subi r24,lo8(-(1)) |
| 10633 59cc 893C cpi r24,lo8(-55) |
| 10634 59ce 00F4 brsh .+2 |
| 10635 59d0 00C0 rjmp .L1170 |
| 10636 59d2 2C30 cpi r18,lo8(12) |
| 10637 59d4 00F0 brlo .+2 |
| 10638 59d6 00C0 rjmp .L763 |
| 10639 59d8 2998 cbi 37-0x20,1 |
| 10640 .L765: |
| 10641 59da 8FB3 in r24,63-0x20 |
| 10642 59dc 9927 clr r25 |
| 10643 59de 9C01 movw r18,r24 |
| 10644 59e0 2270 andi r18,lo8(2) |
| 10645 59e2 3070 andi r19,hi8(2) |
| 10646 59e4 81FD sbrc r24,1 |
| 10647 59e6 00C0 rjmp .L765 |
| 10648 59e8 1FBA out 63-0x20,__zero_reg__ |
| 10649 59ea 80E0 ldi r24,lo8(EEPromArray+4) |
| 10650 59ec 90E0 ldi r25,hi8(EEPromArray+4) |
| 10651 59ee 92BD out (65)+1-0x20,r25 |
| 10652 59f0 81BD out 65-0x20,r24 |
| 10653 59f2 8FEF ldi r24,lo8(-1) |
| 10654 59f4 80BD out 64-0x20,r24 |
| 10655 /* #APP */ |
| 10656 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10657 59f6 0FB6 in r0, 63 |
| 10658 59f8 F894 cli |
| 10659 59fa FA9A sbi 31, 2 |
| 10660 59fc F99A sbi 31, 1 |
| 10661 59fe 0FBE out 63, r0 |
| 10662 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10663 /* #NOAPP */ |
| 10664 5a00 1092 0000 sts MotorenEin,__zero_reg__ |
| 10665 5a04 1092 0000 sts delay_neutral.8,__zero_reg__ |
| 10666 5a08 3093 0000 sts (modell_fliegt)+1,r19 |
| 10667 5a0c 2093 0000 sts modell_fliegt,r18 |
| 10668 5a10 0E94 0000 call SetNeutral |
| 10669 5a14 2091 0000 lds r18,NeutralAccX |
| 10670 5a18 3091 0000 lds r19,(NeutralAccX)+1 |
| 10671 5a1c C901 movw r24,r18 |
| 10672 5a1e 37FD sbrc r19,7 |
| 10673 5a20 00C0 rjmp .L1312 |
| 10674 .L769: |
| 10675 5a22 892F mov r24,r25 |
| 10676 5a24 990F lsl r25 |
| 10677 5a26 990B sbc r25,r25 |
| 10678 5a28 482F mov r20,r24 |
| 10679 .L770: |
| 10680 5a2a F999 sbic 63-0x20,1 |
| 10681 5a2c 00C0 rjmp .L770 |
| 10682 5a2e 1FBA out 63-0x20,__zero_reg__ |
| 10683 5a30 80E0 ldi r24,lo8(EEPromArray+4) |
| 10684 5a32 90E0 ldi r25,hi8(EEPromArray+4) |
| 10685 5a34 92BD out (65)+1-0x20,r25 |
| 10686 5a36 81BD out 65-0x20,r24 |
| 10687 5a38 40BD out 64-0x20,r20 |
| 10688 /* #APP */ |
| 10689 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10690 5a3a 0FB6 in r0, 63 |
| 10691 5a3c F894 cli |
| 10692 5a3e FA9A sbi 31, 2 |
| 10693 5a40 F99A sbi 31, 1 |
| 10694 5a42 0FBE out 63, r0 |
| 10695 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10696 /* #NOAPP */ |
| 10697 .L775: |
| 10698 5a44 F999 sbic 63-0x20,1 |
| 10699 5a46 00C0 rjmp .L775 |
| 10700 5a48 1FBA out 63-0x20,__zero_reg__ |
| 10701 5a4a 80E0 ldi r24,lo8(EEPromArray+5) |
| 10702 5a4c 90E0 ldi r25,hi8(EEPromArray+5) |
| 10703 5a4e 92BD out (65)+1-0x20,r25 |
| 10704 5a50 81BD out 65-0x20,r24 |
| 10705 5a52 20BD out 64-0x20,r18 |
| 10706 /* #APP */ |
| 10707 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10708 5a54 0FB6 in r0, 63 |
| 10709 5a56 F894 cli |
| 10710 5a58 FA9A sbi 31, 2 |
| 10711 5a5a F99A sbi 31, 1 |
| 10712 5a5c 0FBE out 63, r0 |
| 10713 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10714 /* #NOAPP */ |
| 10715 5a5e 2091 0000 lds r18,NeutralAccY |
| 10716 5a62 3091 0000 lds r19,(NeutralAccY)+1 |
| 10717 5a66 C901 movw r24,r18 |
| 10718 5a68 37FD sbrc r19,7 |
| 10719 5a6a 00C0 rjmp .L1313 |
| 10720 .L779: |
| 10721 5a6c 892F mov r24,r25 |
| 10722 5a6e 990F lsl r25 |
| 10723 5a70 990B sbc r25,r25 |
| 10724 5a72 482F mov r20,r24 |
| 10725 .L780: |
| 10726 5a74 F999 sbic 63-0x20,1 |
| 10727 5a76 00C0 rjmp .L780 |
| 10728 5a78 1FBA out 63-0x20,__zero_reg__ |
| 10729 5a7a 80E0 ldi r24,lo8(EEPromArray+6) |
| 10730 5a7c 90E0 ldi r25,hi8(EEPromArray+6) |
| 10731 5a7e 92BD out (65)+1-0x20,r25 |
| 10732 5a80 81BD out 65-0x20,r24 |
| 10733 5a82 40BD out 64-0x20,r20 |
| 10734 /* #APP */ |
| 10735 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10736 5a84 0FB6 in r0, 63 |
| 10737 5a86 F894 cli |
| 10738 5a88 FA9A sbi 31, 2 |
| 10739 5a8a F99A sbi 31, 1 |
| 10740 5a8c 0FBE out 63, r0 |
| 10741 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10742 /* #NOAPP */ |
| 10743 .L785: |
| 10744 5a8e F999 sbic 63-0x20,1 |
| 10745 5a90 00C0 rjmp .L785 |
| 10746 5a92 1FBA out 63-0x20,__zero_reg__ |
| 10747 5a94 80E0 ldi r24,lo8(EEPromArray+7) |
| 10748 5a96 90E0 ldi r25,hi8(EEPromArray+7) |
| 10749 5a98 92BD out (65)+1-0x20,r25 |
| 10750 5a9a 81BD out 65-0x20,r24 |
| 10751 5a9c 20BD out 64-0x20,r18 |
| 10752 /* #APP */ |
| 10753 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10754 5a9e 0FB6 in r0, 63 |
| 10755 5aa0 F894 cli |
| 10756 5aa2 FA9A sbi 31, 2 |
| 10757 5aa4 F99A sbi 31, 1 |
| 10758 5aa6 0FBE out 63, r0 |
| 10759 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10760 /* #NOAPP */ |
| 10761 5aa8 8091 0000 lds r24,NeutralAccZ |
| 10762 5aac 9091 0000 lds r25,(NeutralAccZ)+1 |
| 10763 5ab0 A091 0000 lds r26,(NeutralAccZ)+2 |
| 10764 5ab4 B091 0000 lds r27,(NeutralAccZ)+3 |
| 10765 5ab8 BC01 movw r22,r24 |
| 10766 5aba CD01 movw r24,r26 |
| 10767 5abc 0E94 0000 call __fixsfsi |
| 10768 5ac0 DC01 movw r26,r24 |
| 10769 5ac2 CB01 movw r24,r22 |
| 10770 5ac4 9C01 movw r18,r24 |
| 10771 5ac6 97FD sbrc r25,7 |
| 10772 5ac8 00C0 rjmp .L1314 |
| 10773 .L789: |
| 10774 5aca 832F mov r24,r19 |
| 10775 5acc 9927 clr r25 |
| 10776 5ace 87FD sbrc r24,7 |
| 10777 5ad0 9A95 dec r25 |
| 10778 5ad2 282F mov r18,r24 |
| 10779 .L790: |
| 10780 5ad4 F999 sbic 63-0x20,1 |
| 10781 5ad6 00C0 rjmp .L790 |
| 10782 5ad8 1FBA out 63-0x20,__zero_reg__ |
| 10783 5ada 80E0 ldi r24,lo8(EEPromArray+8) |
| 10784 5adc 90E0 ldi r25,hi8(EEPromArray+8) |
| 10785 5ade 92BD out (65)+1-0x20,r25 |
| 10786 5ae0 81BD out 65-0x20,r24 |
| 10787 5ae2 20BD out 64-0x20,r18 |
| 10788 /* #APP */ |
| 10789 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10790 5ae4 0FB6 in r0, 63 |
| 10791 5ae6 F894 cli |
| 10792 5ae8 FA9A sbi 31, 2 |
| 10793 5aea F99A sbi 31, 1 |
| 10794 5aec 0FBE out 63, r0 |
| 10795 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10796 /* #NOAPP */ |
| 10797 5aee 8091 0000 lds r24,NeutralAccZ |
| 10798 5af2 9091 0000 lds r25,(NeutralAccZ)+1 |
| 10799 5af6 A091 0000 lds r26,(NeutralAccZ)+2 |
| 10800 5afa B091 0000 lds r27,(NeutralAccZ)+3 |
| 10801 5afe BC01 movw r22,r24 |
| 10802 5b00 CD01 movw r24,r26 |
| 10803 5b02 0E94 0000 call __fixsfsi |
| 10804 5b06 DC01 movw r26,r24 |
| 10805 5b08 CB01 movw r24,r22 |
| 10806 5b0a 282F mov r18,r24 |
| 10807 .L795: |
| 10808 5b0c F999 sbic 63-0x20,1 |
| 10809 5b0e 00C0 rjmp .L795 |
| 10810 5b10 1FBA out 63-0x20,__zero_reg__ |
| 10811 5b12 80E0 ldi r24,lo8(EEPromArray+9) |
| 10812 5b14 90E0 ldi r25,hi8(EEPromArray+9) |
| 10813 5b16 92BD out (65)+1-0x20,r25 |
| 10814 5b18 81BD out 65-0x20,r24 |
| 10815 5b1a 20BD out 64-0x20,r18 |
| 10816 /* #APP */ |
| 10817 /* START EEPROM WRITE CRITICAL SECTION */ |
| 10818 5b1c 0FB6 in r0, 63 |
| 10819 5b1e F894 cli |
| 10820 5b20 FA9A sbi 31, 2 |
| 10821 5b22 F99A sbi 31, 1 |
| 10822 5b24 0FBE out 63, r0 |
| 10823 /* END EEPROM WRITE CRITICAL SECTION */ |
| 10824 /* #NOAPP */ |
| 10825 .L1199: |
| 10826 5b26 0E94 0000 call GetActiveParamSetNumber |
| 10827 5b2a 68E7 ldi r22,lo8(120) |
| 10828 5b2c 70E0 ldi r23,hi8(120) |
| 10829 5b2e 0E94 0000 call Piep |
| 10830 5b32 3091 0000 lds r19,EE_Parameter+2 |
| 10831 5b36 0C94 0000 jmp .L741 |
| 10832 .L1206: |
| 10833 5b3a 8C01 movw r16,r24 |
| 10834 5b3c 00C0 rjmp .L1057 |
| 10835 .L1165: |
| 10836 5b3e 6091 0000 lds r22,IntegralNick |
| 10837 5b42 7091 0000 lds r23,(IntegralNick)+1 |
| 10838 5b46 8091 0000 lds r24,(IntegralNick)+2 |
| 10839 5b4a 9091 0000 lds r25,(IntegralNick)+3 |
| 10840 5b4e 6D8F std Y+29,r22 |
| 10841 5b50 7E8F std Y+30,r23 |
| 10842 5b52 8F8F std Y+31,r24 |
| 10843 5b54 98A3 std Y+32,r25 |
| 10844 5b56 A090 0000 lds r10,MesswertNick |
| 10845 5b5a B090 0000 lds r11,(MesswertNick)+1 |
| 10846 5b5e 8091 0000 lds r24,MesswertRoll |
| 10847 5b62 9091 0000 lds r25,(MesswertRoll)+1 |
| 10848 5b66 9EA3 std Y+38,r25 |
| 10849 5b68 8DA3 std Y+37,r24 |
| 10850 5b6a 0C94 0000 jmp .L995 |
| 10851 .L1198: |
| 10852 5b6e 0894 sec |
| 10853 5b70 2108 sbc r2,__zero_reg__ |
| 10854 5b72 3108 sbc r3,__zero_reg__ |
| 10855 5b74 3092 0000 sts (KompassSignalSchlecht)+1,r3 |
| 10856 5b78 2092 0000 sts KompassSignalSchlecht,r2 |
| 10857 5b7c 0C94 0000 jmp .L952 |
| 10858 .L1072: |
| 10859 5b80 6739 cpi r22,151 |
| 10860 5b82 7105 cpc r23,__zero_reg__ |
| 10861 5b84 04F4 brge .+2 |
| 10862 5b86 00C0 rjmp .L1191 |
| 10863 5b88 86E9 ldi r24,lo8(150) |
| 10864 5b8a 90E0 ldi r25,hi8(150) |
| 10865 5b8c 9093 0000 sts (StickGasHoover.26)+1,r25 |
| 10866 5b90 8093 0000 sts StickGasHoover.26,r24 |
| 10867 5b94 00C0 rjmp .L1073 |
| 10868 .L1300: |
| 10869 5b96 1092 0000 sts ucflg1,__zero_reg__ |
| 10870 5b9a 00C0 rjmp .L1122 |
| 10871 .L1229: |
| 10872 5b9c 81E0 ldi r24,lo8(1) |
| 10873 5b9e 8093 0000 sts NeueKompassRichtungMerken.12,r24 |
| 10874 5ba2 1092 0000 sts sollGier.2,__zero_reg__ |
| 10875 5ba6 1092 0000 sts (sollGier.2)+1,__zero_reg__ |
| 10876 5baa 1092 0000 sts (sollGier.2)+2,__zero_reg__ |
| 10877 5bae 1092 0000 sts (sollGier.2)+3,__zero_reg__ |
| 10878 5bb2 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 10879 5bb6 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 10880 5bba 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 10881 5bbe 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 10882 5bc2 0C94 0000 jmp .L740 |
| 10883 .L1086: |
| 10884 5bc6 1092 0000 sts (HooverGasMin.28)+1,__zero_reg__ |
| 10885 5bca 1092 0000 sts HooverGasMin.28,__zero_reg__ |
| 10886 5bce 8FEF ldi r24,lo8(1023) |
| 10887 5bd0 93E0 ldi r25,hi8(1023) |
| 10888 5bd2 9093 0000 sts (HooverGasMax.29)+1,r25 |
| 10889 5bd6 8093 0000 sts HooverGasMax.29,r24 |
| 10890 .L1167: |
| 10891 5bda 2091 0000 lds r18,IntegralNick |
| 10892 5bde 3091 0000 lds r19,(IntegralNick)+1 |
| 10893 5be2 4091 0000 lds r20,(IntegralNick)+2 |
| 10894 5be6 5091 0000 lds r21,(IntegralNick)+3 |
| 10895 5bea 2D8F std Y+29,r18 |
| 10896 5bec 3E8F std Y+30,r19 |
| 10897 5bee 4F8F std Y+31,r20 |
| 10898 5bf0 58A3 std Y+32,r21 |
| 10899 5bf2 A090 0000 lds r10,MesswertNick |
| 10900 5bf6 B090 0000 lds r11,(MesswertNick)+1 |
| 10901 5bfa 4091 0000 lds r20,MesswertRoll |
| 10902 5bfe 5091 0000 lds r21,(MesswertRoll)+1 |
| 10903 5c02 5EA3 std Y+38,r21 |
| 10904 5c04 4DA3 std Y+37,r20 |
| 10905 5c06 0C94 0000 jmp .L995 |
| 10906 .L1170: |
| 10907 5c0a 8093 0000 sts delay_neutral.8,r24 |
| 10908 5c0e 0C94 0000 jmp .L741 |
| 10909 .L1191: |
| 10910 5c12 7093 0000 sts (StickGasHoover.26)+1,r23 |
| 10911 5c16 6093 0000 sts StickGasHoover.26,r22 |
| 10912 5c1a 00C0 rjmp .L1073 |
| 10913 .L1283: |
| 10914 5c1c 67E0 ldi r22,lo8(7) |
| 10915 5c1e 70E0 ldi r23,hi8(7) |
| 10916 5c20 E60E add r14,r22 |
| 10917 5c22 F71E adc r15,r23 |
| 10918 5c24 0C94 0000 jmp .L966 |
| 10919 .L1190: |
| 10920 5c28 7093 0000 sts (FilterHCGas.25)+1,r23 |
| 10921 5c2c 6093 0000 sts FilterHCGas.25,r22 |
| 10922 5c30 5A83 std Y+2,r21 |
| 10923 5c32 4983 std Y+1,r20 |
| 10924 5c34 00C0 rjmp .L1068 |
| 10925 .L998: |
| 10926 5c36 81E0 ldi r24,lo8(1) |
| 10927 5c38 8093 0000 sts BaroAtLowerLimit.33,r24 |
| 10928 5c3c 00C0 rjmp .L1005 |
| 10929 .L1001: |
| 10930 5c3e 3B85 ldd r19,Y+11 |
| 10931 5c40 3093 0000 sts BaroAtUpperLimit.32,r19 |
| 10932 5c44 3093 0000 sts BaroAtLowerLimit.33,r19 |
| 10933 5c48 00C0 rjmp .L1005 |
| 10934 .L894: |
| 10935 5c4a 6092 0000 sts ausgleichNick.13,r6 |
| 10936 5c4e 7092 0000 sts (ausgleichNick.13)+1,r7 |
| 10937 5c52 8092 0000 sts (ausgleichNick.13)+2,r8 |
| 10938 5c56 9092 0000 sts (ausgleichNick.13)+3,r9 |
| 10939 5c5a 1092 0000 sts (cnt.17)+1,__zero_reg__ |
| 10940 5c5e 1092 0000 sts cnt.17,__zero_reg__ |
| 10941 5c62 88EE ldi r24,lo8(1000) |
| 10942 5c64 282E mov r2,r24 |
| 10943 5c66 83E0 ldi r24,hi8(1000) |
| 10944 5c68 382E mov r3,r24 |
| 10945 5c6a 3092 0000 sts (KompassSignalSchlecht)+1,r3 |
| 10946 5c6e 2092 0000 sts KompassSignalSchlecht,r2 |
| 10947 5c72 0C94 0000 jmp .L913 |
| 10948 .L919: |
| 10949 5c76 2093 0000 sts ausgleichRoll.14,r18 |
| 10950 5c7a 3093 0000 sts (ausgleichRoll.14)+1,r19 |
| 10951 5c7e 4093 0000 sts (ausgleichRoll.14)+2,r20 |
| 10952 5c82 5093 0000 sts (ausgleichRoll.14)+3,r21 |
| 10953 5c86 1092 0000 sts (cnt.17)+1,__zero_reg__ |
| 10954 5c8a 1092 0000 sts cnt.17,__zero_reg__ |
| 10955 5c8e E8EE ldi r30,lo8(1000) |
| 10956 5c90 2E2E mov r2,r30 |
| 10957 5c92 E3E0 ldi r30,hi8(1000) |
| 10958 5c94 3E2E mov r3,r30 |
| 10959 5c96 3092 0000 sts (KompassSignalSchlecht)+1,r3 |
| 10960 5c9a 2092 0000 sts KompassSignalSchlecht,r2 |
| 10961 5c9e 0C94 0000 jmp .L938 |
| 10962 .L761: |
| 10963 5ca2 4093 0000 sts delay_neutral.8,r20 |
| 10964 5ca6 0C94 0000 jmp .L741 |
| 10965 .L1054: |
| 10966 5caa 2F3F cpi r18,255 |
| 10967 5cac 3105 cpc r19,__zero_reg__ |
| 10968 5cae 01F0 breq .+2 |
| 10969 5cb0 04F4 brge .+2 |
| 10970 5cb2 00C0 rjmp .L1055 |
| 10971 5cb4 2FEF ldi r18,lo8(255) |
| 10972 5cb6 30E0 ldi r19,hi8(255) |
| 10973 5cb8 00C0 rjmp .L1055 |
| 10974 .L1063: |
| 10975 5cba D090 0000 lds r13,MAX_GAS |
| 10976 5cbe 2D2D mov r18,r13 |
| 10977 5cc0 3327 clr r19 |
| 10978 5cc2 220F lsl r18 |
| 10979 5cc4 331F rol r19 |
| 10980 5cc6 220F lsl r18 |
| 10981 5cc8 331F rol r19 |
| 10982 5cca 2055 subi r18,lo8(-(-80)) |
| 10983 5ccc 3040 sbci r19,hi8(-(-80)) |
| 10984 5cce 2417 cp r18,r20 |
| 10985 5cd0 3507 cpc r19,r21 |
| 10986 5cd2 04F0 brlt .+2 |
| 10987 5cd4 00C0 rjmp .L1064 |
| 10988 5cd6 A901 movw r20,r18 |
| 10989 5cd8 B901 movw r22,r18 |
| 10990 5cda 00C0 rjmp .L1064 |
| 10991 .L1049: |
| 10992 5cdc 6F3F cpi r22,255 |
| 10993 5cde 7105 cpc r23,__zero_reg__ |
| 10994 5ce0 01F0 breq .+2 |
| 10995 5ce2 04F4 brge .+2 |
| 10996 5ce4 00C0 rjmp .L1050 |
| 10997 5ce6 2FEF ldi r18,lo8(255) |
| 10998 5ce8 30E0 ldi r19,hi8(255) |
| 10999 5cea 00C0 rjmp .L1050 |
| 11000 .L1043: |
| 11001 5cec 1216 cp __zero_reg__,r18 |
| 11002 5cee 1306 cpc __zero_reg__,r19 |
| 11003 5cf0 04F4 brge .+2 |
| 11004 5cf2 00C0 rjmp .L1197 |
| 11005 5cf4 229F mul r18,r18 |
| 11006 5cf6 C001 movw r24,r0 |
| 11007 5cf8 239F mul r18,r19 |
| 11008 5cfa 900D add r25,r0 |
| 11009 5cfc 329F mul r19,r18 |
| 11010 5cfe 900D add r25,r0 |
| 11011 5d00 1124 clr r1 |
| 11012 5d02 97FD sbrc r25,7 |
| 11013 5d04 00C0 rjmp .L1315 |
| 11014 .L1047: |
| 11015 5d06 9595 asr r25 |
| 11016 5d08 8795 ror r24 |
| 11017 5d0a 9595 asr r25 |
| 11018 5d0c 8795 ror r24 |
| 11019 5d0e 2091 0000 lds r18,VarioMeter |
| 11020 5d12 3091 0000 lds r19,(VarioMeter)+1 |
| 11021 5d16 281B sub r18,r24 |
| 11022 5d18 390B sbc r19,r25 |
| 11023 5d1a 00C0 rjmp .L1046 |
| 11024 .L754: |
| 11025 5d1c 0E94 0000 call GetActiveParamSetNumber |
| 11026 5d20 45E6 ldi r20,lo8(101) |
| 11027 5d22 60E0 ldi r22,lo8(EE_Parameter) |
| 11028 5d24 70E0 ldi r23,hi8(EE_Parameter) |
| 11029 5d26 0E94 0000 call ReadParameterSet |
| 11030 5d2a 8091 0000 lds r24,EE_Parameter+8 |
| 11031 5d2e 80FF sbrs r24,0 |
| 11032 5d30 00C0 rjmp .L757 |
| 11033 5d32 8091 0000 lds r24,MessLuftdruck |
| 11034 5d36 9091 0000 lds r25,(MessLuftdruck)+1 |
| 11035 5d3a 875B subi r24,lo8(951) |
| 11036 5d3c 9340 sbci r25,hi8(951) |
| 11037 5d3e 00F4 brsh .L759 |
| 11038 5d40 8091 0000 lds r24,MessLuftdruck |
| 11039 5d44 9091 0000 lds r25,(MessLuftdruck)+1 |
| 11040 5d48 8E5E subi r24,lo8(750) |
| 11041 5d4a 9240 sbci r25,hi8(750) |
| 11042 5d4c 00F4 brsh .L757 |
| 11043 .L759: |
| 11044 5d4e 0E94 0000 call SucheLuftruckOffset |
| 11045 .L757: |
| 11046 5d52 1092 0000 sts ServoActive,__zero_reg__ |
| 11047 5d56 0E94 0000 call SetNeutral |
| 11048 5d5a 81E0 ldi r24,lo8(1) |
| 11049 5d5c 8093 0000 sts ServoActive,r24 |
| 11050 5d60 579A sbi 42-0x20,7 |
| 11051 5d62 00C0 rjmp .L1199 |
| 11052 .L1311: |
| 11053 5d64 4D5F subi r20,lo8(-(3)) |
| 11054 5d66 5F4F sbci r21,hi8(-(3)) |
| 11055 5d68 00C0 rjmp .L1070 |
| 11056 .L1013: |
| 11057 5d6a 8091 0000 lds r24,MikroKopterFlags |
| 11058 5d6e 81FF sbrs r24,1 |
| 11059 5d70 00C0 rjmp .L1016 |
| 11060 5d72 2091 0000 lds r18,StickGasHoover.26 |
| 11061 5d76 3091 0000 lds r19,(StickGasHoover.26)+1 |
| 11062 5d7a C901 movw r24,r18 |
| 11063 5d7c 0F96 adiw r24,15 |
| 11064 5d7e 4091 0000 lds r20,StickGas |
| 11065 5d82 5091 0000 lds r21,(StickGas)+1 |
| 11066 5d86 8417 cp r24,r20 |
| 11067 5d88 9507 cpc r25,r21 |
| 11068 5d8a 04F0 brlt .+2 |
| 11069 5d8c 00C0 rjmp .L1017 |
| 11070 5d8e 8091 0000 lds r24,BaroAtUpperLimit.32 |
| 11071 5d92 8823 tst r24 |
| 11072 5d94 01F0 breq .+2 |
| 11073 5d96 00C0 rjmp .L1017 |
| 11074 5d98 8091 0000 lds r24,HeightTrimmingFlag.34 |
| 11075 5d9c 81FF sbrs r24,1 |
| 11076 5d9e 00C0 rjmp .L1158 |
| 11077 5da0 8D7F andi r24,lo8(-3) |
| 11078 5da2 6090 0000 lds r6,HoehenWert |
| 11079 5da6 7090 0000 lds r7,(HoehenWert)+1 |
| 11080 5daa 8090 0000 lds r8,(HoehenWert)+2 |
| 11081 5dae 9090 0000 lds r9,(HoehenWert)+3 |
| 11082 5db2 6092 0000 sts SollHoehe,r6 |
| 11083 5db6 7092 0000 sts (SollHoehe)+1,r7 |
| 11084 5dba 8092 0000 sts (SollHoehe)+2,r8 |
| 11085 5dbe 9092 0000 sts (SollHoehe)+3,r9 |
| 11086 .L1018: |
| 11087 5dc2 8160 ori r24,lo8(1) |
| 11088 5dc4 8093 0000 sts HeightTrimmingFlag.34,r24 |
| 11089 5dc8 421B sub r20,r18 |
| 11090 5dca 530B sbc r21,r19 |
| 11091 5dcc 9A01 movw r18,r20 |
| 11092 5dce 2F50 subi r18,lo8(-(-15)) |
| 11093 5dd0 3040 sbci r19,hi8(-(-15)) |
| 11094 5dd2 37FD sbrc r19,7 |
| 11095 5dd4 00C0 rjmp .L1316 |
| 11096 .L1019: |
| 11097 5dd6 8091 0000 lds r24,HeightTrimming.24 |
| 11098 5dda 9091 0000 lds r25,(HeightTrimming.24)+1 |
| 11099 5dde 280F add r18,r24 |
| 11100 5de0 391F adc r19,r25 |
| 11101 5de2 3093 0000 sts (HeightTrimming.24)+1,r19 |
| 11102 5de6 2093 0000 sts HeightTrimming.24,r18 |
| 11103 .L1020: |
| 11104 5dea 2091 0000 lds r18,HeightTrimming.24 |
| 11105 5dee 3091 0000 lds r19,(HeightTrimming.24)+1 |
| 11106 5df2 C901 movw r24,r18 |
| 11107 5df4 37FD sbrc r19,7 |
| 11108 5df6 00C0 rjmp .L1317 |
| 11109 .L1028: |
| 11110 5df8 8150 subi r24,lo8(513) |
| 11111 5dfa 9240 sbci r25,hi8(513) |
| 11112 5dfc 04F4 brge .+2 |
| 11113 5dfe 00C0 rjmp .L1162 |
| 11114 5e00 8091 0000 lds r24,EE_Parameter+13 |
| 11115 5e04 9927 clr r25 |
| 11116 5e06 829F mul r24,r18 |
| 11117 5e08 F001 movw r30,r0 |
| 11118 5e0a 839F mul r24,r19 |
| 11119 5e0c F00D add r31,r0 |
| 11120 5e0e 929F mul r25,r18 |
| 11121 5e10 F00D add r31,r0 |
| 11122 5e12 1124 clr r1 |
| 11123 5e14 CF01 movw r24,r30 |
| 11124 5e16 60E0 ldi r22,lo8(1280) |
| 11125 5e18 75E0 ldi r23,hi8(1280) |
| 11126 5e1a 0E94 0000 call __divmodhi4 |
| 11127 5e1e CB01 movw r24,r22 |
| 11128 5e20 AA27 clr r26 |
| 11129 5e22 97FD sbrc r25,7 |
| 11130 5e24 A095 com r26 |
| 11131 5e26 BA2F mov r27,r26 |
| 11132 5e28 2091 0000 lds r18,SollHoehe |
| 11133 5e2c 3091 0000 lds r19,(SollHoehe)+1 |
| 11134 5e30 4091 0000 lds r20,(SollHoehe)+2 |
| 11135 5e34 5091 0000 lds r21,(SollHoehe)+3 |
| 11136 5e38 820F add r24,r18 |
| 11137 5e3a 931F adc r25,r19 |
| 11138 5e3c A41F adc r26,r20 |
| 11139 5e3e B51F adc r27,r21 |
| 11140 5e40 8093 0000 sts SollHoehe,r24 |
| 11141 5e44 9093 0000 sts (SollHoehe)+1,r25 |
| 11142 5e48 A093 0000 sts (SollHoehe)+2,r26 |
| 11143 5e4c B093 0000 sts (SollHoehe)+3,r27 |
| 11144 5e50 1092 0000 sts (HeightTrimming.24)+1,__zero_reg__ |
| 11145 5e54 1092 0000 sts HeightTrimming.24,__zero_reg__ |
| 11146 5e58 C1FE sbrs r12,1 |
| 11147 5e5a 00C0 rjmp .L1029 |
| 11148 5e5c 8BE4 ldi r24,lo8(75) |
| 11149 5e5e 90E0 ldi r25,hi8(75) |
| 11150 5e60 9093 0000 sts (beeptime)+1,r25 |
| 11151 5e64 8093 0000 sts beeptime,r24 |
| 11152 .L1029: |
| 11153 5e68 8091 0000 lds r24,EE_Parameter+17 |
| 11154 5e6c 8823 tst r24 |
| 11155 5e6e 01F0 breq .+2 |
| 11156 5e70 00C0 rjmp .L1162 |
| 11157 5e72 0091 0000 lds r16,HooverGas.27 |
| 11158 5e76 1091 0000 lds r17,(HooverGas.27)+1 |
| 11159 5e7a A801 movw r20,r16 |
| 11160 5e7c 17FD sbrc r17,7 |
| 11161 5e7e 00C0 rjmp .L1318 |
| 11162 .L1031: |
| 11163 5e80 5595 asr r21 |
| 11164 5e82 4795 ror r20 |
| 11165 5e84 5595 asr r21 |
| 11166 5e86 4795 ror r20 |
| 11167 5e88 8091 0000 lds r24,UBat |
| 11168 5e8c 9091 0000 lds r25,(UBat)+1 |
| 11169 5e90 2091 0000 lds r18,BattLowVoltageWarning |
| 11170 5e94 3327 clr r19 |
| 11171 5e96 489F mul r20,r24 |
| 11172 5e98 7001 movw r14,r0 |
| 11173 5e9a 499F mul r20,r25 |
| 11174 5e9c F00C add r15,r0 |
| 11175 5e9e 589F mul r21,r24 |
| 11176 5ea0 F00C add r15,r0 |
| 11177 5ea2 1124 clr r1 |
| 11178 5ea4 C701 movw r24,r14 |
| 11179 5ea6 B901 movw r22,r18 |
| 11180 5ea8 0E94 0000 call __divmodhi4 |
| 11181 5eac 6634 cpi r22,70 |
| 11182 5eae 7105 cpc r23,__zero_reg__ |
| 11183 5eb0 04F0 brlt .+2 |
| 11184 5eb2 00C0 rjmp .L1032 |
| 11185 5eb4 26E4 ldi r18,lo8(70) |
| 11186 5eb6 30E0 ldi r19,hi8(70) |
| 11187 .L1204: |
| 11188 5eb8 3093 0000 sts (StickGasHoover.26)+1,r19 |
| 11189 5ebc 2093 0000 sts StickGasHoover.26,r18 |
| 11190 .L1027: |
| 11191 5ec0 8091 0000 lds r24,BaroExpandActive |
| 11192 5ec4 9091 0000 lds r25,(BaroExpandActive)+1 |
| 11193 5ec8 892B or r24,r25 |
| 11194 5eca 01F4 brne .+2 |
| 11195 5ecc 00C0 rjmp .L1163 |
| 11196 5ece D401 movw r26,r8 |
| 11197 5ed0 C301 movw r24,r6 |
| 11198 5ed2 6092 0000 sts SollHoehe,r6 |
| 11199 5ed6 7092 0000 sts (SollHoehe)+1,r7 |
| 11200 5eda 8092 0000 sts (SollHoehe)+2,r8 |
| 11201 5ede 9092 0000 sts (SollHoehe)+3,r9 |
| 11202 5ee2 00C0 rjmp .L1015 |
| 11203 .L929: |
| 11204 5ee4 1092 0000 sts last_r_n.21,__zero_reg__ |
| 11205 5ee8 0C94 0000 jmp .L938 |
| 11206 .L1002: |
| 11207 5eec 81E0 ldi r24,lo8(1) |
| 11208 5eee 8093 0000 sts BaroAtUpperLimit.32,r24 |
| 11209 5ef2 00C0 rjmp .L1005 |
| 11210 .L1080: |
| 11211 5ef4 AFE0 ldi r26,hi8(4000) |
| 11212 5ef6 803A cpi r24,lo8(4000) |
| 11213 5ef8 9A07 cpc r25,r26 |
| 11214 5efa 00F0 brlo .+2 |
| 11215 5efc 00C0 rjmp .L1082 |
| 11216 5efe D801 movw r26,r16 |
| 11217 5f00 C701 movw r24,r14 |
| 11218 5f02 FAE0 ldi r31,10 |
| 11219 5f04 B695 1: lsr r27 |
| 11220 5f06 A795 ror r26 |
| 11221 5f08 9795 ror r25 |
| 11222 5f0a 8795 ror r24 |
| 11223 5f0c FA95 dec r31 |
| 11224 5f0e 01F4 brne 1b |
| 11225 5f10 E81A sub r14,r24 |
| 11226 5f12 F90A sbc r15,r25 |
| 11227 5f14 0A0B sbc r16,r26 |
| 11228 5f16 1B0B sbc r17,r27 |
| 11229 5f18 DA01 movw r26,r20 |
| 11230 5f1a C901 movw r24,r18 |
| 11231 5f1c 880F lsl r24 |
| 11232 5f1e 991F rol r25 |
| 11233 5f20 AA1F rol r26 |
| 11234 5f22 BB1F rol r27 |
| 11235 5f24 880F lsl r24 |
| 11236 5f26 991F rol r25 |
| 11237 5f28 AA1F rol r26 |
| 11238 5f2a BB1F rol r27 |
| 11239 5f2c 00C0 rjmp .L1210 |
| 11240 .L1148: |
| 11241 5f2e 1091 0000 lds r17,EE_Parameter+1 |
| 11242 5f32 0C94 0000 jmp .L747 |
| 11243 .L744: |
| 11244 5f36 299A sbi 37-0x20,1 |
| 11245 5f38 0C94 0000 jmp .L745 |
| 11246 .L920: |
| 11247 5f3c 2093 0000 sts ausgleichRoll.14,r18 |
| 11248 5f40 3093 0000 sts (ausgleichRoll.14)+1,r19 |
| 11249 5f44 4093 0000 sts (ausgleichRoll.14)+2,r20 |
| 11250 5f48 5093 0000 sts (ausgleichRoll.14)+3,r21 |
| 11251 5f4c 1092 0000 sts last_r_p.20,__zero_reg__ |
| 11252 5f50 0C94 0000 jmp .L928 |
| 11253 .L904: |
| 11254 5f54 2092 0000 sts ausgleichNick.13,r2 |
| 11255 5f58 3092 0000 sts (ausgleichNick.13)+1,r3 |
| 11256 5f5c 4092 0000 sts (ausgleichNick.13)+2,r4 |
| 11257 5f60 5092 0000 sts (ausgleichNick.13)+3,r5 |
| 11258 5f64 1092 0000 sts last_n_n.19,__zero_reg__ |
| 11259 5f68 0C94 0000 jmp .L913 |
| 11260 .L895: |
| 11261 5f6c 1092 0000 sts last_n_p.18,__zero_reg__ |
| 11262 5f70 0C94 0000 jmp .L903 |
| 11263 .L1252: |
| 11264 5f74 B095 com r27 |
| 11265 5f76 A095 com r26 |
| 11266 5f78 9095 com r25 |
| 11267 5f7a 8195 neg r24 |
| 11268 5f7c 9F4F sbci r25,lo8(-1) |
| 11269 5f7e AF4F sbci r26,lo8(-1) |
| 11270 5f80 BF4F sbci r27,lo8(-1) |
| 11271 5f82 0C94 0000 jmp .L918 |
| 11272 .L1309: |
| 11273 5f86 9095 com r25 |
| 11274 5f88 8195 neg r24 |
| 11275 5f8a 9F4F sbci r25,lo8(-1) |
| 11276 5f8c 00C0 rjmp .L1078 |
| 11277 .L1238: |
| 11278 5f8e 8150 subi r24,lo8(-(255)) |
| 11279 5f90 9F4F sbci r25,hi8(-(255)) |
| 11280 5f92 AF4F sbci r26,hlo8(-(255)) |
| 11281 5f94 BF4F sbci r27,hhi8(-(255)) |
| 11282 5f96 0C94 0000 jmp .L880 |
| 11283 .L1237: |
| 11284 5f9a 6150 subi r22,lo8(-(255)) |
| 11285 5f9c 7F4F sbci r23,hi8(-(255)) |
| 11286 5f9e 8F4F sbci r24,hlo8(-(255)) |
| 11287 5fa0 9F4F sbci r25,hhi8(-(255)) |
| 11288 5fa2 0C94 0000 jmp .L878 |
| 11289 .L1236: |
| 11290 5fa6 6150 subi r22,lo8(-(255)) |
| 11291 5fa8 7F4F sbci r23,hi8(-(255)) |
| 11292 5faa 8F4F sbci r24,hlo8(-(255)) |
| 11293 5fac 9F4F sbci r25,hhi8(-(255)) |
| 11294 5fae 0C94 0000 jmp .L877 |
| 11295 .L1235: |
| 11296 5fb2 8150 subi r24,lo8(-(255)) |
| 11297 5fb4 9F4F sbci r25,hi8(-(255)) |
| 11298 5fb6 AF4F sbci r26,hlo8(-(255)) |
| 11299 5fb8 BF4F sbci r27,hhi8(-(255)) |
| 11300 5fba 0C94 0000 jmp .L876 |
| 11301 .L1243: |
| 11302 5fbe B095 com r27 |
| 11303 5fc0 A095 com r26 |
| 11304 5fc2 9095 com r25 |
| 11305 5fc4 8195 neg r24 |
| 11306 5fc6 9F4F sbci r25,lo8(-1) |
| 11307 5fc8 AF4F sbci r26,lo8(-1) |
| 11308 5fca BF4F sbci r27,lo8(-1) |
| 11309 5fcc 0C94 0000 jmp .L893 |
| 11310 .L1239: |
| 11311 5fd0 8150 subi r24,lo8(-(255)) |
| 11312 5fd2 9F4F sbci r25,hi8(-(255)) |
| 11313 5fd4 AF4F sbci r26,hlo8(-(255)) |
| 11314 5fd6 BF4F sbci r27,hhi8(-(255)) |
| 11315 5fd8 0C94 0000 jmp .L881 |
| 11316 .L1234: |
| 11317 5fdc 8150 subi r24,lo8(-(255)) |
| 11318 5fde 9F4F sbci r25,hi8(-(255)) |
| 11319 5fe0 AF4F sbci r26,hlo8(-(255)) |
| 11320 5fe2 BF4F sbci r27,hhi8(-(255)) |
| 11321 5fe4 0C94 0000 jmp .L875 |
| 11322 .L1242: |
| 11323 5fe8 0196 adiw r24,1 |
| 11324 5fea 0C94 0000 jmp .L886 |
| 11325 .L1241: |
| 11326 5fee 0196 adiw r24,1 |
| 11327 5ff0 0C94 0000 jmp .L885 |
| 11328 .L1307: |
| 11329 5ff4 2D5F subi r18,lo8(-(3)) |
| 11330 5ff6 3F4F sbci r19,hi8(-(3)) |
| 11331 5ff8 00C0 rjmp .L1062 |
| 11332 .L1306: |
| 11333 5ffa 615E subi r22,lo8(-(31)) |
| 11334 5ffc 7F4F sbci r23,hi8(-(31)) |
| 11335 5ffe 8F4F sbci r24,hlo8(-(31)) |
| 11336 6000 9F4F sbci r25,hhi8(-(31)) |
| 11337 6002 00C0 rjmp .L1053 |
| 11338 .L1305: |
| 11339 6004 6FE7 ldi r22,lo8(127) |
| 11340 6006 70E0 ldi r23,hi8(127) |
| 11341 6008 80E0 ldi r24,hlo8(127) |
| 11342 600a 90E0 ldi r25,hhi8(127) |
| 11343 600c 660E add r6,r22 |
| 11344 600e 771E adc r7,r23 |
| 11345 6010 881E adc r8,r24 |
| 11346 6012 991E adc r9,r25 |
| 11347 6014 00C0 rjmp .L1052 |
| 11348 .L1304: |
| 11349 6016 6158 subi r22,lo8(-(127)) |
| 11350 6018 7F4F sbci r23,hi8(-(127)) |
| 11351 601a 8F4F sbci r24,hlo8(-(127)) |
| 11352 601c 9F4F sbci r25,hhi8(-(127)) |
| 11353 601e 00C0 rjmp .L1048 |
| 11354 .L1302: |
| 11355 6020 295F subi r18,lo8(-(7)) |
| 11356 6022 3F4F sbci r19,hi8(-(7)) |
| 11357 6024 00C0 rjmp .L1042 |
| 11358 .L1301: |
| 11359 6026 0F96 adiw r24,15 |
| 11360 6028 00C0 rjmp .L1041 |
| 11361 .L1303: |
| 11362 602a 2D5F subi r18,lo8(-(3)) |
| 11363 602c 3F4F sbci r19,hi8(-(3)) |
| 11364 602e 00C0 rjmp .L1045 |
| 11365 .L1016: |
| 11366 6030 6090 0000 lds r6,HoehenWert |
| 11367 6034 7090 0000 lds r7,(HoehenWert)+1 |
| 11368 6038 8090 0000 lds r8,(HoehenWert)+2 |
| 11369 603c 9090 0000 lds r9,(HoehenWert)+3 |
| 11370 6040 D401 movw r26,r8 |
| 11371 6042 C301 movw r24,r6 |
| 11372 6044 8059 subi r24,lo8(-(-400)) |
| 11373 6046 9140 sbci r25,hi8(-(-400)) |
| 11374 6048 A040 sbci r26,hlo8(-(-400)) |
| 11375 604a B040 sbci r27,hhi8(-(-400)) |
| 11376 604c 8093 0000 sts SollHoehe,r24 |
| 11377 6050 9093 0000 sts (SollHoehe)+1,r25 |
| 11378 6054 A093 0000 sts (SollHoehe)+2,r26 |
| 11379 6058 B093 0000 sts (SollHoehe)+3,r27 |
| 11380 605c 2091 0000 lds r18,EE_Parameter+17 |
| 11381 6060 2223 tst r18 |
| 11382 6062 01F4 brne .+2 |
| 11383 6064 00C0 rjmp .L1037 |
| 11384 6066 3327 clr r19 |
| 11385 .L1205: |
| 11386 6068 3093 0000 sts (StickGasHoover.26)+1,r19 |
| 11387 606c 2093 0000 sts StickGasHoover.26,r18 |
| 11388 6070 0091 0000 lds r16,HooverGas.27 |
| 11389 6074 1091 0000 lds r17,(HooverGas.27)+1 |
| 11390 6078 00C0 rjmp .L1015 |
| 11391 .L763: |
| 11392 607a 299A sbi 37-0x20,1 |
| 11393 607c 00C0 rjmp .L765 |
| 11394 .L930: |
| 11395 607e 81E0 ldi r24,lo8(1) |
| 11396 6080 8093 0000 sts last_r_n.21,r24 |
| 11397 6084 0C94 0000 jmp .L938 |
| 11398 .L921: |
| 11399 6088 2093 0000 sts ausgleichRoll.14,r18 |
| 11400 608c 3093 0000 sts (ausgleichRoll.14)+1,r19 |
| 11401 6090 4093 0000 sts (ausgleichRoll.14)+2,r20 |
| 11402 6094 5093 0000 sts (ausgleichRoll.14)+3,r21 |
| 11403 6098 81E0 ldi r24,lo8(1) |
| 11404 609a 8093 0000 sts last_r_p.20,r24 |
| 11405 609e 0C94 0000 jmp .L928 |
| 11406 .L1082: |
| 11407 60a2 8054 subi r24,lo8(8000) |
| 11408 60a4 9F41 sbci r25,hi8(8000) |
| 11409 60a6 00F0 brlo .+2 |
| 11410 60a8 00C0 rjmp .L1084 |
| 11411 60aa D801 movw r26,r16 |
| 11412 60ac C701 movw r24,r14 |
| 11413 60ae 7BE0 ldi r23,11 |
| 11414 60b0 B695 1: lsr r27 |
| 11415 60b2 A795 ror r26 |
| 11416 60b4 9795 ror r25 |
| 11417 60b6 8795 ror r24 |
| 11418 60b8 7A95 dec r23 |
| 11419 60ba 01F4 brne 1b |
| 11420 60bc E81A sub r14,r24 |
| 11421 60be F90A sbc r15,r25 |
| 11422 60c0 0A0B sbc r16,r26 |
| 11423 60c2 1B0B sbc r17,r27 |
| 11424 60c4 DA01 movw r26,r20 |
| 11425 60c6 C901 movw r24,r18 |
| 11426 60c8 820F add r24,r18 |
| 11427 60ca 931F adc r25,r19 |
| 11428 60cc A41F adc r26,r20 |
| 11429 60ce B51F adc r27,r21 |
| 11430 60d0 00C0 rjmp .L1210 |
| 11431 .L905: |
| 11432 60d2 2092 0000 sts ausgleichNick.13,r2 |
| 11433 60d6 3092 0000 sts (ausgleichNick.13)+1,r3 |
| 11434 60da 4092 0000 sts (ausgleichNick.13)+2,r4 |
| 11435 60de 5092 0000 sts (ausgleichNick.13)+3,r5 |
| 11436 60e2 81E0 ldi r24,lo8(1) |
| 11437 60e4 8093 0000 sts last_n_n.19,r24 |
| 11438 60e8 0C94 0000 jmp .L913 |
| 11439 .L896: |
| 11440 60ec 81E0 ldi r24,lo8(1) |
| 11441 60ee 8093 0000 sts last_n_p.18,r24 |
| 11442 60f2 0C94 0000 jmp .L903 |
| 11443 .L1310: |
| 11444 60f6 6150 subi r22,lo8(-(8191)) |
| 11445 60f8 704E sbci r23,hi8(-(8191)) |
| 11446 60fa 8F4F sbci r24,hlo8(-(8191)) |
| 11447 60fc 9F4F sbci r25,hhi8(-(8191)) |
| 11448 60fe 00C0 rjmp .L1079 |
| 11449 .L1231: |
| 11450 6100 F095 com r31 |
| 11451 6102 E195 neg r30 |
| 11452 6104 FF4F sbci r31,lo8(-1) |
| 11453 6106 0C94 0000 jmp .L755 |
| 11454 .L1162: |
| 11455 610a 0091 0000 lds r16,HooverGas.27 |
| 11456 610e 1091 0000 lds r17,(HooverGas.27)+1 |
| 11457 6112 00C0 rjmp .L1027 |
| 11458 .L1017: |
| 11459 6114 C901 movw r24,r18 |
| 11460 6116 0F97 sbiw r24,15 |
| 11461 6118 4817 cp r20,r24 |
| 11462 611a 5907 cpc r21,r25 |
| 11463 611c 04F4 brge .L1021 |
| 11464 611e 8091 0000 lds r24,BaroAtLowerLimit.33 |
| 11465 6122 8823 tst r24 |
| 11466 6124 01F4 brne .L1021 |
| 11467 6126 8091 0000 lds r24,HeightTrimmingFlag.34 |
| 11468 612a 80FF sbrs r24,0 |
| 11469 612c 00C0 rjmp .L1159 |
| 11470 612e 8E7F andi r24,lo8(-2) |
| 11471 6130 6090 0000 lds r6,HoehenWert |
| 11472 6134 7090 0000 lds r7,(HoehenWert)+1 |
| 11473 6138 8090 0000 lds r8,(HoehenWert)+2 |
| 11474 613c 9090 0000 lds r9,(HoehenWert)+3 |
| 11475 6140 6092 0000 sts SollHoehe,r6 |
| 11476 6144 7092 0000 sts (SollHoehe)+1,r7 |
| 11477 6148 8092 0000 sts (SollHoehe)+2,r8 |
| 11478 614c 9092 0000 sts (SollHoehe)+3,r9 |
| 11479 .L1022: |
| 11480 6150 8260 ori r24,lo8(2) |
| 11481 6152 8093 0000 sts HeightTrimmingFlag.34,r24 |
| 11482 6156 421B sub r20,r18 |
| 11483 6158 530B sbc r21,r19 |
| 11484 615a 9A01 movw r18,r20 |
| 11485 615c 215F subi r18,lo8(-(15)) |
| 11486 615e 3F4F sbci r19,hi8(-(15)) |
| 11487 6160 37FD sbrc r19,7 |
| 11488 6162 00C0 rjmp .L1319 |
| 11489 .L1023: |
| 11490 6164 8091 0000 lds r24,HeightTrimming.24 |
| 11491 6168 9091 0000 lds r25,(HeightTrimming.24)+1 |
| 11492 616c 821B sub r24,r18 |
| 11493 616e 930B sbc r25,r19 |
| 11494 6170 9093 0000 sts (HeightTrimming.24)+1,r25 |
| 11495 6174 8093 0000 sts HeightTrimming.24,r24 |
| 11496 6178 00C0 rjmp .L1020 |
| 11497 .L1021: |
| 11498 617a 2091 0000 lds r18,HeightTrimmingFlag.34 |
| 11499 617e 822F mov r24,r18 |
| 11500 6180 9927 clr r25 |
| 11501 6182 8370 andi r24,lo8(3) |
| 11502 6184 9070 andi r25,hi8(3) |
| 11503 6186 892B or r24,r25 |
| 11504 6188 01F4 brne .+2 |
| 11505 618a 00C0 rjmp .L1160 |
| 11506 618c 2C7F andi r18,lo8(-4) |
| 11507 618e 2093 0000 sts HeightTrimmingFlag.34,r18 |
| 11508 6192 1092 0000 sts (HeightTrimming.24)+1,__zero_reg__ |
| 11509 6196 1092 0000 sts HeightTrimming.24,__zero_reg__ |
| 11510 619a 6090 0000 lds r6,HoehenWert |
| 11511 619e 7090 0000 lds r7,(HoehenWert)+1 |
| 11512 61a2 8090 0000 lds r8,(HoehenWert)+2 |
| 11513 61a6 9090 0000 lds r9,(HoehenWert)+3 |
| 11514 61aa 6092 0000 sts SollHoehe,r6 |
| 11515 61ae 7092 0000 sts (SollHoehe)+1,r7 |
| 11516 61b2 8092 0000 sts (SollHoehe)+2,r8 |
| 11517 61b6 9092 0000 sts (SollHoehe)+3,r9 |
| 11518 61ba C1FE sbrs r12,1 |
| 11519 61bc 00C0 rjmp .L1020 |
| 11520 61be 84EF ldi r24,lo8(500) |
| 11521 61c0 91E0 ldi r25,hi8(500) |
| 11522 61c2 9093 0000 sts (beeptime)+1,r25 |
| 11523 61c6 8093 0000 sts beeptime,r24 |
| 11524 61ca 00C0 rjmp .L1020 |
| 11525 .L1037: |
| 11526 61cc 28E7 ldi r18,lo8(120) |
| 11527 61ce 30E0 ldi r19,hi8(120) |
| 11528 61d0 00C0 rjmp .L1205 |
| 11529 .L1181: |
| 11530 61d2 2093 0000 sts ausgleichRoll.14,r18 |
| 11531 61d6 3093 0000 sts (ausgleichRoll.14)+1,r19 |
| 11532 61da 4093 0000 sts (ausgleichRoll.14)+2,r20 |
| 11533 61de 5093 0000 sts (ausgleichRoll.14)+3,r21 |
| 11534 61e2 0C94 0000 jmp .L934 |
| 11535 .L1180: |
| 11536 61e6 2093 0000 sts ausgleichRoll.14,r18 |
| 11537 61ea 3093 0000 sts (ausgleichRoll.14)+1,r19 |
| 11538 61ee 4093 0000 sts (ausgleichRoll.14)+2,r20 |
| 11539 61f2 5093 0000 sts (ausgleichRoll.14)+3,r21 |
| 11540 61f6 0C94 0000 jmp .L925 |
| 11541 .L1084: |
| 11542 61fa D801 movw r26,r16 |
| 11543 61fc C701 movw r24,r14 |
| 11544 61fe 6CE0 ldi r22,12 |
| 11545 6200 B695 1: lsr r27 |
| 11546 6202 A795 ror r26 |
| 11547 6204 9795 ror r25 |
| 11548 6206 8795 ror r24 |
| 11549 6208 6A95 dec r22 |
| 11550 620a 01F4 brne 1b |
| 11551 620c E81A sub r14,r24 |
| 11552 620e F90A sbc r15,r25 |
| 11553 6210 0A0B sbc r16,r26 |
| 11554 6212 1B0B sbc r17,r27 |
| 11555 6214 E20E add r14,r18 |
| 11556 6216 F31E adc r15,r19 |
| 11557 6218 041F adc r16,r20 |
| 11558 621a 151F adc r17,r21 |
| 11559 621c 00C0 rjmp .L1207 |
| 11560 .L1314: |
| 11561 621e 2150 subi r18,lo8(-(255)) |
| 11562 6220 3F4F sbci r19,hi8(-(255)) |
| 11563 6222 00C0 rjmp .L789 |
| 11564 .L1313: |
| 11565 6224 8150 subi r24,lo8(-(255)) |
| 11566 6226 9F4F sbci r25,hi8(-(255)) |
| 11567 6228 00C0 rjmp .L779 |
| 11568 .L1230: |
| 11569 622a F095 com r31 |
| 11570 622c E195 neg r30 |
| 11571 622e FF4F sbci r31,lo8(-1) |
| 11572 6230 0C94 0000 jmp .L748 |
| 11573 .L1240: |
| 11574 6234 F095 com r31 |
| 11575 6236 E195 neg r30 |
| 11576 6238 FF4F sbci r31,lo8(-1) |
| 11577 623a 0C94 0000 jmp .L884 |
| 11578 .L1312: |
| 11579 623e 8150 subi r24,lo8(-(255)) |
| 11580 6240 9F4F sbci r25,hi8(-(255)) |
| 11581 6242 00C0 rjmp .L769 |
| 11582 .L1160: |
| 11583 6244 6090 0000 lds r6,HoehenWert |
| 11584 6248 7090 0000 lds r7,(HoehenWert)+1 |
| 11585 624c 8090 0000 lds r8,(HoehenWert)+2 |
| 11586 6250 9090 0000 lds r9,(HoehenWert)+3 |
| 11587 6254 00C0 rjmp .L1020 |
| 11588 .L1254: |
| 11589 6256 8150 subi r24,lo8(-(511)) |
| 11590 6258 9E4F sbci r25,hi8(-(511)) |
| 11591 625a AF4F sbci r26,hlo8(-(511)) |
| 11592 625c BF4F sbci r27,hhi8(-(511)) |
| 11593 625e 0C94 0000 jmp .L923 |
| 11594 .L1253: |
| 11595 6262 B095 com r27 |
| 11596 6264 A095 com r26 |
| 11597 6266 9095 com r25 |
| 11598 6268 8195 neg r24 |
| 11599 626a 9F4F sbci r25,lo8(-1) |
| 11600 626c AF4F sbci r26,lo8(-1) |
| 11601 626e BF4F sbci r27,lo8(-1) |
| 11602 6270 0C94 0000 jmp .L922 |
| 11603 .L1245: |
| 11604 6274 8150 subi r24,lo8(-(511)) |
| 11605 6276 9E4F sbci r25,hi8(-(511)) |
| 11606 6278 AF4F sbci r26,hlo8(-(511)) |
| 11607 627a BF4F sbci r27,hhi8(-(511)) |
| 11608 627c 0C94 0000 jmp .L898 |
| 11609 .L1244: |
| 11610 6280 B095 com r27 |
| 11611 6282 A095 com r26 |
| 11612 6284 9095 com r25 |
| 11613 6286 8195 neg r24 |
| 11614 6288 9F4F sbci r25,lo8(-1) |
| 11615 628a AF4F sbci r26,lo8(-1) |
| 11616 628c BF4F sbci r27,lo8(-1) |
| 11617 628e 0C94 0000 jmp .L897 |
| 11618 .L1257: |
| 11619 6292 B095 com r27 |
| 11620 6294 A095 com r26 |
| 11621 6296 9095 com r25 |
| 11622 6298 8195 neg r24 |
| 11623 629a 9F4F sbci r25,lo8(-1) |
| 11624 629c AF4F sbci r26,lo8(-1) |
| 11625 629e BF4F sbci r27,lo8(-1) |
| 11626 62a0 0C94 0000 jmp .L931 |
| 11627 .L1260: |
| 11628 62a4 8150 subi r24,lo8(-(255)) |
| 11629 62a6 9F4F sbci r25,hi8(-(255)) |
| 11630 62a8 AF4F sbci r26,hlo8(-(255)) |
| 11631 62aa BF4F sbci r27,hhi8(-(255)) |
| 11632 62ac 0C94 0000 jmp .L935 |
| 11633 .L1259: |
| 11634 62b0 295F subi r18,lo8(-(7)) |
| 11635 62b2 3F4F sbci r19,hi8(-(7)) |
| 11636 62b4 4F4F sbci r20,hlo8(-(7)) |
| 11637 62b6 5F4F sbci r21,hhi8(-(7)) |
| 11638 62b8 0C94 0000 jmp .L933 |
| 11639 .L1258: |
| 11640 62bc 2150 subi r18,lo8(-(511)) |
| 11641 62be 3E4F sbci r19,hi8(-(511)) |
| 11642 62c0 4F4F sbci r20,hlo8(-(511)) |
| 11643 62c2 5F4F sbci r21,hhi8(-(511)) |
| 11644 62c4 0C94 0000 jmp .L932 |
| 11645 .L1255: |
| 11646 62c8 295F subi r18,lo8(-(7)) |
| 11647 62ca 3F4F sbci r19,hi8(-(7)) |
| 11648 62cc 4F4F sbci r20,hlo8(-(7)) |
| 11649 62ce 5F4F sbci r21,hhi8(-(7)) |
| 11650 62d0 0C94 0000 jmp .L924 |
| 11651 .L1256: |
| 11652 62d4 8150 subi r24,lo8(-(255)) |
| 11653 62d6 9F4F sbci r25,hi8(-(255)) |
| 11654 62d8 AF4F sbci r26,hlo8(-(255)) |
| 11655 62da BF4F sbci r27,hhi8(-(255)) |
| 11656 62dc 0C94 0000 jmp .L926 |
| 11657 .L1247: |
| 11658 62e0 8150 subi r24,lo8(-(255)) |
| 11659 62e2 9F4F sbci r25,hi8(-(255)) |
| 11660 62e4 AF4F sbci r26,hlo8(-(255)) |
| 11661 62e6 BF4F sbci r27,hhi8(-(255)) |
| 11662 62e8 0C94 0000 jmp .L901 |
| 11663 .L1246: |
| 11664 62ec 295F subi r18,lo8(-(7)) |
| 11665 62ee 3F4F sbci r19,hi8(-(7)) |
| 11666 62f0 4F4F sbci r20,hlo8(-(7)) |
| 11667 62f2 5F4F sbci r21,hhi8(-(7)) |
| 11668 62f4 0C94 0000 jmp .L899 |
| 11669 .L1317: |
| 11670 62f8 8827 clr r24 |
| 11671 62fa 9927 clr r25 |
| 11672 62fc 821B sub r24,r18 |
| 11673 62fe 930B sbc r25,r19 |
| 11674 6300 00C0 rjmp .L1028 |
| 11675 .L1251: |
| 11676 6302 8150 subi r24,lo8(-(255)) |
| 11677 6304 9F4F sbci r25,hi8(-(255)) |
| 11678 6306 AF4F sbci r26,hlo8(-(255)) |
| 11679 6308 BF4F sbci r27,hhi8(-(255)) |
| 11680 630a 0C94 0000 jmp .L910 |
| 11681 .L1250: |
| 11682 630e 295F subi r18,lo8(-(7)) |
| 11683 6310 3F4F sbci r19,hi8(-(7)) |
| 11684 6312 4F4F sbci r20,hlo8(-(7)) |
| 11685 6314 5F4F sbci r21,hhi8(-(7)) |
| 11686 6316 0C94 0000 jmp .L908 |
| 11687 .L1249: |
| 11688 631a 2150 subi r18,lo8(-(511)) |
| 11689 631c 3E4F sbci r19,hi8(-(511)) |
| 11690 631e 4F4F sbci r20,hlo8(-(511)) |
| 11691 6320 5F4F sbci r21,hhi8(-(511)) |
| 11692 6322 0C94 0000 jmp .L907 |
| 11693 .L1248: |
| 11694 6326 B095 com r27 |
| 11695 6328 A095 com r26 |
| 11696 632a 9095 com r25 |
| 11697 632c 8195 neg r24 |
| 11698 632e 9F4F sbci r25,lo8(-1) |
| 11699 6330 AF4F sbci r26,lo8(-1) |
| 11700 6332 BF4F sbci r27,lo8(-1) |
| 11701 6334 0C94 0000 jmp .L906 |
| 11702 .L1315: |
| 11703 6338 0396 adiw r24,3 |
| 11704 633a 00C0 rjmp .L1047 |
| 11705 .L1158: |
| 11706 633c 6090 0000 lds r6,HoehenWert |
| 11707 6340 7090 0000 lds r7,(HoehenWert)+1 |
| 11708 6344 8090 0000 lds r8,(HoehenWert)+2 |
| 11709 6348 9090 0000 lds r9,(HoehenWert)+3 |
| 11710 634c 00C0 rjmp .L1018 |
| 11711 .L1032: |
| 11712 634e 6739 cpi r22,151 |
| 11713 6350 7105 cpc r23,__zero_reg__ |
| 11714 6352 04F0 brlt .L1188 |
| 11715 6354 26E9 ldi r18,lo8(150) |
| 11716 6356 30E0 ldi r19,hi8(150) |
| 11717 6358 00C0 rjmp .L1204 |
| 11718 .L1159: |
| 11719 635a 6090 0000 lds r6,HoehenWert |
| 11720 635e 7090 0000 lds r7,(HoehenWert)+1 |
| 11721 6362 8090 0000 lds r8,(HoehenWert)+2 |
| 11722 6366 9090 0000 lds r9,(HoehenWert)+3 |
| 11723 636a 00C0 rjmp .L1022 |
| 11724 .L1316: |
| 11725 636c 3095 com r19 |
| 11726 636e 2195 neg r18 |
| 11727 6370 3F4F sbci r19,lo8(-1) |
| 11728 6372 00C0 rjmp .L1019 |
| 11729 .L1318: |
| 11730 6374 4D5F subi r20,lo8(-(3)) |
| 11731 6376 5F4F sbci r21,hi8(-(3)) |
| 11732 6378 00C0 rjmp .L1031 |
| 11733 .L1319: |
| 11734 637a 3095 com r19 |
| 11735 637c 2195 neg r18 |
| 11736 637e 3F4F sbci r19,lo8(-1) |
| 11737 6380 00C0 rjmp .L1023 |
| 11738 .L1188: |
| 11739 6382 7093 0000 sts (StickGasHoover.26)+1,r23 |
| 11740 6386 6093 0000 sts StickGasHoover.26,r22 |
| 11741 638a 00C0 rjmp .L1027 |
| 11742 .L1145: |
| 11743 638c 8091 0000 lds r24,motorOutRear |
| 11744 6390 8093 0000 sts Motor+1,r24 |
| 11745 6394 8091 0000 lds r24,motorOutFront |
| 11746 6398 8093 0000 sts Motor,r24 |
| 11747 /* epilogue: frame size=40 */ |
| 11748 639c E2E1 ldi r30,18 |
| 11749 639e C85D subi r28,-40 |
| 11750 63a0 0C94 0000 jmp __epilogue_restores__+0 |
| 11751 /* epilogue end (size=4) */ |
| 11752 /* function MotorRegler size 7530 (7520) */ |
| 11754 .comm TrimNick,2,1 |
| 11755 .comm TrimRoll,2,1 |
| 11756 .comm ErsatzKompass,4,1 |
| 11757 .comm ErsatzKompassInGrad,2,1 |
| 11758 .comm MesswertNick,2,1 |
| 11759 .comm MesswertRoll,2,1 |
| 11760 .comm MesswertGier,2,1 |
| 11761 .comm Mittelwert_AccNick,2,1 |
| 11762 .comm Mittelwert_AccRoll,2,1 |
| 11763 .comm Mittelwert_AccHoch,2,1 |
| 11764 .comm NaviAccNick,2,1 |
| 11765 .comm NaviAccRoll,2,1 |
| 11766 .comm h,1,1 |
| 11767 .comm m,1,1 |
| 11768 .comm s,1,1 |
| 11769 .comm DiffNick,2,1 |
| 11770 .comm DiffRoll,2,1 |
| 11771 .comm EE_Parameter,101,1 |
| 11772 .comm Mixer,77,1 |
| 11773 .comm Parameter_J16Bitmask,1,1 |
| 11774 .comm Parameter_J16Timing,1,1 |
| 11775 .comm Parameter_J17Bitmask,1,1 |
| 11776 .comm Parameter_J17Timing,1,1 |
| 11777 .comm Motor,2,1 |
| 11778 .global EEPromArray |
| 11779 .section .eeprom,"aw",@progbits |
| 11782 EEPromArray: |
| 11783 0000 0000 0000 .skip 2048,0 |
| 11783 0000 0000 |
| 11783 0000 0000 |
| 11783 0000 0000 |
| 11783 0000 0000 |
| 11784 .comm MesswertGierBias,2,1 |
| 11785 .comm RohMesswertNick,2,1 |
| 11786 .comm RohMesswertRoll,2,1 |
| 11787 .comm AdNeutralGierBias,2,1 |
| 11788 .comm MittelIntegralNick,4,1 |
| 11789 .comm MittelIntegralRoll,4,1 |
| 11790 .comm MittelIntegralNick2,4,1 |
| 11791 .comm MittelIntegralRoll2,4,1 |
| 11792 .comm MAX_GAS,1,1 |
| 11793 .comm MIN_GAS,1,1 |
| 11794 .comm GyroFaktor,1,1 |
| 11795 .comm GyroFaktorGier,1,1 |
| 11796 .comm IntegralFaktor,1,1 |
| 11797 .comm IntegralFaktorGier,1,1 |
| 11798 .comm Parameter_NaviGpsModeControl,1,1 |
| 11799 .comm Parameter_NaviGpsGain,1,1 |
| 11800 .comm Parameter_NaviGpsP,1,1 |
| 11801 .comm Parameter_NaviGpsI,1,1 |
| 11802 .comm Parameter_NaviGpsD,1,1 |
| 11803 .comm Parameter_NaviGpsACC,1,1 |
| 11804 .comm Parameter_NaviOperatingRadius,1,1 |
| 11805 .comm Parameter_NaviWindCorrection,1,1 |
| 11806 .comm Parameter_NaviSpeedCompensation,1,1 |
| 11807 .comm Parameter_ExternalControl,1,1 |
| 11808 .comm KopplungsteilNickRoll,2,1 |
| 11809 .comm KopplungsteilRollNick,2,1 |
| 11810 .comm tmp_motorwert,4,1 |
| 11811 .comm angle,2,1 |
| 11812 .comm desiredAngle,2,1 |
| 11813 .comm motorOutFront,2,1 |
| 11814 .comm motorOutRear,2,1 |
| 11815 .comm thrust,2,1 |
| 11816 /* File "fc.c": code 12994 = 0x32c2 (12928), prologues 29, epilogues 37 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:15 .bss:00000000 filterDD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:21 .bss:00000002 filtersum |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:27 .bss:00000004 gyroScaled |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:33 .bss:00000006 gyroScaledOld |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:39 .bss:00000008 mincontrollerDD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:45 .bss:0000000a maxcontrollerDD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:51 .bss:0000000c controllerDD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:57 .bss:0000000e mincontrollerD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:63 .bss:00000010 maxcontrollerD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:69 .bss:00000012 controllerD |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:75 .bss:00000014 mincontrollerP |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:81 .bss:00000016 maxcontrollerP |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:87 .bss:00000018 controllerP |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:93 .bss:0000001a kdd |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:99 .bss:0000001c kd |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:105 .bss:0000001e kp |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:111 .bss:00000020 ipk |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:117 .data:00000000 ucflg3 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:122 .data:00000001 ucflg2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:127 .data:00000002 ucflg1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:134 .bss:00000026 LoadHandler |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:140 .data:00000003 RequiredMotors |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:145 .data:00000004 GIER_GRAD_FAKTOR |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:152 .bss:00000027 MikroKopterFlags |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:158 .bss:00000028 modell_fliegt |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:164 .bss:0000002a MaxStickRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:170 .bss:0000002c MaxStickNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:176 .data:00000008 ExternHoehenValue |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:183 .bss:0000002e ExternStickGier |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:189 .bss:00000030 ExternStickRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:195 .bss:00000032 ExternStickNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:201 .data:0000000a Parameter_DynamicStability |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:206 .data:0000000b Parameter_CouplingYawCorrection |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:211 .data:0000000c Parameter_AchsKopplung2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:216 .data:0000000d Parameter_AchsKopplung1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:221 .data:0000000e Parameter_LoopGasLimit |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:226 .data:0000000f Parameter_ServoRollControl |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:231 .data:00000010 Parameter_ServoNickControl |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:238 .bss:00000034 Parameter_UserParam8 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:244 .bss:00000035 Parameter_UserParam7 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:250 .bss:00000036 Parameter_UserParam6 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:256 .bss:00000037 Parameter_UserParam5 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:262 .bss:00000038 Parameter_UserParam4 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:268 .bss:00000039 Parameter_UserParam3 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:274 .bss:0000003a Parameter_UserParam2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:280 .bss:0000003b Parameter_UserParam1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:286 .data:00000011 Parameter_I_Faktor |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:291 .data:00000012 Parameter_Gier_P |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:296 .data:00000013 Parameter_Gyro_Gier_I |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:301 .data:00000014 Parameter_Gyro_Gier_P |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:306 .data:00000015 Parameter_Gyro_I |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:311 .data:00000016 Parameter_Gyro_P |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:316 .data:00000017 Parameter_Gyro_D |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:321 .data:00000018 Parameter_Hoehe_GPS_Z |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:326 .data:00000019 Parameter_KompassWirkung |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:331 .data:0000001a Parameter_Hoehe_ACC_Wirkung |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:336 .data:0000001b Parameter_Hoehe_P |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:341 .data:0000001c Parameter_MaxHoehe |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:346 .data:0000001d Parameter_Luftdruck_D |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:353 .bss:0000003c Looping_Oben |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:359 .bss:0000003d Looping_Unten |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:365 .bss:0000003e Looping_Rechts |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:371 .bss:0000003f Looping_Links |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:377 .bss:00000040 Looping_Roll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:383 .bss:00000041 Looping_Nick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:389 .data:0000001e Ki |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:396 .bss:00000042 LageKorrekturNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:402 .bss:00000044 LageKorrekturRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:408 .bss:00000046 SollHoehe |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:414 .bss:0000004a HoehenWert |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:420 .bss:0000004e StickGas |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:426 .bss:00000050 StickGier |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:432 .bss:00000052 StickRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:438 .bss:00000054 StickNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:444 .bss:00000056 SenderRSSI |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:450 .bss:00000057 SenderOkay |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:456 .bss:00000058 Poti4 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:462 .bss:0000005a Poti3 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:468 .bss:0000005c Poti2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:474 .bss:0000005e Poti1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:480 .bss:00000060 GierGyroFehler |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:486 .data:00000020 Umschlag180Roll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:491 .data:00000024 Umschlag180Nick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:498 .bss:00000062 TrichterFlug |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:504 .bss:00000063 HoehenReglerAktiv |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:510 .bss:00000064 MotorenEin |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:516 .data:00000028 KompassSignalSchlecht |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:523 .bss:00000065 KompassRichtung |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:529 .bss:00000067 KompassStartwert |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:535 .bss:00000069 KompassValue |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:541 .bss:0000006b Mess_Integral_Hoch |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:547 .bss:0000006f Mess_Integral_Gier2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:553 .bss:00000073 Mess_Integral_Gier |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:559 .bss:00000077 Mess_IntegralRoll2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:565 .bss:0000007b Mess_IntegralRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:571 .bss:0000007f Mess_IntegralNick2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:577 .bss:00000083 Mess_IntegralNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:583 .bss:00000087 Integral_Gier |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:589 .bss:0000008b IntegralAccZ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:595 .bss:0000008f IntegralAccRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:601 .bss:00000093 IntegralAccNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:607 .bss:00000097 IntegralRoll2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:613 .bss:0000009b IntegralRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:619 .bss:0000009f IntegralNick2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:625 .bss:000000a3 IntegralNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:631 .bss:000000a7 CosinusRollWinkel |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:637 .bss:000000a8 CosinusNickWinkel |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:643 .bss:000000a9 NeutralAccZ |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:649 .bss:000000ad NaviCntAcc |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:655 .bss:000000af NeutralAccY |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:661 .bss:000000b1 NeutralAccX |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:667 .bss:000000b3 StartNeutralNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:673 .bss:000000b5 StartNeutralRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:679 .bss:000000b7 AdNeutralGier |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:685 .bss:000000b9 AdNeutralRoll |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:691 .bss:000000bb AdNeutralNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:697 .data:0000002a I2CTimeout |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:704 .bss:000000bd BaroExpandActive |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:708 .text:00000000 eeprom_read_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:730 .text:00000010 eeprom_write_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:756 .text:00000028 DefaultStickMapping |
| *COM*:00000065 EE_Parameter |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:787 .text:0000005a DefaultKonstanten3 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:923 .text:000001ee DefaultKonstanten2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1060 .text:00000384 DefaultKonstanten1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1194 .text:0000051e ReadParameterSet |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:11782 .eeprom:00000000 EEPromArray |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1231 .text:00000558 SetActiveParamSetNumber |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1268 .text:00000582 WriteParameterSet |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1348 .text:00000608 GetActiveParamSetNumber |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1384 .text:00000632 MotorSmoothing |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1418 .text:0000065e Piep |
| .bss:000000bf tmpl.35 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1460 .bss:000000c3 tmpl2.36 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1461 .bss:000000c7 tmpl3.37 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1462 .bss:000000cb tmpl4.38 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1463 .bss:000000cf oldNick.39 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1464 .bss:000000d1 oldRoll.40 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1465 .bss:000000d3 d2Roll.41 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1466 .bss:000000d5 d2Nick.42 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1470 .text:000006aa Mittelwert |
| *COM*:00000002 MesswertGier |
| *COM*:00000002 RohMesswertNick |
| *COM*:00000002 RohMesswertRoll |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000002 Mittelwert_AccHoch |
| *COM*:00000002 NaviAccNick |
| *COM*:00000002 NaviAccRoll |
| *COM*:00000004 ErsatzKompass |
| *COM*:00000002 KopplungsteilNickRoll |
| *COM*:00000002 KopplungsteilRollNick |
| *COM*:00000002 TrimRoll |
| *COM*:00000002 TrimNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertNick |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3619 .text:0000198a CalibrierMittelwert |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3970 .text:00001c9a SetNeutral |
| *COM*:00000002 AdNeutralGierBias |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4524 .text:000021c6 SendMotorData |
| *COM*:00000002 Motor |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4589 .text:00002250 ParameterZuordnung |
| *COM*:00000001 Parameter_J16Timing |
| *COM*:00000001 Parameter_J17Timing |
| *COM*:00000001 Parameter_ExternalControl |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1467 .bss:000000d7 SummeNick.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5523 .bss:000000db SummeRoll.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5524 .bss:000000df sollGier.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5525 .bss:000000e3 tmp_long.3 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5526 .bss:000000e7 tmp_long2.4 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5527 .bss:000000eb IntegralFehlerNick.5 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5528 .bss:000000ef IntegralFehlerRoll.6 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5529 .bss:000000f3 RcLostTimer.7 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5530 .bss:000000f5 delay_neutral.8 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5531 .bss:000000f6 delay_einschalten.9 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5532 .bss:000000f7 delay_ausschalten.10 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5533 .bss:000000f8 TimerWerteausgabe.11 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5534 .bss:000000f9 NeueKompassRichtungMerken.12 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5535 .bss:000000fa ausgleichNick.13 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5536 .bss:000000fe ausgleichRoll.14 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5537 .bss:00000102 stick_nick.15 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5538 .bss:00000104 stick_roll.16 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5539 .bss:00000106 cnt.17 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5540 .bss:00000108 last_n_p.18 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5541 .bss:00000109 last_n_n.19 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5542 .bss:0000010a last_r_p.20 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5543 .bss:0000010b last_r_n.21 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5544 .bss:0000010c MittelIntegralNick_Alt.22 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5545 .bss:00000110 MittelIntegralRoll_Alt.23 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5546 .bss:00000114 HeightTrimming.24 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5547 .bss:00000116 FilterHCGas.25 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5552 .data:00000045 StickGasHoover.26 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5548 .bss:00000118 HooverGas.27 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5554 .bss:0000011a HooverGasMin.28 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5558 .data:00000047 HooverGasMax.29 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5555 .bss:0000011c HooverGasFilter.30 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5563 .data:00000049 delay.31 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5560 .bss:00000120 BaroAtUpperLimit.32 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5565 .bss:00000121 BaroAtLowerLimit.33 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5566 .bss:00000122 HeightTrimmingFlag.34 |
| C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5571 .text:000029ca MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000002 thrust |
| *COM*:00000002 desiredAngle |
| *COM*:00000002 angle |
| *COM*:00000002 motorOutFront |
| *COM*:00000002 motorOutRear |
| *COM*:00000002 ErsatzKompassInGrad |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:0000004d Mixer |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| *COM*:00000004 tmp_motorwert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __eerd_block |
| LED_Init |
| __eewr_block |
| beeptime |
| Delay_ms |
| __prologue_saves__ |
| AdWertGier |
| AdWertNickFilter |
| AdWertRollFilter |
| AdWertAccNick |
| AdWertAccRoll |
| AdWertAccHoch |
| __floatsisf |
| Aktuell_az |
| __subsf3 |
| __addsf3 |
| __fixsfsi |
| AdReady |
| __mulsi3 |
| __divmodsi4 |
| HiResNick |
| HiResRoll |
| AdWertNick |
| PlatinenVersion |
| AdWertRoll |
| PPM_in |
| __epilogue_restores__ |
| SucheGyroOffset |
| ExpandBaro |
| Delay_ms_Mess |
| MessLuftdruck |
| __divmodhi4 |
| Luftdruck |
| StartLuftdruck |
| VarioMeter |
| SendVersionToNavi |
| ServoActive |
| SucheLuftruckOffset |
| PC_MotortestActive |
| MotorTest |
| DebugOut |
| twi_state |
| motor |
| i2c_start |
| PPM_diff |
| NewPpmData |
| __fixunssfsi |
| ExternControl |
| WinkelOut |
| ZaehlMessungen |
| BattLowVoltageWarning |
| UBat |
| __udivmodhi4 |
| DruckOffsetSetting |
| MissingMotor |
| SummenHoehe |
| ihypot |
| c_cos_8192 |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/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="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></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="eeprom.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="eeprom.h"></File></Project> |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/gps.h |
|---|
| 0,0 → 1,12 |
| //----------------------------------------------------------------------------------------------------- |
| // soll entfernt werden |
| // gps.h |
| //----------------------------------------------------------------------------------------------------- |
| //extern signed int GPS_Nick; |
| //extern signed int GPS_Roll; |
| //extern signed int GPS_Nick2; |
| //extern signed int GPS_Roll2; |
| //void GPS_Neutral(void); |
| //void GPS_BerechneZielrichtung(void); |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/isqrt.S |
|---|
| 0,0 → 1,201 |
| ;-----------------------------------------------------------------------------; |
| ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 (uint32_t n); |
| ; uint8_t isqrt16 (uint16_t n); |
| ; uint16_t ihypot (int16_t x, int16_t y); |
| ;-----------------------------------------------------------------------------: |
| ; 32bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 ( |
| ; uint32_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 53 words |
| ; Clock = 532..548 cycles |
| ; Stack = 0 byte |
| .global isqrt32 |
| .func isqrt32 |
| isqrt32: |
| clr r0 |
| clr r18 |
| clr r19 |
| clr r20 |
| ldi r21, 1 |
| clr r27 |
| clr r30 |
| clr r31 |
| ldi r26, 16 |
| 1: lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| brpl 2f |
| add r0, r21 |
| adc r18, r27 |
| adc r19, r30 |
| adc r20, r31 |
| rjmp 3f |
| 2: sub r0, r21 |
| sbc r18, r27 |
| sbc r19, r30 |
| sbc r20, r31 |
| 3: lsl r21 |
| rol r27 |
| rol r30 |
| andi r21, 0b11111000 |
| ori r21, 0b00000101 |
| sbrc r20, 7 |
| subi r21, 2 |
| dec r26 |
| brne 1b |
| lsr r30 |
| ror r27 |
| ror r21 |
| lsr r30 |
| ror r27 |
| ror r21 |
| mov r24, r21 |
| mov r25, r27 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint8_t isqrt16 ( uint16_t n ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 33 words |
| ; Clock = 181..189 cycles |
| ; Stack = 0 byte |
| .global isqrt16 |
| .func isqrt16 |
| isqrt16: |
| clr r18 |
| clr r19 |
| ldi r20, 1 |
| clr r21 |
| ldi r22, 8 |
| 1: lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| brpl 2f |
| add r18, r20 |
| adc r19, r21 |
| rjmp 3f |
| 2: sub r18, r20 |
| sbc r19, r21 |
| 3: lsl r20 |
| rol r21 |
| andi r20, 0b11111000 |
| ori r20, 0b00000101 |
| sbrc r19, 7 |
| subi r20, 2 |
| dec r22 |
| brne 1b |
| lsr r21 |
| ror r20 |
| lsr r21 |
| ror r20 |
| mov r24, r20 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer hypot (megaAVR is required) |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t ihypot ( |
| ; int16_t x, |
| ; int16_t y |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of (x*x + y*y) |
| ; |
| ; Size = 42 words |
| ; Clock = 581..597 cycles |
| ; Stack = 0 byte |
| .global ihypot |
| .func ihypot |
| ihypot: |
| clr r26 |
| sbrs r25, 7 |
| rjmp 1f |
| com r24 |
| com r25 |
| adc r24, r26 |
| adc r25, r26 |
| 1: sbrs r23, 7 |
| rjmp 2f |
| com r22 |
| com r23 |
| adc r22, r26 |
| adc r23, r26 |
| 2: mul r22, r22 |
| movw r18, r0 |
| mul r23, r23 |
| movw r20, r0 |
| mul r22, r23 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| mul r24, r24 |
| movw r30, r0 |
| mul r25, r25 |
| add r18, r30 |
| adc r19, r31 |
| adc r20, r0 |
| adc r21, r1 |
| mul r24, r25 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| movw r24, r20 |
| movw r22, r18 |
| clr r1 |
| rjmp isqrt32 |
| .endfunc |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/isqrt.h |
|---|
| 0,0 → 1,11 |
| #ifndef _ISQRT_H |
| #define _ISQRT_H |
| #include <inttypes.h> |
| // coded in assembler file |
| extern uint16_t isqrt32(uint32_t n); |
| extern uint8_t isqrt16(uint16_t n); |
| extern uint16_t ihypot(int16_t x, int16_t y); |
| #endif // _ISQRT_H |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/isqrt.lst |
|---|
| 0,0 → 1,207 |
| 1 # 1 "isqrt.S" |
| 1 ;-----------------------------------------------------------------------------; |
| 0 |
| 0 |
| 2 ;-----------------------------------------------------------------------------; |
| 3 ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| 4 ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| 5 ;-----------------------------------------------------------------------------; |
| 6 ; uint16_t isqrt32 (uint32_t n); |
| 7 ; uint8_t isqrt16 (uint16_t n); |
| 8 ; uint16_t ihypot (int16_t x, int16_t y); |
| 9 |
| 10 ;-----------------------------------------------------------------------------: |
| 11 ; 32bit integer squareroot |
| 12 ;-----------------------------------------------------------------------------; |
| 13 ; uint16_t isqrt32 ( |
| 14 ; uint32_t n |
| 15 ; ); |
| 16 ; |
| 17 ; Return Value: |
| 18 ; Squareroot of n. |
| 19 ; |
| 20 ; Size = 53 words |
| 21 ; Clock = 532..548 cycles |
| 22 ; Stack = 0 byte |
| 23 |
| 24 .global isqrt32 |
| 25 .func isqrt32 |
| 26 |
| 27:isqrt.S **** isqrt32: |
| 28:isqrt.S **** clr r0 |
| 29:isqrt.S **** clr r18 |
| 30:isqrt.S **** clr r19 |
| 31:isqrt.S **** clr r20 |
| 32:isqrt.S **** ldi r21, 1 |
| 33:isqrt.S **** clr r27 |
| 34:isqrt.S **** clr r30 |
| 35:isqrt.S **** clr r31 |
| 36:isqrt.S **** ldi r26, 16 |
| 37:isqrt.S **** 1: lsl r22 |
| 38:isqrt.S **** rol r23 |
| 39:isqrt.S **** rol r24 |
| 40:isqrt.S **** rol r25 |
| 41:isqrt.S **** rol r0 |
| 42:isqrt.S **** rol r18 |
| 43:isqrt.S **** rol r19 |
| 44:isqrt.S **** rol r20 |
| 45:isqrt.S **** lsl r22 |
| 46:isqrt.S **** rol r23 |
| 47:isqrt.S **** rol r24 |
| 48:isqrt.S **** rol r25 |
| 49:isqrt.S **** rol r0 |
| 50:isqrt.S **** rol r18 |
| 51:isqrt.S **** rol r19 |
| 52:isqrt.S **** rol r20 |
| 53:isqrt.S **** brpl 2f |
| 54:isqrt.S **** add r0, r21 |
| 55:isqrt.S **** adc r18, r27 |
| 56:isqrt.S **** adc r19, r30 |
| 57:isqrt.S **** adc r20, r31 |
| 58:isqrt.S **** rjmp 3f |
| 59:isqrt.S **** 2: sub r0, r21 |
| 60:isqrt.S **** sbc r18, r27 |
| 61:isqrt.S **** sbc r19, r30 |
| 62:isqrt.S **** sbc r20, r31 |
| 63:isqrt.S **** 3: lsl r21 |
| 64:isqrt.S **** rol r27 |
| 65:isqrt.S **** rol r30 |
| 66:isqrt.S **** andi r21, 0b11111000 |
| 67:isqrt.S **** ori r21, 0b00000101 |
| 68:isqrt.S **** sbrc r20, 7 |
| 69:isqrt.S **** subi r21, 2 |
| 70:isqrt.S **** dec r26 |
| 71:isqrt.S **** brne 1b |
| 72:isqrt.S **** lsr r30 |
| 73:isqrt.S **** ror r27 |
| 74:isqrt.S **** ror r21 |
| 75:isqrt.S **** lsr r30 |
| 76:isqrt.S **** ror r27 |
| 77:isqrt.S **** ror r21 |
| 78:isqrt.S **** mov r24, r21 |
| 79:isqrt.S **** mov r25, r27 |
| 80 ret |
| 81 .endfunc |
| 82 |
| 83 |
| 84 |
| 85 ;-----------------------------------------------------------------------------: |
| 86 ; 16bit integer squareroot |
| 87 ;-----------------------------------------------------------------------------; |
| 88 ; uint8_t isqrt16 ( uint16_t n ); |
| 89 ; |
| 90 ; Return Value: |
| 91 ; Squareroot of n. |
| 92 ; |
| 93 ; Size = 33 words |
| 94 ; Clock = 181..189 cycles |
| 95 ; Stack = 0 byte |
| 96 |
| 97 .global isqrt16 |
| 98 .func isqrt16 |
| 99 |
| 100:isqrt.S **** isqrt16: |
| 101:isqrt.S **** clr r18 |
| 102:isqrt.S **** clr r19 |
| 103:isqrt.S **** ldi r20, 1 |
| 104:isqrt.S **** clr r21 |
| 105:isqrt.S **** ldi r22, 8 |
| 106:isqrt.S **** 1: lsl r24 |
| 107:isqrt.S **** rol r25 |
| 108:isqrt.S **** rol r18 |
| 109:isqrt.S **** rol r19 |
| 110:isqrt.S **** lsl r24 |
| 111:isqrt.S **** rol r25 |
| 112:isqrt.S **** rol r18 |
| 113:isqrt.S **** rol r19 |
| 114:isqrt.S **** brpl 2f |
| 115:isqrt.S **** add r18, r20 |
| 116:isqrt.S **** adc r19, r21 |
| 117:isqrt.S **** rjmp 3f |
| 118:isqrt.S **** 2: sub r18, r20 |
| 119:isqrt.S **** sbc r19, r21 |
| 120:isqrt.S **** 3: lsl r20 |
| 121:isqrt.S **** rol r21 |
| 122:isqrt.S **** andi r20, 0b11111000 |
| 123:isqrt.S **** ori r20, 0b00000101 |
| 124:isqrt.S **** sbrc r19, 7 |
| 125:isqrt.S **** subi r20, 2 |
| 126:isqrt.S **** dec r22 |
| 127:isqrt.S **** brne 1b |
| 128:isqrt.S **** lsr r21 |
| 129:isqrt.S **** ror r20 |
| 130:isqrt.S **** lsr r21 |
| 131:isqrt.S **** ror r20 |
| 132:isqrt.S **** mov r24, r20 |
| 133 ret |
| 134 .endfunc |
| 135 |
| 136 |
| 137 |
| 138 ;-----------------------------------------------------------------------------: |
| 139 ; 16bit integer hypot (megaAVR is required) |
| 140 ;-----------------------------------------------------------------------------; |
| 141 ; uint16_t ihypot ( |
| 142 ; int16_t x, |
| 143 ; int16_t y |
| 144 ; ); |
| 145 ; |
| 146 ; Return Value: |
| 147 ; Squareroot of (x*x + y*y) |
| 148 ; |
| 149 ; Size = 42 words |
| 150 ; Clock = 581..597 cycles |
| 151 ; Stack = 0 byte |
| 152 |
| 153 .global ihypot |
| 154 .func ihypot |
| 155 |
| 156:isqrt.S **** ihypot: |
| 157:isqrt.S **** clr r26 |
| 158:isqrt.S **** sbrs r25, 7 |
| 159:isqrt.S **** rjmp 1f |
| 160:isqrt.S **** com r24 |
| 161:isqrt.S **** com r25 |
| 162:isqrt.S **** adc r24, r26 |
| 163:isqrt.S **** adc r25, r26 |
| 164:isqrt.S **** 1: sbrs r23, 7 |
| 165:isqrt.S **** rjmp 2f |
| 166:isqrt.S **** com r22 |
| 167:isqrt.S **** com r23 |
| 168:isqrt.S **** adc r22, r26 |
| 169:isqrt.S **** adc r23, r26 |
| 170:isqrt.S **** 2: mul r22, r22 |
| 171:isqrt.S **** movw r18, r0 |
| 172:isqrt.S **** mul r23, r23 |
| 173:isqrt.S **** movw r20, r0 |
| 174:isqrt.S **** mul r22, r23 |
| 175:isqrt.S **** add r19, r0 |
| 176:isqrt.S **** adc r20, r1 |
| 177:isqrt.S **** adc r21, r26 |
| 178:isqrt.S **** add r19, r0 |
| 179:isqrt.S **** adc r20, r1 |
| 180:isqrt.S **** adc r21, r26 |
| 181:isqrt.S **** mul r24, r24 |
| 182:isqrt.S **** movw r30, r0 |
| 183:isqrt.S **** mul r25, r25 |
| 184:isqrt.S **** add r18, r30 |
| 185:isqrt.S **** adc r19, r31 |
| 186:isqrt.S **** adc r20, r0 |
| 187:isqrt.S **** adc r21, r1 |
| 188:isqrt.S **** mul r24, r25 |
| 189:isqrt.S **** add r19, r0 |
| 190:isqrt.S **** adc r20, r1 |
| 191:isqrt.S **** adc r21, r26 |
| 192:isqrt.S **** add r19, r0 |
| 193:isqrt.S **** adc r20, r1 |
| 194:isqrt.S **** adc r21, r26 |
| 195:isqrt.S **** movw r24, r20 |
| 196:isqrt.S **** movw r22, r18 |
| 197:isqrt.S **** clr r1 |
| 198 rjmp isqrt32 |
| DEFINED SYMBOLS |
| isqrt.S:26 .text:00000000 isqrt32 |
| isqrt.S:99 .text:0000006a isqrt16 |
| isqrt.S:155 .text:000000ac ihypot |
| NO UNDEFINED SYMBOLS |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/led.c |
|---|
| 0,0 → 1,89 |
| /***************************************************************************************************************************** |
| * File: led.c |
| * |
| * Purpose: controlling LEDs |
| * |
| * Functions: void LED_Init(void) |
| * void LED_Update(void) |
| * |
| *****************************************************************************************************************************/ |
| #include "led.h" |
| #include <inttypes.h> |
| #include "main.h" |
| uint16_t LED1_Timing = 0; |
| uint16_t LED2_Timing = 0; |
| unsigned char J16Blinkcount = 0, J16Mask = 1; |
| unsigned char J17Blinkcount = 0, J17Mask = 1; |
| //------------------------------------------------------------------------------------------------------ |
| // initialisiert die Schalt-Ausgänge PORTC2 und PORTC3 an SV2 (control of J16 & J17) |
| //------------------------------------------------------------------------------------------------------ |
| void LED_Init(void) |
| { |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| J16_OFF; |
| J17_OFF; |
| J16Blinkcount = 0; J16Mask = 128; |
| J17Blinkcount = 0; J17Mask = 128; |
| } |
| //------------------------------------------------------------------------------------------------------ |
| //-------------------------------------------------------------------------------------------------------------------------------- |
| // wird aus UpdateMotors() alle 2ms aufgerufen |
| // damit können am Mikrokopter aussen angebrachte LEDs gesteuert werden |
| // deren Ankoppelung geschieht über PORTC2 und PORTC3 |
| //-------------------------------------------------------------------------------------------------------------------------------- |
| void LED_Update(void) |
| { |
| static char delay = 0; |
| static unsigned char J16Bitmask = 0; |
| static unsigned char J17Bitmask = 0; |
| if(!delay--) // 10ms Intervall |
| { |
| delay = 4; |
| if(MikroKopterFlags & FLAG_LOWBAT || SenderOkay < 128) |
| { |
| J16Bitmask = EE_Parameter.WARN_J16_Bitmask; |
| J17Bitmask = EE_Parameter.WARN_J17_Bitmask; |
| } |
| else |
| { |
| J16Bitmask = EE_Parameter.J16Bitmask; |
| J17Bitmask = EE_Parameter.J17Bitmask; |
| } |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
| else |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = Parameter_J16Timing-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| } |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing > 230)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = Parameter_J17Timing-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
| } |
| } // Ende : 10ms Intervall |
| } |
| //-------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/led.d |
|---|
| 0,0 → 1,2 |
| led.o led.d : led.c led.h main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h eeprom.h twimaster.h menu.h rc.h fc.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/led.h |
|---|
| 0,0 → 1,21 |
| /***************************************************************************************************************************** |
| * File: led.h |
| * Purpose: header of fc.c |
| *****************************************************************************************************************************/ |
| #ifndef _LED_H |
| #define _LED_H |
| #include <avr/io.h> |
| #define J16_ON PORTC |= (1<<PORTC2) |
| #define J16_OFF PORTC &= ~(1<<PORTC2) |
| #define J16_TOGGLE PORTC ^= (1<<PORTC2) |
| #define J17_ON PORTC |= (1<<PORTC3) |
| #define J17_OFF PORTC &= ~(1<<PORTC3) |
| #define J17_TOGGLE PORTC ^= (1<<PORTC3) |
| extern void LED_Init(void); |
| extern void LED_Update(void); |
| #endif |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/led.lst |
|---|
| 0,0 → 1,247 |
| 1 .file "led.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global J17Mask |
| 11 .data |
| 14 J17Mask: |
| 15 0000 01 .byte 1 |
| 16 .global J17Blinkcount |
| 17 .global J17Blinkcount |
| 18 .section .bss |
| 21 J17Blinkcount: |
| 22 0000 00 .skip 1,0 |
| 23 .global J16Mask |
| 24 .data |
| 27 J16Mask: |
| 28 0001 01 .byte 1 |
| 29 .global J16Blinkcount |
| 30 .global J16Blinkcount |
| 31 .section .bss |
| 34 J16Blinkcount: |
| 35 0001 00 .skip 1,0 |
| 36 .global LED2_Timing |
| 37 .global LED2_Timing |
| 40 LED2_Timing: |
| 41 0002 0000 .skip 2,0 |
| 42 .global LED1_Timing |
| 43 .global LED1_Timing |
| 46 LED1_Timing: |
| 47 0004 0000 .skip 2,0 |
| 48 .text |
| 49 .global LED_Init |
| 51 LED_Init: |
| 52 /* prologue: frame size=0 */ |
| 53 /* prologue end (size=0) */ |
| 54 0000 87B1 in r24,39-0x20 |
| 55 0002 8C60 ori r24,lo8(12) |
| 56 0004 87B9 out 39-0x20,r24 |
| 57 0006 4298 cbi 40-0x20,2 |
| 58 0008 4398 cbi 40-0x20,3 |
| 59 000a 1092 0000 sts J16Blinkcount,__zero_reg__ |
| 60 000e 80E8 ldi r24,lo8(-128) |
| 61 0010 8093 0000 sts J16Mask,r24 |
| 62 0014 1092 0000 sts J17Blinkcount,__zero_reg__ |
| 63 0018 8093 0000 sts J17Mask,r24 |
| 64 /* epilogue: frame size=0 */ |
| 65 001c 0895 ret |
| 66 /* epilogue end (size=1) */ |
| 67 /* function LED_Init size 15 (14) */ |
| 69 .lcomm delay.0,1 |
| 70 .lcomm J16Bitmask.1,1 |
| 71 .lcomm J17Bitmask.2,1 |
| 72 .global LED_Update |
| 74 LED_Update: |
| 75 /* prologue: frame size=0 */ |
| 76 /* prologue end (size=0) */ |
| 77 001e 8091 0000 lds r24,delay.0 |
| 78 0022 8150 subi r24,lo8(-(-1)) |
| 79 0024 8F3F cpi r24,lo8(-1) |
| 80 0026 01F0 breq .L52 |
| 81 0028 8093 0000 sts delay.0,r24 |
| 82 002c 0895 ret |
| 83 .L52: |
| 84 002e 84E0 ldi r24,lo8(4) |
| 85 0030 8093 0000 sts delay.0,r24 |
| 86 0034 8091 0000 lds r24,MikroKopterFlags |
| 87 0038 85FF sbrs r24,5 |
| 88 003a 00C0 rjmp .L53 |
| 89 .L5: |
| 90 003c 4091 0000 lds r20,EE_Parameter+67 |
| 91 0040 4093 0000 sts J16Bitmask.1,r20 |
| 92 0044 6091 0000 lds r22,EE_Parameter+68 |
| 93 .L44: |
| 94 0048 6093 0000 sts J17Bitmask.2,r22 |
| 95 004c 5091 0000 lds r21,EE_Parameter+86 |
| 96 0050 252F mov r18,r21 |
| 97 0052 3327 clr r19 |
| 98 0054 24FF sbrs r18,4 |
| 99 0056 00C0 rjmp .L7 |
| 100 0058 8091 0000 lds r24,MotorenEin |
| 101 005c 8823 tst r24 |
| 102 005e 01F4 brne .L7 |
| 103 0060 25FF sbrs r18,5 |
| 104 0062 00C0 rjmp .L22 |
| 105 .L46: |
| 106 0064 429A sbi 40-0x20,2 |
| 107 0066 00C0 rjmp .L10 |
| 108 .L53: |
| 109 0068 8091 0000 lds r24,SenderOkay |
| 110 006c 8823 tst r24 |
| 111 006e 04F4 brge .L5 |
| 112 0070 4091 0000 lds r20,EE_Parameter+63 |
| 113 0074 4093 0000 sts J16Bitmask.1,r20 |
| 114 0078 6091 0000 lds r22,EE_Parameter+65 |
| 115 007c 00C0 rjmp .L44 |
| 116 .L7: |
| 117 007e 9091 0000 lds r25,EE_Parameter+64 |
| 118 0082 9B3F cpi r25,lo8(-5) |
| 119 0084 00F0 brlo .L11 |
| 120 0086 8091 0000 lds r24,Parameter_J16Timing |
| 121 008a 8D3D cpi r24,lo8(-35) |
| 122 008c 00F0 brlo .L11 |
| 123 008e 47FD sbrc r20,7 |
| 124 0090 00C0 rjmp .L46 |
| 125 .L22: |
| 126 0092 4298 cbi 40-0x20,2 |
| 127 0094 252F mov r18,r21 |
| 128 0096 3327 clr r19 |
| 129 0098 24FD sbrc r18,4 |
| 130 009a 00C0 rjmp .L54 |
| 131 .L24: |
| 132 009c 9091 0000 lds r25,EE_Parameter+66 |
| 133 00a0 9B3F cpi r25,lo8(-5) |
| 134 00a2 00F0 brlo .L28 |
| 135 00a4 8091 0000 lds r24,Parameter_J17Timing |
| 136 00a8 873E cpi r24,lo8(-25) |
| 137 00aa 00F0 brlo .L28 |
| 138 00ac 67FD sbrc r22,7 |
| 139 00ae 00C0 rjmp .L50 |
| 140 .L39: |
| 141 00b0 4398 cbi 40-0x20,3 |
| 142 00b2 0895 ret |
| 143 .L11: |
| 144 00b4 9B3F cpi r25,lo8(-5) |
| 145 00b6 00F0 brlo .L15 |
| 146 00b8 8091 0000 lds r24,Parameter_J16Timing |
| 147 00bc 8A30 cpi r24,lo8(10) |
| 148 00be 00F0 brlo .L55 |
| 149 .L15: |
| 150 00c0 8091 0000 lds r24,J16Blinkcount |
| 151 00c4 8150 subi r24,lo8(-(-1)) |
| 152 00c6 8F3F cpi r24,lo8(-1) |
| 153 00c8 01F0 breq .L56 |
| 154 00ca 8093 0000 sts J16Blinkcount,r24 |
| 155 .L10: |
| 156 00ce 252F mov r18,r21 |
| 157 00d0 3327 clr r19 |
| 158 00d2 24FF sbrs r18,4 |
| 159 00d4 00C0 rjmp .L24 |
| 160 .L54: |
| 161 00d6 8091 0000 lds r24,MotorenEin |
| 162 00da 8823 tst r24 |
| 163 00dc 01F4 brne .L24 |
| 164 00de 26FF sbrs r18,6 |
| 165 00e0 00C0 rjmp .L39 |
| 166 .L50: |
| 167 00e2 439A sbi 40-0x20,3 |
| 168 00e4 0895 ret |
| 169 .L28: |
| 170 00e6 9B3F cpi r25,lo8(-5) |
| 171 00e8 00F0 brlo .L32 |
| 172 00ea 8091 0000 lds r24,Parameter_J17Timing |
| 173 00ee 8A30 cpi r24,lo8(10) |
| 174 00f0 00F0 brlo .L57 |
| 175 .L32: |
| 176 00f2 8091 0000 lds r24,J17Blinkcount |
| 177 00f6 8150 subi r24,lo8(-(-1)) |
| 178 00f8 8F3F cpi r24,lo8(-1) |
| 179 00fa 01F0 breq .L58 |
| 180 00fc 8093 0000 sts J17Blinkcount,r24 |
| 181 0100 0895 ret |
| 182 .L55: |
| 183 0102 47FD sbrc r20,7 |
| 184 0104 00C0 rjmp .L22 |
| 185 0106 429A sbi 40-0x20,2 |
| 186 0108 00C0 rjmp .L10 |
| 187 .L57: |
| 188 010a 67FD sbrc r22,7 |
| 189 010c 00C0 rjmp .L39 |
| 190 010e 439A sbi 40-0x20,3 |
| 191 0110 0895 ret |
| 192 .L56: |
| 193 0112 8091 0000 lds r24,Parameter_J16Timing |
| 194 0116 8150 subi r24,lo8(-(-1)) |
| 195 0118 8093 0000 sts J16Blinkcount,r24 |
| 196 011c 8091 0000 lds r24,J16Mask |
| 197 0120 8130 cpi r24,lo8(1) |
| 198 0122 01F0 breq .L59 |
| 199 0124 8695 lsr r24 |
| 200 .L45: |
| 201 0126 8093 0000 sts J16Mask,r24 |
| 202 012a 8423 and r24,r20 |
| 203 012c 01F4 brne .+2 |
| 204 012e 00C0 rjmp .L22 |
| 205 0130 429A sbi 40-0x20,2 |
| 206 0132 00C0 rjmp .L10 |
| 207 .L58: |
| 208 0134 8091 0000 lds r24,Parameter_J17Timing |
| 209 0138 8150 subi r24,lo8(-(-1)) |
| 210 013a 8093 0000 sts J17Blinkcount,r24 |
| 211 013e 8091 0000 lds r24,J17Mask |
| 212 0142 8130 cpi r24,lo8(1) |
| 213 0144 01F0 breq .L60 |
| 214 0146 8695 lsr r24 |
| 215 .L47: |
| 216 0148 8093 0000 sts J17Mask,r24 |
| 217 014c 8623 and r24,r22 |
| 218 014e 01F4 brne .+2 |
| 219 0150 00C0 rjmp .L39 |
| 220 0152 439A sbi 40-0x20,3 |
| 221 0154 0895 ret |
| 222 .L59: |
| 223 0156 80E8 ldi r24,lo8(-128) |
| 224 0158 00C0 rjmp .L45 |
| 225 .L60: |
| 226 015a 80E8 ldi r24,lo8(-128) |
| 227 015c 00C0 rjmp .L47 |
| 228 /* epilogue: frame size=0 */ |
| 229 /* epilogue: noreturn */ |
| 230 /* epilogue end (size=0) */ |
| 231 /* function LED_Update size 162 (162) */ |
| 233 .comm Mixer,77,1 |
| 234 /* File "led.c": code 177 = 0x00b1 ( 176), prologues 0, epilogues 1 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 led.c |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:14 .data:00000000 J17Mask |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:21 .bss:00000000 J17Blinkcount |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:27 .data:00000001 J16Mask |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:34 .bss:00000001 J16Blinkcount |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:40 .bss:00000002 LED2_Timing |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:46 .bss:00000004 LED1_Timing |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:51 .text:00000000 LED_Init |
| .bss:00000006 delay.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:69 .bss:00000007 J16Bitmask.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:70 .bss:00000008 J17Bitmask.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccVwhCXf.s:74 .text:0000001e LED_Update |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| MikroKopterFlags |
| EE_Parameter |
| MotorenEin |
| SenderOkay |
| Parameter_J16Timing |
| Parameter_J17Timing |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/main.c |
|---|
| 0,0 → 1,491 |
| /************************************************************************************************************************************** |
| * File: main.c |
| * |
| * Purpose: main function fot Flight Ctrl |
| * |
| * Functions: void CalMk3Mag(void) |
| * void LipoDetection(unsigned char print) |
| * int main(void) |
| * |
| * hardware: Flight Ctrl V1.3 |
| * |
| * Created: Feb 2013 |
| * |
| * Revisions: 1.00 experimental subversion for a balancekopter |
| * Achtung: nicht flugfähige Experimentalversion für eine Balenwaage mit Flight-CTRL |
| * siehe: http://forum.mikrokopter.de/topic-39231.html |
| * |
| * Copyright: (c)2013 www.mikrokopter.de |
| * All rights reserved. This software is available only for non-commercial or educational applications. |
| * Other uses are prohibited. This software may be modified only if |
| * the resulting code be made available publicly and the original author(s) given credit. |
| * |
| ************************************************************************************************************************************/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ***************************************************************************************************************************************** |
| #include "main.h" |
| unsigned char PlatinenVersion = 13; |
| unsigned char SendVersionToNavi = 1; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| //----------------------------------------------------------------------------------------------------- |
| // calibrate magnetic compass |
| //----------------------------------------------------------------------------------------------------- |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------- |
| // recognize the LiPo accumulators |
| // char print can be 0 or 1 |
| //----------------------------------------------------------------------------------------------------- |
| void LipoDetection(unsigned char print) |
| { |
| unsigned int timer; |
| if(print) printf("\n\rBatt:"); |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatic recognition of lipo cells -> default = 33 |
| { |
| timer = SetDelay(500); // |
| if(print) while (!CheckDelay(timer)); |
| if(UBat < 130) |
| { |
| BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(3,200); |
| printf(" 3 Cells "); |
| } |
| } |
| else |
| { |
| BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(4,200); |
| printf(" 4 Cells "); |
| } |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| //----------------------------------------------------------------------------------------------------- |
| // -------------------------------------------------------------------------------------------------------------------------- |
| // main program starting here |
| // |
| // INPUT: None |
| // OUTPUT: None |
| // RETURN: 1 |
| // -------------------------------------------------------------------------------------------------------------------------- |
| int main(void) |
| { |
| unsigned int timer,i,timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| PlatinenVersion = 13; |
| DDRC = 0x81; // SCL |
| PORTC = 0xFF; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017R_OFF; // #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| MCUSR &=~(1<<WDRF); // MCUSR – MCU Status Register provides information on which reset source caused an MCU reset |
| WDTCSR |= (1<<WDCE)|(1<<WDE); // WDTCSR – Watchdog Timer Control Register |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| GIER_GRAD_FAKTOR = 1291; |
| ROT_OFF; // rote LED aus // PORTB |= 0x01; |
| Timer_Init(); // goto timer0.c Zeile 40 |
| TIMER2_Init(); // goto timer0.c Zeile 170 |
| UART_Init(); // goto uart.c Zeile 488 |
| rc_sum_init(); // goto rc.c line 17 |
| ADC_Init(); // goto analog.c Zeile 26 |
| i2c_init(); // goto twimaster.c Zeile 16 |
| //--------------------------------------------------------------------------------------------------------------------------------- |
| // passes one time through the following code before arriving at the forever loop |
| //--------------------------------------------------------------------------------------------------------------------------------- |
| sei(); |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
| printf("\n\rexperimental version"); |
| printf("\n\r==================================="); |
| GRN_ON; // switch green LED on // PORTB &=~0x02; |
| ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read first 9 Bytes = chanal setup of radio control |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // setup of mixer |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // check MIXER-Revision at first EEPROM Byte = 1000 // #define EEPROM_ADR_MIXER_TABLE 1000 |
| // if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) |
| if((eeprom_read_byte(&EEPromArray[1000]) == 1) && (eeprom_read_byte(&EEPromArray[1]) != 0xFF)) // aufgelöst |
| { |
| unsigned char i; // Settings via Koptertool zurücksetzen |
| RequiredMotors = 0; |
| eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
| } |
| else // default |
| { |
| unsigned char i; |
| printf("\n\rerzeugt default Mixer Table"); |
| for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
| // default = Quadro |
| // number 64 is equivalent to 100% |
| // GasMischanteil pd_ergebnis_nick pd_ergebnis_roll GierMischanteil |
| Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; // vorne |
| Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; // hinten |
| Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; // rechts |
| Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; // links |
| Mixer.Revision = MIXER_REVISION; // #define MIXER_REVISION 1 |
| memcpy(Mixer.Name, "Quadro\0", 11); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); // sizeof(Mixer) = 77 |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // how many BL-Ctrls are connected ? |
| // --------------------------------------------------------------------------------------------------------------------------- |
| printf("\n\r...BL-Ctrl...."); |
| motorread = 0; |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| motorread = 0; // read the first I2C-Datasets |
| timer = SetDelay(2000); // sets |
| for(i=0; i < MAX_MOTORS; i++) // #define MAX_MOTORS 4 |
| { |
| UpdateMotor = 0; |
| SendMotorData(); // goto fc.c line 460 |
| while(!UpdateMotor); |
| if(Mixer.Motor[i][0] > 0) // wait maximum 2 sec to wake up the BL-Ctrls |
| { |
| while(!CheckDelay(timer) && !MotorPresent[i]) |
| { |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| } |
| } |
| if(MotorPresent[i]) printf("%d ",i+1); |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) // #define MAX_MOTORS 4 |
| { |
| printf("\n\r\n\r!! missing BL-CTRL: %d !!",i+1); |
| ServoActive = 1; // just in case the FlightCtrl would be used as camera-stabilizer |
| } |
| MotorError[i] = 0; |
| } |
| printf("\n\r==================================="); |
| SendMotorData(); |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // check, that the revision in EEPROM fits to actual software |
| // --------------------------------------------------------------------------------------------------------------------------- |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) // #define EEPROM_ADR_VALID 1 |
| { // #define EE_DATENREVISION 80 |
| DefaultKonstanten1(); // Funktion aus eeprom.c |
| printf("\n\rInit. EEPROM"); |
| for (unsigned char i=1;i<6;i++) // es gibt 5 verschiedene Settings |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Anfänger |
| if(i>3) DefaultKonstanten2(); // Kamera |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // valid Setting ? |
| // --------------------------------------------------------------------------------------------------------------------------- |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
| { |
| EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); // Nick // #define EEPROM_ADR_CHANNELS 80 |
| EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); // Roll |
| EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); // Gas |
| EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); // Gier |
| EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); // Poti 1 |
| EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); // Poti 2 |
| EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); // Poti 3 |
| EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); // Poti 4 |
| if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
| } else DefaultStickMapping(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| // WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 101)); |
| } |
| SetActiveParamSetNumber(3); // default Setting ist Beginner |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); // #define EE_DATENREVISION 80 |
| // eeprom_write_byte(&EEPromArray[1], 80); // aufgelöst |
| } // EOF : check existing revision at EEPROM |
| FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]); |
| FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]); |
| if(FlugMinutenGesamt == 0xFFFF || FlugMinuten == 0xFFFF) // Flugminuten sind am überlaufen - zurücksetzen |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC noch nicht calibriert !"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rKalibrieren des Drucksensors."); |
| timer = SetDelay(1000); // |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); // pause 1 sec |
| printf("OK\n\r"); |
| } |
| SetNeutral(); // Nullwerte ermitteln und Startwerte festlegen - goto fc.c line 162 |
| ROT_OFF; // redLED off // PORTB |= 0x01; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; // externe Steuerung per serieller Schnittstelle - siehe uart.h |
| printf("\n\rControl: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("normaler (ACC-Mode)"); |
| LcdClear(); |
| I2CTimeout = 5000; // watchdog set up to 10 sec |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); // Lipos should be detected now |
| printf("\n\r===================================\n\r"); |
| timer = SetDelay(2000); |
| // -------------------------------- end of main() prelude --------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------- |
| // forever loop of main program |
| //---------------------------------------------------------------------------------------------------------------------- |
| while(1) |
| { |
| if(UpdateMotor && AdReady) // motor is updated every 2 ms and ADC is already passed |
| { |
| UpdateMotor=0; // reset and wait fpr the next 2ms timed trigger from timer0 IR |
| if(WinkelOut.CalcState) CalMk3Mag(); // In diesem Spezial-Fall soll der Kompass kalibriert werden |
| else MotorRegler(); // Im Normalfall Sollwerte für die Motoren berechnen = goto fc.c line 541 |
| SendMotorData(); // Sollwerte an die Motorren senden -> fc.c Zeile 465 |
| ROT_OFF; // switch red LED off // PORTB |= 0x01; |
| if(SenderOkay) SenderOkay--; // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
| else TIMSK1 |= _BV(ICIE1); // enable PPM-Input // TIMSK1 – Timer/Counter1 Interrupt Mask Register -> – – ICIE1 – – OCIE1B OCIE1A TOIE1 |
| if(!--I2CTimeout || MissingMotor) // counting down I2CTimeout or motor is missing |
| { |
| if(!I2CTimeout) |
| { |
| i2c_reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; // switch red LED off // PORTB |= 0x01; |
| } |
| if( 1 && (!UpdateMotor || !MotorenEin)) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| // DatenUebertragung(); // where ist that contained? |
| // BearbeiteRxDaten(); // where ist that contained? |
| if(CheckDelay(timer)) // goto timer0.c line 65 |
| { |
| timer += 20; |
| if(PcZugriff) PcZugriff--; // flight-CTRL controlled by external PC |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(BeepMuster == 0xffff && SenderOkay == 0) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(UBat < BattLowVoltageWarning) // low battery |
| { |
| MikroKopterFlags |= FLAG_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else MikroKopterFlags &= ~FLAG_LOWBAT; |
| //SPI_StartTransmitPacket(); // where ist that contained? |
| SendSPI = 4; |
| if(!MotorenEin) timer2 = 1450; // round it up to 30 sec |
| if(++timer2 == 2930) // one minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // delay 20 ms |
| } |
| } |
| LED_Update(); // junmps erery 2ms to led.c line 32 |
| } // *** EOF : if(UpdateMotor && AdReady) |
| // *** EOF: if(!SendSPI) { SPI_TransmitByte(); } |
| } // End of endlessloop |
| return (1); |
| } |
| // *** EOF: main(void) ************************************************************************************************************ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/main.d |
|---|
| 0,0 → 1,2 |
| main.o main.d : main.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/main.h |
|---|
| 0,0 → 1,113 |
| /***************************************************************************************************************************** |
| * File: main.h |
| * Purpose: header of main.c |
| *****************************************************************************************************************************/ |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define QUADRO |
| //--------------------------------------------------------------------------------- |
| // Quadro: |
| // 1 |
| // 4 3 |
| // 2 |
| //--------------------------------------------------------------------------------- |
| // Hier wird die Quarz Frequenz angegeben = 20 MHz |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| // Definitionen für Hardware und LEDs |
| #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB &=~0x01; else PORTB |= 0x01;} // rote LED aus // PORTB0 aus |
| #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion == 20)) PORTB |= 0x01; else PORTB &=~0x01;} // rote LED an // PORTB0 ein |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} // grüne LED aus // PORTB1 aus |
| #define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} // grüne LED an // PORTB1 ein |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define CFG_HOEHENREGELUNG 0x01 // Höhenregler aktiv |
| #define CFG_HOEHEN_SCHALTER 0x02 // Höhenschalter - wo wird dieser Parameter geschaltet ? |
| #define CFG_HEADING_HOLD 0x04 // Heading Hold aktiv |
| #define CFG_KOMPASS_AKTIV 0x08 // Kompass aktiv |
| #define CFG_KOMPASS_FIX 0x10 // Orientation fix |
| #define CFG_GPS_AKTIV 0x20 // GPS aktiv |
| #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 // Axis Decoupling |
| #define CFG_DREHRATEN_BEGRENZER 0x80 // Rotationraten Limiter |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| #define CFG_MOTOR_BLINK 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_RES4 0x80 |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| #define J3High PORTD |= 0x20 // Servosausgang PORTPD5 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 // Servosausgang PORTPD4 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 // Servosausgang PORTPD3 |
| #define J5Low PORTD &= ~0x08 |
| //------------------------------------------ extern Variables -------------------------------- |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char BattLowVoltageWarning; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char SendVersionToNavi; |
| extern unsigned int FlugMinuten,FlugMinutenGesamt; |
| //----------------------------------------- declaration of functions -------------------------- |
| void LipoDetection(unsigned char print); |
| //---------------------------------------------------------------------------------------------- |
| #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 "eeprom.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "led.h" |
| // #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif |
| // *** EOF: main.h *********************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/main.lst |
|---|
| 0,0 → 1,1825 |
| 1 .file "main.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global FlugMinutenGesamt |
| 11 .global FlugMinutenGesamt |
| 12 .section .bss |
| 15 FlugMinutenGesamt: |
| 16 0000 0000 .skip 2,0 |
| 17 .global FlugMinuten |
| 18 .global FlugMinuten |
| 21 FlugMinuten: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BattLowVoltageWarning |
| 24 .data |
| 27 BattLowVoltageWarning: |
| 28 0000 5E .byte 94 |
| 29 .global SendVersionToNavi |
| 32 SendVersionToNavi: |
| 33 0001 01 .byte 1 |
| 34 .global PlatinenVersion |
| 37 PlatinenVersion: |
| 38 0002 0D .byte 13 |
| 39 .text |
| 41 eeprom_read_byte: |
| 42 /* prologue: frame size=0 */ |
| 43 /* prologue end (size=0) */ |
| 44 .L2: |
| 45 0000 F999 sbic 63-0x20,1 |
| 46 0002 00C0 rjmp .L2 |
| 47 0004 92BD out (65)+1-0x20,r25 |
| 48 0006 81BD out 65-0x20,r24 |
| 49 /* #APP */ |
| 50 /* START EEPROM READ CRITICAL SECTION */ |
| 51 0008 F89A sbi 31, 0 |
| 52 000a 80B5 in r24, 32 |
| 53 /* END EEPROM READ CRITICAL SECTION */ |
| 54 |
| 55 /* #NOAPP */ |
| 56 000c 9927 clr r25 |
| 57 /* epilogue: frame size=0 */ |
| 58 000e 0895 ret |
| 59 /* epilogue end (size=1) */ |
| 60 /* function eeprom_read_byte size 16 (15) */ |
| 63 eeprom_write_byte: |
| 64 /* prologue: frame size=0 */ |
| 65 /* prologue end (size=0) */ |
| 66 .L7: |
| 67 0010 F999 sbic 63-0x20,1 |
| 68 0012 00C0 rjmp .L7 |
| 69 0014 1FBA out 63-0x20,__zero_reg__ |
| 70 0016 92BD out (65)+1-0x20,r25 |
| 71 0018 81BD out 65-0x20,r24 |
| 72 001a 60BD out 64-0x20,r22 |
| 73 /* #APP */ |
| 74 /* START EEPROM WRITE CRITICAL SECTION */ |
| 75 001c 0FB6 in r0, 63 |
| 76 001e F894 cli |
| 77 0020 FA9A sbi 31, 2 |
| 78 0022 F99A sbi 31, 1 |
| 79 0024 0FBE out 63, r0 |
| 80 /* END EEPROM WRITE CRITICAL SECTION */ |
| 81 /* #NOAPP */ |
| 82 /* epilogue: frame size=0 */ |
| 83 0026 0895 ret |
| 84 /* epilogue end (size=1) */ |
| 85 /* function eeprom_write_byte size 21 (20) */ |
| 87 .data |
| 90 stick.25: |
| 91 0003 01 .byte 1 |
| 92 .text |
| 93 .global CalMk3Mag |
| 95 CalMk3Mag: |
| 96 /* prologue: frame size=0 */ |
| 97 /* prologue end (size=0) */ |
| 98 0028 8091 0000 lds r24,EE_Parameter |
| 99 002c E82F mov r30,r24 |
| 100 002e FF27 clr r31 |
| 101 0030 EE0F add r30,r30 |
| 102 0032 FF1F adc r31,r31 |
| 103 0034 E050 subi r30,lo8(-(PPM_in)) |
| 104 0036 F040 sbci r31,hi8(-(PPM_in)) |
| 105 0038 8081 ld r24,Z |
| 106 003a 9181 ldd r25,Z+1 |
| 107 003c 8D5E subi r24,lo8(-19) |
| 108 003e 9F4F sbci r25,hi8(-19) |
| 109 0040 04F0 brlt .L11 |
| 110 0042 1092 0000 sts stick.25,__zero_reg__ |
| 111 .L11: |
| 112 0046 8081 ld r24,Z |
| 113 0048 9181 ldd r25,Z+1 |
| 114 004a 8A5B subi r24,lo8(-70) |
| 115 004c 9F4F sbci r25,hi8(-70) |
| 116 004e 04F4 brge .L16 |
| 117 0050 8091 0000 lds r24,stick.25 |
| 118 0054 8823 tst r24 |
| 119 0056 01F0 breq .L17 |
| 120 .L16: |
| 121 0058 2091 0000 lds r18,WinkelOut+6 |
| 122 005c 00C0 rjmp .L12 |
| 123 .L17: |
| 124 005e 81E0 ldi r24,lo8(1) |
| 125 0060 8093 0000 sts stick.25,r24 |
| 126 0064 2091 0000 lds r18,WinkelOut+6 |
| 127 0068 280F add r18,r24 |
| 128 006a 2093 0000 sts WinkelOut+6,r18 |
| 129 006e 2530 cpi r18,lo8(5) |
| 130 0070 00F0 brlo .L13 |
| 131 0072 88EE ldi r24,lo8(1000) |
| 132 0074 93E0 ldi r25,hi8(1000) |
| 133 0076 9093 0000 sts (beeptime)+1,r25 |
| 134 007a 8093 0000 sts beeptime,r24 |
| 135 007e 00C0 rjmp .L12 |
| 136 .L13: |
| 137 0080 66E9 ldi r22,lo8(150) |
| 138 0082 70E0 ldi r23,hi8(150) |
| 139 0084 822F mov r24,r18 |
| 140 0086 0E94 0000 call Piep |
| 141 008a 00C0 rjmp .L16 |
| 142 .L12: |
| 143 008c 822F mov r24,r18 |
| 144 008e 9927 clr r25 |
| 145 0090 9093 0000 sts (DebugOut+40)+1,r25 |
| 146 0094 8093 0000 sts DebugOut+40,r24 |
| 147 /* epilogue: frame size=0 */ |
| 148 0098 0895 ret |
| 149 /* epilogue end (size=1) */ |
| 150 /* function CalMk3Mag size 59 (58) */ |
| 152 .section .progmem.data,"a",@progbits |
| 155 __c.21: |
| 156 0000 0A0D 4261 .string "\n\rBatt:" |
| 156 7474 3A00 |
| 159 __c.22: |
| 160 0008 2033 2043 .string " 3 Cells " |
| 160 656C 6C73 |
| 160 2020 00 |
| 163 __c.23: |
| 164 0013 2034 2043 .string " 4 Cells " |
| 164 656C 6C73 |
| 164 2020 00 |
| 167 __c.24: |
| 168 001e 204C 6F77 .string " Low warning level: %d.%d" |
| 168 2077 6172 |
| 168 6E69 6E67 |
| 168 206C 6576 |
| 168 656C 3A20 |
| 169 .text |
| 170 .global LipoDetection |
| 172 LipoDetection: |
| 173 /* prologue: frame size=0 */ |
| 174 009a 1F93 push r17 |
| 175 009c CF93 push r28 |
| 176 009e DF93 push r29 |
| 177 /* prologue end (size=3) */ |
| 178 00a0 182F mov r17,r24 |
| 179 00a2 8823 tst r24 |
| 180 00a4 01F4 brne .L33 |
| 181 00a6 8091 0000 lds r24,EE_Parameter+30 |
| 182 00aa 8233 cpi r24,lo8(50) |
| 183 00ac 00F0 brlo .L34 |
| 184 .L20: |
| 185 00ae 8093 0000 sts BattLowVoltageWarning,r24 |
| 186 .L29: |
| 187 00b2 1123 tst r17 |
| 188 00b4 01F4 brne .+2 |
| 189 00b6 00C0 rjmp .L18 |
| 190 00b8 00C0 rjmp .L35 |
| 191 .L33: |
| 192 00ba 80E0 ldi r24,lo8(__c.21) |
| 193 00bc 90E0 ldi r25,hi8(__c.21) |
| 194 00be 9F93 push r25 |
| 195 00c0 8F93 push r24 |
| 196 00c2 1F92 push __zero_reg__ |
| 197 00c4 0E94 0000 call _printf_P |
| 198 00c8 0F90 pop __tmp_reg__ |
| 199 00ca 0F90 pop __tmp_reg__ |
| 200 00cc 0F90 pop __tmp_reg__ |
| 201 00ce 8091 0000 lds r24,EE_Parameter+30 |
| 202 00d2 8233 cpi r24,lo8(50) |
| 203 00d4 00F4 brsh .L20 |
| 204 .L34: |
| 205 00d6 84EF ldi r24,lo8(500) |
| 206 00d8 91E0 ldi r25,hi8(500) |
| 207 00da 0E94 0000 call SetDelay |
| 208 00de EC01 movw r28,r24 |
| 209 00e0 1123 tst r17 |
| 210 00e2 01F4 brne .L22 |
| 211 .L21: |
| 212 00e4 8091 0000 lds r24,UBat |
| 213 00e8 9091 0000 lds r25,(UBat)+1 |
| 214 00ec 8238 cpi r24,130 |
| 215 00ee 9105 cpc r25,__zero_reg__ |
| 216 00f0 04F0 brlt .+2 |
| 217 00f2 00C0 rjmp .L25 |
| 218 00f4 8091 0000 lds r24,EE_Parameter+30 |
| 219 00f8 23E0 ldi r18,lo8(3) |
| 220 00fa 829F mul r24,r18 |
| 221 00fc C001 movw r24,r0 |
| 222 00fe 1124 clr r1 |
| 223 0100 8093 0000 sts BattLowVoltageWarning,r24 |
| 224 0104 1123 tst r17 |
| 225 0106 01F0 breq .L29 |
| 226 0108 68EC ldi r22,lo8(200) |
| 227 010a 70E0 ldi r23,hi8(200) |
| 228 010c 822F mov r24,r18 |
| 229 010e 0E94 0000 call Piep |
| 230 0112 80E0 ldi r24,lo8(__c.22) |
| 231 0114 90E0 ldi r25,hi8(__c.22) |
| 232 .L31: |
| 233 0116 9F93 push r25 |
| 234 0118 8F93 push r24 |
| 235 011a 1F92 push __zero_reg__ |
| 236 011c 0E94 0000 call _printf_P |
| 237 0120 0F90 pop __tmp_reg__ |
| 238 0122 0F90 pop __tmp_reg__ |
| 239 0124 0F90 pop __tmp_reg__ |
| 240 0126 00C0 rjmp .L29 |
| 241 .L35: |
| 242 0128 8091 0000 lds r24,BattLowVoltageWarning |
| 243 012c 6AE0 ldi r22,lo8(10) |
| 244 012e 0E94 0000 call __udivmodqi4 |
| 245 0132 892F mov r24,r25 |
| 246 0134 9927 clr r25 |
| 247 0136 9F93 push r25 |
| 248 0138 8F93 push r24 |
| 249 013a 8091 0000 lds r24,BattLowVoltageWarning |
| 250 013e 0E94 0000 call __udivmodqi4 |
| 251 0142 9927 clr r25 |
| 252 0144 9F93 push r25 |
| 253 0146 8F93 push r24 |
| 254 0148 80E0 ldi r24,lo8(__c.24) |
| 255 014a 90E0 ldi r25,hi8(__c.24) |
| 256 014c 9F93 push r25 |
| 257 014e 8F93 push r24 |
| 258 0150 1F92 push __zero_reg__ |
| 259 0152 0E94 0000 call _printf_P |
| 260 0156 8DB7 in r24,__SP_L__ |
| 261 0158 9EB7 in r25,__SP_H__ |
| 262 015a 0796 adiw r24,7 |
| 263 015c 8DBF out __SP_L__,r24 |
| 264 015e 00C0 rjmp .L18 |
| 265 .L22: |
| 266 0160 CE01 movw r24,r28 |
| 267 0162 0E94 0000 call CheckDelay |
| 268 0166 8823 tst r24 |
| 269 0168 01F0 breq .+2 |
| 270 016a 00C0 rjmp .L21 |
| 271 016c CE01 movw r24,r28 |
| 272 016e 0E94 0000 call CheckDelay |
| 273 0172 8823 tst r24 |
| 274 0174 01F0 breq .L22 |
| 275 0176 00C0 rjmp .L21 |
| 276 .L25: |
| 277 0178 8091 0000 lds r24,EE_Parameter+30 |
| 278 017c 9927 clr r25 |
| 279 017e 880F lsl r24 |
| 280 0180 991F rol r25 |
| 281 0182 880F lsl r24 |
| 282 0184 991F rol r25 |
| 283 0186 8093 0000 sts BattLowVoltageWarning,r24 |
| 284 018a 1123 tst r17 |
| 285 018c 01F4 brne .+2 |
| 286 018e 00C0 rjmp .L29 |
| 287 0190 68EC ldi r22,lo8(200) |
| 288 0192 70E0 ldi r23,hi8(200) |
| 289 0194 84E0 ldi r24,lo8(4) |
| 290 0196 0E94 0000 call Piep |
| 291 019a 80E0 ldi r24,lo8(__c.23) |
| 292 019c 90E0 ldi r25,hi8(__c.23) |
| 293 019e 00C0 rjmp .L31 |
| 294 .L18: |
| 295 /* epilogue: frame size=0 */ |
| 296 01a0 DF91 pop r29 |
| 297 01a2 CF91 pop r28 |
| 298 01a4 1F91 pop r17 |
| 299 01a6 0895 ret |
| 300 /* epilogue end (size=4) */ |
| 301 /* function LipoDetection size 135 (128) */ |
| 303 .section .progmem.data |
| 306 __c.0: |
| 307 0038 0A0D 3D3D .string "\n\r===================================" |
| 307 3D3D 3D3D |
| 307 3D3D 3D3D |
| 307 3D3D 3D3D |
| 307 3D3D 3D3D |
| 310 __c.1: |
| 311 005e 0A0D 466C .string "\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c " |
| 311 6967 6874 |
| 311 436F 6E74 |
| 311 726F 6C0A |
| 311 0D48 6172 |
| 314 __c.2: |
| 315 0092 0A0D 6578 .string "\n\rexperimental version" |
| 315 7065 7269 |
| 315 6D65 6E74 |
| 315 616C 2076 |
| 315 6572 7369 |
| 318 __c.3: |
| 319 00a9 0A0D 3D3D .string "\n\r===================================" |
| 319 3D3D 3D3D |
| 319 3D3D 3D3D |
| 319 3D3D 3D3D |
| 319 3D3D 3D3D |
| 322 __c.4: |
| 323 00cf 0A0D 6572 .string "\n\rerzeugt default Mixer Table" |
| 323 7A65 7567 |
| 323 7420 6465 |
| 323 6661 756C |
| 323 7420 4D69 |
| 326 __c.5: |
| 327 00ed 0A0D 4D69 .string "\n\rMixer-Config: '%s' (%u Motors)" |
| 327 7865 722D |
| 327 436F 6E66 |
| 327 6967 3A20 |
| 327 2725 7327 |
| 330 __c.6: |
| 331 010e 0A0D 2E2E .string "\n\r...BL-Ctrl...." |
| 331 2E42 4C2D |
| 331 4374 726C |
| 331 2E2E 2E2E |
| 331 00 |
| 334 __c.7: |
| 335 011f 2564 2000 .string "%d " |
| 338 __c.8: |
| 339 0123 0A0D 0A0D .string "\n\r\n\r!! missing BL-CTRL: %d !!" |
| 339 2121 206D |
| 339 6973 7369 |
| 339 6E67 2042 |
| 339 4C2D 4354 |
| 342 __c.9: |
| 343 0141 0A0D 3D3D .string "\n\r===================================" |
| 343 3D3D 3D3D |
| 343 3D3D 3D3D |
| 343 3D3D 3D3D |
| 343 3D3D 3D3D |
| 346 __c.10: |
| 347 0167 0A0D 496E .string "\n\rInit. EEPROM" |
| 347 6974 2E20 |
| 347 4545 5052 |
| 347 4F4D 00 |
| 350 __c.11: |
| 351 0176 3A20 4765 .string ": Generating Default-Parameter using old Stick Settings" |
| 351 6E65 7261 |
| 351 7469 6E67 |
| 351 2044 6566 |
| 351 6175 6C74 |
| 354 __c.12: |
| 355 01ae 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
| 355 6967 6874 |
| 355 2D74 696D |
| 355 6520 2575 |
| 355 206D 696E |
| 358 __c.13: |
| 359 01d1 0A0D 4143 .string "\n\rACC noch nicht calibriert !" |
| 359 4320 6E6F |
| 359 6368 206E |
| 359 6963 6874 |
| 359 2063 616C |
| 362 __c.14: |
| 363 01ef 0A0D 5573 .string "\n\rUsing parameterset %d" |
| 363 696E 6720 |
| 363 7061 7261 |
| 363 6D65 7465 |
| 363 7273 6574 |
| 366 __c.15: |
| 367 0207 0A0D 4B61 .string "\n\rKalibrieren des Drucksensors." |
| 367 6C69 6272 |
| 367 6965 7265 |
| 367 6E20 6465 |
| 367 7320 4472 |
| 370 __c.16: |
| 371 0227 4F4B 0A0D .string "OK\n\r" |
| 371 00 |
| 374 __c.17: |
| 375 022c 0A0D 436F .string "\n\rControl: " |
| 375 6E74 726F |
| 375 6C3A 2000 |
| 378 __c.18: |
| 379 0238 4865 6164 .string "HeadingHold" |
| 379 696E 6748 |
| 379 6F6C 6400 |
| 382 __c.19: |
| 383 0244 6E6F 726D .string "normaler (ACC-Mode)" |
| 383 616C 6572 |
| 383 2028 4143 |
| 383 432D 4D6F |
| 383 6465 2900 |
| 386 __c.20: |
| 387 0258 0A0D 3D3D .string "\n\r===================================\n\r" |
| 387 3D3D 3D3D |
| 387 3D3D 3D3D |
| 387 3D3D 3D3D |
| 387 3D3D 3D3D |
| 388 .data |
| 389 .LC0: |
| 390 0004 5175 6164 .string "Quadro" |
| 390 726F 00 |
| 391 000b 00 .string "" |
| 392 .text |
| 393 .global main |
| 395 main: |
| 396 /* prologue: frame size=0 */ |
| 397 01a8 C0E0 ldi r28,lo8(__stack - 0) |
| 398 01aa D0E0 ldi r29,hi8(__stack - 0) |
| 399 01ac DEBF out __SP_H__,r29 |
| 400 01ae CDBF out __SP_L__,r28 |
| 401 /* prologue end (size=4) */ |
| 402 01b0 EE24 clr r14 |
| 403 01b2 FF24 clr r15 |
| 404 01b4 14B8 out 36-0x20,__zero_reg__ |
| 405 01b6 15B8 out 37-0x20,__zero_reg__ |
| 406 01b8 C7EE ldi r28,lo8(999) |
| 407 01ba D3E0 ldi r29,hi8(999) |
| 408 .L40: |
| 409 01bc E297 sbiw r28,50 |
| 410 01be D7FF sbrs r29,7 |
| 411 01c0 00C0 rjmp .L40 |
| 412 01c2 2DE0 ldi r18,lo8(13) |
| 413 01c4 2093 0000 sts PlatinenVersion,r18 |
| 414 01c8 81E8 ldi r24,lo8(-127) |
| 415 01ca 87B9 out 39-0x20,r24 |
| 416 01cc 8FEF ldi r24,lo8(-1) |
| 417 01ce 88B9 out 40-0x20,r24 |
| 418 01d0 8BE1 ldi r24,lo8(27) |
| 419 01d2 84B9 out 36-0x20,r24 |
| 420 01d4 81E0 ldi r24,lo8(1) |
| 421 01d6 85B9 out 37-0x20,r24 |
| 422 01d8 8EE3 ldi r24,lo8(62) |
| 423 01da 8AB9 out 42-0x20,r24 |
| 424 01dc 87E4 ldi r24,lo8(71) |
| 425 01de 8BB9 out 43-0x20,r24 |
| 426 01e0 4698 cbi 40-0x20,6 |
| 427 01e2 84B7 in r24,84-0x20 |
| 428 01e4 877F andi r24,lo8(-9) |
| 429 01e6 84BF out 84-0x20,r24 |
| 430 01e8 8091 6000 lds r24,96 |
| 431 01ec 8861 ori r24,lo8(24) |
| 432 01ee 8093 6000 sts 96,r24 |
| 433 01f2 1092 6000 sts 96,__zero_reg__ |
| 434 01f6 80ED ldi r24,lo8(2000) |
| 435 01f8 97E0 ldi r25,hi8(2000) |
| 436 01fa 9093 0000 sts (beeptime)+1,r25 |
| 437 01fe 8093 0000 sts beeptime,r24 |
| 438 0202 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 439 0206 1092 0000 sts StickGier,__zero_reg__ |
| 440 020a 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 441 020e 1092 0000 sts PPM_in+4,__zero_reg__ |
| 442 0212 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 443 0216 1092 0000 sts StickRoll,__zero_reg__ |
| 444 021a 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 445 021e 1092 0000 sts StickNick,__zero_reg__ |
| 446 0222 8BE0 ldi r24,lo8(1291) |
| 447 0224 95E0 ldi r25,hi8(1291) |
| 448 0226 A0E0 ldi r26,hlo8(1291) |
| 449 0228 B0E0 ldi r27,hhi8(1291) |
| 450 022a 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
| 451 022e 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
| 452 0232 A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
| 453 0236 B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
| 454 023a 289A sbi 37-0x20,0 |
| 455 023c 0E94 0000 call Timer_Init |
| 456 0240 0E94 0000 call TIMER2_Init |
| 457 0244 0E94 0000 call UART_Init |
| 458 0248 0E94 0000 call rc_sum_init |
| 459 024c 0E94 0000 call ADC_Init |
| 460 0250 0E94 0000 call i2c_init |
| 461 /* #APP */ |
| 462 0254 7894 sei |
| 463 /* #NOAPP */ |
| 464 0256 80E0 ldi r24,lo8(__c.0) |
| 465 0258 90E0 ldi r25,hi8(__c.0) |
| 466 025a 9F93 push r25 |
| 467 025c 8F93 push r24 |
| 468 025e 1F92 push __zero_reg__ |
| 469 0260 0E94 0000 call _printf_P |
| 470 0264 0F90 pop __tmp_reg__ |
| 471 0266 0F90 pop __tmp_reg__ |
| 472 0268 0F90 pop __tmp_reg__ |
| 473 026a 87E6 ldi r24,lo8(103) |
| 474 026c 90E0 ldi r25,hi8(103) |
| 475 026e 9F93 push r25 |
| 476 0270 8F93 push r24 |
| 477 0272 8CE4 ldi r24,lo8(76) |
| 478 0274 90E0 ldi r25,hi8(76) |
| 479 0276 9F93 push r25 |
| 480 0278 8F93 push r24 |
| 481 027a 1F92 push __zero_reg__ |
| 482 027c 1F92 push __zero_reg__ |
| 483 027e 8091 0000 lds r24,PlatinenVersion |
| 484 0282 6AE0 ldi r22,lo8(10) |
| 485 0284 0E94 0000 call __udivmodqi4 |
| 486 0288 892F mov r24,r25 |
| 487 028a 9927 clr r25 |
| 488 028c 9F93 push r25 |
| 489 028e 8F93 push r24 |
| 490 0290 8091 0000 lds r24,PlatinenVersion |
| 491 0294 0E94 0000 call __udivmodqi4 |
| 492 0298 9927 clr r25 |
| 493 029a 9F93 push r25 |
| 494 029c 8F93 push r24 |
| 495 029e 80E0 ldi r24,lo8(__c.1) |
| 496 02a0 90E0 ldi r25,hi8(__c.1) |
| 497 02a2 9F93 push r25 |
| 498 02a4 8F93 push r24 |
| 499 02a6 1F92 push __zero_reg__ |
| 500 02a8 0E94 0000 call _printf_P |
| 501 02ac 8DB7 in r24,__SP_L__ |
| 502 02ae 9EB7 in r25,__SP_H__ |
| 503 02b0 0D96 adiw r24,13 |
| 504 02b2 8DBF out __SP_L__,r24 |
| 505 02b4 80E0 ldi r24,lo8(__c.2) |
| 506 02b6 90E0 ldi r25,hi8(__c.2) |
| 507 02b8 9F93 push r25 |
| 508 02ba 8F93 push r24 |
| 509 02bc 1F92 push __zero_reg__ |
| 510 02be 0E94 0000 call _printf_P |
| 511 02c2 0F90 pop __tmp_reg__ |
| 512 02c4 0F90 pop __tmp_reg__ |
| 513 02c6 0F90 pop __tmp_reg__ |
| 514 02c8 80E0 ldi r24,lo8(__c.3) |
| 515 02ca 90E0 ldi r25,hi8(__c.3) |
| 516 02cc 9F93 push r25 |
| 517 02ce 8F93 push r24 |
| 518 02d0 1F92 push __zero_reg__ |
| 519 02d2 0E94 0000 call _printf_P |
| 520 02d6 8091 0000 lds r24,PlatinenVersion |
| 521 02da 0F90 pop __tmp_reg__ |
| 522 02dc 0F90 pop __tmp_reg__ |
| 523 02de 0F90 pop __tmp_reg__ |
| 524 02e0 8C30 cpi r24,lo8(12) |
| 525 02e2 00F0 brlo .+2 |
| 526 02e4 00C0 rjmp .L44 |
| 527 02e6 299A sbi 37-0x20,1 |
| 528 .L45: |
| 529 02e8 49E0 ldi r20,lo8(9) |
| 530 02ea 60E0 ldi r22,lo8(EE_Parameter) |
| 531 02ec 70E0 ldi r23,hi8(EE_Parameter) |
| 532 02ee 83E0 ldi r24,lo8(3) |
| 533 02f0 0E94 0000 call ReadParameterSet |
| 534 .L47: |
| 535 02f4 F999 sbic 63-0x20,1 |
| 536 02f6 00C0 rjmp .L47 |
| 537 02f8 80E0 ldi r24,lo8(EEPromArray+1000) |
| 538 02fa 90E0 ldi r25,hi8(EEPromArray+1000) |
| 539 02fc 92BD out (65)+1-0x20,r25 |
| 540 02fe 81BD out 65-0x20,r24 |
| 541 /* #APP */ |
| 542 /* START EEPROM READ CRITICAL SECTION */ |
| 543 0300 F89A sbi 31, 0 |
| 544 0302 80B5 in r24, 32 |
| 545 /* END EEPROM READ CRITICAL SECTION */ |
| 546 |
| 547 /* #NOAPP */ |
| 548 0304 8130 cpi r24,lo8(1) |
| 549 0306 01F4 brne .L46 |
| 550 .L51: |
| 551 0308 F999 sbic 63-0x20,1 |
| 552 030a 00C0 rjmp .L51 |
| 553 030c 80E0 ldi r24,lo8(EEPromArray+1) |
| 554 030e 90E0 ldi r25,hi8(EEPromArray+1) |
| 555 0310 92BD out (65)+1-0x20,r25 |
| 556 0312 81BD out 65-0x20,r24 |
| 557 /* #APP */ |
| 558 /* START EEPROM READ CRITICAL SECTION */ |
| 559 0314 F89A sbi 31, 0 |
| 560 0316 80B5 in r24, 32 |
| 561 /* END EEPROM READ CRITICAL SECTION */ |
| 562 |
| 563 /* #NOAPP */ |
| 564 0318 8F3F cpi r24,lo8(-1) |
| 565 031a 01F0 breq .L46 |
| 566 031c 1092 0000 sts RequiredMotors,__zero_reg__ |
| 567 0320 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 568 0322 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 569 0324 4DE4 ldi r20,lo8(77) |
| 570 0326 50E0 ldi r21,hi8(77) |
| 571 0328 60E0 ldi r22,lo8(EEPromArray+1000) |
| 572 032a 70E0 ldi r23,hi8(EEPromArray+1000) |
| 573 032c 80E0 ldi r24,lo8(Mixer) |
| 574 032e 90E0 ldi r25,hi8(Mixer) |
| 575 0330 0E94 0000 call __eerd_block |
| 576 0334 9091 0000 lds r25,RequiredMotors |
| 577 0338 E0E0 ldi r30,lo8(Mixer+13) |
| 578 033a F0E0 ldi r31,hi8(Mixer+13) |
| 579 033c 2FE0 ldi r18,lo8(15) |
| 580 .L60: |
| 581 033e 8081 ld r24,Z |
| 582 0340 3496 adiw r30,4 |
| 583 0342 1816 cp __zero_reg__,r24 |
| 584 0344 04F4 brge .L58 |
| 585 0346 9F5F subi r25,lo8(-(1)) |
| 586 .L58: |
| 587 0348 2150 subi r18,lo8(-(-1)) |
| 588 034a 27FF sbrs r18,7 |
| 589 034c 00C0 rjmp .L60 |
| 590 034e 9093 0000 sts RequiredMotors,r25 |
| 591 0352 C0E0 ldi r28,lo8(Mixer+1) |
| 592 0354 D0E0 ldi r29,hi8(Mixer+1) |
| 593 0356 00C0 rjmp .L61 |
| 594 .L44: |
| 595 0358 2998 cbi 37-0x20,1 |
| 596 035a 00C0 rjmp .L45 |
| 597 .L46: |
| 598 035c 80E0 ldi r24,lo8(__c.4) |
| 599 035e 90E0 ldi r25,hi8(__c.4) |
| 600 0360 9F93 push r25 |
| 601 0362 8F93 push r24 |
| 602 0364 1F92 push __zero_reg__ |
| 603 0366 0E94 0000 call _printf_P |
| 604 036a 0F90 pop __tmp_reg__ |
| 605 036c 0F90 pop __tmp_reg__ |
| 606 036e 0F90 pop __tmp_reg__ |
| 607 0370 E0E0 ldi r30,lo8(Mixer) |
| 608 0372 F0E0 ldi r31,hi8(Mixer) |
| 609 0374 8FE0 ldi r24,lo8(15) |
| 610 .L65: |
| 611 0376 1586 std Z+13,__zero_reg__ |
| 612 0378 1686 std Z+14,__zero_reg__ |
| 613 037a 1786 std Z+15,__zero_reg__ |
| 614 037c 108A std Z+16,__zero_reg__ |
| 615 037e 8150 subi r24,lo8(-(-1)) |
| 616 0380 3496 adiw r30,4 |
| 617 0382 87FF sbrs r24,7 |
| 618 0384 00C0 rjmp .L65 |
| 619 0386 80E4 ldi r24,lo8(64) |
| 620 0388 8093 0000 sts Mixer+13,r24 |
| 621 038c 8093 0000 sts Mixer+14,r24 |
| 622 0390 1092 0000 sts Mixer+15,__zero_reg__ |
| 623 0394 8093 0000 sts Mixer+16,r24 |
| 624 0398 8093 0000 sts Mixer+17,r24 |
| 625 039c 90EC ldi r25,lo8(-64) |
| 626 039e 9093 0000 sts Mixer+18,r25 |
| 627 03a2 1092 0000 sts Mixer+19,__zero_reg__ |
| 628 03a6 8093 0000 sts Mixer+20,r24 |
| 629 03aa 8093 0000 sts Mixer+21,r24 |
| 630 03ae 1092 0000 sts Mixer+22,__zero_reg__ |
| 631 03b2 9093 0000 sts Mixer+23,r25 |
| 632 03b6 9093 0000 sts Mixer+24,r25 |
| 633 03ba 8093 0000 sts Mixer+25,r24 |
| 634 03be 1092 0000 sts Mixer+26,__zero_reg__ |
| 635 03c2 8093 0000 sts Mixer+27,r24 |
| 636 03c6 9093 0000 sts Mixer+28,r25 |
| 637 03ca 81E0 ldi r24,lo8(1) |
| 638 03cc 8093 0000 sts Mixer,r24 |
| 639 03d0 C0E0 ldi r28,lo8(Mixer+1) |
| 640 03d2 D0E0 ldi r29,hi8(Mixer+1) |
| 641 03d4 8BE0 ldi r24,lo8(11) |
| 642 03d6 E0E0 ldi r30,lo8(.LC0) |
| 643 03d8 F0E0 ldi r31,hi8(.LC0) |
| 644 03da DE01 movw r26,r28 |
| 645 03dc 0190 ld __tmp_reg__,Z+ |
| 646 03de 0D92 st X+,__tmp_reg__ |
| 647 03e0 8A95 dec r24 |
| 648 03e2 01F4 brne .-8 |
| 649 03e4 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 650 03e6 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 651 03e8 4DE4 ldi r20,lo8(77) |
| 652 03ea 50E0 ldi r21,hi8(77) |
| 653 03ec BE01 movw r22,r28 |
| 654 03ee 6150 subi r22,lo8(-(-1)) |
| 655 03f0 7040 sbci r23,hi8(-(-1)) |
| 656 03f2 80E0 ldi r24,lo8(EEPromArray+1000) |
| 657 03f4 90E0 ldi r25,hi8(EEPromArray+1000) |
| 658 03f6 0E94 0000 call __eewr_block |
| 659 .L61: |
| 660 03fa 8091 0000 lds r24,RequiredMotors |
| 661 03fe 9927 clr r25 |
| 662 0400 9F93 push r25 |
| 663 0402 8F93 push r24 |
| 664 0404 DF93 push r29 |
| 665 0406 CF93 push r28 |
| 666 0408 80E0 ldi r24,lo8(__c.5) |
| 667 040a 90E0 ldi r25,hi8(__c.5) |
| 668 040c 9F93 push r25 |
| 669 040e 8F93 push r24 |
| 670 0410 1F92 push __zero_reg__ |
| 671 0412 0E94 0000 call _printf_P |
| 672 0416 EDB7 in r30,__SP_L__ |
| 673 0418 FEB7 in r31,__SP_H__ |
| 674 041a 3796 adiw r30,7 |
| 675 041c EDBF out __SP_L__,r30 |
| 676 041e 80E0 ldi r24,lo8(__c.6) |
| 677 0420 90E0 ldi r25,hi8(__c.6) |
| 678 0422 9F93 push r25 |
| 679 0424 8F93 push r24 |
| 680 0426 1F92 push __zero_reg__ |
| 681 0428 0E94 0000 call _printf_P |
| 682 042c 1092 0000 sts motorread,__zero_reg__ |
| 683 0430 1092 0000 sts UpdateMotor,__zero_reg__ |
| 684 0434 0E94 0000 call SendMotorData |
| 685 0438 0F90 pop __tmp_reg__ |
| 686 043a 0F90 pop __tmp_reg__ |
| 687 043c 0F90 pop __tmp_reg__ |
| 688 .L67: |
| 689 043e 8091 0000 lds r24,UpdateMotor |
| 690 0442 8823 tst r24 |
| 691 0444 01F0 breq .L67 |
| 692 0446 1092 0000 sts motorread,__zero_reg__ |
| 693 044a 80ED ldi r24,lo8(2000) |
| 694 044c 97E0 ldi r25,hi8(2000) |
| 695 044e 0E94 0000 call SetDelay |
| 696 0452 EC01 movw r28,r24 |
| 697 0454 CC24 clr r12 |
| 698 0456 DD24 clr r13 |
| 699 0458 B0E0 ldi r27,lo8(__c.7) |
| 700 045a AB2E mov r10,r27 |
| 701 045c B0E0 ldi r27,hi8(__c.7) |
| 702 045e BB2E mov r11,r27 |
| 703 .L84: |
| 704 0460 1092 0000 sts UpdateMotor,__zero_reg__ |
| 705 0464 0E94 0000 call SendMotorData |
| 706 .L73: |
| 707 0468 8091 0000 lds r24,UpdateMotor |
| 708 046c 8823 tst r24 |
| 709 046e 01F0 breq .L73 |
| 710 0470 F601 movw r30,r12 |
| 711 0472 EE0F lsl r30 |
| 712 0474 FF1F rol r31 |
| 713 0476 EE0F lsl r30 |
| 714 0478 FF1F rol r31 |
| 715 047a E050 subi r30,lo8(-(Mixer)) |
| 716 047c F040 sbci r31,hi8(-(Mixer)) |
| 717 047e 8585 ldd r24,Z+13 |
| 718 0480 1816 cp __zero_reg__,r24 |
| 719 0482 04F0 brlt .+2 |
| 720 0484 00C0 rjmp .L248 |
| 721 0486 8601 movw r16,r12 |
| 722 0488 0050 subi r16,lo8(-(MotorPresent)) |
| 723 048a 1040 sbci r17,hi8(-(MotorPresent)) |
| 724 048c CE01 movw r24,r28 |
| 725 048e 0E94 0000 call CheckDelay |
| 726 0492 8823 tst r24 |
| 727 0494 01F4 brne .L76 |
| 728 .L361: |
| 729 0496 D801 movw r26,r16 |
| 730 0498 8C91 ld r24,X |
| 731 049a 8823 tst r24 |
| 732 049c 01F4 brne .L76 |
| 733 049e 8093 0000 sts UpdateMotor,r24 |
| 734 04a2 0E94 0000 call SendMotorData |
| 735 .L79: |
| 736 04a6 8091 0000 lds r24,UpdateMotor |
| 737 04aa 8823 tst r24 |
| 738 04ac 01F0 breq .L79 |
| 739 04ae CE01 movw r24,r28 |
| 740 04b0 0E94 0000 call CheckDelay |
| 741 04b4 8823 tst r24 |
| 742 04b6 01F0 breq .L361 |
| 743 .L76: |
| 744 04b8 F801 movw r30,r16 |
| 745 04ba 8081 ld r24,Z |
| 746 04bc 8823 tst r24 |
| 747 04be 01F4 brne .L362 |
| 748 04c0 8601 movw r16,r12 |
| 749 04c2 0F5F subi r16,lo8(-(1)) |
| 750 04c4 1F4F sbci r17,hi8(-(1)) |
| 751 .L72: |
| 752 04c6 6801 movw r12,r16 |
| 753 04c8 0230 cpi r16,2 |
| 754 04ca 1105 cpc r17,__zero_reg__ |
| 755 04cc 00F0 brlo .L84 |
| 756 04ce CC24 clr r12 |
| 757 04d0 DD24 clr r13 |
| 758 04d2 E0E0 ldi r30,lo8(__c.8) |
| 759 04d4 AE2E mov r10,r30 |
| 760 04d6 E0E0 ldi r30,hi8(__c.8) |
| 761 04d8 BE2E mov r11,r30 |
| 762 04da C1E0 ldi r28,lo8(1) |
| 763 04dc 00C0 rjmp .L89 |
| 764 .L364: |
| 765 04de F601 movw r30,r12 |
| 766 04e0 EE0F lsl r30 |
| 767 04e2 FF1F rol r31 |
| 768 04e4 EE0F lsl r30 |
| 769 04e6 FF1F rol r31 |
| 770 04e8 E050 subi r30,lo8(-(Mixer)) |
| 771 04ea F040 sbci r31,hi8(-(Mixer)) |
| 772 04ec 8585 ldd r24,Z+13 |
| 773 04ee 1816 cp __zero_reg__,r24 |
| 774 04f0 04F4 brge .L251 |
| 775 04f2 8601 movw r16,r12 |
| 776 04f4 0F5F subi r16,lo8(-(1)) |
| 777 04f6 1F4F sbci r17,hi8(-(1)) |
| 778 04f8 1F93 push r17 |
| 779 04fa 0F93 push r16 |
| 780 04fc BF92 push r11 |
| 781 04fe AF92 push r10 |
| 782 0500 9F93 push r25 |
| 783 0502 0E94 0000 call _printf_P |
| 784 0506 C093 0000 sts ServoActive,r28 |
| 785 050a 0F90 pop __tmp_reg__ |
| 786 050c 0F90 pop __tmp_reg__ |
| 787 050e 0F90 pop __tmp_reg__ |
| 788 0510 0F90 pop __tmp_reg__ |
| 789 0512 0F90 pop __tmp_reg__ |
| 790 .L88: |
| 791 0514 80E0 ldi r24,lo8(MotorError) |
| 792 0516 90E0 ldi r25,hi8(MotorError) |
| 793 0518 C80E add r12,r24 |
| 794 051a D91E adc r13,r25 |
| 795 051c D601 movw r26,r12 |
| 796 051e 1C92 st X,__zero_reg__ |
| 797 0520 6801 movw r12,r16 |
| 798 0522 0230 cpi r16,2 |
| 799 0524 1105 cpc r17,__zero_reg__ |
| 800 0526 00F4 brsh .L363 |
| 801 .L89: |
| 802 0528 F601 movw r30,r12 |
| 803 052a E050 subi r30,lo8(-(MotorPresent)) |
| 804 052c F040 sbci r31,hi8(-(MotorPresent)) |
| 805 052e 9081 ld r25,Z |
| 806 0530 9923 tst r25 |
| 807 0532 01F0 breq .L364 |
| 808 .L251: |
| 809 0534 8601 movw r16,r12 |
| 810 0536 0F5F subi r16,lo8(-(1)) |
| 811 0538 1F4F sbci r17,hi8(-(1)) |
| 812 053a 00C0 rjmp .L88 |
| 813 .L362: |
| 814 053c 8601 movw r16,r12 |
| 815 053e 0F5F subi r16,lo8(-(1)) |
| 816 0540 1F4F sbci r17,hi8(-(1)) |
| 817 0542 1F93 push r17 |
| 818 0544 0F93 push r16 |
| 819 0546 BF92 push r11 |
| 820 0548 AF92 push r10 |
| 821 054a 1F92 push __zero_reg__ |
| 822 054c 0E94 0000 call _printf_P |
| 823 0550 0F90 pop __tmp_reg__ |
| 824 0552 0F90 pop __tmp_reg__ |
| 825 0554 0F90 pop __tmp_reg__ |
| 826 0556 0F90 pop __tmp_reg__ |
| 827 0558 0F90 pop __tmp_reg__ |
| 828 055a 00C0 rjmp .L72 |
| 829 .L248: |
| 830 055c 8601 movw r16,r12 |
| 831 055e 0050 subi r16,lo8(-(MotorPresent)) |
| 832 0560 1040 sbci r17,hi8(-(MotorPresent)) |
| 833 0562 00C0 rjmp .L76 |
| 834 .L363: |
| 835 0564 80E0 ldi r24,lo8(__c.9) |
| 836 0566 90E0 ldi r25,hi8(__c.9) |
| 837 0568 9F93 push r25 |
| 838 056a 8F93 push r24 |
| 839 056c 1F92 push __zero_reg__ |
| 840 056e 0E94 0000 call _printf_P |
| 841 0572 0E94 0000 call SendMotorData |
| 842 0576 0F90 pop __tmp_reg__ |
| 843 0578 0F90 pop __tmp_reg__ |
| 844 057a 0F90 pop __tmp_reg__ |
| 845 .L91: |
| 846 057c F999 sbic 63-0x20,1 |
| 847 057e 00C0 rjmp .L91 |
| 848 0580 80E0 ldi r24,lo8(EEPromArray+1) |
| 849 0582 90E0 ldi r25,hi8(EEPromArray+1) |
| 850 0584 92BD out (65)+1-0x20,r25 |
| 851 0586 81BD out 65-0x20,r24 |
| 852 /* #APP */ |
| 853 /* START EEPROM READ CRITICAL SECTION */ |
| 854 0588 F89A sbi 31, 0 |
| 855 058a 80B5 in r24, 32 |
| 856 /* END EEPROM READ CRITICAL SECTION */ |
| 857 |
| 858 /* #NOAPP */ |
| 859 058c 8035 cpi r24,lo8(80) |
| 860 058e 01F0 breq .+2 |
| 861 0590 00C0 rjmp .L365 |
| 862 .L157: |
| 863 0592 F999 sbic 63-0x20,1 |
| 864 0594 00C0 rjmp .L157 |
| 865 0596 80E0 ldi r24,lo8(EEPromArray+14) |
| 866 0598 90E0 ldi r25,hi8(EEPromArray+14) |
| 867 059a 92BD out (65)+1-0x20,r25 |
| 868 059c 81BD out 65-0x20,r24 |
| 869 /* #APP */ |
| 870 /* START EEPROM READ CRITICAL SECTION */ |
| 871 059e F89A sbi 31, 0 |
| 872 05a0 80B5 in r24, 32 |
| 873 /* END EEPROM READ CRITICAL SECTION */ |
| 874 |
| 875 /* #NOAPP */ |
| 876 05a2 9927 clr r25 |
| 877 05a4 382F mov r19,r24 |
| 878 05a6 2227 clr r18 |
| 879 .L161: |
| 880 05a8 F999 sbic 63-0x20,1 |
| 881 05aa 00C0 rjmp .L161 |
| 882 05ac 80E0 ldi r24,lo8(EEPromArray+15) |
| 883 05ae 90E0 ldi r25,hi8(EEPromArray+15) |
| 884 05b0 92BD out (65)+1-0x20,r25 |
| 885 05b2 81BD out 65-0x20,r24 |
| 886 /* #APP */ |
| 887 /* START EEPROM READ CRITICAL SECTION */ |
| 888 05b4 F89A sbi 31, 0 |
| 889 05b6 80B5 in r24, 32 |
| 890 /* END EEPROM READ CRITICAL SECTION */ |
| 891 |
| 892 /* #NOAPP */ |
| 893 05b8 B901 movw r22,r18 |
| 894 05ba 680F add r22,r24 |
| 895 05bc 711D adc r23,__zero_reg__ |
| 896 .L165: |
| 897 05be F999 sbic 63-0x20,1 |
| 898 05c0 00C0 rjmp .L165 |
| 899 05c2 80E0 ldi r24,lo8(EEPromArray+10) |
| 900 05c4 90E0 ldi r25,hi8(EEPromArray+10) |
| 901 05c6 92BD out (65)+1-0x20,r25 |
| 902 05c8 81BD out 65-0x20,r24 |
| 903 /* #APP */ |
| 904 /* START EEPROM READ CRITICAL SECTION */ |
| 905 05ca F89A sbi 31, 0 |
| 906 05cc 80B5 in r24, 32 |
| 907 /* END EEPROM READ CRITICAL SECTION */ |
| 908 |
| 909 /* #NOAPP */ |
| 910 05ce 9927 clr r25 |
| 911 05d0 382F mov r19,r24 |
| 912 05d2 2227 clr r18 |
| 913 .L169: |
| 914 05d4 8FB3 in r24,63-0x20 |
| 915 05d6 9927 clr r25 |
| 916 05d8 AC01 movw r20,r24 |
| 917 05da 4270 andi r20,lo8(2) |
| 918 05dc 5070 andi r21,hi8(2) |
| 919 05de 81FD sbrc r24,1 |
| 920 05e0 00C0 rjmp .L169 |
| 921 05e2 80E0 ldi r24,lo8(EEPromArray+11) |
| 922 05e4 90E0 ldi r25,hi8(EEPromArray+11) |
| 923 05e6 92BD out (65)+1-0x20,r25 |
| 924 05e8 81BD out 65-0x20,r24 |
| 925 /* #APP */ |
| 926 /* START EEPROM READ CRITICAL SECTION */ |
| 927 05ea F89A sbi 31, 0 |
| 928 05ec 80B5 in r24, 32 |
| 929 /* END EEPROM READ CRITICAL SECTION */ |
| 930 |
| 931 /* #NOAPP */ |
| 932 05ee 280F add r18,r24 |
| 933 05f0 311D adc r19,__zero_reg__ |
| 934 05f2 C901 movw r24,r18 |
| 935 05f4 2F5F subi r18,lo8(-1) |
| 936 05f6 3F4F sbci r19,hi8(-1) |
| 937 05f8 01F4 brne .+2 |
| 938 05fa 00C0 rjmp .L174 |
| 939 05fc 7093 0000 sts (FlugMinuten)+1,r23 |
| 940 0600 6093 0000 sts FlugMinuten,r22 |
| 941 0604 9B01 movw r18,r22 |
| 942 0606 6F5F subi r22,lo8(-1) |
| 943 0608 7F4F sbci r23,hi8(-1) |
| 944 060a 01F4 brne .+2 |
| 945 060c 00C0 rjmp .L174 |
| 946 060e 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
| 947 0612 8093 0000 sts FlugMinutenGesamt,r24 |
| 948 .L173: |
| 949 0616 8091 0000 lds r24,FlugMinutenGesamt |
| 950 061a 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 951 061e 9F93 push r25 |
| 952 0620 8F93 push r24 |
| 953 0622 3F93 push r19 |
| 954 0624 2F93 push r18 |
| 955 0626 80E0 ldi r24,lo8(__c.12) |
| 956 0628 90E0 ldi r25,hi8(__c.12) |
| 957 062a 9F93 push r25 |
| 958 062c 8F93 push r24 |
| 959 062e 1F92 push __zero_reg__ |
| 960 0630 0E94 0000 call _printf_P |
| 961 0634 8DB7 in r24,__SP_L__ |
| 962 0636 9EB7 in r25,__SP_H__ |
| 963 0638 0796 adiw r24,7 |
| 964 063a 8DBF out __SP_L__,r24 |
| 965 .L176: |
| 966 063c F999 sbic 63-0x20,1 |
| 967 063e 00C0 rjmp .L176 |
| 968 0640 80E0 ldi r24,lo8(EEPromArray+4) |
| 969 0642 90E0 ldi r25,hi8(EEPromArray+4) |
| 970 0644 92BD out (65)+1-0x20,r25 |
| 971 0646 81BD out 65-0x20,r24 |
| 972 /* #APP */ |
| 973 /* START EEPROM READ CRITICAL SECTION */ |
| 974 0648 F89A sbi 31, 0 |
| 975 064a 80B5 in r24, 32 |
| 976 /* END EEPROM READ CRITICAL SECTION */ |
| 977 |
| 978 /* #NOAPP */ |
| 979 064c 8530 cpi r24,lo8(5) |
| 980 064e 00F0 brlo .+2 |
| 981 0650 00C0 rjmp .L366 |
| 982 .L175: |
| 983 0652 0E94 0000 call GetActiveParamSetNumber |
| 984 0656 45E6 ldi r20,lo8(101) |
| 985 0658 60E0 ldi r22,lo8(EE_Parameter) |
| 986 065a 70E0 ldi r23,hi8(EE_Parameter) |
| 987 065c 0E94 0000 call ReadParameterSet |
| 988 0660 0E94 0000 call GetActiveParamSetNumber |
| 989 0664 9927 clr r25 |
| 990 0666 9F93 push r25 |
| 991 0668 8F93 push r24 |
| 992 066a 80E0 ldi r24,lo8(__c.14) |
| 993 066c 90E0 ldi r25,hi8(__c.14) |
| 994 066e 9F93 push r25 |
| 995 0670 8F93 push r24 |
| 996 0672 1F92 push __zero_reg__ |
| 997 0674 0E94 0000 call _printf_P |
| 998 0678 8091 0000 lds r24,EE_Parameter+8 |
| 999 067c 0F90 pop __tmp_reg__ |
| 1000 067e 0F90 pop __tmp_reg__ |
| 1001 0680 0F90 pop __tmp_reg__ |
| 1002 0682 0F90 pop __tmp_reg__ |
| 1003 0684 0F90 pop __tmp_reg__ |
| 1004 0686 80FD sbrc r24,0 |
| 1005 0688 00C0 rjmp .L367 |
| 1006 .L180: |
| 1007 068a 0E94 0000 call SetNeutral |
| 1008 068e 8091 0000 lds r24,PlatinenVersion |
| 1009 0692 8A30 cpi r24,lo8(10) |
| 1010 0694 01F4 brne .+2 |
| 1011 0696 00C0 rjmp .L185 |
| 1012 0698 8431 cpi r24,lo8(20) |
| 1013 069a 01F4 brne .+2 |
| 1014 069c 00C0 rjmp .L185 |
| 1015 069e 289A sbi 37-0x20,0 |
| 1016 .L186: |
| 1017 06a0 80ED ldi r24,lo8(2000) |
| 1018 06a2 97E0 ldi r25,hi8(2000) |
| 1019 06a4 9093 0000 sts (beeptime)+1,r25 |
| 1020 06a8 8093 0000 sts beeptime,r24 |
| 1021 06ac 85E5 ldi r24,lo8(85) |
| 1022 06ae 8093 0000 sts ExternControl,r24 |
| 1023 06b2 80E0 ldi r24,lo8(__c.17) |
| 1024 06b4 90E0 ldi r25,hi8(__c.17) |
| 1025 06b6 9F93 push r25 |
| 1026 06b8 8F93 push r24 |
| 1027 06ba 1F92 push __zero_reg__ |
| 1028 06bc 0E94 0000 call _printf_P |
| 1029 06c0 8091 0000 lds r24,EE_Parameter+8 |
| 1030 06c4 0F90 pop __tmp_reg__ |
| 1031 06c6 0F90 pop __tmp_reg__ |
| 1032 06c8 0F90 pop __tmp_reg__ |
| 1033 06ca 82FF sbrs r24,2 |
| 1034 06cc 00C0 rjmp .L187 |
| 1035 06ce 80E0 ldi r24,lo8(__c.18) |
| 1036 06d0 90E0 ldi r25,hi8(__c.18) |
| 1037 .L359: |
| 1038 06d2 9F93 push r25 |
| 1039 06d4 8F93 push r24 |
| 1040 06d6 1F92 push __zero_reg__ |
| 1041 06d8 0E94 0000 call _printf_P |
| 1042 06dc 0F90 pop __tmp_reg__ |
| 1043 06de 0F90 pop __tmp_reg__ |
| 1044 06e0 0F90 pop __tmp_reg__ |
| 1045 06e2 0E94 0000 call LcdClear |
| 1046 06e6 88E8 ldi r24,lo8(5000) |
| 1047 06e8 93E1 ldi r25,hi8(5000) |
| 1048 06ea 9093 0000 sts (I2CTimeout)+1,r25 |
| 1049 06ee 8093 0000 sts I2CTimeout,r24 |
| 1050 06f2 81E0 ldi r24,lo8(1) |
| 1051 06f4 8093 0000 sts WinkelOut+7,r24 |
| 1052 06f8 0E94 0000 call LipoDetection |
| 1053 06fc 80E0 ldi r24,lo8(__c.20) |
| 1054 06fe 90E0 ldi r25,hi8(__c.20) |
| 1055 0700 9F93 push r25 |
| 1056 0702 8F93 push r24 |
| 1057 0704 1F92 push __zero_reg__ |
| 1058 0706 0E94 0000 call _printf_P |
| 1059 070a 80ED ldi r24,lo8(2000) |
| 1060 070c 97E0 ldi r25,hi8(2000) |
| 1061 070e 0E94 0000 call SetDelay |
| 1062 0712 EC01 movw r28,r24 |
| 1063 0714 0F90 pop __tmp_reg__ |
| 1064 0716 0F90 pop __tmp_reg__ |
| 1065 0718 0F90 pop __tmp_reg__ |
| 1066 .L360: |
| 1067 071a 8091 0000 lds r24,UpdateMotor |
| 1068 071e 8823 tst r24 |
| 1069 0720 01F0 breq .L360 |
| 1070 0722 8091 0000 lds r24,AdReady |
| 1071 0726 8823 tst r24 |
| 1072 0728 01F0 breq .L360 |
| 1073 072a 1092 0000 sts UpdateMotor,__zero_reg__ |
| 1074 072e 8091 0000 lds r24,WinkelOut+6 |
| 1075 0732 8823 tst r24 |
| 1076 0734 01F4 brne .+2 |
| 1077 0736 00C0 rjmp .L192 |
| 1078 0738 0E94 0000 call CalMk3Mag |
| 1079 073c 0E94 0000 call SendMotorData |
| 1080 0740 2091 0000 lds r18,PlatinenVersion |
| 1081 0744 2A30 cpi r18,lo8(10) |
| 1082 0746 01F4 brne .+2 |
| 1083 0748 00C0 rjmp .L195 |
| 1084 .L372: |
| 1085 074a 2431 cpi r18,lo8(20) |
| 1086 074c 01F4 brne .+2 |
| 1087 074e 00C0 rjmp .L195 |
| 1088 0750 289A sbi 37-0x20,0 |
| 1089 .L196: |
| 1090 0752 8091 0000 lds r24,SenderOkay |
| 1091 0756 8823 tst r24 |
| 1092 0758 01F4 brne .+2 |
| 1093 075a 00C0 rjmp .L197 |
| 1094 075c 8091 0000 lds r24,SenderOkay |
| 1095 0760 8150 subi r24,lo8(-(-1)) |
| 1096 0762 8093 0000 sts SenderOkay,r24 |
| 1097 .L198: |
| 1098 0766 8091 0000 lds r24,I2CTimeout |
| 1099 076a 9091 0000 lds r25,(I2CTimeout)+1 |
| 1100 076e 0197 sbiw r24,1 |
| 1101 0770 9093 0000 sts (I2CTimeout)+1,r25 |
| 1102 0774 8093 0000 sts I2CTimeout,r24 |
| 1103 0778 8091 0000 lds r24,I2CTimeout |
| 1104 077c 9091 0000 lds r25,(I2CTimeout)+1 |
| 1105 0780 892B or r24,r25 |
| 1106 0782 01F0 breq .L200 |
| 1107 0784 8091 0000 lds r24,MissingMotor |
| 1108 0788 8823 tst r24 |
| 1109 078a 01F4 brne .+2 |
| 1110 078c 00C0 rjmp .L199 |
| 1111 .L200: |
| 1112 078e 8091 0000 lds r24,I2CTimeout |
| 1113 0792 9091 0000 lds r25,(I2CTimeout)+1 |
| 1114 0796 892B or r24,r25 |
| 1115 0798 01F4 brne .+2 |
| 1116 079a 00C0 rjmp .L368 |
| 1117 079c 8091 0000 lds r24,BeepMuster |
| 1118 07a0 9091 0000 lds r25,(BeepMuster)+1 |
| 1119 07a4 8F5F subi r24,lo8(-1) |
| 1120 07a6 9F4F sbci r25,hi8(-1) |
| 1121 07a8 01F4 brne .+2 |
| 1122 07aa 00C0 rjmp .L369 |
| 1123 .L203: |
| 1124 07ac 8091 0000 lds r24,UpdateMotor |
| 1125 07b0 8823 tst r24 |
| 1126 07b2 01F0 breq .L208 |
| 1127 07b4 8091 0000 lds r24,MotorenEin |
| 1128 07b8 8823 tst r24 |
| 1129 07ba 01F4 brne .L207 |
| 1130 .L208: |
| 1131 07bc 0E94 0000 call DatenUebertragung |
| 1132 .L207: |
| 1133 07c0 0E94 0000 call BearbeiteRxDaten |
| 1134 07c4 CE01 movw r24,r28 |
| 1135 07c6 0E94 0000 call CheckDelay |
| 1136 07ca 8823 tst r24 |
| 1137 07cc 01F0 breq .L210 |
| 1138 07ce 6496 adiw r28,20 |
| 1139 07d0 8091 0000 lds r24,PcZugriff |
| 1140 07d4 8823 tst r24 |
| 1141 07d6 01F4 brne .+2 |
| 1142 07d8 00C0 rjmp .L211 |
| 1143 07da 8150 subi r24,lo8(-(-1)) |
| 1144 07dc 8093 0000 sts PcZugriff,r24 |
| 1145 .L212: |
| 1146 07e0 8091 0000 lds r24,BattLowVoltageWarning |
| 1147 07e4 282F mov r18,r24 |
| 1148 07e6 3327 clr r19 |
| 1149 07e8 8091 0000 lds r24,UBat |
| 1150 07ec 9091 0000 lds r25,(UBat)+1 |
| 1151 07f0 8217 cp r24,r18 |
| 1152 07f2 9307 cpc r25,r19 |
| 1153 07f4 04F0 brlt .+2 |
| 1154 07f6 00C0 rjmp .L214 |
| 1155 07f8 8091 0000 lds r24,MikroKopterFlags |
| 1156 07fc 8062 ori r24,lo8(32) |
| 1157 07fe 8093 0000 sts MikroKopterFlags,r24 |
| 1158 0802 8091 0000 lds r24,BeepMuster |
| 1159 0806 9091 0000 lds r25,(BeepMuster)+1 |
| 1160 080a 8F5F subi r24,lo8(-1) |
| 1161 080c 9F4F sbci r25,hi8(-1) |
| 1162 080e 01F4 brne .+2 |
| 1163 0810 00C0 rjmp .L370 |
| 1164 .L216: |
| 1165 0812 84E0 ldi r24,lo8(4) |
| 1166 0814 8093 0000 sts SendSPI,r24 |
| 1167 0818 8091 0000 lds r24,MotorenEin |
| 1168 081c 8823 tst r24 |
| 1169 081e 01F4 brne .L217 |
| 1170 0820 4AEA ldi r20,lo8(1450) |
| 1171 0822 E42E mov r14,r20 |
| 1172 0824 45E0 ldi r20,hi8(1450) |
| 1173 0826 F42E mov r15,r20 |
| 1174 .L217: |
| 1175 0828 0894 sec |
| 1176 082a E11C adc r14,__zero_reg__ |
| 1177 082c F11C adc r15,__zero_reg__ |
| 1178 082e F2E7 ldi r31,lo8(2930) |
| 1179 0830 EF16 cp r14,r31 |
| 1180 0832 FBE0 ldi r31,hi8(2930) |
| 1181 0834 FF06 cpc r15,r31 |
| 1182 0836 01F0 breq .L371 |
| 1183 .L210: |
| 1184 0838 0E94 0000 call LED_Update |
| 1185 083c 00C0 rjmp .L360 |
| 1186 .L371: |
| 1187 083e EE24 clr r14 |
| 1188 0840 FF24 clr r15 |
| 1189 0842 8091 0000 lds r24,FlugMinuten |
| 1190 0846 9091 0000 lds r25,(FlugMinuten)+1 |
| 1191 084a 0196 adiw r24,1 |
| 1192 084c 9093 0000 sts (FlugMinuten)+1,r25 |
| 1193 0850 8093 0000 sts FlugMinuten,r24 |
| 1194 0854 2091 0000 lds r18,FlugMinutenGesamt |
| 1195 0858 3091 0000 lds r19,(FlugMinutenGesamt)+1 |
| 1196 085c 2F5F subi r18,lo8(-(1)) |
| 1197 085e 3F4F sbci r19,hi8(-(1)) |
| 1198 0860 3093 0000 sts (FlugMinutenGesamt)+1,r19 |
| 1199 0864 2093 0000 sts FlugMinutenGesamt,r18 |
| 1200 0868 892F mov r24,r25 |
| 1201 086a 9927 clr r25 |
| 1202 086c 282F mov r18,r24 |
| 1203 .L219: |
| 1204 086e F999 sbic 63-0x20,1 |
| 1205 0870 00C0 rjmp .L219 |
| 1206 0872 1FBA out 63-0x20,__zero_reg__ |
| 1207 0874 80E0 ldi r24,lo8(EEPromArray+14) |
| 1208 0876 90E0 ldi r25,hi8(EEPromArray+14) |
| 1209 0878 92BD out (65)+1-0x20,r25 |
| 1210 087a 81BD out 65-0x20,r24 |
| 1211 087c 20BD out 64-0x20,r18 |
| 1212 /* #APP */ |
| 1213 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1214 087e 0FB6 in r0, 63 |
| 1215 0880 F894 cli |
| 1216 0882 FA9A sbi 31, 2 |
| 1217 0884 F99A sbi 31, 1 |
| 1218 0886 0FBE out 63, r0 |
| 1219 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1220 /* #NOAPP */ |
| 1221 0888 2091 0000 lds r18,FlugMinuten |
| 1222 .L223: |
| 1223 088c F999 sbic 63-0x20,1 |
| 1224 088e 00C0 rjmp .L223 |
| 1225 0890 1FBA out 63-0x20,__zero_reg__ |
| 1226 0892 80E0 ldi r24,lo8(EEPromArray+15) |
| 1227 0894 90E0 ldi r25,hi8(EEPromArray+15) |
| 1228 0896 92BD out (65)+1-0x20,r25 |
| 1229 0898 81BD out 65-0x20,r24 |
| 1230 089a 20BD out 64-0x20,r18 |
| 1231 /* #APP */ |
| 1232 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1233 089c 0FB6 in r0, 63 |
| 1234 089e F894 cli |
| 1235 08a0 FA9A sbi 31, 2 |
| 1236 08a2 F99A sbi 31, 1 |
| 1237 08a4 0FBE out 63, r0 |
| 1238 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1239 /* #NOAPP */ |
| 1240 08a6 2091 0000 lds r18,FlugMinutenGesamt |
| 1241 08aa 3091 0000 lds r19,(FlugMinutenGesamt)+1 |
| 1242 08ae 4091 0000 lds r20,FlugMinutenGesamt+1 |
| 1243 .L227: |
| 1244 08b2 F999 sbic 63-0x20,1 |
| 1245 08b4 00C0 rjmp .L227 |
| 1246 08b6 1FBA out 63-0x20,__zero_reg__ |
| 1247 08b8 80E0 ldi r24,lo8(EEPromArray+10) |
| 1248 08ba 90E0 ldi r25,hi8(EEPromArray+10) |
| 1249 08bc 92BD out (65)+1-0x20,r25 |
| 1250 08be 81BD out 65-0x20,r24 |
| 1251 08c0 40BD out 64-0x20,r20 |
| 1252 /* #APP */ |
| 1253 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1254 08c2 0FB6 in r0, 63 |
| 1255 08c4 F894 cli |
| 1256 08c6 FA9A sbi 31, 2 |
| 1257 08c8 F99A sbi 31, 1 |
| 1258 08ca 0FBE out 63, r0 |
| 1259 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1260 /* #NOAPP */ |
| 1261 .L231: |
| 1262 08cc F999 sbic 63-0x20,1 |
| 1263 08ce 00C0 rjmp .L231 |
| 1264 08d0 1FBA out 63-0x20,__zero_reg__ |
| 1265 08d2 80E0 ldi r24,lo8(EEPromArray+11) |
| 1266 08d4 90E0 ldi r25,hi8(EEPromArray+11) |
| 1267 08d6 92BD out (65)+1-0x20,r25 |
| 1268 08d8 81BD out 65-0x20,r24 |
| 1269 08da 20BD out 64-0x20,r18 |
| 1270 /* #APP */ |
| 1271 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1272 08dc 0FB6 in r0, 63 |
| 1273 08de F894 cli |
| 1274 08e0 FA9A sbi 31, 2 |
| 1275 08e2 F99A sbi 31, 1 |
| 1276 08e4 0FBE out 63, r0 |
| 1277 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1278 /* #NOAPP */ |
| 1279 08e6 84E1 ldi r24,lo8(20) |
| 1280 08e8 90E0 ldi r25,hi8(20) |
| 1281 08ea 0E94 0000 call SetDelay |
| 1282 08ee EC01 movw r28,r24 |
| 1283 08f0 0E94 0000 call LED_Update |
| 1284 08f4 00C0 rjmp .L360 |
| 1285 .L197: |
| 1286 08f6 8091 6F00 lds r24,111 |
| 1287 08fa 8062 ori r24,lo8(32) |
| 1288 08fc 8093 6F00 sts 111,r24 |
| 1289 0900 00C0 rjmp .L198 |
| 1290 .L192: |
| 1291 0902 0E94 0000 call MotorRegler |
| 1292 0906 0E94 0000 call SendMotorData |
| 1293 090a 2091 0000 lds r18,PlatinenVersion |
| 1294 090e 2A30 cpi r18,lo8(10) |
| 1295 0910 01F0 breq .+2 |
| 1296 0912 00C0 rjmp .L372 |
| 1297 .L195: |
| 1298 0914 2898 cbi 37-0x20,0 |
| 1299 0916 00C0 rjmp .L196 |
| 1300 .L214: |
| 1301 0918 8091 0000 lds r24,MikroKopterFlags |
| 1302 091c 8F7D andi r24,lo8(-33) |
| 1303 091e 8093 0000 sts MikroKopterFlags,r24 |
| 1304 0922 00C0 rjmp .L216 |
| 1305 .L211: |
| 1306 0924 8093 0000 sts ExternControl+10,r24 |
| 1307 0928 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
| 1308 092c 1092 0000 sts ExternStickNick,__zero_reg__ |
| 1309 0930 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
| 1310 0934 1092 0000 sts ExternStickRoll,__zero_reg__ |
| 1311 0938 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
| 1312 093c 1092 0000 sts ExternStickGier,__zero_reg__ |
| 1313 0940 8091 0000 lds r24,BeepMuster |
| 1314 0944 9091 0000 lds r25,(BeepMuster)+1 |
| 1315 0948 8F5F subi r24,lo8(-1) |
| 1316 094a 9F4F sbci r25,hi8(-1) |
| 1317 094c 01F0 breq .+2 |
| 1318 094e 00C0 rjmp .L212 |
| 1319 0950 8091 0000 lds r24,SenderOkay |
| 1320 0954 8823 tst r24 |
| 1321 0956 01F0 breq .+2 |
| 1322 0958 00C0 rjmp .L212 |
| 1323 095a 88E9 ldi r24,lo8(15000) |
| 1324 095c 9AE3 ldi r25,hi8(15000) |
| 1325 095e 9093 0000 sts (beeptime)+1,r25 |
| 1326 0962 8093 0000 sts beeptime,r24 |
| 1327 0966 80E0 ldi r24,lo8(3072) |
| 1328 0968 9CE0 ldi r25,hi8(3072) |
| 1329 096a 9093 0000 sts (BeepMuster)+1,r25 |
| 1330 096e 8093 0000 sts BeepMuster,r24 |
| 1331 0972 00C0 rjmp .L212 |
| 1332 .L199: |
| 1333 0974 2A30 cpi r18,lo8(10) |
| 1334 0976 01F0 breq .L205 |
| 1335 0978 2431 cpi r18,lo8(20) |
| 1336 097a 01F0 breq .L205 |
| 1337 097c 289A sbi 37-0x20,0 |
| 1338 097e 00C0 rjmp .L203 |
| 1339 .L368: |
| 1340 0980 0E94 0000 call i2c_reset |
| 1341 0984 85E0 ldi r24,lo8(5) |
| 1342 0986 90E0 ldi r25,hi8(5) |
| 1343 0988 9093 0000 sts (I2CTimeout)+1,r25 |
| 1344 098c 8093 0000 sts I2CTimeout,r24 |
| 1345 0990 8091 0000 lds r24,DebugOut+58 |
| 1346 0994 9091 0000 lds r25,(DebugOut+58)+1 |
| 1347 0998 0196 adiw r24,1 |
| 1348 099a 9093 0000 sts (DebugOut+58)+1,r25 |
| 1349 099e 8093 0000 sts DebugOut+58,r24 |
| 1350 09a2 8091 0000 lds r24,BeepMuster |
| 1351 09a6 9091 0000 lds r25,(BeepMuster)+1 |
| 1352 09aa 8F5F subi r24,lo8(-1) |
| 1353 09ac 9F4F sbci r25,hi8(-1) |
| 1354 09ae 01F0 breq .+2 |
| 1355 09b0 00C0 rjmp .L203 |
| 1356 .L369: |
| 1357 09b2 8091 0000 lds r24,MotorenEin |
| 1358 09b6 8823 tst r24 |
| 1359 09b8 01F4 brne .+2 |
| 1360 09ba 00C0 rjmp .L203 |
| 1361 09bc 80E1 ldi r24,lo8(10000) |
| 1362 09be 97E2 ldi r25,hi8(10000) |
| 1363 09c0 9093 0000 sts (beeptime)+1,r25 |
| 1364 09c4 8093 0000 sts beeptime,r24 |
| 1365 09c8 80E8 ldi r24,lo8(128) |
| 1366 09ca 90E0 ldi r25,hi8(128) |
| 1367 09cc 9093 0000 sts (BeepMuster)+1,r25 |
| 1368 09d0 8093 0000 sts BeepMuster,r24 |
| 1369 09d4 00C0 rjmp .L203 |
| 1370 .L205: |
| 1371 09d6 2898 cbi 37-0x20,0 |
| 1372 09d8 00C0 rjmp .L203 |
| 1373 .L370: |
| 1374 09da 80E7 ldi r24,lo8(6000) |
| 1375 09dc 97E1 ldi r25,hi8(6000) |
| 1376 09de 9093 0000 sts (beeptime)+1,r25 |
| 1377 09e2 8093 0000 sts beeptime,r24 |
| 1378 09e6 80E0 ldi r24,lo8(768) |
| 1379 09e8 93E0 ldi r25,hi8(768) |
| 1380 09ea 9093 0000 sts (BeepMuster)+1,r25 |
| 1381 09ee 8093 0000 sts BeepMuster,r24 |
| 1382 09f2 00C0 rjmp .L216 |
| 1383 .L365: |
| 1384 09f4 0E94 0000 call DefaultKonstanten1 |
| 1385 09f8 80E0 ldi r24,lo8(__c.10) |
| 1386 09fa 90E0 ldi r25,hi8(__c.10) |
| 1387 09fc 9F93 push r25 |
| 1388 09fe 8F93 push r24 |
| 1389 0a00 1F92 push __zero_reg__ |
| 1390 0a02 0E94 0000 call _printf_P |
| 1391 0a06 C1E0 ldi r28,lo8(1) |
| 1392 0a08 0F90 pop __tmp_reg__ |
| 1393 0a0a 0F90 pop __tmp_reg__ |
| 1394 0a0c 0F90 pop __tmp_reg__ |
| 1395 0a0e 00E0 ldi r16,lo8(__c.11) |
| 1396 0a10 10E0 ldi r17,hi8(__c.11) |
| 1397 .L152: |
| 1398 0a12 C230 cpi r28,lo8(2) |
| 1399 0a14 01F4 brne .+2 |
| 1400 0a16 00C0 rjmp .L358 |
| 1401 0a18 C330 cpi r28,lo8(3) |
| 1402 0a1a 01F4 brne .+2 |
| 1403 0a1c 00C0 rjmp .L373 |
| 1404 0a1e C430 cpi r28,lo8(4) |
| 1405 0a20 00F0 brlo .+2 |
| 1406 0a22 00C0 rjmp .L358 |
| 1407 .L102: |
| 1408 0a24 F999 sbic 63-0x20,1 |
| 1409 0a26 00C0 rjmp .L102 |
| 1410 0a28 80E0 ldi r24,lo8(EEPromArray+80) |
| 1411 0a2a 90E0 ldi r25,hi8(EEPromArray+80) |
| 1412 0a2c 92BD out (65)+1-0x20,r25 |
| 1413 0a2e 81BD out 65-0x20,r24 |
| 1414 /* #APP */ |
| 1415 /* START EEPROM READ CRITICAL SECTION */ |
| 1416 0a30 F89A sbi 31, 0 |
| 1417 0a32 80B5 in r24, 32 |
| 1418 /* END EEPROM READ CRITICAL SECTION */ |
| 1419 |
| 1420 /* #NOAPP */ |
| 1421 0a34 8C30 cpi r24,lo8(12) |
| 1422 0a36 00F0 brlo .+2 |
| 1423 0a38 00C0 rjmp .L101 |
| 1424 .L106: |
| 1425 0a3a F999 sbic 63-0x20,1 |
| 1426 0a3c 00C0 rjmp .L106 |
| 1427 0a3e 80E0 ldi r24,lo8(EEPromArray+81) |
| 1428 0a40 90E0 ldi r25,hi8(EEPromArray+81) |
| 1429 0a42 92BD out (65)+1-0x20,r25 |
| 1430 0a44 81BD out 65-0x20,r24 |
| 1431 /* #APP */ |
| 1432 /* START EEPROM READ CRITICAL SECTION */ |
| 1433 0a46 F89A sbi 31, 0 |
| 1434 0a48 80B5 in r24, 32 |
| 1435 /* END EEPROM READ CRITICAL SECTION */ |
| 1436 |
| 1437 /* #NOAPP */ |
| 1438 0a4a 8C30 cpi r24,lo8(12) |
| 1439 0a4c 00F0 brlo .+2 |
| 1440 0a4e 00C0 rjmp .L101 |
| 1441 .L110: |
| 1442 0a50 F999 sbic 63-0x20,1 |
| 1443 0a52 00C0 rjmp .L110 |
| 1444 0a54 80E0 ldi r24,lo8(EEPromArray+82) |
| 1445 0a56 90E0 ldi r25,hi8(EEPromArray+82) |
| 1446 0a58 92BD out (65)+1-0x20,r25 |
| 1447 0a5a 81BD out 65-0x20,r24 |
| 1448 /* #APP */ |
| 1449 /* START EEPROM READ CRITICAL SECTION */ |
| 1450 0a5c F89A sbi 31, 0 |
| 1451 0a5e 80B5 in r24, 32 |
| 1452 /* END EEPROM READ CRITICAL SECTION */ |
| 1453 |
| 1454 /* #NOAPP */ |
| 1455 0a60 8C30 cpi r24,lo8(12) |
| 1456 0a62 00F0 brlo .+2 |
| 1457 0a64 00C0 rjmp .L101 |
| 1458 .L114: |
| 1459 0a66 F999 sbic 63-0x20,1 |
| 1460 0a68 00C0 rjmp .L114 |
| 1461 0a6a 80E0 ldi r24,lo8(EEPromArray+83) |
| 1462 0a6c 90E0 ldi r25,hi8(EEPromArray+83) |
| 1463 0a6e 92BD out (65)+1-0x20,r25 |
| 1464 0a70 81BD out 65-0x20,r24 |
| 1465 /* #APP */ |
| 1466 /* START EEPROM READ CRITICAL SECTION */ |
| 1467 0a72 F89A sbi 31, 0 |
| 1468 0a74 80B5 in r24, 32 |
| 1469 /* END EEPROM READ CRITICAL SECTION */ |
| 1470 |
| 1471 /* #NOAPP */ |
| 1472 0a76 8C30 cpi r24,lo8(12) |
| 1473 0a78 00F0 brlo .+2 |
| 1474 0a7a 00C0 rjmp .L101 |
| 1475 .L118: |
| 1476 0a7c F999 sbic 63-0x20,1 |
| 1477 0a7e 00C0 rjmp .L118 |
| 1478 0a80 80E0 ldi r24,lo8(EEPromArray+80) |
| 1479 0a82 90E0 ldi r25,hi8(EEPromArray+80) |
| 1480 0a84 92BD out (65)+1-0x20,r25 |
| 1481 0a86 81BD out 65-0x20,r24 |
| 1482 /* #APP */ |
| 1483 /* START EEPROM READ CRITICAL SECTION */ |
| 1484 0a88 F89A sbi 31, 0 |
| 1485 0a8a 80B5 in r24, 32 |
| 1486 /* END EEPROM READ CRITICAL SECTION */ |
| 1487 |
| 1488 /* #NOAPP */ |
| 1489 0a8c 8093 0000 sts EE_Parameter,r24 |
| 1490 .L122: |
| 1491 0a90 F999 sbic 63-0x20,1 |
| 1492 0a92 00C0 rjmp .L122 |
| 1493 0a94 80E0 ldi r24,lo8(EEPromArray+81) |
| 1494 0a96 90E0 ldi r25,hi8(EEPromArray+81) |
| 1495 0a98 92BD out (65)+1-0x20,r25 |
| 1496 0a9a 81BD out 65-0x20,r24 |
| 1497 /* #APP */ |
| 1498 /* START EEPROM READ CRITICAL SECTION */ |
| 1499 0a9c F89A sbi 31, 0 |
| 1500 0a9e 80B5 in r24, 32 |
| 1501 /* END EEPROM READ CRITICAL SECTION */ |
| 1502 |
| 1503 /* #NOAPP */ |
| 1504 0aa0 8093 0000 sts EE_Parameter+1,r24 |
| 1505 .L126: |
| 1506 0aa4 F999 sbic 63-0x20,1 |
| 1507 0aa6 00C0 rjmp .L126 |
| 1508 0aa8 80E0 ldi r24,lo8(EEPromArray+82) |
| 1509 0aaa 90E0 ldi r25,hi8(EEPromArray+82) |
| 1510 0aac 92BD out (65)+1-0x20,r25 |
| 1511 0aae 81BD out 65-0x20,r24 |
| 1512 /* #APP */ |
| 1513 /* START EEPROM READ CRITICAL SECTION */ |
| 1514 0ab0 F89A sbi 31, 0 |
| 1515 0ab2 80B5 in r24, 32 |
| 1516 /* END EEPROM READ CRITICAL SECTION */ |
| 1517 |
| 1518 /* #NOAPP */ |
| 1519 0ab4 8093 0000 sts EE_Parameter+2,r24 |
| 1520 .L130: |
| 1521 0ab8 F999 sbic 63-0x20,1 |
| 1522 0aba 00C0 rjmp .L130 |
| 1523 0abc 80E0 ldi r24,lo8(EEPromArray+83) |
| 1524 0abe 90E0 ldi r25,hi8(EEPromArray+83) |
| 1525 0ac0 92BD out (65)+1-0x20,r25 |
| 1526 0ac2 81BD out 65-0x20,r24 |
| 1527 /* #APP */ |
| 1528 /* START EEPROM READ CRITICAL SECTION */ |
| 1529 0ac4 F89A sbi 31, 0 |
| 1530 0ac6 80B5 in r24, 32 |
| 1531 /* END EEPROM READ CRITICAL SECTION */ |
| 1532 |
| 1533 /* #NOAPP */ |
| 1534 0ac8 8093 0000 sts EE_Parameter+3,r24 |
| 1535 .L134: |
| 1536 0acc F999 sbic 63-0x20,1 |
| 1537 0ace 00C0 rjmp .L134 |
| 1538 0ad0 80E0 ldi r24,lo8(EEPromArray+84) |
| 1539 0ad2 90E0 ldi r25,hi8(EEPromArray+84) |
| 1540 0ad4 92BD out (65)+1-0x20,r25 |
| 1541 0ad6 81BD out 65-0x20,r24 |
| 1542 /* #APP */ |
| 1543 /* START EEPROM READ CRITICAL SECTION */ |
| 1544 0ad8 F89A sbi 31, 0 |
| 1545 0ada 80B5 in r24, 32 |
| 1546 /* END EEPROM READ CRITICAL SECTION */ |
| 1547 |
| 1548 /* #NOAPP */ |
| 1549 0adc 8093 0000 sts EE_Parameter+4,r24 |
| 1550 .L138: |
| 1551 0ae0 F999 sbic 63-0x20,1 |
| 1552 0ae2 00C0 rjmp .L138 |
| 1553 0ae4 80E0 ldi r24,lo8(EEPromArray+85) |
| 1554 0ae6 90E0 ldi r25,hi8(EEPromArray+85) |
| 1555 0ae8 92BD out (65)+1-0x20,r25 |
| 1556 0aea 81BD out 65-0x20,r24 |
| 1557 /* #APP */ |
| 1558 /* START EEPROM READ CRITICAL SECTION */ |
| 1559 0aec F89A sbi 31, 0 |
| 1560 0aee 80B5 in r24, 32 |
| 1561 /* END EEPROM READ CRITICAL SECTION */ |
| 1562 |
| 1563 /* #NOAPP */ |
| 1564 0af0 8093 0000 sts EE_Parameter+5,r24 |
| 1565 .L142: |
| 1566 0af4 F999 sbic 63-0x20,1 |
| 1567 0af6 00C0 rjmp .L142 |
| 1568 0af8 80E0 ldi r24,lo8(EEPromArray+86) |
| 1569 0afa 90E0 ldi r25,hi8(EEPromArray+86) |
| 1570 0afc 92BD out (65)+1-0x20,r25 |
| 1571 0afe 81BD out 65-0x20,r24 |
| 1572 /* #APP */ |
| 1573 /* START EEPROM READ CRITICAL SECTION */ |
| 1574 0b00 F89A sbi 31, 0 |
| 1575 0b02 80B5 in r24, 32 |
| 1576 /* END EEPROM READ CRITICAL SECTION */ |
| 1577 |
| 1578 /* #NOAPP */ |
| 1579 0b04 8093 0000 sts EE_Parameter+6,r24 |
| 1580 .L146: |
| 1581 0b08 F999 sbic 63-0x20,1 |
| 1582 0b0a 00C0 rjmp .L146 |
| 1583 0b0c 80E0 ldi r24,lo8(EEPromArray+87) |
| 1584 0b0e 90E0 ldi r25,hi8(EEPromArray+87) |
| 1585 0b10 92BD out (65)+1-0x20,r25 |
| 1586 0b12 81BD out 65-0x20,r24 |
| 1587 /* #APP */ |
| 1588 /* START EEPROM READ CRITICAL SECTION */ |
| 1589 0b14 F89A sbi 31, 0 |
| 1590 0b16 80B5 in r24, 32 |
| 1591 /* END EEPROM READ CRITICAL SECTION */ |
| 1592 |
| 1593 /* #NOAPP */ |
| 1594 0b18 8093 0000 sts EE_Parameter+7,r24 |
| 1595 0b1c C130 cpi r28,lo8(1) |
| 1596 0b1e 01F4 brne .L151 |
| 1597 0b20 1F93 push r17 |
| 1598 0b22 0F93 push r16 |
| 1599 0b24 1F92 push __zero_reg__ |
| 1600 0b26 0E94 0000 call _printf_P |
| 1601 0b2a 0F90 pop __tmp_reg__ |
| 1602 0b2c 0F90 pop __tmp_reg__ |
| 1603 0b2e 0F90 pop __tmp_reg__ |
| 1604 0b30 00C0 rjmp .L151 |
| 1605 .L101: |
| 1606 0b32 0E94 0000 call DefaultStickMapping |
| 1607 .L151: |
| 1608 0b36 45E6 ldi r20,lo8(101) |
| 1609 0b38 60E0 ldi r22,lo8(EE_Parameter) |
| 1610 0b3a 70E0 ldi r23,hi8(EE_Parameter) |
| 1611 0b3c 8C2F mov r24,r28 |
| 1612 0b3e 0E94 0000 call WriteParameterSet |
| 1613 0b42 CF5F subi r28,lo8(-(1)) |
| 1614 0b44 C630 cpi r28,lo8(6) |
| 1615 0b46 00F4 brsh .+2 |
| 1616 0b48 00C0 rjmp .L152 |
| 1617 0b4a 83E0 ldi r24,lo8(3) |
| 1618 0b4c 0E94 0000 call SetActiveParamSetNumber |
| 1619 .L153: |
| 1620 0b50 F999 sbic 63-0x20,1 |
| 1621 0b52 00C0 rjmp .L153 |
| 1622 0b54 1FBA out 63-0x20,__zero_reg__ |
| 1623 0b56 80E0 ldi r24,lo8(EEPromArray+1) |
| 1624 0b58 90E0 ldi r25,hi8(EEPromArray+1) |
| 1625 0b5a 92BD out (65)+1-0x20,r25 |
| 1626 0b5c 81BD out 65-0x20,r24 |
| 1627 0b5e 80E5 ldi r24,lo8(80) |
| 1628 0b60 80BD out 64-0x20,r24 |
| 1629 /* #APP */ |
| 1630 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1631 0b62 0FB6 in r0, 63 |
| 1632 0b64 F894 cli |
| 1633 0b66 FA9A sbi 31, 2 |
| 1634 0b68 F99A sbi 31, 1 |
| 1635 0b6a 0FBE out 63, r0 |
| 1636 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1637 /* #NOAPP */ |
| 1638 0b6c 00C0 rjmp .L157 |
| 1639 .L358: |
| 1640 0b6e 0E94 0000 call DefaultKonstanten2 |
| 1641 0b72 00C0 rjmp .L102 |
| 1642 .L373: |
| 1643 0b74 0E94 0000 call DefaultKonstanten3 |
| 1644 0b78 00C0 rjmp .L102 |
| 1645 .L174: |
| 1646 0b7a 5093 0000 sts (FlugMinuten)+1,r21 |
| 1647 0b7e 4093 0000 sts FlugMinuten,r20 |
| 1648 0b82 5093 0000 sts (FlugMinutenGesamt)+1,r21 |
| 1649 0b86 4093 0000 sts FlugMinutenGesamt,r20 |
| 1650 0b8a 9A01 movw r18,r20 |
| 1651 0b8c 00C0 rjmp .L173 |
| 1652 .L187: |
| 1653 0b8e 80E0 ldi r24,lo8(__c.19) |
| 1654 0b90 90E0 ldi r25,hi8(__c.19) |
| 1655 0b92 00C0 rjmp .L359 |
| 1656 .L367: |
| 1657 0b94 80E0 ldi r24,lo8(__c.15) |
| 1658 0b96 90E0 ldi r25,hi8(__c.15) |
| 1659 0b98 9F93 push r25 |
| 1660 0b9a 8F93 push r24 |
| 1661 0b9c 1F92 push __zero_reg__ |
| 1662 0b9e 0E94 0000 call _printf_P |
| 1663 0ba2 88EE ldi r24,lo8(1000) |
| 1664 0ba4 93E0 ldi r25,hi8(1000) |
| 1665 0ba6 0E94 0000 call SetDelay |
| 1666 0baa EC01 movw r28,r24 |
| 1667 0bac 0E94 0000 call SucheLuftruckOffset |
| 1668 0bb0 0F90 pop __tmp_reg__ |
| 1669 0bb2 0F90 pop __tmp_reg__ |
| 1670 0bb4 0F90 pop __tmp_reg__ |
| 1671 .L181: |
| 1672 0bb6 CE01 movw r24,r28 |
| 1673 0bb8 0E94 0000 call CheckDelay |
| 1674 0bbc 8823 tst r24 |
| 1675 0bbe 01F0 breq .L181 |
| 1676 0bc0 80E0 ldi r24,lo8(__c.16) |
| 1677 0bc2 90E0 ldi r25,hi8(__c.16) |
| 1678 0bc4 9F93 push r25 |
| 1679 0bc6 8F93 push r24 |
| 1680 0bc8 1F92 push __zero_reg__ |
| 1681 0bca 0E94 0000 call _printf_P |
| 1682 0bce 0F90 pop __tmp_reg__ |
| 1683 0bd0 0F90 pop __tmp_reg__ |
| 1684 0bd2 0F90 pop __tmp_reg__ |
| 1685 0bd4 00C0 rjmp .L180 |
| 1686 .L366: |
| 1687 0bd6 80E0 ldi r24,lo8(__c.13) |
| 1688 0bd8 90E0 ldi r25,hi8(__c.13) |
| 1689 0bda 9F93 push r25 |
| 1690 0bdc 8F93 push r24 |
| 1691 0bde 1F92 push __zero_reg__ |
| 1692 0be0 0E94 0000 call _printf_P |
| 1693 0be4 0F90 pop __tmp_reg__ |
| 1694 0be6 0F90 pop __tmp_reg__ |
| 1695 0be8 0F90 pop __tmp_reg__ |
| 1696 0bea 00C0 rjmp .L175 |
| 1697 .L185: |
| 1698 0bec 2898 cbi 37-0x20,0 |
| 1699 0bee 00C0 rjmp .L186 |
| 1700 /* epilogue: frame size=0 */ |
| 1701 /* epilogue: noreturn */ |
| 1702 /* epilogue end (size=0) */ |
| 1703 /* function main size 1528 (1524) */ |
| 1705 .comm Mixer,77,1 |
| 1706 /* File "main.c": code 1759 = 0x06df (1745), prologues 7, epilogues 7 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:15 .bss:00000000 FlugMinutenGesamt |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:21 .bss:00000002 FlugMinuten |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:27 .data:00000000 BattLowVoltageWarning |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:32 .data:00000001 SendVersionToNavi |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:37 .data:00000002 PlatinenVersion |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:41 .text:00000000 eeprom_read_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:63 .text:00000010 eeprom_write_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:90 .data:00000003 stick.25 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:95 .text:00000028 CalMk3Mag |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:155 .progmem.data:00000000 __c.21 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:159 .progmem.data:00000008 __c.22 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:163 .progmem.data:00000013 __c.23 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:167 .progmem.data:0000001e __c.24 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:172 .text:0000009a LipoDetection |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:306 .progmem.data:00000038 __c.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:310 .progmem.data:0000005e __c.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:314 .progmem.data:00000092 __c.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:318 .progmem.data:000000a9 __c.3 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:322 .progmem.data:000000cf __c.4 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:326 .progmem.data:000000ed __c.5 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:330 .progmem.data:0000010e __c.6 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:334 .progmem.data:0000011f __c.7 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:338 .progmem.data:00000123 __c.8 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:342 .progmem.data:00000141 __c.9 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:346 .progmem.data:00000167 __c.10 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:350 .progmem.data:00000176 __c.11 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:354 .progmem.data:000001ae __c.12 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:358 .progmem.data:000001d1 __c.13 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:362 .progmem.data:000001ef __c.14 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:366 .progmem.data:00000207 __c.15 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:370 .progmem.data:00000227 __c.16 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:374 .progmem.data:0000022c __c.17 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:378 .progmem.data:00000238 __c.18 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:382 .progmem.data:00000244 __c.19 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:386 .progmem.data:00000258 __c.20 |
| C:\Users\Bernd\AppData\Local\Temp/ccjJE4Oj.s:395 .text:000001a8 main |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| PPM_in |
| WinkelOut |
| beeptime |
| Piep |
| DebugOut |
| _printf_P |
| SetDelay |
| UBat |
| __udivmodqi4 |
| CheckDelay |
| __stack |
| StickGier |
| StickRoll |
| StickNick |
| GIER_GRAD_FAKTOR |
| Timer_Init |
| TIMER2_Init |
| UART_Init |
| rc_sum_init |
| ADC_Init |
| i2c_init |
| ReadParameterSet |
| EEPromArray |
| RequiredMotors |
| __eerd_block |
| __eewr_block |
| motorread |
| UpdateMotor |
| SendMotorData |
| MotorPresent |
| ServoActive |
| MotorError |
| GetActiveParamSetNumber |
| SetNeutral |
| ExternControl |
| LcdClear |
| I2CTimeout |
| AdReady |
| SenderOkay |
| MissingMotor |
| BeepMuster |
| MotorenEin |
| DatenUebertragung |
| BearbeiteRxDaten |
| PcZugriff |
| MikroKopterFlags |
| SendSPI |
| LED_Update |
| MotorRegler |
| ExternStickNick |
| ExternStickRoll |
| ExternStickGier |
| i2c_reset |
| DefaultKonstanten1 |
| DefaultStickMapping |
| WriteParameterSet |
| SetActiveParamSetNumber |
| DefaultKonstanten2 |
| DefaultKonstanten3 |
| SucheLuftruckOffset |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/makefile |
|---|
| 0,0 → 1,462 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 76 |
| VERSION_PATCH = 6 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol |
| VERSION_SERIAL_MINOR = 1 # Serial Protocol |
| NC_SPI_COMPATIBLE = 10 # Navi-Kompatibilität |
| #------------------------------------------------------------------- |
| # get SVN revision |
| # REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| ifeq ($(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 ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 18) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 19) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 20) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 21) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)v_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 22) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)w_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 23) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)x_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 24) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)y_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 25) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)z_SVN$(REV) |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c analog.c fc.c led.c menu.c printf_P.c |
| SRC += twimaster.c rc.c mymath.c timer0.c uart.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = isqrt.S |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| # shrink code size - das ist ist neu seit V0.78b |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| # das ist ist neu seit V0.86 |
| CFLAGS += -mcall-prologues |
| # die Option -DF ist neu seit 0.78b |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| # LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| # AVRDUDE_PROGRAMMER = dt006 |
| # AVRDUDE_PROGRAMMER = stk200 |
| # AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_PORT = usb # programmer connected to USB |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(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/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/menu.c |
|---|
| 0,0 → 1,207 |
| /***************************************************************************************************************************** |
| * File: menu.c |
| * |
| * Purpose: collecting ADC analog inputs from PORTA |
| * |
| * Functions: void ADC_Init(void) |
| * void SucheLuftruckOffset(void) |
| * void SucheGyroOffset(void) |
| * ISR(ADC_vect) |
| * |
| *****************************************************************************************************************************/ |
| #include "main.h" |
| #include "menu.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] = "cq de dk9nw"; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 14; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| // ---------------------------------------------------------------------------------------------------------------------------- |
| // leert die LCD Anzeige |
| // ---------------------------------------------------------------------------------------------------------------------------- |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| // ---------------------------------------------------------------------------------------------------------------------------- |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // Anzeigen auf dem MK Toll auf dem dortigen LCD Display |
| // --------------------------------------------------------------------------------------------------------------------------- |
| void Menu(void) |
| { |
| if(MenuePunkt > MaxMenue) MenuePunkt = MaxMenue; // MaxMenue = 14; |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} // go down |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} // go up |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; // both keys pressed |
| LcdClear(); |
| if(MenuePunkt < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuePunkt); |
| } |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Setting:%d %s",GetActiveParamSetNumber(),Mixer.Name); |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| else LCD_printfxy(0,3,"----BL-Ctrl ok---"); |
| break; |
| case 1: |
| LCD_printfxy(0,0,"DAC Offset"); |
| LCD_printfxy(0,1,"%5i",AnalogOffsetNick); // = 113 |
| LCD_printfxy(0,2,"%5i",AnalogOffsetRoll); // = 114 |
| LCD_printfxy(0,3,"%5i",AnalogOffsetGier); // = 149 |
| break; |
| case 2: |
| LCD_printfxy(0,0,"GlobalConfig"); // |
| LCD_printfxy(0,1,"%5i",EE_Parameter.GlobalConfig); // |
| LCD_printfxy(0,2,"EEPROM310"); // |
| unsigned char c47 = eeprom_read_byte(&EEPromArray[310]); // |
| LCD_printfxy(0,3,"%5i",c47); // |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); // K1 = -125 kann -125 bis 120 = Gas K2 = 2 kann 115 bis -102 = Roll |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); // K3 = 0 kann -117 bis 120 = Nick K4 = 2 kann -120 bis +120 = Gier |
| LCD_printfxy(0,2,"K5:%4i ",PPM_in[5]); // K5 = -117 oder +120 = Kippschalter |
| /* |
| 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 4: |
| LCD_printfxy(0,0,"AdNeutral..."); |
| LCD_printfxy(0,1,"Nick: %5i",AdNeutralNick); // 8461 ständig steigend |
| LCD_printfxy(0,2,"Roll: %5i",AdNeutralRoll); // 8463 ständig steigend |
| LCD_printfxy(0,3,"Gier: %5i",AdNeutralGier); // 1039 |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16); // = 1 (564) |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16); // = 1 (555) |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); // = 3 (322) |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); // = -4 (504) |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); // = 7 (487) |
| LCD_printfxy(0,3,"Gier %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); // = 0 (713) |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); // = 120 müsst 12V sein |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); // = 200 bei gutem Empfang = 0 bei keinem Empfang |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass..."); |
| LCD_printfxy(0,1,"Richtung: %4i",KompassRichtung); // = -75 wurde nach dem Start nach links gedreht |
| LCD_printfxy(0,2,"Value: %4i",KompassValue); // = 318 Anzeigewert des Kompass |
| LCD_printfxy(0,3,"Startwert: %4i",KompassStartwert); // = 34 ist die Differenz zwischen beiden Werten |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); // = 0 |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); // = 154 |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); // = 110 |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); // = 110 |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); // = 100 |
| //LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); // 50-150 |
| break; |
| case 11: |
| 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 12: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",MotorError[0],MotorError[1],MotorError[2],MotorError[3]); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",MotorError[4],MotorError[5],MotorError[6],MotorError[7]); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",MotorError[8],MotorError[9],MotorError[10],MotorError[11]); |
| break; |
| case 13: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",MotorPresent[0] + '-',MotorPresent[1] + '-',MotorPresent[2] + '-',MotorPresent[3] + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",MotorPresent[4] + '-',MotorPresent[5] + '-',MotorPresent[6] + '-',MotorPresent[7] + '-'); |
| LCD_printfxy(0,3," %c - - -",MotorPresent[8] + '-'); |
| if(MotorPresent[9]) LCD_printfxy(4,3,"10"); |
| if(MotorPresent[10]) LCD_printfxy(8,3,"11"); |
| if(MotorPresent[11]) LCD_printfxy(12,3,"12"); |
| break; |
| case 14: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1," %5umin",FlugMinuten); |
| LCD_printfxy(0,2,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) // #define KEY4 0x08 |
| { |
| FlugMinuten = 0; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // FlugMinuten gesamt auf Null setzen |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
| } |
| break; |
| default: |
| MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/menu.d |
|---|
| 0,0 → 1,2 |
| menu.o menu.d : menu.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/menu.h |
|---|
| 0,0 → 1,19 |
| /***************************************************************************************************************************** |
| * File: menu.h |
| * Purpose: header of menu.c |
| *****************************************************************************************************************************/ |
| #ifndef _MENU_H |
| #define _MENU_H |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| #endif |
| //*** EOF: _MENU_H *********************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/menu.lst |
|---|
| 0,0 → 1,1807 |
| 1 .file "menu.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global RemoteKeys |
| 11 .global RemoteKeys |
| 12 .section .bss |
| 15 RemoteKeys: |
| 16 0000 00 .skip 1,0 |
| 17 .global MenuePunkt |
| 18 .global MenuePunkt |
| 21 MenuePunkt: |
| 22 0001 00 .skip 1,0 |
| 23 .global MaxMenue |
| 24 .data |
| 27 MaxMenue: |
| 28 0000 0E .byte 14 |
| 29 .global DispPtr |
| 30 .global DispPtr |
| 31 .section .bss |
| 34 DispPtr: |
| 35 0002 00 .skip 1,0 |
| 36 .global DisplayBuff |
| 37 .data |
| 40 DisplayBuff: |
| 41 0001 6371 2064 .string "cq de dk9nw" |
| 41 6520 646B |
| 41 396E 7700 |
| 42 000d 0000 0000 .skip 68,0 |
| 42 0000 0000 |
| 42 0000 0000 |
| 42 0000 0000 |
| 42 0000 0000 |
| 43 .global Array |
| 46 Array: |
| 47 0051 01 .byte 1 |
| 48 0052 02 .byte 2 |
| 49 0053 03 .byte 3 |
| 50 0054 04 .byte 4 |
| 51 0055 05 .byte 5 |
| 52 0056 06 .byte 6 |
| 53 0057 07 .byte 7 |
| 54 0058 08 .byte 8 |
| 55 0059 09 .byte 9 |
| 56 005a 0A .byte 10 |
| 57 .global TestInt |
| 58 .global TestInt |
| 59 .section .bss |
| 62 TestInt: |
| 63 0003 0000 .skip 2,0 |
| 64 .text |
| 65 .global LcdClear |
| 67 LcdClear: |
| 68 /* prologue: frame size=0 */ |
| 69 /* prologue end (size=0) */ |
| 70 0000 90E2 ldi r25,lo8(32) |
| 71 0002 E0E0 ldi r30,lo8(DisplayBuff) |
| 72 0004 F0E0 ldi r31,hi8(DisplayBuff) |
| 73 0006 8FE4 ldi r24,lo8(79) |
| 74 .L5: |
| 75 0008 9193 st Z+,r25 |
| 76 000a 8150 subi r24,lo8(-(-1)) |
| 77 000c 87FF sbrs r24,7 |
| 78 000e 00C0 rjmp .L5 |
| 79 /* epilogue: frame size=0 */ |
| 80 0010 0895 ret |
| 81 /* epilogue end (size=1) */ |
| 82 /* function LcdClear size 9 (8) */ |
| 84 .section .progmem.data,"a",@progbits |
| 87 __c.0: |
| 88 0000 5B25 695D .string "[%i]" |
| 88 00 |
| 91 __c.1: |
| 92 0005 5B25 695D .string "[%i]" |
| 92 00 |
| 95 __c.2: |
| 96 000a 2B20 4D69 .string "+ MikroKopter +" |
| 96 6B72 6F4B |
| 96 6F70 7465 |
| 96 7220 2B00 |
| 99 __c.3: |
| 100 001a 4857 3A56 .string "HW:V%d.%d SW:%d.%d%c" |
| 100 2564 2E25 |
| 100 6420 5357 |
| 100 3A25 642E |
| 100 2564 2563 |
| 103 __c.4: |
| 104 002f 5365 7474 .string "Setting:%d %s" |
| 104 696E 673A |
| 104 2564 2025 |
| 104 7300 |
| 107 __c.5: |
| 108 003d 4932 4320 .string "I2C ERROR!!!" |
| 108 4552 524F |
| 108 5221 2121 |
| 108 00 |
| 111 __c.6: |
| 112 004a 4D69 7373 .string "Missing BL-Ctrl:%d!!" |
| 112 696E 6720 |
| 112 424C 2D43 |
| 112 7472 6C3A |
| 112 2564 2121 |
| 115 __c.7: |
| 116 005f 2D2D 2D2D .string "----BL-Ctrl ok---" |
| 116 424C 2D43 |
| 116 7472 6C20 |
| 116 6F6B 2D2D |
| 116 2D00 |
| 119 __c.8: |
| 120 0071 4441 4320 .string "DAC Offset" |
| 120 4F66 6673 |
| 120 6574 00 |
| 123 __c.9: |
| 124 007c 2535 6900 .string "%5i" |
| 127 __c.10: |
| 128 0080 2535 6900 .string "%5i" |
| 131 __c.11: |
| 132 0084 2535 6900 .string "%5i" |
| 135 __c.12: |
| 136 0088 476C 6F62 .string "GlobalConfig" |
| 136 616C 436F |
| 136 6E66 6967 |
| 136 00 |
| 139 __c.13: |
| 140 0095 2535 6900 .string "%5i" |
| 143 __c.14: |
| 144 0099 4545 5052 .string "EEPROM310" |
| 144 4F4D 3331 |
| 144 3000 |
| 147 __c.15: |
| 148 00a3 2535 6900 .string "%5i" |
| 151 __c.16: |
| 152 00a7 4B31 3A25 .string "K1:%4i K2:%4i " |
| 152 3469 2020 |
| 152 4B32 3A25 |
| 152 3469 2000 |
| 155 __c.17: |
| 156 00b7 4B33 3A25 .string "K3:%4i K4:%4i " |
| 156 3469 2020 |
| 156 4B34 3A25 |
| 156 3469 2000 |
| 159 __c.18: |
| 160 00c7 4B35 3A25 .string "K5:%4i " |
| 160 3469 2020 |
| 160 2020 2020 |
| 160 2020 2000 |
| 163 __c.19: |
| 164 00d7 4164 4E65 .string "AdNeutral..." |
| 164 7574 7261 |
| 164 6C2E 2E2E |
| 164 00 |
| 167 __c.20: |
| 168 00e4 4E69 636B .string "Nick: %5i" |
| 168 3A20 2020 |
| 168 2020 2025 |
| 168 3569 00 |
| 171 __c.21: |
| 172 00f3 526F 6C6C .string "Roll: %5i" |
| 172 3A20 2020 |
| 172 2020 2025 |
| 172 3569 00 |
| 175 __c.22: |
| 176 0102 4769 6572 .string "Gier: %5i" |
| 176 3A20 2020 |
| 176 2020 2025 |
| 176 3569 00 |
| 179 __c.23: |
| 180 0111 4779 726F .string "Gyro - Sensor" |
| 180 202D 2053 |
| 180 656E 736F |
| 180 7200 |
| 183 __c.24: |
| 184 011f 4E69 636B .string "Nick %4i (%3i)" |
| 184 2025 3469 |
| 184 2028 2533 |
| 184 6929 00 |
| 187 __c.25: |
| 188 012e 526F 6C6C .string "Roll %4i (%3i)" |
| 188 2025 3469 |
| 188 2028 2533 |
| 188 6929 00 |
| 191 __c.26: |
| 192 013d 4769 6572 .string "Gier %4i (%3i)" |
| 192 2025 3469 |
| 192 2028 2533 |
| 192 6929 00 |
| 195 __c.27: |
| 196 014c 4143 4320 .string "ACC - Sensor" |
| 196 2D20 5365 |
| 196 6E73 6F72 |
| 196 00 |
| 199 __c.28: |
| 200 0159 4E69 636B .string "Nick %4i (%3i)" |
| 200 2025 3469 |
| 200 2028 2533 |
| 200 6929 00 |
| 203 __c.29: |
| 204 0168 526F 6C6C .string "Roll %4i (%3i)" |
| 204 2025 3469 |
| 204 2028 2533 |
| 204 6929 00 |
| 207 __c.30: |
| 208 0177 4769 6572 .string "Gier %4i (%3i)" |
| 208 2025 3469 |
| 208 2028 2533 |
| 208 6929 00 |
| 211 __c.31: |
| 212 0186 5370 616E .string "Spannung: %5i" |
| 212 6E75 6E67 |
| 212 3A20 2025 |
| 212 3569 00 |
| 215 __c.32: |
| 216 0195 456D 7066 .string "Empf.Pegel:%5i" |
| 216 2E50 6567 |
| 216 656C 3A25 |
| 216 3569 00 |
| 219 __c.33: |
| 220 01a4 4B6F 6D70 .string "Kompass..." |
| 220 6173 732E |
| 220 2E2E 00 |
| 223 __c.34: |
| 224 01af 5269 6368 .string "Richtung: %4i" |
| 224 7475 6E67 |
| 224 3A20 2534 |
| 224 6900 |
| 227 __c.35: |
| 228 01bd 5661 6C75 .string "Value: %4i" |
| 228 653A 2025 |
| 228 3469 00 |
| 231 __c.36: |
| 232 01c8 5374 6172 .string "Startwert: %4i" |
| 232 7477 6572 |
| 232 743A 2025 |
| 232 3469 00 |
| 235 __c.37: |
| 236 01d7 506F 7469 .string "Poti1: %3i" |
| 236 313A 2020 |
| 236 2533 6900 |
| 239 __c.38: |
| 240 01e3 506F 7469 .string "Poti2: %3i" |
| 240 323A 2020 |
| 240 2533 6900 |
| 243 __c.39: |
| 244 01ef 506F 7469 .string "Poti3: %3i" |
| 244 333A 2020 |
| 244 2533 6900 |
| 247 __c.40: |
| 248 01fb 506F 7469 .string "Poti4: %3i" |
| 248 343A 2020 |
| 248 2533 6900 |
| 251 __c.41: |
| 252 0207 5365 7276 .string "Servo " |
| 252 6F20 2000 |
| 255 __c.42: |
| 256 020f 5365 7470 .string "Setpoint %3i" |
| 256 6F69 6E74 |
| 256 2020 2533 |
| 256 6900 |
| 259 __c.43: |
| 260 021d 5261 6E67 .string "Range:%3i-%3i" |
| 260 653A 2533 |
| 260 692D 2533 |
| 260 6900 |
| 263 __c.44: |
| 264 022b 486F 6568 .string "Hoehe: %5i" |
| 264 653A 2020 |
| 264 2020 2025 |
| 264 3569 00 |
| 267 __c.45: |
| 268 023a 536F 6C6C .string "SollHoehe: %5i" |
| 268 486F 6568 |
| 268 653A 2025 |
| 268 3569 00 |
| 271 __c.46: |
| 272 0249 4C75 6674 .string "Luftdruck: %5i" |
| 272 6472 7563 |
| 272 6B3A 2025 |
| 272 3569 00 |
| 275 __c.47: |
| 276 0258 4F66 6620 .string "Off : %5i" |
| 276 2020 2020 |
| 276 203A 2025 |
| 276 3569 00 |
| 279 __c.48: |
| 280 0267 4B65 696E .string "Keine " |
| 280 6520 00 |
| 283 __c.49: |
| 284 026e 48F6 6865 .string "H\366henregelung" |
| 284 6E72 6567 |
| 284 656C 756E |
| 284 6700 |
| 287 __c.50: |
| 288 027c 424C 2D43 .string "BL-Ctrl Errors " |
| 288 7472 6C20 |
| 288 4572 726F |
| 288 7273 2000 |
| 291 __c.51: |
| 292 028c 2025 3364 .string " %3d %3d %3d %3d " |
| 292 2020 2533 |
| 292 6420 2025 |
| 292 3364 2020 |
| 292 2533 6420 |
| 295 __c.52: |
| 296 02a1 2025 3364 .string " %3d %3d %3d %3d " |
| 296 2020 2533 |
| 296 6420 2025 |
| 296 3364 2020 |
| 296 2533 6420 |
| 299 __c.53: |
| 300 02b6 2025 3364 .string " %3d %3d %3d %3d " |
| 300 2020 2533 |
| 300 6420 2025 |
| 300 3364 2020 |
| 300 2533 6420 |
| 303 __c.54: |
| 304 02cb 424C 2D43 .string "BL-Ctrl found " |
| 304 7472 6C20 |
| 304 666F 756E |
| 304 6420 00 |
| 307 __c.55: |
| 308 02da 2025 6320 .string " %c %c %c %c " |
| 308 2020 2563 |
| 308 2020 2025 |
| 308 6320 2020 |
| 308 2563 2000 |
| 311 __c.56: |
| 312 02ee 2025 6320 .string " %c %c %c %c " |
| 312 2020 2563 |
| 312 2020 2025 |
| 312 6320 2020 |
| 312 2563 2000 |
| 315 __c.57: |
| 316 0302 2025 6320 .string " %c - - -" |
| 316 2020 2D20 |
| 316 2020 2D20 |
| 316 2020 2D00 |
| 319 __c.58: |
| 320 0312 3130 00 .string "10" |
| 323 __c.59: |
| 324 0315 3131 00 .string "11" |
| 327 __c.60: |
| 328 0318 3132 00 .string "12" |
| 331 __c.61: |
| 332 031b 466C 6967 .string "Flight-Time " |
| 332 6874 2D54 |
| 332 696D 6520 |
| 332 2000 |
| 335 __c.62: |
| 336 0329 2020 2020 .string " %5umin" |
| 336 2020 2535 |
| 336 756D 696E |
| 336 00 |
| 339 __c.63: |
| 340 0336 546F 7461 .string "Total:%5umin" |
| 340 6C3A 2535 |
| 340 756D 696E |
| 340 00 |
| 343 __c.64: |
| 344 0343 2872 6573 .string "(reset)" |
| 344 6574 2900 |
| 345 .text |
| 346 .global Menu |
| 348 Menu: |
| 349 /* prologue: frame size=0 */ |
| 350 0012 1F93 push r17 |
| 351 /* prologue end (size=1) */ |
| 352 0014 8091 0000 lds r24,MenuePunkt |
| 353 0018 2091 0000 lds r18,MaxMenue |
| 354 001c 2817 cp r18,r24 |
| 355 001e 00F4 brsh .L10 |
| 356 0020 2093 0000 sts MenuePunkt,r18 |
| 357 .L10: |
| 358 0024 9091 0000 lds r25,RemoteKeys |
| 359 0028 90FF sbrs r25,0 |
| 360 002a 00C0 rjmp .L11 |
| 361 002c 8091 0000 lds r24,MenuePunkt |
| 362 0030 8823 tst r24 |
| 363 0032 01F4 brne .+2 |
| 364 0034 00C0 rjmp .L12 |
| 365 0036 8150 subi r24,lo8(-(-1)) |
| 366 0038 8093 0000 sts MenuePunkt,r24 |
| 367 .L11: |
| 368 003c 91FF sbrs r25,1 |
| 369 003e 00C0 rjmp .L14 |
| 370 0040 8091 0000 lds r24,MenuePunkt |
| 371 0044 8217 cp r24,r18 |
| 372 0046 01F4 brne .+2 |
| 373 0048 00C0 rjmp .L71 |
| 374 004a 8F5F subi r24,lo8(-(1)) |
| 375 004c 8093 0000 sts MenuePunkt,r24 |
| 376 .L14: |
| 377 0050 892F mov r24,r25 |
| 378 0052 9927 clr r25 |
| 379 0054 80FF sbrs r24,0 |
| 380 0056 00C0 rjmp .L17 |
| 381 0058 81FD sbrc r24,1 |
| 382 005a 00C0 rjmp .L72 |
| 383 .L17: |
| 384 005c 0E94 0000 call LcdClear |
| 385 0060 9091 0000 lds r25,MenuePunkt |
| 386 0064 9A30 cpi r25,lo8(10) |
| 387 0066 00F4 brsh .L18 |
| 388 0068 81E1 ldi r24,lo8(17) |
| 389 006a 8093 0000 sts DispPtr,r24 |
| 390 006e 892F mov r24,r25 |
| 391 0070 9927 clr r25 |
| 392 0072 9F93 push r25 |
| 393 0074 8F93 push r24 |
| 394 0076 80E0 ldi r24,lo8(__c.0) |
| 395 0078 90E0 ldi r25,hi8(__c.0) |
| 396 .L65: |
| 397 007a 9F93 push r25 |
| 398 007c 8F93 push r24 |
| 399 007e 81E0 ldi r24,lo8(1) |
| 400 0080 8F93 push r24 |
| 401 0082 0E94 0000 call _printf_P |
| 402 0086 0F90 pop __tmp_reg__ |
| 403 0088 0F90 pop __tmp_reg__ |
| 404 008a 0F90 pop __tmp_reg__ |
| 405 008c 0F90 pop __tmp_reg__ |
| 406 008e 0F90 pop __tmp_reg__ |
| 407 0090 2091 0000 lds r18,MenuePunkt |
| 408 0094 822F mov r24,r18 |
| 409 0096 9927 clr r25 |
| 410 0098 AA27 clr r26 |
| 411 009a BB27 clr r27 |
| 412 009c FC01 movw r30,r24 |
| 413 009e 0F97 sbiw r24,15 |
| 414 00a0 00F4 brsh .L63 |
| 415 00a2 E050 subi r30,lo8(-(pm(.L64))) |
| 416 00a4 F040 sbci r31,hi8(-(pm(.L64))) |
| 417 00a6 0C94 0000 jmp __tablejump2__ |
| 418 .data |
| 419 .section .progmem.gcc_sw_table, "a", @progbits |
| 420 .p2align 1 |
| 421 .L64: |
| 422 0000 0000 .word pm(.L21) |
| 423 0002 0000 .word pm(.L26) |
| 424 0004 0000 .word pm(.L27) |
| 425 0006 0000 .word pm(.L32) |
| 426 0008 0000 .word pm(.L33) |
| 427 000a 0000 .word pm(.L34) |
| 428 000c 0000 .word pm(.L40) |
| 429 000e 0000 .word pm(.L41) |
| 430 0010 0000 .word pm(.L42) |
| 431 0012 0000 .word pm(.L43) |
| 432 0014 0000 .word pm(.L44) |
| 433 0016 0000 .word pm(.L45) |
| 434 0018 0000 .word pm(.L48) |
| 435 001a 0000 .word pm(.L49) |
| 436 001c 0000 .word pm(.L53) |
| 437 .text |
| 438 .L18: |
| 439 00aa 80E1 ldi r24,lo8(16) |
| 440 00ac 8093 0000 sts DispPtr,r24 |
| 441 00b0 892F mov r24,r25 |
| 442 00b2 9927 clr r25 |
| 443 00b4 9F93 push r25 |
| 444 00b6 8F93 push r24 |
| 445 00b8 80E0 ldi r24,lo8(__c.1) |
| 446 00ba 90E0 ldi r25,hi8(__c.1) |
| 447 00bc 00C0 rjmp .L65 |
| 448 .L63: |
| 449 00be 2150 subi r18,lo8(-(-1)) |
| 450 00c0 2093 0000 sts MaxMenue,r18 |
| 451 00c4 1092 0000 sts MenuePunkt,__zero_reg__ |
| 452 00c8 00C0 rjmp .L20 |
| 453 .L12: |
| 454 00ca 2093 0000 sts MenuePunkt,r18 |
| 455 00ce 00C0 rjmp .L11 |
| 456 .L72: |
| 457 00d0 1092 0000 sts MenuePunkt,__zero_reg__ |
| 458 00d4 00C0 rjmp .L17 |
| 459 .L71: |
| 460 00d6 1092 0000 sts MenuePunkt,__zero_reg__ |
| 461 00da 00C0 rjmp .L14 |
| 462 .L41: |
| 463 00dc 84E1 ldi r24,lo8(20) |
| 464 00de 8093 0000 sts DispPtr,r24 |
| 465 00e2 8091 0000 lds r24,UBat |
| 466 00e6 9091 0000 lds r25,(UBat)+1 |
| 467 00ea 9F93 push r25 |
| 468 00ec 8F93 push r24 |
| 469 00ee 80E0 ldi r24,lo8(__c.31) |
| 470 00f0 90E0 ldi r25,hi8(__c.31) |
| 471 00f2 9F93 push r25 |
| 472 00f4 8F93 push r24 |
| 473 00f6 11E0 ldi r17,lo8(1) |
| 474 00f8 1F93 push r17 |
| 475 00fa 0E94 0000 call _printf_P |
| 476 00fe 88E2 ldi r24,lo8(40) |
| 477 0100 8093 0000 sts DispPtr,r24 |
| 478 0104 0F90 pop __tmp_reg__ |
| 479 0106 0F90 pop __tmp_reg__ |
| 480 0108 0F90 pop __tmp_reg__ |
| 481 010a 0F90 pop __tmp_reg__ |
| 482 010c 0F90 pop __tmp_reg__ |
| 483 010e 8091 0000 lds r24,SenderOkay |
| 484 0112 9927 clr r25 |
| 485 0114 9F93 push r25 |
| 486 0116 8F93 push r24 |
| 487 0118 80E0 ldi r24,lo8(__c.32) |
| 488 011a 90E0 ldi r25,hi8(__c.32) |
| 489 .L67: |
| 490 011c 9F93 push r25 |
| 491 011e 8F93 push r24 |
| 492 0120 1F93 push r17 |
| 493 .L70: |
| 494 0122 0E94 0000 call _printf_P |
| 495 0126 0F90 pop __tmp_reg__ |
| 496 0128 0F90 pop __tmp_reg__ |
| 497 012a 0F90 pop __tmp_reg__ |
| 498 012c 0F90 pop __tmp_reg__ |
| 499 012e 0F90 pop __tmp_reg__ |
| 500 0130 00C0 rjmp .L20 |
| 501 .L21: |
| 502 0132 1092 0000 sts DispPtr,__zero_reg__ |
| 503 0136 80E0 ldi r24,lo8(__c.2) |
| 504 0138 90E0 ldi r25,hi8(__c.2) |
| 505 013a 9F93 push r25 |
| 506 013c 8F93 push r24 |
| 507 013e 11E0 ldi r17,lo8(1) |
| 508 0140 1F93 push r17 |
| 509 0142 0E94 0000 call _printf_P |
| 510 0146 84E1 ldi r24,lo8(20) |
| 511 0148 8093 0000 sts DispPtr,r24 |
| 512 014c 0F90 pop __tmp_reg__ |
| 513 014e 0F90 pop __tmp_reg__ |
| 514 0150 0F90 pop __tmp_reg__ |
| 515 0152 87E6 ldi r24,lo8(103) |
| 516 0154 90E0 ldi r25,hi8(103) |
| 517 0156 9F93 push r25 |
| 518 0158 8F93 push r24 |
| 519 015a 8CE4 ldi r24,lo8(76) |
| 520 015c 90E0 ldi r25,hi8(76) |
| 521 015e 9F93 push r25 |
| 522 0160 8F93 push r24 |
| 523 0162 1F92 push __zero_reg__ |
| 524 0164 1F92 push __zero_reg__ |
| 525 0166 8091 0000 lds r24,PlatinenVersion |
| 526 016a 6AE0 ldi r22,lo8(10) |
| 527 016c 0E94 0000 call __udivmodqi4 |
| 528 0170 892F mov r24,r25 |
| 529 0172 9927 clr r25 |
| 530 0174 9F93 push r25 |
| 531 0176 8F93 push r24 |
| 532 0178 8091 0000 lds r24,PlatinenVersion |
| 533 017c 0E94 0000 call __udivmodqi4 |
| 534 0180 9927 clr r25 |
| 535 0182 9F93 push r25 |
| 536 0184 8F93 push r24 |
| 537 0186 80E0 ldi r24,lo8(__c.3) |
| 538 0188 90E0 ldi r25,hi8(__c.3) |
| 539 018a 9F93 push r25 |
| 540 018c 8F93 push r24 |
| 541 018e 1F93 push r17 |
| 542 0190 0E94 0000 call _printf_P |
| 543 0194 88E2 ldi r24,lo8(40) |
| 544 0196 8093 0000 sts DispPtr,r24 |
| 545 019a 2DB7 in r18,__SP_L__ |
| 546 019c 3EB7 in r19,__SP_H__ |
| 547 019e 235F subi r18,lo8(-(13)) |
| 548 01a0 3F4F sbci r19,hi8(-(13)) |
| 549 01a2 2DBF out __SP_L__,r18 |
| 550 01a4 80E0 ldi r24,lo8(Mixer+1) |
| 551 01a6 90E0 ldi r25,hi8(Mixer+1) |
| 552 01a8 9F93 push r25 |
| 553 01aa 8F93 push r24 |
| 554 01ac 0E94 0000 call GetActiveParamSetNumber |
| 555 01b0 9927 clr r25 |
| 556 01b2 9F93 push r25 |
| 557 01b4 8F93 push r24 |
| 558 01b6 80E0 ldi r24,lo8(__c.4) |
| 559 01b8 90E0 ldi r25,hi8(__c.4) |
| 560 01ba 9F93 push r25 |
| 561 01bc 8F93 push r24 |
| 562 01be 1F93 push r17 |
| 563 01c0 0E94 0000 call _printf_P |
| 564 01c4 8091 0000 lds r24,I2CTimeout |
| 565 01c8 9091 0000 lds r25,(I2CTimeout)+1 |
| 566 01cc 2DB7 in r18,__SP_L__ |
| 567 01ce 3EB7 in r19,__SP_H__ |
| 568 01d0 295F subi r18,lo8(-(7)) |
| 569 01d2 3F4F sbci r19,hi8(-(7)) |
| 570 01d4 2DBF out __SP_L__,r18 |
| 571 01d6 0697 sbiw r24,6 |
| 572 01d8 00F4 brsh .+2 |
| 573 01da 00C0 rjmp .L73 |
| 574 01dc 9091 0000 lds r25,MissingMotor |
| 575 01e0 9923 tst r25 |
| 576 01e2 01F4 brne .+2 |
| 577 01e4 00C0 rjmp .L24 |
| 578 01e6 8CE3 ldi r24,lo8(60) |
| 579 01e8 8093 0000 sts DispPtr,r24 |
| 580 01ec 892F mov r24,r25 |
| 581 01ee 9927 clr r25 |
| 582 01f0 9F93 push r25 |
| 583 01f2 8F93 push r24 |
| 584 01f4 80E0 ldi r24,lo8(__c.6) |
| 585 01f6 90E0 ldi r25,hi8(__c.6) |
| 586 01f8 00C0 rjmp .L67 |
| 587 .L27: |
| 588 01fa 1092 0000 sts DispPtr,__zero_reg__ |
| 589 01fe 80E0 ldi r24,lo8(__c.12) |
| 590 0200 90E0 ldi r25,hi8(__c.12) |
| 591 0202 9F93 push r25 |
| 592 0204 8F93 push r24 |
| 593 0206 11E0 ldi r17,lo8(1) |
| 594 0208 1F93 push r17 |
| 595 020a 0E94 0000 call _printf_P |
| 596 020e 84E1 ldi r24,lo8(20) |
| 597 0210 8093 0000 sts DispPtr,r24 |
| 598 0214 0F90 pop __tmp_reg__ |
| 599 0216 0F90 pop __tmp_reg__ |
| 600 0218 0F90 pop __tmp_reg__ |
| 601 021a 8091 0000 lds r24,EE_Parameter+8 |
| 602 021e 9927 clr r25 |
| 603 0220 9F93 push r25 |
| 604 0222 8F93 push r24 |
| 605 0224 80E0 ldi r24,lo8(__c.13) |
| 606 0226 90E0 ldi r25,hi8(__c.13) |
| 607 0228 9F93 push r25 |
| 608 022a 8F93 push r24 |
| 609 022c 1F93 push r17 |
| 610 022e 0E94 0000 call _printf_P |
| 611 0232 88E2 ldi r24,lo8(40) |
| 612 0234 8093 0000 sts DispPtr,r24 |
| 613 0238 0F90 pop __tmp_reg__ |
| 614 023a 0F90 pop __tmp_reg__ |
| 615 023c 0F90 pop __tmp_reg__ |
| 616 023e 0F90 pop __tmp_reg__ |
| 617 0240 0F90 pop __tmp_reg__ |
| 618 0242 80E0 ldi r24,lo8(__c.14) |
| 619 0244 90E0 ldi r25,hi8(__c.14) |
| 620 0246 9F93 push r25 |
| 621 0248 8F93 push r24 |
| 622 024a 1F93 push r17 |
| 623 024c 0E94 0000 call _printf_P |
| 624 0250 0F90 pop __tmp_reg__ |
| 625 0252 0F90 pop __tmp_reg__ |
| 626 0254 0F90 pop __tmp_reg__ |
| 627 .L28: |
| 628 0256 F999 sbic 63-0x20,1 |
| 629 0258 00C0 rjmp .L28 |
| 630 025a 80E0 ldi r24,lo8(EEPromArray+310) |
| 631 025c 90E0 ldi r25,hi8(EEPromArray+310) |
| 632 025e 92BD out (65)+1-0x20,r25 |
| 633 0260 81BD out 65-0x20,r24 |
| 634 /* #APP */ |
| 635 /* START EEPROM READ CRITICAL SECTION */ |
| 636 0262 F89A sbi 31, 0 |
| 637 0264 90B5 in r25, 32 |
| 638 /* END EEPROM READ CRITICAL SECTION */ |
| 639 |
| 640 /* #NOAPP */ |
| 641 0266 8CE3 ldi r24,lo8(60) |
| 642 0268 8093 0000 sts DispPtr,r24 |
| 643 026c 892F mov r24,r25 |
| 644 026e 9927 clr r25 |
| 645 0270 9F93 push r25 |
| 646 0272 8F93 push r24 |
| 647 0274 80E0 ldi r24,lo8(__c.15) |
| 648 0276 90E0 ldi r25,hi8(__c.15) |
| 649 0278 9F93 push r25 |
| 650 027a 8F93 push r24 |
| 651 027c 81E0 ldi r24,lo8(1) |
| 652 027e 8F93 push r24 |
| 653 0280 00C0 rjmp .L70 |
| 654 .L26: |
| 655 0282 1092 0000 sts DispPtr,__zero_reg__ |
| 656 0286 80E0 ldi r24,lo8(__c.8) |
| 657 0288 90E0 ldi r25,hi8(__c.8) |
| 658 028a 9F93 push r25 |
| 659 028c 8F93 push r24 |
| 660 028e 11E0 ldi r17,lo8(1) |
| 661 0290 1F93 push r17 |
| 662 0292 0E94 0000 call _printf_P |
| 663 0296 84E1 ldi r24,lo8(20) |
| 664 0298 8093 0000 sts DispPtr,r24 |
| 665 029c 0F90 pop __tmp_reg__ |
| 666 029e 0F90 pop __tmp_reg__ |
| 667 02a0 0F90 pop __tmp_reg__ |
| 668 02a2 8091 0000 lds r24,AnalogOffsetNick |
| 669 02a6 9927 clr r25 |
| 670 02a8 9F93 push r25 |
| 671 02aa 8F93 push r24 |
| 672 02ac 80E0 ldi r24,lo8(__c.9) |
| 673 02ae 90E0 ldi r25,hi8(__c.9) |
| 674 02b0 9F93 push r25 |
| 675 02b2 8F93 push r24 |
| 676 02b4 1F93 push r17 |
| 677 02b6 0E94 0000 call _printf_P |
| 678 02ba 88E2 ldi r24,lo8(40) |
| 679 02bc 8093 0000 sts DispPtr,r24 |
| 680 02c0 0F90 pop __tmp_reg__ |
| 681 02c2 0F90 pop __tmp_reg__ |
| 682 02c4 0F90 pop __tmp_reg__ |
| 683 02c6 0F90 pop __tmp_reg__ |
| 684 02c8 0F90 pop __tmp_reg__ |
| 685 02ca 8091 0000 lds r24,AnalogOffsetRoll |
| 686 02ce 9927 clr r25 |
| 687 02d0 9F93 push r25 |
| 688 02d2 8F93 push r24 |
| 689 02d4 80E0 ldi r24,lo8(__c.10) |
| 690 02d6 90E0 ldi r25,hi8(__c.10) |
| 691 02d8 9F93 push r25 |
| 692 02da 8F93 push r24 |
| 693 02dc 1F93 push r17 |
| 694 02de 0E94 0000 call _printf_P |
| 695 02e2 8CE3 ldi r24,lo8(60) |
| 696 02e4 8093 0000 sts DispPtr,r24 |
| 697 02e8 0F90 pop __tmp_reg__ |
| 698 02ea 0F90 pop __tmp_reg__ |
| 699 02ec 0F90 pop __tmp_reg__ |
| 700 02ee 0F90 pop __tmp_reg__ |
| 701 02f0 0F90 pop __tmp_reg__ |
| 702 02f2 8091 0000 lds r24,AnalogOffsetGier |
| 703 02f6 9927 clr r25 |
| 704 02f8 9F93 push r25 |
| 705 02fa 8F93 push r24 |
| 706 02fc 80E0 ldi r24,lo8(__c.11) |
| 707 02fe 90E0 ldi r25,hi8(__c.11) |
| 708 0300 00C0 rjmp .L67 |
| 709 .L40: |
| 710 0302 1092 0000 sts DispPtr,__zero_reg__ |
| 711 0306 80E0 ldi r24,lo8(__c.27) |
| 712 0308 90E0 ldi r25,hi8(__c.27) |
| 713 030a 9F93 push r25 |
| 714 030c 8F93 push r24 |
| 715 030e 11E0 ldi r17,lo8(1) |
| 716 0310 1F93 push r17 |
| 717 0312 0E94 0000 call _printf_P |
| 718 0316 84E1 ldi r24,lo8(20) |
| 719 0318 8093 0000 sts DispPtr,r24 |
| 720 031c 0F90 pop __tmp_reg__ |
| 721 031e 0F90 pop __tmp_reg__ |
| 722 0320 0F90 pop __tmp_reg__ |
| 723 0322 8091 0000 lds r24,NeutralAccX |
| 724 0326 9091 0000 lds r25,(NeutralAccX)+1 |
| 725 032a 9F93 push r25 |
| 726 032c 8F93 push r24 |
| 727 032e 8091 0000 lds r24,AdWertAccNick |
| 728 0332 9091 0000 lds r25,(AdWertAccNick)+1 |
| 729 0336 9F93 push r25 |
| 730 0338 8F93 push r24 |
| 731 033a 80E0 ldi r24,lo8(__c.28) |
| 732 033c 90E0 ldi r25,hi8(__c.28) |
| 733 033e 9F93 push r25 |
| 734 0340 8F93 push r24 |
| 735 0342 1F93 push r17 |
| 736 0344 0E94 0000 call _printf_P |
| 737 0348 88E2 ldi r24,lo8(40) |
| 738 034a 8093 0000 sts DispPtr,r24 |
| 739 034e 2DB7 in r18,__SP_L__ |
| 740 0350 3EB7 in r19,__SP_H__ |
| 741 0352 295F subi r18,lo8(-(7)) |
| 742 0354 3F4F sbci r19,hi8(-(7)) |
| 743 0356 2DBF out __SP_L__,r18 |
| 744 0358 8091 0000 lds r24,NeutralAccY |
| 745 035c 9091 0000 lds r25,(NeutralAccY)+1 |
| 746 0360 9F93 push r25 |
| 747 0362 8F93 push r24 |
| 748 0364 8091 0000 lds r24,AdWertAccRoll |
| 749 0368 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 750 036c 9F93 push r25 |
| 751 036e 8F93 push r24 |
| 752 0370 80E0 ldi r24,lo8(__c.29) |
| 753 0372 90E0 ldi r25,hi8(__c.29) |
| 754 0374 9F93 push r25 |
| 755 0376 8F93 push r24 |
| 756 0378 1F93 push r17 |
| 757 037a 0E94 0000 call _printf_P |
| 758 037e 8CE3 ldi r24,lo8(60) |
| 759 0380 8093 0000 sts DispPtr,r24 |
| 760 0384 8DB7 in r24,__SP_L__ |
| 761 0386 9EB7 in r25,__SP_H__ |
| 762 0388 0796 adiw r24,7 |
| 763 038a 8DBF out __SP_L__,r24 |
| 764 038c 8091 0000 lds r24,NeutralAccZ |
| 765 0390 9091 0000 lds r25,(NeutralAccZ)+1 |
| 766 0394 A091 0000 lds r26,(NeutralAccZ)+2 |
| 767 0398 B091 0000 lds r27,(NeutralAccZ)+3 |
| 768 039c BC01 movw r22,r24 |
| 769 039e CD01 movw r24,r26 |
| 770 03a0 0E94 0000 call __fixsfsi |
| 771 03a4 DC01 movw r26,r24 |
| 772 03a6 CB01 movw r24,r22 |
| 773 03a8 9F93 push r25 |
| 774 03aa 8F93 push r24 |
| 775 03ac 8091 0000 lds r24,Mittelwert_AccHoch |
| 776 03b0 9091 0000 lds r25,(Mittelwert_AccHoch)+1 |
| 777 03b4 9F93 push r25 |
| 778 03b6 8F93 push r24 |
| 779 03b8 80E0 ldi r24,lo8(__c.30) |
| 780 03ba 90E0 ldi r25,hi8(__c.30) |
| 781 03bc 9F93 push r25 |
| 782 03be 8F93 push r24 |
| 783 03c0 1F93 push r17 |
| 784 03c2 0E94 0000 call _printf_P |
| 785 03c6 2DB7 in r18,__SP_L__ |
| 786 03c8 3EB7 in r19,__SP_H__ |
| 787 03ca 295F subi r18,lo8(-(7)) |
| 788 03cc 3F4F sbci r19,hi8(-(7)) |
| 789 03ce 2DBF out __SP_L__,r18 |
| 790 03d0 00C0 rjmp .L20 |
| 791 .L34: |
| 792 03d2 1092 0000 sts DispPtr,__zero_reg__ |
| 793 03d6 80E0 ldi r24,lo8(__c.23) |
| 794 03d8 90E0 ldi r25,hi8(__c.23) |
| 795 03da 9F93 push r25 |
| 796 03dc 8F93 push r24 |
| 797 03de 11E0 ldi r17,lo8(1) |
| 798 03e0 1F93 push r17 |
| 799 03e2 0E94 0000 call _printf_P |
| 800 03e6 84E1 ldi r24,lo8(20) |
| 801 03e8 8093 0000 sts DispPtr,r24 |
| 802 03ec 0F90 pop __tmp_reg__ |
| 803 03ee 0F90 pop __tmp_reg__ |
| 804 03f0 0F90 pop __tmp_reg__ |
| 805 03f2 2091 0000 lds r18,AdNeutralNick |
| 806 03f6 3091 0000 lds r19,(AdNeutralNick)+1 |
| 807 03fa C901 movw r24,r18 |
| 808 03fc 37FD sbrc r19,7 |
| 809 03fe 00C0 rjmp .L74 |
| 810 .L35: |
| 811 0400 9595 asr r25 |
| 812 0402 8795 ror r24 |
| 813 0404 9595 asr r25 |
| 814 0406 8795 ror r24 |
| 815 0408 9595 asr r25 |
| 816 040a 8795 ror r24 |
| 817 040c 9595 asr r25 |
| 818 040e 8795 ror r24 |
| 819 0410 9F93 push r25 |
| 820 0412 8F93 push r24 |
| 821 0414 37FD sbrc r19,7 |
| 822 0416 00C0 rjmp .L75 |
| 823 .L36: |
| 824 0418 3595 asr r19 |
| 825 041a 2795 ror r18 |
| 826 041c 3595 asr r19 |
| 827 041e 2795 ror r18 |
| 828 0420 3595 asr r19 |
| 829 0422 2795 ror r18 |
| 830 0424 8091 0000 lds r24,AdWertNick |
| 831 0428 9091 0000 lds r25,(AdWertNick)+1 |
| 832 042c 821B sub r24,r18 |
| 833 042e 930B sbc r25,r19 |
| 834 0430 9F93 push r25 |
| 835 0432 8F93 push r24 |
| 836 0434 80E0 ldi r24,lo8(__c.24) |
| 837 0436 90E0 ldi r25,hi8(__c.24) |
| 838 0438 9F93 push r25 |
| 839 043a 8F93 push r24 |
| 840 043c 1F93 push r17 |
| 841 043e 0E94 0000 call _printf_P |
| 842 0442 88E2 ldi r24,lo8(40) |
| 843 0444 8093 0000 sts DispPtr,r24 |
| 844 0448 8DB7 in r24,__SP_L__ |
| 845 044a 9EB7 in r25,__SP_H__ |
| 846 044c 0796 adiw r24,7 |
| 847 044e 8DBF out __SP_L__,r24 |
| 848 0450 2091 0000 lds r18,AdNeutralRoll |
| 849 0454 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 850 0458 C901 movw r24,r18 |
| 851 045a 37FD sbrc r19,7 |
| 852 045c 00C0 rjmp .L76 |
| 853 .L37: |
| 854 045e 9595 asr r25 |
| 855 0460 8795 ror r24 |
| 856 0462 9595 asr r25 |
| 857 0464 8795 ror r24 |
| 858 0466 9595 asr r25 |
| 859 0468 8795 ror r24 |
| 860 046a 9595 asr r25 |
| 861 046c 8795 ror r24 |
| 862 046e 9F93 push r25 |
| 863 0470 8F93 push r24 |
| 864 0472 37FD sbrc r19,7 |
| 865 0474 00C0 rjmp .L77 |
| 866 .L38: |
| 867 0476 3595 asr r19 |
| 868 0478 2795 ror r18 |
| 869 047a 3595 asr r19 |
| 870 047c 2795 ror r18 |
| 871 047e 3595 asr r19 |
| 872 0480 2795 ror r18 |
| 873 0482 8091 0000 lds r24,AdWertRoll |
| 874 0486 9091 0000 lds r25,(AdWertRoll)+1 |
| 875 048a 821B sub r24,r18 |
| 876 048c 930B sbc r25,r19 |
| 877 048e 9F93 push r25 |
| 878 0490 8F93 push r24 |
| 879 0492 80E0 ldi r24,lo8(__c.25) |
| 880 0494 90E0 ldi r25,hi8(__c.25) |
| 881 0496 9F93 push r25 |
| 882 0498 8F93 push r24 |
| 883 049a 1F93 push r17 |
| 884 049c 0E94 0000 call _printf_P |
| 885 04a0 8CE3 ldi r24,lo8(60) |
| 886 04a2 8093 0000 sts DispPtr,r24 |
| 887 04a6 2DB7 in r18,__SP_L__ |
| 888 04a8 3EB7 in r19,__SP_H__ |
| 889 04aa 295F subi r18,lo8(-(7)) |
| 890 04ac 3F4F sbci r19,hi8(-(7)) |
| 891 04ae 2DBF out __SP_L__,r18 |
| 892 04b0 2091 0000 lds r18,AdNeutralGier |
| 893 04b4 3091 0000 lds r19,(AdNeutralGier)+1 |
| 894 04b8 C901 movw r24,r18 |
| 895 04ba 37FD sbrc r19,7 |
| 896 04bc 00C0 rjmp .L78 |
| 897 .L39: |
| 898 04be 9595 asr r25 |
| 899 04c0 8795 ror r24 |
| 900 04c2 9F93 push r25 |
| 901 04c4 8F93 push r24 |
| 902 04c6 8091 0000 lds r24,AdWertGier |
| 903 04ca 9091 0000 lds r25,(AdWertGier)+1 |
| 904 04ce 281B sub r18,r24 |
| 905 04d0 390B sbc r19,r25 |
| 906 04d2 3F93 push r19 |
| 907 04d4 2F93 push r18 |
| 908 04d6 80E0 ldi r24,lo8(__c.26) |
| 909 04d8 90E0 ldi r25,hi8(__c.26) |
| 910 .L69: |
| 911 04da 9F93 push r25 |
| 912 04dc 8F93 push r24 |
| 913 04de 1F93 push r17 |
| 914 04e0 0E94 0000 call _printf_P |
| 915 04e4 8DB7 in r24,__SP_L__ |
| 916 04e6 9EB7 in r25,__SP_H__ |
| 917 04e8 0796 adiw r24,7 |
| 918 04ea 8DBF out __SP_L__,r24 |
| 919 04ec 00C0 rjmp .L20 |
| 920 .L33: |
| 921 04ee 1092 0000 sts DispPtr,__zero_reg__ |
| 922 04f2 80E0 ldi r24,lo8(__c.19) |
| 923 04f4 90E0 ldi r25,hi8(__c.19) |
| 924 04f6 9F93 push r25 |
| 925 04f8 8F93 push r24 |
| 926 04fa 11E0 ldi r17,lo8(1) |
| 927 04fc 1F93 push r17 |
| 928 04fe 0E94 0000 call _printf_P |
| 929 0502 84E1 ldi r24,lo8(20) |
| 930 0504 8093 0000 sts DispPtr,r24 |
| 931 0508 0F90 pop __tmp_reg__ |
| 932 050a 0F90 pop __tmp_reg__ |
| 933 050c 0F90 pop __tmp_reg__ |
| 934 050e 8091 0000 lds r24,AdNeutralNick |
| 935 0512 9091 0000 lds r25,(AdNeutralNick)+1 |
| 936 0516 9F93 push r25 |
| 937 0518 8F93 push r24 |
| 938 051a 80E0 ldi r24,lo8(__c.20) |
| 939 051c 90E0 ldi r25,hi8(__c.20) |
| 940 051e 9F93 push r25 |
| 941 0520 8F93 push r24 |
| 942 0522 1F93 push r17 |
| 943 0524 0E94 0000 call _printf_P |
| 944 0528 88E2 ldi r24,lo8(40) |
| 945 052a 8093 0000 sts DispPtr,r24 |
| 946 052e 0F90 pop __tmp_reg__ |
| 947 0530 0F90 pop __tmp_reg__ |
| 948 0532 0F90 pop __tmp_reg__ |
| 949 0534 0F90 pop __tmp_reg__ |
| 950 0536 0F90 pop __tmp_reg__ |
| 951 0538 8091 0000 lds r24,AdNeutralRoll |
| 952 053c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 953 0540 9F93 push r25 |
| 954 0542 8F93 push r24 |
| 955 0544 80E0 ldi r24,lo8(__c.21) |
| 956 0546 90E0 ldi r25,hi8(__c.21) |
| 957 0548 9F93 push r25 |
| 958 054a 8F93 push r24 |
| 959 054c 1F93 push r17 |
| 960 054e 0E94 0000 call _printf_P |
| 961 0552 8CE3 ldi r24,lo8(60) |
| 962 0554 8093 0000 sts DispPtr,r24 |
| 963 0558 0F90 pop __tmp_reg__ |
| 964 055a 0F90 pop __tmp_reg__ |
| 965 055c 0F90 pop __tmp_reg__ |
| 966 055e 0F90 pop __tmp_reg__ |
| 967 0560 0F90 pop __tmp_reg__ |
| 968 0562 8091 0000 lds r24,AdNeutralGier |
| 969 0566 9091 0000 lds r25,(AdNeutralGier)+1 |
| 970 056a 9F93 push r25 |
| 971 056c 8F93 push r24 |
| 972 056e 80E0 ldi r24,lo8(__c.22) |
| 973 0570 90E0 ldi r25,hi8(__c.22) |
| 974 0572 00C0 rjmp .L67 |
| 975 .L32: |
| 976 0574 1092 0000 sts DispPtr,__zero_reg__ |
| 977 0578 8091 0000 lds r24,PPM_in+4 |
| 978 057c 9091 0000 lds r25,(PPM_in+4)+1 |
| 979 0580 9F93 push r25 |
| 980 0582 8F93 push r24 |
| 981 0584 8091 0000 lds r24,PPM_in+2 |
| 982 0588 9091 0000 lds r25,(PPM_in+2)+1 |
| 983 058c 9F93 push r25 |
| 984 058e 8F93 push r24 |
| 985 0590 80E0 ldi r24,lo8(__c.16) |
| 986 0592 90E0 ldi r25,hi8(__c.16) |
| 987 0594 9F93 push r25 |
| 988 0596 8F93 push r24 |
| 989 0598 11E0 ldi r17,lo8(1) |
| 990 059a 1F93 push r17 |
| 991 059c 0E94 0000 call _printf_P |
| 992 05a0 84E1 ldi r24,lo8(20) |
| 993 05a2 8093 0000 sts DispPtr,r24 |
| 994 05a6 8DB7 in r24,__SP_L__ |
| 995 05a8 9EB7 in r25,__SP_H__ |
| 996 05aa 0796 adiw r24,7 |
| 997 05ac 8DBF out __SP_L__,r24 |
| 998 05ae 8091 0000 lds r24,PPM_in+8 |
| 999 05b2 9091 0000 lds r25,(PPM_in+8)+1 |
| 1000 05b6 9F93 push r25 |
| 1001 05b8 8F93 push r24 |
| 1002 05ba 8091 0000 lds r24,PPM_in+6 |
| 1003 05be 9091 0000 lds r25,(PPM_in+6)+1 |
| 1004 05c2 9F93 push r25 |
| 1005 05c4 8F93 push r24 |
| 1006 05c6 80E0 ldi r24,lo8(__c.17) |
| 1007 05c8 90E0 ldi r25,hi8(__c.17) |
| 1008 05ca 9F93 push r25 |
| 1009 05cc 8F93 push r24 |
| 1010 05ce 1F93 push r17 |
| 1011 05d0 0E94 0000 call _printf_P |
| 1012 05d4 88E2 ldi r24,lo8(40) |
| 1013 05d6 8093 0000 sts DispPtr,r24 |
| 1014 05da 2DB7 in r18,__SP_L__ |
| 1015 05dc 3EB7 in r19,__SP_H__ |
| 1016 05de 295F subi r18,lo8(-(7)) |
| 1017 05e0 3F4F sbci r19,hi8(-(7)) |
| 1018 05e2 2DBF out __SP_L__,r18 |
| 1019 05e4 8091 0000 lds r24,PPM_in+10 |
| 1020 05e8 9091 0000 lds r25,(PPM_in+10)+1 |
| 1021 05ec 9F93 push r25 |
| 1022 05ee 8F93 push r24 |
| 1023 05f0 80E0 ldi r24,lo8(__c.18) |
| 1024 05f2 90E0 ldi r25,hi8(__c.18) |
| 1025 05f4 00C0 rjmp .L67 |
| 1026 .L53: |
| 1027 05f6 1092 0000 sts DispPtr,__zero_reg__ |
| 1028 05fa 80E0 ldi r24,lo8(__c.61) |
| 1029 05fc 90E0 ldi r25,hi8(__c.61) |
| 1030 05fe 9F93 push r25 |
| 1031 0600 8F93 push r24 |
| 1032 0602 11E0 ldi r17,lo8(1) |
| 1033 0604 1F93 push r17 |
| 1034 0606 0E94 0000 call _printf_P |
| 1035 060a 84E1 ldi r24,lo8(20) |
| 1036 060c 8093 0000 sts DispPtr,r24 |
| 1037 0610 0F90 pop __tmp_reg__ |
| 1038 0612 0F90 pop __tmp_reg__ |
| 1039 0614 0F90 pop __tmp_reg__ |
| 1040 0616 8091 0000 lds r24,FlugMinuten |
| 1041 061a 9091 0000 lds r25,(FlugMinuten)+1 |
| 1042 061e 9F93 push r25 |
| 1043 0620 8F93 push r24 |
| 1044 0622 80E0 ldi r24,lo8(__c.62) |
| 1045 0624 90E0 ldi r25,hi8(__c.62) |
| 1046 0626 9F93 push r25 |
| 1047 0628 8F93 push r24 |
| 1048 062a 1F93 push r17 |
| 1049 062c 0E94 0000 call _printf_P |
| 1050 0630 88E2 ldi r24,lo8(40) |
| 1051 0632 8093 0000 sts DispPtr,r24 |
| 1052 0636 0F90 pop __tmp_reg__ |
| 1053 0638 0F90 pop __tmp_reg__ |
| 1054 063a 0F90 pop __tmp_reg__ |
| 1055 063c 0F90 pop __tmp_reg__ |
| 1056 063e 0F90 pop __tmp_reg__ |
| 1057 0640 8091 0000 lds r24,FlugMinutenGesamt |
| 1058 0644 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1059 0648 9F93 push r25 |
| 1060 064a 8F93 push r24 |
| 1061 064c 80E0 ldi r24,lo8(__c.63) |
| 1062 064e 90E0 ldi r25,hi8(__c.63) |
| 1063 0650 9F93 push r25 |
| 1064 0652 8F93 push r24 |
| 1065 0654 1F93 push r17 |
| 1066 0656 0E94 0000 call _printf_P |
| 1067 065a 89E4 ldi r24,lo8(73) |
| 1068 065c 8093 0000 sts DispPtr,r24 |
| 1069 0660 0F90 pop __tmp_reg__ |
| 1070 0662 0F90 pop __tmp_reg__ |
| 1071 0664 0F90 pop __tmp_reg__ |
| 1072 0666 0F90 pop __tmp_reg__ |
| 1073 0668 0F90 pop __tmp_reg__ |
| 1074 066a 80E0 ldi r24,lo8(__c.64) |
| 1075 066c 90E0 ldi r25,hi8(__c.64) |
| 1076 066e 9F93 push r25 |
| 1077 0670 8F93 push r24 |
| 1078 0672 1F93 push r17 |
| 1079 0674 0E94 0000 call _printf_P |
| 1080 0678 8091 0000 lds r24,RemoteKeys |
| 1081 067c 0F90 pop __tmp_reg__ |
| 1082 067e 0F90 pop __tmp_reg__ |
| 1083 0680 0F90 pop __tmp_reg__ |
| 1084 0682 83FF sbrs r24,3 |
| 1085 0684 00C0 rjmp .L20 |
| 1086 0686 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 1087 068a 1092 0000 sts FlugMinuten,__zero_reg__ |
| 1088 .L55: |
| 1089 068e F999 sbic 63-0x20,1 |
| 1090 0690 00C0 rjmp .L55 |
| 1091 0692 1FBA out 63-0x20,__zero_reg__ |
| 1092 0694 80E0 ldi r24,lo8(EEPromArray+14) |
| 1093 0696 90E0 ldi r25,hi8(EEPromArray+14) |
| 1094 0698 92BD out (65)+1-0x20,r25 |
| 1095 069a 81BD out 65-0x20,r24 |
| 1096 069c 10BC out 64-0x20,__zero_reg__ |
| 1097 /* #APP */ |
| 1098 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1099 069e 0FB6 in r0, 63 |
| 1100 06a0 F894 cli |
| 1101 06a2 FA9A sbi 31, 2 |
| 1102 06a4 F99A sbi 31, 1 |
| 1103 06a6 0FBE out 63, r0 |
| 1104 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1105 /* #NOAPP */ |
| 1106 06a8 2091 0000 lds r18,FlugMinuten |
| 1107 .L59: |
| 1108 06ac F999 sbic 63-0x20,1 |
| 1109 06ae 00C0 rjmp .L59 |
| 1110 06b0 1FBA out 63-0x20,__zero_reg__ |
| 1111 06b2 80E0 ldi r24,lo8(EEPromArray+15) |
| 1112 06b4 90E0 ldi r25,hi8(EEPromArray+15) |
| 1113 06b6 92BD out (65)+1-0x20,r25 |
| 1114 06b8 81BD out 65-0x20,r24 |
| 1115 06ba 20BD out 64-0x20,r18 |
| 1116 /* #APP */ |
| 1117 /* START EEPROM WRITE CRITICAL SECTION */ |
| 1118 06bc 0FB6 in r0, 63 |
| 1119 06be F894 cli |
| 1120 06c0 FA9A sbi 31, 2 |
| 1121 06c2 F99A sbi 31, 1 |
| 1122 06c4 0FBE out 63, r0 |
| 1123 /* END EEPROM WRITE CRITICAL SECTION */ |
| 1124 /* #NOAPP */ |
| 1125 06c6 00C0 rjmp .L20 |
| 1126 .L49: |
| 1127 06c8 1092 0000 sts DispPtr,__zero_reg__ |
| 1128 06cc 80E0 ldi r24,lo8(__c.54) |
| 1129 06ce 90E0 ldi r25,hi8(__c.54) |
| 1130 06d0 9F93 push r25 |
| 1131 06d2 8F93 push r24 |
| 1132 06d4 11E0 ldi r17,lo8(1) |
| 1133 06d6 1F93 push r17 |
| 1134 06d8 0E94 0000 call _printf_P |
| 1135 06dc 84E1 ldi r24,lo8(20) |
| 1136 06de 8093 0000 sts DispPtr,r24 |
| 1137 06e2 0F90 pop __tmp_reg__ |
| 1138 06e4 0F90 pop __tmp_reg__ |
| 1139 06e6 0F90 pop __tmp_reg__ |
| 1140 06e8 8091 0000 lds r24,MotorPresent+3 |
| 1141 06ec 9927 clr r25 |
| 1142 06ee 8D96 adiw r24,45 |
| 1143 06f0 9F93 push r25 |
| 1144 06f2 8F93 push r24 |
| 1145 06f4 8091 0000 lds r24,MotorPresent+2 |
| 1146 06f8 9927 clr r25 |
| 1147 06fa 8D96 adiw r24,45 |
| 1148 06fc 9F93 push r25 |
| 1149 06fe 8F93 push r24 |
| 1150 0700 8091 0000 lds r24,MotorPresent+1 |
| 1151 0704 9927 clr r25 |
| 1152 0706 8D96 adiw r24,45 |
| 1153 0708 9F93 push r25 |
| 1154 070a 8F93 push r24 |
| 1155 070c 8091 0000 lds r24,MotorPresent |
| 1156 0710 9927 clr r25 |
| 1157 0712 8D96 adiw r24,45 |
| 1158 0714 9F93 push r25 |
| 1159 0716 8F93 push r24 |
| 1160 0718 80E0 ldi r24,lo8(__c.55) |
| 1161 071a 90E0 ldi r25,hi8(__c.55) |
| 1162 071c 9F93 push r25 |
| 1163 071e 8F93 push r24 |
| 1164 0720 1F93 push r17 |
| 1165 0722 0E94 0000 call _printf_P |
| 1166 0726 88E2 ldi r24,lo8(40) |
| 1167 0728 8093 0000 sts DispPtr,r24 |
| 1168 072c 8DB7 in r24,__SP_L__ |
| 1169 072e 9EB7 in r25,__SP_H__ |
| 1170 0730 0B96 adiw r24,11 |
| 1171 0732 8DBF out __SP_L__,r24 |
| 1172 0734 8091 0000 lds r24,MotorPresent+7 |
| 1173 0738 9927 clr r25 |
| 1174 073a 8D96 adiw r24,45 |
| 1175 073c 9F93 push r25 |
| 1176 073e 8F93 push r24 |
| 1177 0740 8091 0000 lds r24,MotorPresent+6 |
| 1178 0744 9927 clr r25 |
| 1179 0746 8D96 adiw r24,45 |
| 1180 0748 9F93 push r25 |
| 1181 074a 8F93 push r24 |
| 1182 074c 8091 0000 lds r24,MotorPresent+5 |
| 1183 0750 9927 clr r25 |
| 1184 0752 8D96 adiw r24,45 |
| 1185 0754 9F93 push r25 |
| 1186 0756 8F93 push r24 |
| 1187 0758 8091 0000 lds r24,MotorPresent+4 |
| 1188 075c 9927 clr r25 |
| 1189 075e 8D96 adiw r24,45 |
| 1190 0760 9F93 push r25 |
| 1191 0762 8F93 push r24 |
| 1192 0764 80E0 ldi r24,lo8(__c.56) |
| 1193 0766 90E0 ldi r25,hi8(__c.56) |
| 1194 0768 9F93 push r25 |
| 1195 076a 8F93 push r24 |
| 1196 076c 1F93 push r17 |
| 1197 076e 0E94 0000 call _printf_P |
| 1198 0772 8CE3 ldi r24,lo8(60) |
| 1199 0774 8093 0000 sts DispPtr,r24 |
| 1200 0778 2DB7 in r18,__SP_L__ |
| 1201 077a 3EB7 in r19,__SP_H__ |
| 1202 077c 255F subi r18,lo8(-(11)) |
| 1203 077e 3F4F sbci r19,hi8(-(11)) |
| 1204 0780 2DBF out __SP_L__,r18 |
| 1205 0782 8091 0000 lds r24,MotorPresent+8 |
| 1206 0786 9927 clr r25 |
| 1207 0788 8D96 adiw r24,45 |
| 1208 078a 9F93 push r25 |
| 1209 078c 8F93 push r24 |
| 1210 078e 80E0 ldi r24,lo8(__c.57) |
| 1211 0790 90E0 ldi r25,hi8(__c.57) |
| 1212 0792 9F93 push r25 |
| 1213 0794 8F93 push r24 |
| 1214 0796 1F93 push r17 |
| 1215 0798 0E94 0000 call _printf_P |
| 1216 079c 0F90 pop __tmp_reg__ |
| 1217 079e 0F90 pop __tmp_reg__ |
| 1218 07a0 0F90 pop __tmp_reg__ |
| 1219 07a2 0F90 pop __tmp_reg__ |
| 1220 07a4 0F90 pop __tmp_reg__ |
| 1221 07a6 8091 0000 lds r24,MotorPresent+9 |
| 1222 07aa 8823 tst r24 |
| 1223 07ac 01F0 breq .+2 |
| 1224 07ae 00C0 rjmp .L79 |
| 1225 .L50: |
| 1226 07b0 8091 0000 lds r24,MotorPresent+10 |
| 1227 07b4 8823 tst r24 |
| 1228 07b6 01F0 breq .+2 |
| 1229 07b8 00C0 rjmp .L80 |
| 1230 .L51: |
| 1231 07ba 8091 0000 lds r24,MotorPresent+11 |
| 1232 07be 8823 tst r24 |
| 1233 07c0 01F4 brne .+2 |
| 1234 07c2 00C0 rjmp .L20 |
| 1235 07c4 88E4 ldi r24,lo8(72) |
| 1236 07c6 8093 0000 sts DispPtr,r24 |
| 1237 07ca 80E0 ldi r24,lo8(__c.60) |
| 1238 07cc 90E0 ldi r25,hi8(__c.60) |
| 1239 .L66: |
| 1240 07ce 9F93 push r25 |
| 1241 07d0 8F93 push r24 |
| 1242 07d2 1F93 push r17 |
| 1243 07d4 0E94 0000 call _printf_P |
| 1244 07d8 0F90 pop __tmp_reg__ |
| 1245 07da 0F90 pop __tmp_reg__ |
| 1246 07dc 0F90 pop __tmp_reg__ |
| 1247 07de 00C0 rjmp .L20 |
| 1248 .L45: |
| 1249 07e0 8091 0000 lds r24,EE_Parameter+8 |
| 1250 07e4 80FF sbrs r24,0 |
| 1251 07e6 00C0 rjmp .L46 |
| 1252 07e8 1092 0000 sts DispPtr,__zero_reg__ |
| 1253 07ec 8091 0000 lds r24,HoehenWert |
| 1254 07f0 9091 0000 lds r25,(HoehenWert)+1 |
| 1255 07f4 A091 0000 lds r26,(HoehenWert)+2 |
| 1256 07f8 B091 0000 lds r27,(HoehenWert)+3 |
| 1257 07fc BF93 push r27 |
| 1258 07fe AF93 push r26 |
| 1259 0800 9F93 push r25 |
| 1260 0802 8F93 push r24 |
| 1261 0804 80E0 ldi r24,lo8(__c.44) |
| 1262 0806 90E0 ldi r25,hi8(__c.44) |
| 1263 0808 9F93 push r25 |
| 1264 080a 8F93 push r24 |
| 1265 080c 11E0 ldi r17,lo8(1) |
| 1266 080e 1F93 push r17 |
| 1267 0810 0E94 0000 call _printf_P |
| 1268 0814 84E1 ldi r24,lo8(20) |
| 1269 0816 8093 0000 sts DispPtr,r24 |
| 1270 081a 2DB7 in r18,__SP_L__ |
| 1271 081c 3EB7 in r19,__SP_H__ |
| 1272 081e 295F subi r18,lo8(-(7)) |
| 1273 0820 3F4F sbci r19,hi8(-(7)) |
| 1274 0822 2DBF out __SP_L__,r18 |
| 1275 0824 8091 0000 lds r24,SollHoehe |
| 1276 0828 9091 0000 lds r25,(SollHoehe)+1 |
| 1277 082c A091 0000 lds r26,(SollHoehe)+2 |
| 1278 0830 B091 0000 lds r27,(SollHoehe)+3 |
| 1279 0834 BF93 push r27 |
| 1280 0836 AF93 push r26 |
| 1281 0838 9F93 push r25 |
| 1282 083a 8F93 push r24 |
| 1283 083c 80E0 ldi r24,lo8(__c.45) |
| 1284 083e 90E0 ldi r25,hi8(__c.45) |
| 1285 0840 9F93 push r25 |
| 1286 0842 8F93 push r24 |
| 1287 0844 1F93 push r17 |
| 1288 0846 0E94 0000 call _printf_P |
| 1289 084a 88E2 ldi r24,lo8(40) |
| 1290 084c 8093 0000 sts DispPtr,r24 |
| 1291 0850 8DB7 in r24,__SP_L__ |
| 1292 0852 9EB7 in r25,__SP_H__ |
| 1293 0854 0796 adiw r24,7 |
| 1294 0856 8DBF out __SP_L__,r24 |
| 1295 0858 8091 0000 lds r24,MessLuftdruck |
| 1296 085c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1297 0860 9F93 push r25 |
| 1298 0862 8F93 push r24 |
| 1299 0864 80E0 ldi r24,lo8(__c.46) |
| 1300 0866 90E0 ldi r25,hi8(__c.46) |
| 1301 0868 9F93 push r25 |
| 1302 086a 8F93 push r24 |
| 1303 086c 1F93 push r17 |
| 1304 086e 0E94 0000 call _printf_P |
| 1305 0872 8CE3 ldi r24,lo8(60) |
| 1306 0874 8093 0000 sts DispPtr,r24 |
| 1307 0878 0F90 pop __tmp_reg__ |
| 1308 087a 0F90 pop __tmp_reg__ |
| 1309 087c 0F90 pop __tmp_reg__ |
| 1310 087e 0F90 pop __tmp_reg__ |
| 1311 0880 0F90 pop __tmp_reg__ |
| 1312 0882 8091 0000 lds r24,DruckOffsetSetting |
| 1313 0886 9927 clr r25 |
| 1314 0888 9F93 push r25 |
| 1315 088a 8F93 push r24 |
| 1316 088c 80E0 ldi r24,lo8(__c.47) |
| 1317 088e 90E0 ldi r25,hi8(__c.47) |
| 1318 0890 00C0 rjmp .L67 |
| 1319 .L44: |
| 1320 0892 1092 0000 sts DispPtr,__zero_reg__ |
| 1321 0896 80E0 ldi r24,lo8(__c.41) |
| 1322 0898 90E0 ldi r25,hi8(__c.41) |
| 1323 089a 9F93 push r25 |
| 1324 089c 8F93 push r24 |
| 1325 089e 11E0 ldi r17,lo8(1) |
| 1326 08a0 1F93 push r17 |
| 1327 08a2 0E94 0000 call _printf_P |
| 1328 08a6 84E1 ldi r24,lo8(20) |
| 1329 08a8 8093 0000 sts DispPtr,r24 |
| 1330 08ac 0F90 pop __tmp_reg__ |
| 1331 08ae 0F90 pop __tmp_reg__ |
| 1332 08b0 0F90 pop __tmp_reg__ |
| 1333 08b2 8091 0000 lds r24,Parameter_ServoNickControl |
| 1334 08b6 9927 clr r25 |
| 1335 08b8 9F93 push r25 |
| 1336 08ba 8F93 push r24 |
| 1337 08bc 80E0 ldi r24,lo8(__c.42) |
| 1338 08be 90E0 ldi r25,hi8(__c.42) |
| 1339 08c0 9F93 push r25 |
| 1340 08c2 8F93 push r24 |
| 1341 08c4 1F93 push r17 |
| 1342 08c6 0E94 0000 call _printf_P |
| 1343 08ca 8CE3 ldi r24,lo8(60) |
| 1344 08cc 8093 0000 sts DispPtr,r24 |
| 1345 08d0 0F90 pop __tmp_reg__ |
| 1346 08d2 0F90 pop __tmp_reg__ |
| 1347 08d4 0F90 pop __tmp_reg__ |
| 1348 08d6 0F90 pop __tmp_reg__ |
| 1349 08d8 0F90 pop __tmp_reg__ |
| 1350 08da 8091 0000 lds r24,EE_Parameter+42 |
| 1351 08de 9927 clr r25 |
| 1352 08e0 9F93 push r25 |
| 1353 08e2 8F93 push r24 |
| 1354 08e4 8091 0000 lds r24,EE_Parameter+41 |
| 1355 08e8 9927 clr r25 |
| 1356 08ea 9F93 push r25 |
| 1357 08ec 8F93 push r24 |
| 1358 08ee 80E0 ldi r24,lo8(__c.43) |
| 1359 08f0 90E0 ldi r25,hi8(__c.43) |
| 1360 08f2 00C0 rjmp .L69 |
| 1361 .L48: |
| 1362 08f4 1092 0000 sts DispPtr,__zero_reg__ |
| 1363 08f8 80E0 ldi r24,lo8(__c.50) |
| 1364 08fa 90E0 ldi r25,hi8(__c.50) |
| 1365 08fc 9F93 push r25 |
| 1366 08fe 8F93 push r24 |
| 1367 0900 11E0 ldi r17,lo8(1) |
| 1368 0902 1F93 push r17 |
| 1369 0904 0E94 0000 call _printf_P |
| 1370 0908 84E1 ldi r24,lo8(20) |
| 1371 090a 8093 0000 sts DispPtr,r24 |
| 1372 090e 0F90 pop __tmp_reg__ |
| 1373 0910 0F90 pop __tmp_reg__ |
| 1374 0912 0F90 pop __tmp_reg__ |
| 1375 0914 8091 0000 lds r24,MotorError+3 |
| 1376 0918 9927 clr r25 |
| 1377 091a 9F93 push r25 |
| 1378 091c 8F93 push r24 |
| 1379 091e 8091 0000 lds r24,MotorError+2 |
| 1380 0922 9927 clr r25 |
| 1381 0924 9F93 push r25 |
| 1382 0926 8F93 push r24 |
| 1383 0928 8091 0000 lds r24,MotorError+1 |
| 1384 092c 9927 clr r25 |
| 1385 092e 9F93 push r25 |
| 1386 0930 8F93 push r24 |
| 1387 0932 8091 0000 lds r24,MotorError |
| 1388 0936 9927 clr r25 |
| 1389 0938 9F93 push r25 |
| 1390 093a 8F93 push r24 |
| 1391 093c 80E0 ldi r24,lo8(__c.51) |
| 1392 093e 90E0 ldi r25,hi8(__c.51) |
| 1393 0940 9F93 push r25 |
| 1394 0942 8F93 push r24 |
| 1395 0944 1F93 push r17 |
| 1396 0946 0E94 0000 call _printf_P |
| 1397 094a 88E2 ldi r24,lo8(40) |
| 1398 094c 8093 0000 sts DispPtr,r24 |
| 1399 0950 2DB7 in r18,__SP_L__ |
| 1400 0952 3EB7 in r19,__SP_H__ |
| 1401 0954 255F subi r18,lo8(-(11)) |
| 1402 0956 3F4F sbci r19,hi8(-(11)) |
| 1403 0958 2DBF out __SP_L__,r18 |
| 1404 095a 8091 0000 lds r24,MotorError+7 |
| 1405 095e 9927 clr r25 |
| 1406 0960 9F93 push r25 |
| 1407 0962 8F93 push r24 |
| 1408 0964 8091 0000 lds r24,MotorError+6 |
| 1409 0968 9927 clr r25 |
| 1410 096a 9F93 push r25 |
| 1411 096c 8F93 push r24 |
| 1412 096e 8091 0000 lds r24,MotorError+5 |
| 1413 0972 9927 clr r25 |
| 1414 0974 9F93 push r25 |
| 1415 0976 8F93 push r24 |
| 1416 0978 8091 0000 lds r24,MotorError+4 |
| 1417 097c 9927 clr r25 |
| 1418 097e 9F93 push r25 |
| 1419 0980 8F93 push r24 |
| 1420 0982 80E0 ldi r24,lo8(__c.52) |
| 1421 0984 90E0 ldi r25,hi8(__c.52) |
| 1422 0986 9F93 push r25 |
| 1423 0988 8F93 push r24 |
| 1424 098a 1F93 push r17 |
| 1425 098c 0E94 0000 call _printf_P |
| 1426 0990 8CE3 ldi r24,lo8(60) |
| 1427 0992 8093 0000 sts DispPtr,r24 |
| 1428 0996 8DB7 in r24,__SP_L__ |
| 1429 0998 9EB7 in r25,__SP_H__ |
| 1430 099a 0B96 adiw r24,11 |
| 1431 099c 8DBF out __SP_L__,r24 |
| 1432 099e 8091 0000 lds r24,MotorError+11 |
| 1433 09a2 9927 clr r25 |
| 1434 09a4 9F93 push r25 |
| 1435 09a6 8F93 push r24 |
| 1436 09a8 8091 0000 lds r24,MotorError+10 |
| 1437 09ac 9927 clr r25 |
| 1438 09ae 9F93 push r25 |
| 1439 09b0 8F93 push r24 |
| 1440 09b2 8091 0000 lds r24,MotorError+9 |
| 1441 09b6 9927 clr r25 |
| 1442 09b8 9F93 push r25 |
| 1443 09ba 8F93 push r24 |
| 1444 09bc 8091 0000 lds r24,MotorError+8 |
| 1445 09c0 9927 clr r25 |
| 1446 09c2 9F93 push r25 |
| 1447 09c4 8F93 push r24 |
| 1448 09c6 80E0 ldi r24,lo8(__c.53) |
| 1449 09c8 90E0 ldi r25,hi8(__c.53) |
| 1450 09ca 9F93 push r25 |
| 1451 09cc 8F93 push r24 |
| 1452 09ce 1F93 push r17 |
| 1453 09d0 0E94 0000 call _printf_P |
| 1454 09d4 2DB7 in r18,__SP_L__ |
| 1455 09d6 3EB7 in r19,__SP_H__ |
| 1456 09d8 255F subi r18,lo8(-(11)) |
| 1457 09da 3F4F sbci r19,hi8(-(11)) |
| 1458 09dc 2DBF out __SP_L__,r18 |
| 1459 09de 00C0 rjmp .L20 |
| 1460 .L43: |
| 1461 09e0 1092 0000 sts DispPtr,__zero_reg__ |
| 1462 09e4 8091 0000 lds r24,Poti1 |
| 1463 09e8 9091 0000 lds r25,(Poti1)+1 |
| 1464 09ec 9F93 push r25 |
| 1465 09ee 8F93 push r24 |
| 1466 09f0 80E0 ldi r24,lo8(__c.37) |
| 1467 09f2 90E0 ldi r25,hi8(__c.37) |
| 1468 09f4 9F93 push r25 |
| 1469 09f6 8F93 push r24 |
| 1470 09f8 11E0 ldi r17,lo8(1) |
| 1471 09fa 1F93 push r17 |
| 1472 09fc 0E94 0000 call _printf_P |
| 1473 0a00 84E1 ldi r24,lo8(20) |
| 1474 0a02 8093 0000 sts DispPtr,r24 |
| 1475 0a06 0F90 pop __tmp_reg__ |
| 1476 0a08 0F90 pop __tmp_reg__ |
| 1477 0a0a 0F90 pop __tmp_reg__ |
| 1478 0a0c 0F90 pop __tmp_reg__ |
| 1479 0a0e 0F90 pop __tmp_reg__ |
| 1480 0a10 8091 0000 lds r24,Poti2 |
| 1481 0a14 9091 0000 lds r25,(Poti2)+1 |
| 1482 0a18 9F93 push r25 |
| 1483 0a1a 8F93 push r24 |
| 1484 0a1c 80E0 ldi r24,lo8(__c.38) |
| 1485 0a1e 90E0 ldi r25,hi8(__c.38) |
| 1486 0a20 9F93 push r25 |
| 1487 0a22 8F93 push r24 |
| 1488 0a24 1F93 push r17 |
| 1489 0a26 0E94 0000 call _printf_P |
| 1490 0a2a 88E2 ldi r24,lo8(40) |
| 1491 0a2c 8093 0000 sts DispPtr,r24 |
| 1492 0a30 0F90 pop __tmp_reg__ |
| 1493 0a32 0F90 pop __tmp_reg__ |
| 1494 0a34 0F90 pop __tmp_reg__ |
| 1495 0a36 0F90 pop __tmp_reg__ |
| 1496 0a38 0F90 pop __tmp_reg__ |
| 1497 0a3a 8091 0000 lds r24,Poti3 |
| 1498 0a3e 9091 0000 lds r25,(Poti3)+1 |
| 1499 0a42 9F93 push r25 |
| 1500 0a44 8F93 push r24 |
| 1501 0a46 80E0 ldi r24,lo8(__c.39) |
| 1502 0a48 90E0 ldi r25,hi8(__c.39) |
| 1503 0a4a 9F93 push r25 |
| 1504 0a4c 8F93 push r24 |
| 1505 0a4e 1F93 push r17 |
| 1506 0a50 0E94 0000 call _printf_P |
| 1507 0a54 8CE3 ldi r24,lo8(60) |
| 1508 0a56 8093 0000 sts DispPtr,r24 |
| 1509 0a5a 0F90 pop __tmp_reg__ |
| 1510 0a5c 0F90 pop __tmp_reg__ |
| 1511 0a5e 0F90 pop __tmp_reg__ |
| 1512 0a60 0F90 pop __tmp_reg__ |
| 1513 0a62 0F90 pop __tmp_reg__ |
| 1514 0a64 8091 0000 lds r24,Poti4 |
| 1515 0a68 9091 0000 lds r25,(Poti4)+1 |
| 1516 0a6c 9F93 push r25 |
| 1517 0a6e 8F93 push r24 |
| 1518 0a70 80E0 ldi r24,lo8(__c.40) |
| 1519 0a72 90E0 ldi r25,hi8(__c.40) |
| 1520 0a74 00C0 rjmp .L67 |
| 1521 .L42: |
| 1522 0a76 1092 0000 sts DispPtr,__zero_reg__ |
| 1523 0a7a 80E0 ldi r24,lo8(__c.33) |
| 1524 0a7c 90E0 ldi r25,hi8(__c.33) |
| 1525 0a7e 9F93 push r25 |
| 1526 0a80 8F93 push r24 |
| 1527 0a82 11E0 ldi r17,lo8(1) |
| 1528 0a84 1F93 push r17 |
| 1529 0a86 0E94 0000 call _printf_P |
| 1530 0a8a 84E1 ldi r24,lo8(20) |
| 1531 0a8c 8093 0000 sts DispPtr,r24 |
| 1532 0a90 0F90 pop __tmp_reg__ |
| 1533 0a92 0F90 pop __tmp_reg__ |
| 1534 0a94 0F90 pop __tmp_reg__ |
| 1535 0a96 8091 0000 lds r24,KompassRichtung |
| 1536 0a9a 9091 0000 lds r25,(KompassRichtung)+1 |
| 1537 0a9e 9F93 push r25 |
| 1538 0aa0 8F93 push r24 |
| 1539 0aa2 80E0 ldi r24,lo8(__c.34) |
| 1540 0aa4 90E0 ldi r25,hi8(__c.34) |
| 1541 0aa6 9F93 push r25 |
| 1542 0aa8 8F93 push r24 |
| 1543 0aaa 1F93 push r17 |
| 1544 0aac 0E94 0000 call _printf_P |
| 1545 0ab0 88E2 ldi r24,lo8(40) |
| 1546 0ab2 8093 0000 sts DispPtr,r24 |
| 1547 0ab6 0F90 pop __tmp_reg__ |
| 1548 0ab8 0F90 pop __tmp_reg__ |
| 1549 0aba 0F90 pop __tmp_reg__ |
| 1550 0abc 0F90 pop __tmp_reg__ |
| 1551 0abe 0F90 pop __tmp_reg__ |
| 1552 0ac0 8091 0000 lds r24,KompassValue |
| 1553 0ac4 9091 0000 lds r25,(KompassValue)+1 |
| 1554 0ac8 9F93 push r25 |
| 1555 0aca 8F93 push r24 |
| 1556 0acc 80E0 ldi r24,lo8(__c.35) |
| 1557 0ace 90E0 ldi r25,hi8(__c.35) |
| 1558 0ad0 9F93 push r25 |
| 1559 0ad2 8F93 push r24 |
| 1560 0ad4 1F93 push r17 |
| 1561 0ad6 0E94 0000 call _printf_P |
| 1562 0ada 8CE3 ldi r24,lo8(60) |
| 1563 0adc 8093 0000 sts DispPtr,r24 |
| 1564 0ae0 0F90 pop __tmp_reg__ |
| 1565 0ae2 0F90 pop __tmp_reg__ |
| 1566 0ae4 0F90 pop __tmp_reg__ |
| 1567 0ae6 0F90 pop __tmp_reg__ |
| 1568 0ae8 0F90 pop __tmp_reg__ |
| 1569 0aea 8091 0000 lds r24,KompassStartwert |
| 1570 0aee 9091 0000 lds r25,(KompassStartwert)+1 |
| 1571 0af2 9F93 push r25 |
| 1572 0af4 8F93 push r24 |
| 1573 0af6 80E0 ldi r24,lo8(__c.36) |
| 1574 0af8 90E0 ldi r25,hi8(__c.36) |
| 1575 0afa 00C0 rjmp .L67 |
| 1576 .L46: |
| 1577 0afc 84E1 ldi r24,lo8(20) |
| 1578 0afe 8093 0000 sts DispPtr,r24 |
| 1579 0b02 80E0 ldi r24,lo8(__c.48) |
| 1580 0b04 90E0 ldi r25,hi8(__c.48) |
| 1581 0b06 9F93 push r25 |
| 1582 0b08 8F93 push r24 |
| 1583 0b0a 11E0 ldi r17,lo8(1) |
| 1584 0b0c 1F93 push r17 |
| 1585 0b0e 0E94 0000 call _printf_P |
| 1586 0b12 88E2 ldi r24,lo8(40) |
| 1587 0b14 8093 0000 sts DispPtr,r24 |
| 1588 0b18 0F90 pop __tmp_reg__ |
| 1589 0b1a 0F90 pop __tmp_reg__ |
| 1590 0b1c 0F90 pop __tmp_reg__ |
| 1591 0b1e 80E0 ldi r24,lo8(__c.49) |
| 1592 0b20 90E0 ldi r25,hi8(__c.49) |
| 1593 0b22 00C0 rjmp .L66 |
| 1594 .L24: |
| 1595 0b24 8CE3 ldi r24,lo8(60) |
| 1596 0b26 8093 0000 sts DispPtr,r24 |
| 1597 0b2a 80E0 ldi r24,lo8(__c.7) |
| 1598 0b2c 90E0 ldi r25,hi8(__c.7) |
| 1599 0b2e 00C0 rjmp .L66 |
| 1600 .L73: |
| 1601 0b30 8CE3 ldi r24,lo8(60) |
| 1602 0b32 8093 0000 sts DispPtr,r24 |
| 1603 0b36 80E0 ldi r24,lo8(__c.5) |
| 1604 0b38 90E0 ldi r25,hi8(__c.5) |
| 1605 0b3a 00C0 rjmp .L66 |
| 1606 .L80: |
| 1607 0b3c 84E4 ldi r24,lo8(68) |
| 1608 0b3e 8093 0000 sts DispPtr,r24 |
| 1609 0b42 80E0 ldi r24,lo8(__c.59) |
| 1610 0b44 90E0 ldi r25,hi8(__c.59) |
| 1611 0b46 9F93 push r25 |
| 1612 0b48 8F93 push r24 |
| 1613 0b4a 1F93 push r17 |
| 1614 0b4c 0E94 0000 call _printf_P |
| 1615 0b50 0F90 pop __tmp_reg__ |
| 1616 0b52 0F90 pop __tmp_reg__ |
| 1617 0b54 0F90 pop __tmp_reg__ |
| 1618 0b56 00C0 rjmp .L51 |
| 1619 .L79: |
| 1620 0b58 80E4 ldi r24,lo8(64) |
| 1621 0b5a 8093 0000 sts DispPtr,r24 |
| 1622 0b5e 80E0 ldi r24,lo8(__c.58) |
| 1623 0b60 90E0 ldi r25,hi8(__c.58) |
| 1624 0b62 9F93 push r25 |
| 1625 0b64 8F93 push r24 |
| 1626 0b66 1F93 push r17 |
| 1627 0b68 0E94 0000 call _printf_P |
| 1628 0b6c 0F90 pop __tmp_reg__ |
| 1629 0b6e 0F90 pop __tmp_reg__ |
| 1630 0b70 0F90 pop __tmp_reg__ |
| 1631 0b72 00C0 rjmp .L50 |
| 1632 .L78: |
| 1633 0b74 0196 adiw r24,1 |
| 1634 0b76 00C0 rjmp .L39 |
| 1635 .L75: |
| 1636 0b78 295F subi r18,lo8(-(7)) |
| 1637 0b7a 3F4F sbci r19,hi8(-(7)) |
| 1638 0b7c 00C0 rjmp .L36 |
| 1639 .L74: |
| 1640 0b7e 0F96 adiw r24,15 |
| 1641 0b80 00C0 rjmp .L35 |
| 1642 .L77: |
| 1643 0b82 295F subi r18,lo8(-(7)) |
| 1644 0b84 3F4F sbci r19,hi8(-(7)) |
| 1645 0b86 00C0 rjmp .L38 |
| 1646 .L76: |
| 1647 0b88 0F96 adiw r24,15 |
| 1648 0b8a 00C0 rjmp .L37 |
| 1649 .L20: |
| 1650 0b8c 1092 0000 sts RemoteKeys,__zero_reg__ |
| 1651 /* epilogue: frame size=0 */ |
| 1652 0b90 1F91 pop r17 |
| 1653 0b92 0895 ret |
| 1654 /* epilogue end (size=2) */ |
| 1655 /* function Menu size 1516 (1513) */ |
| 1657 .comm Mixer,77,1 |
| 1658 /* File "menu.c": code 1525 = 0x05f5 (1521), prologues 1, epilogues 3 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 menu.c |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:15 .bss:00000000 RemoteKeys |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:21 .bss:00000001 MenuePunkt |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:27 .data:00000000 MaxMenue |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:34 .bss:00000002 DispPtr |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:40 .data:00000001 DisplayBuff |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:46 .data:00000051 Array |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:62 .bss:00000003 TestInt |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:67 .text:00000000 LcdClear |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:87 .progmem.data:00000000 __c.0 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:91 .progmem.data:00000005 __c.1 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:95 .progmem.data:0000000a __c.2 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:99 .progmem.data:0000001a __c.3 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:103 .progmem.data:0000002f __c.4 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:107 .progmem.data:0000003d __c.5 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:111 .progmem.data:0000004a __c.6 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:115 .progmem.data:0000005f __c.7 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:119 .progmem.data:00000071 __c.8 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:123 .progmem.data:0000007c __c.9 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:127 .progmem.data:00000080 __c.10 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:131 .progmem.data:00000084 __c.11 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:135 .progmem.data:00000088 __c.12 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:139 .progmem.data:00000095 __c.13 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:143 .progmem.data:00000099 __c.14 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:147 .progmem.data:000000a3 __c.15 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:151 .progmem.data:000000a7 __c.16 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:155 .progmem.data:000000b7 __c.17 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:159 .progmem.data:000000c7 __c.18 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:163 .progmem.data:000000d7 __c.19 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:167 .progmem.data:000000e4 __c.20 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:171 .progmem.data:000000f3 __c.21 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:175 .progmem.data:00000102 __c.22 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:179 .progmem.data:00000111 __c.23 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:183 .progmem.data:0000011f __c.24 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:187 .progmem.data:0000012e __c.25 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:191 .progmem.data:0000013d __c.26 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:195 .progmem.data:0000014c __c.27 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:199 .progmem.data:00000159 __c.28 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:203 .progmem.data:00000168 __c.29 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:207 .progmem.data:00000177 __c.30 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:211 .progmem.data:00000186 __c.31 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:215 .progmem.data:00000195 __c.32 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:219 .progmem.data:000001a4 __c.33 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:223 .progmem.data:000001af __c.34 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:227 .progmem.data:000001bd __c.35 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:231 .progmem.data:000001c8 __c.36 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:235 .progmem.data:000001d7 __c.37 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:239 .progmem.data:000001e3 __c.38 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:243 .progmem.data:000001ef __c.39 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:247 .progmem.data:000001fb __c.40 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:251 .progmem.data:00000207 __c.41 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:255 .progmem.data:0000020f __c.42 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:259 .progmem.data:0000021d __c.43 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:263 .progmem.data:0000022b __c.44 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:267 .progmem.data:0000023a __c.45 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:271 .progmem.data:00000249 __c.46 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:275 .progmem.data:00000258 __c.47 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:279 .progmem.data:00000267 __c.48 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:283 .progmem.data:0000026e __c.49 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:287 .progmem.data:0000027c __c.50 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:291 .progmem.data:0000028c __c.51 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:295 .progmem.data:000002a1 __c.52 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:299 .progmem.data:000002b6 __c.53 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:303 .progmem.data:000002cb __c.54 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:307 .progmem.data:000002da __c.55 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:311 .progmem.data:000002ee __c.56 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:315 .progmem.data:00000302 __c.57 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:319 .progmem.data:00000312 __c.58 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:323 .progmem.data:00000315 __c.59 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:327 .progmem.data:00000318 __c.60 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:331 .progmem.data:0000031b __c.61 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:335 .progmem.data:00000329 __c.62 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:339 .progmem.data:00000336 __c.63 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:343 .progmem.data:00000343 __c.64 |
| C:\Users\Bernd\AppData\Local\Temp/cchoZETG.s:348 .text:00000012 Menu |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| _printf_P |
| __tablejump2__ |
| UBat |
| SenderOkay |
| PlatinenVersion |
| __udivmodqi4 |
| GetActiveParamSetNumber |
| I2CTimeout |
| MissingMotor |
| EE_Parameter |
| EEPromArray |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| NeutralAccX |
| AdWertAccNick |
| NeutralAccY |
| AdWertAccRoll |
| NeutralAccZ |
| __fixsfsi |
| Mittelwert_AccHoch |
| AdNeutralNick |
| AdWertNick |
| AdNeutralRoll |
| AdWertRoll |
| AdNeutralGier |
| AdWertGier |
| PPM_in |
| FlugMinuten |
| FlugMinutenGesamt |
| MotorPresent |
| HoehenWert |
| SollHoehe |
| MessLuftdruck |
| DruckOffsetSetting |
| Parameter_ServoNickControl |
| MotorError |
| Poti1 |
| Poti2 |
| Poti3 |
| Poti4 |
| KompassRichtung |
| KompassValue |
| KompassStartwert |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/mymath.c |
|---|
| 0,0 → 1,134 |
| /************************************************************************************************************************************** |
| * File: mymath.c |
| * |
| * Purpose: mathematic functions |
| * |
| * Functions: int16_t c_sin_8192(int16_t angle) |
| * int16_t c_cos_8192(int16_t angle) |
| * int16_t c_atan2(int16_t y, int16_t x) |
| * uint32_t c_sqrt(uint32_t a) |
| * |
| * hardware: Flight Ctrl V1.3 |
| * |
| * Created: Feb 2013 |
| * |
| *************************************************************************************************************************************/ |
| #include "mymath.h" |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| int16_t c_sin_8192(int16_t angle) |
| { |
| int8_t m,n; |
| int16_t sinus; |
| // avoid negative angles |
| if (angle < 0) |
| { |
| m = -1; |
| angle = abs(angle); |
| } |
| else m = +1; |
| // fold angle to intervall 0 to 359 |
| angle %= 360; |
| // check quadrant |
| if (angle <= 90) n=1; // first quadrant |
| else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
| else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
| else {angle = 360 - angle; n = -1;} //fourth quadrant |
| // get lookup value |
| sinus = pgm_read_word(&pgm_sinlookup[angle]); |
| // calculate sinus value |
| return (sinus * m * n); |
| } |
| // ---------------------------------------------------------------------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| int16_t c_cos_8192(int16_t angle) |
| { |
| return (c_sin_8192(90 - angle)); |
| } |
| // ---------------------------------------------------------------------------------------------------------------------------------- |
| const uint8_t pgm_atanlookup[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}; |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // arcustangens returns degree in a range of +/. 180 deg |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| int16_t c_atan2(int16_t y, int16_t x) |
| { |
| int16_t index, angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2(0, 0) is undefined |
| if (y < 0) m = -1; |
| else m = 1; |
| if (!x) return (90 * m); // atan2(y,0) = +/- 90 deg |
| index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table |
| if (index < 0) index = -index; |
| if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg |
| else if (index > 7334) angle = 90; // limit is 90 deg |
| else if (index > 2444) angle = 89; // 89 deg to 80 deg is mapped via intervalls |
| else if (index > 1465) angle = 88; |
| else if (index > 1046) angle = 87; |
| else if (index > 813) angle = 86; |
| else if (index > 664) angle = 85; |
| else if (index > 561) angle = 84; |
| else if (index > 486) angle = 83; |
| else if (index > 428) angle = 82; |
| else if (index > 382) angle = 81; |
| else angle = 80; // (index>345) |
| if (x > 0) return (angle * m); // 1st and 4th quadrant |
| else if ((x < 0) && (m > 0)) return (180 - angle); // 2nd quadrant |
| else return (angle - 180); // ( (x < 0) && (y < 0)) 3rd quadrant |
| } |
| // ---------------------------------------------------------------------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // Integer square root |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| uint32_t c_sqrt(uint32_t a) |
| { |
| uint32_t rem = 0; |
| uint32_t root = 0; |
| uint8_t i; |
| for(i = 0; i < 16; i++) |
| { |
| root <<= 1; |
| rem = ((rem << 2) + (a >> 30)); |
| a <<= 2; |
| root++; |
| if(root <= rem) |
| { |
| rem -= root; |
| root++; |
| } |
| else root--; |
| } |
| return (root >> 1); |
| } |
| // ---------------------------------------------------------------------------------------------------------------------------------- |
| // *** EOF: ************************************************************************************************************************ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/mymath.d |
|---|
| 0,0 → 1,0 |
| mymath.o mymath.d : mymath.c mymath.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/mymath.h |
|---|
| 0,0 → 1,16 |
| /***************************************************************************************************************************** |
| * File: mymath.h |
| * Purpose: header of mymath.c |
| *****************************************************************************************************************************/ |
| #ifndef _MYMATH_H |
| #define _MYMATH_H |
| #include <inttypes.h> |
| extern int16_t c_sin_8192(int16_t angle); |
| extern int16_t c_cos_8192(int16_t angle); |
| extern int16_t c_atan2(int16_t y, int16_t x); |
| extern uint32_t c_sqrt(uint32_t a); |
| #endif |
| // EOF: _MYMATH_H ************************************************************************************************************* |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/mymath.lst |
|---|
| 0,0 → 1,869 |
| 1 .file "mymath.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global pgm_atanlookup |
| 11 .section .progmem.data,"a",@progbits |
| 14 pgm_atanlookup: |
| 15 0000 00 .byte 0 |
| 16 0001 01 .byte 1 |
| 17 0002 02 .byte 2 |
| 18 0003 03 .byte 3 |
| 19 0004 04 .byte 4 |
| 20 0005 04 .byte 4 |
| 21 0006 05 .byte 5 |
| 22 0007 06 .byte 6 |
| 23 0008 07 .byte 7 |
| 24 0009 08 .byte 8 |
| 25 000a 09 .byte 9 |
| 26 000b 0A .byte 10 |
| 27 000c 0B .byte 11 |
| 28 000d 0B .byte 11 |
| 29 000e 0C .byte 12 |
| 30 000f 0D .byte 13 |
| 31 0010 0E .byte 14 |
| 32 0011 0F .byte 15 |
| 33 0012 10 .byte 16 |
| 34 0013 11 .byte 17 |
| 35 0014 11 .byte 17 |
| 36 0015 12 .byte 18 |
| 37 0016 13 .byte 19 |
| 38 0017 14 .byte 20 |
| 39 0018 15 .byte 21 |
| 40 0019 15 .byte 21 |
| 41 001a 16 .byte 22 |
| 42 001b 17 .byte 23 |
| 43 001c 18 .byte 24 |
| 44 001d 18 .byte 24 |
| 45 001e 19 .byte 25 |
| 46 001f 1A .byte 26 |
| 47 0020 1B .byte 27 |
| 48 0021 1B .byte 27 |
| 49 0022 1C .byte 28 |
| 50 0023 1D .byte 29 |
| 51 0024 1D .byte 29 |
| 52 0025 1E .byte 30 |
| 53 0026 1F .byte 31 |
| 54 0027 1F .byte 31 |
| 55 0028 20 .byte 32 |
| 56 0029 21 .byte 33 |
| 57 002a 21 .byte 33 |
| 58 002b 22 .byte 34 |
| 59 002c 23 .byte 35 |
| 60 002d 23 .byte 35 |
| 61 002e 24 .byte 36 |
| 62 002f 24 .byte 36 |
| 63 0030 25 .byte 37 |
| 64 0031 25 .byte 37 |
| 65 0032 26 .byte 38 |
| 66 0033 27 .byte 39 |
| 67 0034 27 .byte 39 |
| 68 0035 28 .byte 40 |
| 69 0036 28 .byte 40 |
| 70 0037 29 .byte 41 |
| 71 0038 29 .byte 41 |
| 72 0039 2A .byte 42 |
| 73 003a 2A .byte 42 |
| 74 003b 2B .byte 43 |
| 75 003c 2B .byte 43 |
| 76 003d 2C .byte 44 |
| 77 003e 2C .byte 44 |
| 78 003f 2D .byte 45 |
| 79 0040 2D .byte 45 |
| 80 0041 2D .byte 45 |
| 81 0042 2E .byte 46 |
| 82 0043 2E .byte 46 |
| 83 0044 2F .byte 47 |
| 84 0045 2F .byte 47 |
| 85 0046 30 .byte 48 |
| 86 0047 30 .byte 48 |
| 87 0048 30 .byte 48 |
| 88 0049 31 .byte 49 |
| 89 004a 31 .byte 49 |
| 90 004b 32 .byte 50 |
| 91 004c 32 .byte 50 |
| 92 004d 32 .byte 50 |
| 93 004e 33 .byte 51 |
| 94 004f 33 .byte 51 |
| 95 0050 33 .byte 51 |
| 96 0051 34 .byte 52 |
| 97 0052 34 .byte 52 |
| 98 0053 34 .byte 52 |
| 99 0054 35 .byte 53 |
| 100 0055 35 .byte 53 |
| 101 0056 35 .byte 53 |
| 102 0057 36 .byte 54 |
| 103 0058 36 .byte 54 |
| 104 0059 36 .byte 54 |
| 105 005a 37 .byte 55 |
| 106 005b 37 .byte 55 |
| 107 005c 37 .byte 55 |
| 108 005d 37 .byte 55 |
| 109 005e 38 .byte 56 |
| 110 005f 38 .byte 56 |
| 111 0060 38 .byte 56 |
| 112 0061 39 .byte 57 |
| 113 0062 39 .byte 57 |
| 114 0063 39 .byte 57 |
| 115 0064 39 .byte 57 |
| 116 0065 3A .byte 58 |
| 117 0066 3A .byte 58 |
| 118 0067 3A .byte 58 |
| 119 0068 3A .byte 58 |
| 120 0069 3B .byte 59 |
| 121 006a 3B .byte 59 |
| 122 006b 3B .byte 59 |
| 123 006c 3B .byte 59 |
| 124 006d 3C .byte 60 |
| 125 006e 3C .byte 60 |
| 126 006f 3C .byte 60 |
| 127 0070 3C .byte 60 |
| 128 0071 3C .byte 60 |
| 129 0072 3D .byte 61 |
| 130 0073 3D .byte 61 |
| 131 0074 3D .byte 61 |
| 132 0075 3D .byte 61 |
| 133 0076 3E .byte 62 |
| 134 0077 3E .byte 62 |
| 135 0078 3E .byte 62 |
| 136 0079 3E .byte 62 |
| 137 007a 3E .byte 62 |
| 138 007b 3F .byte 63 |
| 139 007c 3F .byte 63 |
| 140 007d 3F .byte 63 |
| 141 007e 3F .byte 63 |
| 142 007f 3F .byte 63 |
| 143 0080 3F .byte 63 |
| 144 0081 40 .byte 64 |
| 145 0082 40 .byte 64 |
| 146 0083 40 .byte 64 |
| 147 0084 40 .byte 64 |
| 148 0085 40 .byte 64 |
| 149 0086 40 .byte 64 |
| 150 0087 41 .byte 65 |
| 151 0088 41 .byte 65 |
| 152 0089 41 .byte 65 |
| 153 008a 41 .byte 65 |
| 154 008b 41 .byte 65 |
| 155 008c 41 .byte 65 |
| 156 008d 42 .byte 66 |
| 157 008e 42 .byte 66 |
| 158 008f 42 .byte 66 |
| 159 0090 42 .byte 66 |
| 160 0091 42 .byte 66 |
| 161 0092 42 .byte 66 |
| 162 0093 42 .byte 66 |
| 163 0094 43 .byte 67 |
| 164 0095 43 .byte 67 |
| 165 0096 43 .byte 67 |
| 166 0097 43 .byte 67 |
| 167 0098 43 .byte 67 |
| 168 0099 43 .byte 67 |
| 169 009a 43 .byte 67 |
| 170 009b 44 .byte 68 |
| 171 009c 44 .byte 68 |
| 172 009d 44 .byte 68 |
| 173 009e 44 .byte 68 |
| 174 009f 44 .byte 68 |
| 175 00a0 44 .byte 68 |
| 176 00a1 44 .byte 68 |
| 177 00a2 44 .byte 68 |
| 178 00a3 45 .byte 69 |
| 179 00a4 45 .byte 69 |
| 180 00a5 45 .byte 69 |
| 181 00a6 45 .byte 69 |
| 182 00a7 45 .byte 69 |
| 183 00a8 45 .byte 69 |
| 184 00a9 45 .byte 69 |
| 185 00aa 45 .byte 69 |
| 186 00ab 45 .byte 69 |
| 187 00ac 46 .byte 70 |
| 188 00ad 46 .byte 70 |
| 189 00ae 46 .byte 70 |
| 190 00af 46 .byte 70 |
| 191 00b0 46 .byte 70 |
| 192 00b1 46 .byte 70 |
| 193 00b2 46 .byte 70 |
| 194 00b3 46 .byte 70 |
| 195 00b4 46 .byte 70 |
| 196 00b5 47 .byte 71 |
| 197 00b6 47 .byte 71 |
| 198 00b7 47 .byte 71 |
| 199 00b8 47 .byte 71 |
| 200 00b9 47 .byte 71 |
| 201 00ba 47 .byte 71 |
| 202 00bb 47 .byte 71 |
| 203 00bc 47 .byte 71 |
| 204 00bd 47 .byte 71 |
| 205 00be 47 .byte 71 |
| 206 00bf 47 .byte 71 |
| 207 00c0 48 .byte 72 |
| 208 00c1 48 .byte 72 |
| 209 00c2 48 .byte 72 |
| 210 00c3 48 .byte 72 |
| 211 00c4 48 .byte 72 |
| 212 00c5 48 .byte 72 |
| 213 00c6 48 .byte 72 |
| 214 00c7 48 .byte 72 |
| 215 00c8 48 .byte 72 |
| 216 00c9 48 .byte 72 |
| 217 00ca 48 .byte 72 |
| 218 00cb 49 .byte 73 |
| 219 00cc 49 .byte 73 |
| 220 00cd 49 .byte 73 |
| 221 00ce 49 .byte 73 |
| 222 00cf 49 .byte 73 |
| 223 00d0 49 .byte 73 |
| 224 00d1 49 .byte 73 |
| 225 00d2 49 .byte 73 |
| 226 00d3 49 .byte 73 |
| 227 00d4 49 .byte 73 |
| 228 00d5 49 .byte 73 |
| 229 00d6 49 .byte 73 |
| 230 00d7 49 .byte 73 |
| 231 00d8 49 .byte 73 |
| 232 00d9 4A .byte 74 |
| 233 00da 4A .byte 74 |
| 234 00db 4A .byte 74 |
| 235 00dc 4A .byte 74 |
| 236 00dd 4A .byte 74 |
| 237 00de 4A .byte 74 |
| 238 00df 4A .byte 74 |
| 239 00e0 4A .byte 74 |
| 240 00e1 4A .byte 74 |
| 241 00e2 4A .byte 74 |
| 242 00e3 4A .byte 74 |
| 243 00e4 4A .byte 74 |
| 244 00e5 4A .byte 74 |
| 245 00e6 4A .byte 74 |
| 246 00e7 4B .byte 75 |
| 247 00e8 4B .byte 75 |
| 248 00e9 4B .byte 75 |
| 249 00ea 4B .byte 75 |
| 250 00eb 4B .byte 75 |
| 251 00ec 4B .byte 75 |
| 252 00ed 4B .byte 75 |
| 253 00ee 4B .byte 75 |
| 254 00ef 4B .byte 75 |
| 255 00f0 4B .byte 75 |
| 256 00f1 4B .byte 75 |
| 257 00f2 4B .byte 75 |
| 258 00f3 4B .byte 75 |
| 259 00f4 4B .byte 75 |
| 260 00f5 4B .byte 75 |
| 261 00f6 4B .byte 75 |
| 262 00f7 4B .byte 75 |
| 263 00f8 4C .byte 76 |
| 264 00f9 4C .byte 76 |
| 265 00fa 4C .byte 76 |
| 266 00fb 4C .byte 76 |
| 267 00fc 4C .byte 76 |
| 268 00fd 4C .byte 76 |
| 269 00fe 4C .byte 76 |
| 270 00ff 4C .byte 76 |
| 271 0100 4C .byte 76 |
| 272 0101 4C .byte 76 |
| 273 0102 4C .byte 76 |
| 274 0103 4C .byte 76 |
| 275 0104 4C .byte 76 |
| 276 0105 4C .byte 76 |
| 277 0106 4C .byte 76 |
| 278 0107 4C .byte 76 |
| 279 0108 4C .byte 76 |
| 280 0109 4C .byte 76 |
| 281 010a 4C .byte 76 |
| 282 010b 4D .byte 77 |
| 283 010c 4D .byte 77 |
| 284 010d 4D .byte 77 |
| 285 010e 4D .byte 77 |
| 286 010f 4D .byte 77 |
| 287 0110 4D .byte 77 |
| 288 0111 4D .byte 77 |
| 289 0112 4D .byte 77 |
| 290 0113 4D .byte 77 |
| 291 0114 4D .byte 77 |
| 292 0115 4D .byte 77 |
| 293 0116 4D .byte 77 |
| 294 0117 4D .byte 77 |
| 295 0118 4D .byte 77 |
| 296 0119 4D .byte 77 |
| 297 011a 4D .byte 77 |
| 298 011b 4D .byte 77 |
| 299 011c 4D .byte 77 |
| 300 011d 4D .byte 77 |
| 301 011e 4D .byte 77 |
| 302 011f 4D .byte 77 |
| 303 0120 4D .byte 77 |
| 304 0121 4E .byte 78 |
| 305 0122 4E .byte 78 |
| 306 0123 4E .byte 78 |
| 307 0124 4E .byte 78 |
| 308 0125 4E .byte 78 |
| 309 0126 4E .byte 78 |
| 310 0127 4E .byte 78 |
| 311 0128 4E .byte 78 |
| 312 0129 4E .byte 78 |
| 313 012a 4E .byte 78 |
| 314 012b 4E .byte 78 |
| 315 012c 4E .byte 78 |
| 316 012d 4E .byte 78 |
| 317 012e 4E .byte 78 |
| 318 012f 4E .byte 78 |
| 319 0130 4E .byte 78 |
| 320 0131 4E .byte 78 |
| 321 0132 4E .byte 78 |
| 322 0133 4E .byte 78 |
| 323 0134 4E .byte 78 |
| 324 0135 4E .byte 78 |
| 325 0136 4E .byte 78 |
| 326 0137 4E .byte 78 |
| 327 0138 4E .byte 78 |
| 328 0139 4E .byte 78 |
| 329 013a 4E .byte 78 |
| 330 013b 4F .byte 79 |
| 331 013c 4F .byte 79 |
| 332 013d 4F .byte 79 |
| 333 013e 4F .byte 79 |
| 334 013f 4F .byte 79 |
| 335 0140 4F .byte 79 |
| 336 0141 4F .byte 79 |
| 337 0142 4F .byte 79 |
| 338 0143 4F .byte 79 |
| 339 0144 4F .byte 79 |
| 340 0145 4F .byte 79 |
| 341 0146 4F .byte 79 |
| 342 0147 4F .byte 79 |
| 343 0148 4F .byte 79 |
| 344 0149 4F .byte 79 |
| 345 014a 4F .byte 79 |
| 346 014b 4F .byte 79 |
| 347 014c 4F .byte 79 |
| 348 014d 4F .byte 79 |
| 349 014e 4F .byte 79 |
| 350 014f 4F .byte 79 |
| 351 0150 4F .byte 79 |
| 352 0151 4F .byte 79 |
| 353 0152 4F .byte 79 |
| 354 0153 4F .byte 79 |
| 355 0154 4F .byte 79 |
| 356 0155 4F .byte 79 |
| 357 0156 4F .byte 79 |
| 358 0157 4F .byte 79 |
| 359 0158 4F .byte 79 |
| 360 0159 4F .byte 79 |
| 361 .global pgm_sinlookup |
| 364 pgm_sinlookup: |
| 365 015a 0000 .word 0 |
| 366 015c 8F00 .word 143 |
| 367 015e 1E01 .word 286 |
| 368 0160 AD01 .word 429 |
| 369 0162 3B02 .word 571 |
| 370 0164 CA02 .word 714 |
| 371 0166 5803 .word 856 |
| 372 0168 E603 .word 998 |
| 373 016a 7404 .word 1140 |
| 374 016c 0205 .word 1282 |
| 375 016e 8F05 .word 1423 |
| 376 0170 1B06 .word 1563 |
| 377 0172 A706 .word 1703 |
| 378 0174 3307 .word 1843 |
| 379 0176 BE07 .word 1982 |
| 380 0178 4808 .word 2120 |
| 381 017a D208 .word 2258 |
| 382 017c 5B09 .word 2395 |
| 383 017e E309 .word 2531 |
| 384 0180 6B0A .word 2667 |
| 385 0182 F20A .word 2802 |
| 386 0184 780B .word 2936 |
| 387 0186 FD0B .word 3069 |
| 388 0188 810C .word 3201 |
| 389 018a 040D .word 3332 |
| 390 018c 860D .word 3462 |
| 391 018e 070E .word 3591 |
| 392 0190 870E .word 3719 |
| 393 0192 060F .word 3846 |
| 394 0194 840F .word 3972 |
| 395 0196 0010 .word 4096 |
| 396 0198 7B10 .word 4219 |
| 397 019a F510 .word 4341 |
| 398 019c 6E11 .word 4462 |
| 399 019e E511 .word 4581 |
| 400 01a0 5B12 .word 4699 |
| 401 01a2 CF12 .word 4815 |
| 402 01a4 4213 .word 4930 |
| 403 01a6 B313 .word 5043 |
| 404 01a8 2314 .word 5155 |
| 405 01aa 9214 .word 5266 |
| 406 01ac FE14 .word 5374 |
| 407 01ae 6A15 .word 5482 |
| 408 01b0 D315 .word 5587 |
| 409 01b2 3B16 .word 5691 |
| 410 01b4 A116 .word 5793 |
| 411 01b6 0517 .word 5893 |
| 412 01b8 6717 .word 5991 |
| 413 01ba C817 .word 6088 |
| 414 01bc 2718 .word 6183 |
| 415 01be 8318 .word 6275 |
| 416 01c0 DE18 .word 6366 |
| 417 01c2 3719 .word 6455 |
| 418 01c4 8E19 .word 6542 |
| 419 01c6 E319 .word 6627 |
| 420 01c8 361A .word 6710 |
| 421 01ca 871A .word 6791 |
| 422 01cc D61A .word 6870 |
| 423 01ce 231B .word 6947 |
| 424 01d0 6E1B .word 7022 |
| 425 01d2 B61B .word 7094 |
| 426 01d4 FD1B .word 7165 |
| 427 01d6 411C .word 7233 |
| 428 01d8 831C .word 7299 |
| 429 01da C31C .word 7363 |
| 430 01dc 001D .word 7424 |
| 431 01de 3C1D .word 7484 |
| 432 01e0 751D .word 7541 |
| 433 01e2 AB1D .word 7595 |
| 434 01e4 E01D .word 7648 |
| 435 01e6 121E .word 7698 |
| 436 01e8 421E .word 7746 |
| 437 01ea 6F1E .word 7791 |
| 438 01ec 9A1E .word 7834 |
| 439 01ee C31E .word 7875 |
| 440 01f0 E91E .word 7913 |
| 441 01f2 0D1F .word 7949 |
| 442 01f4 2E1F .word 7982 |
| 443 01f6 4D1F .word 8013 |
| 444 01f8 691F .word 8041 |
| 445 01fa 841F .word 8068 |
| 446 01fc 9B1F .word 8091 |
| 447 01fe B01F .word 8112 |
| 448 0200 C31F .word 8131 |
| 449 0202 D31F .word 8147 |
| 450 0204 E11F .word 8161 |
| 451 0206 EC1F .word 8172 |
| 452 0208 F51F .word 8181 |
| 453 020a FB1F .word 8187 |
| 454 020c FF1F .word 8191 |
| 455 020e 0020 .word 8192 |
| 456 .text |
| 457 .global c_sin_8192 |
| 459 c_sin_8192: |
| 460 /* prologue: frame size=0 */ |
| 461 0000 CF93 push r28 |
| 462 /* prologue end (size=1) */ |
| 463 0002 FC01 movw r30,r24 |
| 464 0004 97FD sbrc r25,7 |
| 465 0006 00C0 rjmp .L14 |
| 466 0008 C1E0 ldi r28,lo8(1) |
| 467 .L4: |
| 468 000a 28E6 ldi r18,lo8(360) |
| 469 000c 31E0 ldi r19,hi8(360) |
| 470 000e CF01 movw r24,r30 |
| 471 0010 B901 movw r22,r18 |
| 472 0012 0E94 0000 call __divmodhi4 |
| 473 0016 FC01 movw r30,r24 |
| 474 0018 8B35 cpi r24,91 |
| 475 001a 9105 cpc r25,__zero_reg__ |
| 476 001c 04F0 brlt .L12 |
| 477 001e 8B55 subi r24,lo8(-(-91)) |
| 478 0020 9040 sbci r25,hi8(-(-91)) |
| 479 0022 8A35 cpi r24,90 |
| 480 0024 9105 cpc r25,__zero_reg__ |
| 481 0026 00F4 brsh .L7 |
| 482 0028 84EB ldi r24,lo8(180) |
| 483 002a 90E0 ldi r25,hi8(180) |
| 484 002c 8E1B sub r24,r30 |
| 485 002e 9F0B sbc r25,r31 |
| 486 0030 FC01 movw r30,r24 |
| 487 .L12: |
| 488 0032 41E0 ldi r20,lo8(1) |
| 489 0034 00C0 rjmp .L6 |
| 490 .L7: |
| 491 0036 CF01 movw r24,r30 |
| 492 0038 855B subi r24,lo8(-(-181)) |
| 493 003a 9040 sbci r25,hi8(-(-181)) |
| 494 003c 8A35 cpi r24,90 |
| 495 003e 9105 cpc r25,__zero_reg__ |
| 496 0040 00F4 brsh .L9 |
| 497 0042 E45B subi r30,lo8(-(-180)) |
| 498 0044 F040 sbci r31,hi8(-(-180)) |
| 499 0046 4FEF ldi r20,lo8(-1) |
| 500 0048 00C0 rjmp .L6 |
| 501 .L14: |
| 502 004a CFEF ldi r28,lo8(-1) |
| 503 004c F095 com r31 |
| 504 004e E195 neg r30 |
| 505 0050 FF4F sbci r31,lo8(-1) |
| 506 0052 00C0 rjmp .L4 |
| 507 .L9: |
| 508 0054 2E1B sub r18,r30 |
| 509 0056 3F0B sbc r19,r31 |
| 510 0058 F901 movw r30,r18 |
| 511 005a 4FEF ldi r20,lo8(-1) |
| 512 .L6: |
| 513 005c EE0F add r30,r30 |
| 514 005e FF1F adc r31,r31 |
| 515 0060 E050 subi r30,lo8(-(pgm_sinlookup)) |
| 516 0062 F040 sbci r31,hi8(-(pgm_sinlookup)) |
| 517 /* #APP */ |
| 518 0064 2591 lpm r18, Z+ |
| 519 0066 3491 lpm r19, Z |
| 520 |
| 521 /* #NOAPP */ |
| 522 0068 8C2F mov r24,r28 |
| 523 006a 9927 clr r25 |
| 524 006c 87FD sbrc r24,7 |
| 525 006e 9095 com r25 |
| 526 0070 829F mul r24,r18 |
| 527 0072 B001 movw r22,r0 |
| 528 0074 839F mul r24,r19 |
| 529 0076 700D add r23,r0 |
| 530 0078 929F mul r25,r18 |
| 531 007a 700D add r23,r0 |
| 532 007c 1124 clr r1 |
| 533 007e 842F mov r24,r20 |
| 534 0080 9927 clr r25 |
| 535 0082 87FD sbrc r24,7 |
| 536 0084 9095 com r25 |
| 537 0086 689F mul r22,r24 |
| 538 0088 A001 movw r20,r0 |
| 539 008a 699F mul r22,r25 |
| 540 008c 500D add r21,r0 |
| 541 008e 789F mul r23,r24 |
| 542 0090 500D add r21,r0 |
| 543 0092 1124 clr r1 |
| 544 0094 CA01 movw r24,r20 |
| 545 /* epilogue: frame size=0 */ |
| 546 0096 CF91 pop r28 |
| 547 0098 0895 ret |
| 548 /* epilogue end (size=2) */ |
| 549 /* function c_sin_8192 size 81 (78) */ |
| 551 .global c_cos_8192 |
| 553 c_cos_8192: |
| 554 /* prologue: frame size=0 */ |
| 555 /* prologue end (size=0) */ |
| 556 009a 2AE5 ldi r18,lo8(90) |
| 557 009c 30E0 ldi r19,hi8(90) |
| 558 009e 281B sub r18,r24 |
| 559 00a0 390B sbc r19,r25 |
| 560 00a2 C901 movw r24,r18 |
| 561 00a4 0E94 0000 call c_sin_8192 |
| 562 /* epilogue: frame size=0 */ |
| 563 00a8 0895 ret |
| 564 /* epilogue end (size=1) */ |
| 565 /* function c_cos_8192 size 8 (7) */ |
| 567 .global c_atan2 |
| 569 c_atan2: |
| 570 /* prologue: frame size=0 */ |
| 571 00aa 1F93 push r17 |
| 572 00ac CF93 push r28 |
| 573 00ae DF93 push r29 |
| 574 /* prologue end (size=3) */ |
| 575 00b0 EB01 movw r28,r22 |
| 576 00b2 6115 cp r22,__zero_reg__ |
| 577 00b4 7105 cpc r23,__zero_reg__ |
| 578 00b6 01F4 brne .L17 |
| 579 00b8 0097 sbiw r24,0 |
| 580 00ba 01F4 brne .+2 |
| 581 00bc 00C0 rjmp .L16 |
| 582 .L17: |
| 583 00be 97FD sbrc r25,7 |
| 584 00c0 00C0 rjmp .L48 |
| 585 00c2 11E0 ldi r17,lo8(1) |
| 586 .L19: |
| 587 00c4 2097 sbiw r28,0 |
| 588 00c6 01F4 brne .L20 |
| 589 00c8 8AE5 ldi r24,lo8(90) |
| 590 00ca 1802 muls r17,r24 |
| 591 00cc B001 movw r22,r0 |
| 592 00ce 1124 clr r1 |
| 593 00d0 00C0 rjmp .L16 |
| 594 .L20: |
| 595 00d2 AA27 clr r26 |
| 596 00d4 97FD sbrc r25,7 |
| 597 00d6 A095 com r26 |
| 598 00d8 BA2F mov r27,r26 |
| 599 00da 26E0 ldi r18,6 |
| 600 00dc 880F 1: lsl r24 |
| 601 00de 991F rol r25 |
| 602 00e0 AA1F rol r26 |
| 603 00e2 BB1F rol r27 |
| 604 00e4 2A95 dec r18 |
| 605 00e6 01F4 brne 1b |
| 606 00e8 9E01 movw r18,r28 |
| 607 00ea 4427 clr r20 |
| 608 00ec 37FD sbrc r19,7 |
| 609 00ee 4095 com r20 |
| 610 00f0 542F mov r21,r20 |
| 611 00f2 BC01 movw r22,r24 |
| 612 00f4 CD01 movw r24,r26 |
| 613 00f6 0E94 0000 call __divmodsi4 |
| 614 00fa F901 movw r30,r18 |
| 615 00fc 37FD sbrc r19,7 |
| 616 00fe 00C0 rjmp .L49 |
| 617 .L21: |
| 618 0100 81E0 ldi r24,hi8(346) |
| 619 0102 EA35 cpi r30,lo8(346) |
| 620 0104 F807 cpc r31,r24 |
| 621 0106 04F0 brlt .L50 |
| 622 0108 8CE1 ldi r24,hi8(7335) |
| 623 010a E73A cpi r30,lo8(7335) |
| 624 010c F807 cpc r31,r24 |
| 625 010e 04F0 brlt .L24 |
| 626 0110 2AE5 ldi r18,lo8(90) |
| 627 0112 30E0 ldi r19,hi8(90) |
| 628 .L23: |
| 629 0114 1C16 cp __zero_reg__,r28 |
| 630 0116 1D06 cpc __zero_reg__,r29 |
| 631 0118 04F4 brge .L44 |
| 632 011a 812F mov r24,r17 |
| 633 011c 9927 clr r25 |
| 634 011e 87FD sbrc r24,7 |
| 635 0120 9095 com r25 |
| 636 0122 829F mul r24,r18 |
| 637 0124 B001 movw r22,r0 |
| 638 0126 839F mul r24,r19 |
| 639 0128 700D add r23,r0 |
| 640 012a 929F mul r25,r18 |
| 641 012c 700D add r23,r0 |
| 642 012e 1124 clr r1 |
| 643 0130 00C0 rjmp .L16 |
| 644 .L50: |
| 645 0132 E050 subi r30,lo8(-(pgm_atanlookup)) |
| 646 0134 F040 sbci r31,hi8(-(pgm_atanlookup)) |
| 647 /* #APP */ |
| 648 0136 8491 lpm r24, Z |
| 649 |
| 650 /* #NOAPP */ |
| 651 0138 282F mov r18,r24 |
| 652 013a 3327 clr r19 |
| 653 013c 00C0 rjmp .L23 |
| 654 .L48: |
| 655 013e 1FEF ldi r17,lo8(-1) |
| 656 0140 00C0 rjmp .L19 |
| 657 .L24: |
| 658 0142 89E0 ldi r24,hi8(2445) |
| 659 0144 ED38 cpi r30,lo8(2445) |
| 660 0146 F807 cpc r31,r24 |
| 661 0148 04F4 brge .L51 |
| 662 014a 85E0 ldi r24,hi8(1466) |
| 663 014c EA3B cpi r30,lo8(1466) |
| 664 014e F807 cpc r31,r24 |
| 665 0150 04F0 brlt .L28 |
| 666 0152 28E5 ldi r18,lo8(88) |
| 667 0154 30E0 ldi r19,hi8(88) |
| 668 0156 00C0 rjmp .L23 |
| 669 .L49: |
| 670 0158 F095 com r31 |
| 671 015a E195 neg r30 |
| 672 015c FF4F sbci r31,lo8(-1) |
| 673 015e 00C0 rjmp .L21 |
| 674 .L44: |
| 675 0160 D7FD sbrc r29,7 |
| 676 0162 00C0 rjmp .L52 |
| 677 .L46: |
| 678 0164 B901 movw r22,r18 |
| 679 0166 645B subi r22,lo8(-(-180)) |
| 680 0168 7040 sbci r23,hi8(-(-180)) |
| 681 016a 00C0 rjmp .L16 |
| 682 .L51: |
| 683 016c 29E5 ldi r18,lo8(89) |
| 684 016e 30E0 ldi r19,hi8(89) |
| 685 0170 00C0 rjmp .L23 |
| 686 .L28: |
| 687 0172 84E0 ldi r24,hi8(1047) |
| 688 0174 E731 cpi r30,lo8(1047) |
| 689 0176 F807 cpc r31,r24 |
| 690 0178 04F0 brlt .L30 |
| 691 017a 27E5 ldi r18,lo8(87) |
| 692 017c 30E0 ldi r19,hi8(87) |
| 693 017e 00C0 rjmp .L23 |
| 694 .L52: |
| 695 0180 1116 cp __zero_reg__,r17 |
| 696 0182 04F4 brge .L46 |
| 697 0184 64EB ldi r22,lo8(180) |
| 698 0186 70E0 ldi r23,hi8(180) |
| 699 0188 621B sub r22,r18 |
| 700 018a 730B sbc r23,r19 |
| 701 018c 00C0 rjmp .L16 |
| 702 .L30: |
| 703 018e 83E0 ldi r24,hi8(814) |
| 704 0190 EE32 cpi r30,lo8(814) |
| 705 0192 F807 cpc r31,r24 |
| 706 0194 04F0 brlt .L32 |
| 707 0196 26E5 ldi r18,lo8(86) |
| 708 0198 30E0 ldi r19,hi8(86) |
| 709 019a 00C0 rjmp .L23 |
| 710 .L32: |
| 711 019c 82E0 ldi r24,hi8(665) |
| 712 019e E939 cpi r30,lo8(665) |
| 713 01a0 F807 cpc r31,r24 |
| 714 01a2 04F0 brlt .L34 |
| 715 01a4 25E5 ldi r18,lo8(85) |
| 716 01a6 30E0 ldi r19,hi8(85) |
| 717 01a8 00C0 rjmp .L23 |
| 718 .L34: |
| 719 01aa 82E0 ldi r24,hi8(562) |
| 720 01ac E233 cpi r30,lo8(562) |
| 721 01ae F807 cpc r31,r24 |
| 722 01b0 04F0 brlt .L36 |
| 723 01b2 24E5 ldi r18,lo8(84) |
| 724 01b4 30E0 ldi r19,hi8(84) |
| 725 01b6 00C0 rjmp .L23 |
| 726 .L36: |
| 727 01b8 81E0 ldi r24,hi8(487) |
| 728 01ba E73E cpi r30,lo8(487) |
| 729 01bc F807 cpc r31,r24 |
| 730 01be 04F0 brlt .L38 |
| 731 01c0 23E5 ldi r18,lo8(83) |
| 732 01c2 30E0 ldi r19,hi8(83) |
| 733 01c4 00C0 rjmp .L23 |
| 734 .L38: |
| 735 01c6 81E0 ldi r24,hi8(429) |
| 736 01c8 ED3A cpi r30,lo8(429) |
| 737 01ca F807 cpc r31,r24 |
| 738 01cc 04F0 brlt .L40 |
| 739 01ce 22E5 ldi r18,lo8(82) |
| 740 01d0 30E0 ldi r19,hi8(82) |
| 741 01d2 00C0 rjmp .L23 |
| 742 .L40: |
| 743 01d4 EF57 subi r30,lo8(383) |
| 744 01d6 F140 sbci r31,hi8(383) |
| 745 01d8 04F0 brlt .L42 |
| 746 01da 21E5 ldi r18,lo8(81) |
| 747 01dc 30E0 ldi r19,hi8(81) |
| 748 01de 00C0 rjmp .L23 |
| 749 .L42: |
| 750 01e0 20E5 ldi r18,lo8(80) |
| 751 01e2 30E0 ldi r19,hi8(80) |
| 752 01e4 00C0 rjmp .L23 |
| 753 .L16: |
| 754 01e6 CB01 movw r24,r22 |
| 755 /* epilogue: frame size=0 */ |
| 756 01e8 DF91 pop r29 |
| 757 01ea CF91 pop r28 |
| 758 01ec 1F91 pop r17 |
| 759 01ee 0895 ret |
| 760 /* epilogue end (size=4) */ |
| 761 /* function c_atan2 size 167 (160) */ |
| 763 .global c_sqrt |
| 765 c_sqrt: |
| 766 /* prologue: frame size=0 */ |
| 767 01f0 EF92 push r14 |
| 768 01f2 FF92 push r15 |
| 769 01f4 0F93 push r16 |
| 770 01f6 1F93 push r17 |
| 771 01f8 CF93 push r28 |
| 772 01fa DF93 push r29 |
| 773 /* prologue end (size=6) */ |
| 774 01fc 7B01 movw r14,r22 |
| 775 01fe 8C01 movw r16,r24 |
| 776 0200 20E0 ldi r18,lo8(0) |
| 777 0202 30E0 ldi r19,hi8(0) |
| 778 0204 40E0 ldi r20,hlo8(0) |
| 779 0206 50E0 ldi r21,hhi8(0) |
| 780 0208 FA01 movw r30,r20 |
| 781 020a E901 movw r28,r18 |
| 782 020c 6FE0 ldi r22,lo8(15) |
| 783 020e 00C0 rjmp .L59 |
| 784 .L63: |
| 785 0210 C21B sub r28,r18 |
| 786 0212 D30B sbc r29,r19 |
| 787 0214 E40B sbc r30,r20 |
| 788 0216 F50B sbc r31,r21 |
| 789 0218 2F5F subi r18,lo8(-(1)) |
| 790 021a 3F4F sbci r19,hi8(-(1)) |
| 791 021c 4F4F sbci r20,hlo8(-(1)) |
| 792 021e 5F4F sbci r21,hhi8(-(1)) |
| 793 0220 6150 subi r22,lo8(-(-1)) |
| 794 0222 67FD sbrc r22,7 |
| 795 0224 00C0 rjmp .L62 |
| 796 .L59: |
| 797 0226 220F lsl r18 |
| 798 0228 331F rol r19 |
| 799 022a 441F rol r20 |
| 800 022c 551F rol r21 |
| 801 022e CC0F lsl r28 |
| 802 0230 DD1F rol r29 |
| 803 0232 EE1F rol r30 |
| 804 0234 FF1F rol r31 |
| 805 0236 CC0F lsl r28 |
| 806 0238 DD1F rol r29 |
| 807 023a EE1F rol r30 |
| 808 023c FF1F rol r31 |
| 809 023e D801 movw r26,r16 |
| 810 0240 C701 movw r24,r14 |
| 811 0242 7EE1 ldi r23,30 |
| 812 0244 B695 1: lsr r27 |
| 813 0246 A795 ror r26 |
| 814 0248 9795 ror r25 |
| 815 024a 8795 ror r24 |
| 816 024c 7A95 dec r23 |
| 817 024e 01F4 brne 1b |
| 818 0250 C80F add r28,r24 |
| 819 0252 D91F adc r29,r25 |
| 820 0254 EA1F adc r30,r26 |
| 821 0256 FB1F adc r31,r27 |
| 822 0258 EE0C lsl r14 |
| 823 025a FF1C rol r15 |
| 824 025c 001F rol r16 |
| 825 025e 111F rol r17 |
| 826 0260 EE0C lsl r14 |
| 827 0262 FF1C rol r15 |
| 828 0264 001F rol r16 |
| 829 0266 111F rol r17 |
| 830 0268 2F5F subi r18,lo8(-(1)) |
| 831 026a 3F4F sbci r19,hi8(-(1)) |
| 832 026c 4F4F sbci r20,hlo8(-(1)) |
| 833 026e 5F4F sbci r21,hhi8(-(1)) |
| 834 0270 C217 cp r28,r18 |
| 835 0272 D307 cpc r29,r19 |
| 836 0274 E407 cpc r30,r20 |
| 837 0276 F507 cpc r31,r21 |
| 838 0278 00F4 brsh .L63 |
| 839 027a 2150 subi r18,lo8(-(-1)) |
| 840 027c 3040 sbci r19,hi8(-(-1)) |
| 841 027e 4040 sbci r20,hlo8(-(-1)) |
| 842 0280 5040 sbci r21,hhi8(-(-1)) |
| 843 0282 6150 subi r22,lo8(-(-1)) |
| 844 0284 67FF sbrs r22,7 |
| 845 0286 00C0 rjmp .L59 |
| 846 .L62: |
| 847 0288 5695 lsr r21 |
| 848 028a 4795 ror r20 |
| 849 028c 3795 ror r19 |
| 850 028e 2795 ror r18 |
| 851 0290 CA01 movw r24,r20 |
| 852 0292 B901 movw r22,r18 |
| 853 /* epilogue: frame size=0 */ |
| 854 0294 E6E0 ldi r30,6 |
| 855 0296 CDB7 in r28,__SP_L__ |
| 856 0298 DEB7 in r29,__SP_H__ |
| 857 029a 0C94 0000 jmp __epilogue_restores__+24 |
| 858 /* epilogue end (size=5) */ |
| 859 /* function c_sqrt size 87 (76) */ |
| 861 /* File "mymath.c": code 343 = 0x0157 ( 321), prologues 10, epilogues 12 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 mymath.c |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:14 .progmem.data:00000000 pgm_atanlookup |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:364 .progmem.data:0000015a pgm_sinlookup |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:459 .text:00000000 c_sin_8192 |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:553 .text:0000009a c_cos_8192 |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:569 .text:000000aa c_atan2 |
| C:\Users\Bernd\AppData\Local\Temp/ccZ3fpJf.s:765 .text:000001f0 c_sqrt |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __divmodhi4 |
| __divmodsi4 |
| __epilogue_restores__ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/old_macros.h |
|---|
| 0,0 → 1,46 |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // For backwards compatibility only. |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| #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/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/printf_P.c |
|---|
| 0,0 → 1,482 |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // 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/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/printf_P.d |
|---|
| 0,0 → 1,2 |
| printf_P.o printf_P.d : printf_P.c main.h old_macros.h _Settings.h printf_P.h \ |
| timer0.h uart.h analog.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/printf_P.h |
|---|
| 0,0 → 1,24 |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // printf_P.h |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| #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/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/printf_P.lst |
|---|
| 0,0 → 1,888 |
| 1 .file "printf_P.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global Putchar |
| 13 Putchar: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 982F mov r25,r24 |
| 17 0002 8091 0000 lds r24,PrintZiel |
| 18 0006 8130 cpi r24,lo8(1) |
| 19 0008 01F0 breq .L5 |
| 20 000a 892F mov r24,r25 |
| 21 000c 0E94 0000 call uart_putchar |
| 22 0010 282F mov r18,r24 |
| 23 0012 3327 clr r19 |
| 24 0014 00C0 rjmp .L1 |
| 25 .L5: |
| 26 0016 8091 0000 lds r24,DispPtr |
| 27 001a E82F mov r30,r24 |
| 28 001c FF27 clr r31 |
| 29 001e E050 subi r30,lo8(-(DisplayBuff)) |
| 30 0020 F040 sbci r31,hi8(-(DisplayBuff)) |
| 31 0022 9083 st Z,r25 |
| 32 0024 8F5F subi r24,lo8(-(1)) |
| 33 0026 8093 0000 sts DispPtr,r24 |
| 34 002a 21E0 ldi r18,lo8(1) |
| 35 002c 30E0 ldi r19,hi8(1) |
| 36 .L1: |
| 37 002e C901 movw r24,r18 |
| 38 /* epilogue: frame size=0 */ |
| 39 0030 0895 ret |
| 40 /* epilogue end (size=1) */ |
| 41 /* function Putchar size 25 (24) */ |
| 43 .global PRINT |
| 45 PRINT: |
| 46 /* prologue: frame size=0 */ |
| 47 0032 0F93 push r16 |
| 48 0034 1F93 push r17 |
| 49 0036 CF93 push r28 |
| 50 0038 DF93 push r29 |
| 51 /* prologue end (size=4) */ |
| 52 003a 8C01 movw r16,r24 |
| 53 003c EB01 movw r28,r22 |
| 54 003e 672B or r22,r23 |
| 55 0040 01F0 breq .L12 |
| 56 .L10: |
| 57 0042 F801 movw r30,r16 |
| 58 0044 8191 ld r24,Z+ |
| 59 0046 8F01 movw r16,r30 |
| 60 0048 0E94 0000 call Putchar |
| 61 004c 2197 sbiw r28,1 |
| 62 004e 01F0 breq .L12 |
| 63 0050 F801 movw r30,r16 |
| 64 0052 8191 ld r24,Z+ |
| 65 0054 8F01 movw r16,r30 |
| 66 0056 0E94 0000 call Putchar |
| 67 005a 2197 sbiw r28,1 |
| 68 005c 01F4 brne .L10 |
| 69 .L12: |
| 70 /* epilogue: frame size=0 */ |
| 71 005e DF91 pop r29 |
| 72 0060 CF91 pop r28 |
| 73 0062 1F91 pop r17 |
| 74 0064 0F91 pop r16 |
| 75 0066 0895 ret |
| 76 /* epilogue end (size=5) */ |
| 77 /* function PRINT size 29 (20) */ |
| 79 .global PRINTP |
| 81 PRINTP: |
| 82 /* prologue: frame size=0 */ |
| 83 0068 0F93 push r16 |
| 84 006a 1F93 push r17 |
| 85 006c CF93 push r28 |
| 86 006e DF93 push r29 |
| 87 /* prologue end (size=4) */ |
| 88 0070 8C01 movw r16,r24 |
| 89 0072 EB01 movw r28,r22 |
| 90 0074 672B or r22,r23 |
| 91 0076 01F0 breq .L20 |
| 92 .L18: |
| 93 0078 F801 movw r30,r16 |
| 94 007a 0F5F subi r16,lo8(-(1)) |
| 95 007c 1F4F sbci r17,hi8(-(1)) |
| 96 /* #APP */ |
| 97 007e 8491 lpm r24, Z |
| 98 |
| 99 /* #NOAPP */ |
| 100 0080 0E94 0000 call Putchar |
| 101 0084 2197 sbiw r28,1 |
| 102 0086 01F0 breq .L20 |
| 103 0088 F801 movw r30,r16 |
| 104 008a 0F5F subi r16,lo8(-(1)) |
| 105 008c 1F4F sbci r17,hi8(-(1)) |
| 106 /* #APP */ |
| 107 008e 8491 lpm r24, Z |
| 108 |
| 109 /* #NOAPP */ |
| 110 0090 0E94 0000 call Putchar |
| 111 0094 2197 sbiw r28,1 |
| 112 0096 01F4 brne .L18 |
| 113 .L20: |
| 114 /* epilogue: frame size=0 */ |
| 115 0098 DF91 pop r29 |
| 116 009a CF91 pop r28 |
| 117 009c 1F91 pop r17 |
| 118 009e 0F91 pop r16 |
| 119 00a0 0895 ret |
| 120 /* epilogue end (size=5) */ |
| 121 /* function PRINTP size 37 (28) */ |
| 123 .global PAD_SP |
| 125 PAD_SP: |
| 126 /* prologue: frame size=0 */ |
| 127 00a2 CF93 push r28 |
| 128 /* prologue end (size=1) */ |
| 129 00a4 C82F mov r28,r24 |
| 130 00a6 1816 cp __zero_reg__,r24 |
| 131 00a8 04F4 brge .L28 |
| 132 .L26: |
| 133 00aa 80E2 ldi r24,lo8(32) |
| 134 00ac 0E94 0000 call Putchar |
| 135 00b0 C150 subi r28,lo8(-(-1)) |
| 136 00b2 1C16 cp __zero_reg__,r28 |
| 137 00b4 04F0 brlt .L26 |
| 138 .L28: |
| 139 /* epilogue: frame size=0 */ |
| 140 00b6 CF91 pop r28 |
| 141 00b8 0895 ret |
| 142 /* epilogue end (size=2) */ |
| 143 /* function PAD_SP size 12 (9) */ |
| 145 .global PAD_0 |
| 147 PAD_0: |
| 148 /* prologue: frame size=0 */ |
| 149 00ba CF93 push r28 |
| 150 /* prologue end (size=1) */ |
| 151 00bc C82F mov r28,r24 |
| 152 00be 1816 cp __zero_reg__,r24 |
| 153 00c0 04F4 brge .L35 |
| 154 .L33: |
| 155 00c2 80E3 ldi r24,lo8(48) |
| 156 00c4 0E94 0000 call Putchar |
| 157 00c8 C150 subi r28,lo8(-(-1)) |
| 158 00ca 1C16 cp __zero_reg__,r28 |
| 159 00cc 04F0 brlt .L33 |
| 160 .L35: |
| 161 /* epilogue: frame size=0 */ |
| 162 00ce CF91 pop r28 |
| 163 00d0 0895 ret |
| 164 /* epilogue end (size=2) */ |
| 165 /* function PAD_0 size 12 (9) */ |
| 167 .global _printf_P |
| 169 _printf_P: |
| 170 /* prologue: frame size=48 */ |
| 171 00d2 A0E3 ldi r26,lo8(48) |
| 172 00d4 B0E0 ldi r27,hi8(48) |
| 173 00d6 E0E0 ldi r30,pm_lo8(1f) |
| 174 00d8 F0E0 ldi r31,pm_hi8(1f) |
| 175 00da 0C94 0000 jmp __prologue_saves__+0 |
| 176 1: |
| 177 /* prologue end (size=6) */ |
| 178 00de 2696 adiw r28,69-63 |
| 179 00e0 8FAD ldd r24,Y+63 |
| 180 00e2 2697 sbiw r28,69-63 |
| 181 00e4 2896 adiw r28,70-62 |
| 182 00e6 EEAD ldd r30,Y+62 |
| 183 00e8 FFAD ldd r31,Y+63 |
| 184 00ea 2897 sbiw r28,70-62 |
| 185 00ec 8824 clr r8 |
| 186 00ee 9924 clr r9 |
| 187 00f0 5401 movw r10,r8 |
| 188 00f2 8093 0000 sts PrintZiel,r24 |
| 189 00f6 48E4 ldi r20,lo8(72) |
| 190 00f8 C42E mov r12,r20 |
| 191 00fa D12C mov r13,__zero_reg__ |
| 192 00fc CC0E add r12,r28 |
| 193 00fe DD1E adc r13,r29 |
| 194 0100 7F01 movw r14,r30 |
| 195 .L160: |
| 196 0102 C701 movw r24,r14 |
| 197 .L154: |
| 198 0104 F701 movw r30,r14 |
| 199 /* #APP */ |
| 200 0106 1491 lpm r17, Z |
| 201 |
| 202 /* #NOAPP */ |
| 203 0108 1123 tst r17 |
| 204 010a 01F0 breq .L40 |
| 205 010c 1532 cpi r17,lo8(37) |
| 206 010e 01F0 breq .L40 |
| 207 0110 0894 sec |
| 208 0112 E11C adc r14,__zero_reg__ |
| 209 0114 F11C adc r15,__zero_reg__ |
| 210 0116 00C0 rjmp .L154 |
| 211 .L40: |
| 212 0118 B701 movw r22,r14 |
| 213 011a 681B sub r22,r24 |
| 214 011c 790B sbc r23,r25 |
| 215 011e 01F0 breq .+2 |
| 216 0120 00C0 rjmp .L163 |
| 217 .L43: |
| 218 0122 1123 tst r17 |
| 219 0124 01F4 brne .+2 |
| 220 0126 00C0 rjmp .L45 |
| 221 0128 0894 sec |
| 222 012a E11C adc r14,__zero_reg__ |
| 223 012c F11C adc r15,__zero_reg__ |
| 224 012e 1FA6 std Y+47,__zero_reg__ |
| 225 0130 3FA4 ldd r3,Y+47 |
| 226 0132 232C mov r2,r3 |
| 227 0134 0FEF ldi r16,lo8(-1) |
| 228 0136 39A6 std Y+41,r3 |
| 229 .L46: |
| 230 .L161: |
| 231 0138 F701 movw r30,r14 |
| 232 013a 0894 sec |
| 233 013c E11C adc r14,__zero_reg__ |
| 234 013e F11C adc r15,__zero_reg__ |
| 235 /* #APP */ |
| 236 0140 1491 lpm r17, Z |
| 237 |
| 238 .L47: |
| 239 /* #NOAPP */ |
| 240 .L162: |
| 241 0142 1537 cpi r17,lo8(117) |
| 242 0144 01F0 breq .L49 |
| 243 .L168: |
| 244 0146 812F mov r24,r17 |
| 245 0148 8062 ori r24,lo8(32) |
| 246 014a 8837 cpi r24,lo8(120) |
| 247 014c 01F0 breq .L49 |
| 248 .L48: |
| 249 014e 1032 cpi r17,lo8(32) |
| 250 0150 01F4 brne .+2 |
| 251 0152 00C0 rjmp .L164 |
| 252 .L52: |
| 253 0154 1332 cpi r17,lo8(35) |
| 254 0156 01F4 brne .+2 |
| 255 0158 00C0 rjmp .L165 |
| 256 015a 1A32 cpi r17,lo8(42) |
| 257 015c 01F4 brne .+2 |
| 258 015e 00C0 rjmp .L58 |
| 259 0160 1D32 cpi r17,lo8(45) |
| 260 0162 01F4 brne .+2 |
| 261 0164 00C0 rjmp .L58 |
| 262 0166 1B32 cpi r17,lo8(43) |
| 263 0168 01F0 breq .L155 |
| 264 016a 1E32 cpi r17,lo8(46) |
| 265 016c 01F0 breq .L166 |
| 266 016e 1033 cpi r17,lo8(48) |
| 267 0170 01F4 brne .+2 |
| 268 0172 00C0 rjmp .L167 |
| 269 0174 812F mov r24,r17 |
| 270 0176 8153 subi r24,lo8(-(-49)) |
| 271 0178 8930 cpi r24,lo8(9) |
| 272 017a 00F0 brlo .+2 |
| 273 017c 00C0 rjmp .L75 |
| 274 017e 60E0 ldi r22,lo8(0) |
| 275 0180 70E0 ldi r23,hi8(0) |
| 276 .L76: |
| 277 0182 CB01 movw r24,r22 |
| 278 0184 880F lsl r24 |
| 279 0186 991F rol r25 |
| 280 0188 880F lsl r24 |
| 281 018a 991F rol r25 |
| 282 018c 880F lsl r24 |
| 283 018e 991F rol r25 |
| 284 0190 860F add r24,r22 |
| 285 0192 971F adc r25,r23 |
| 286 0194 680F add r22,r24 |
| 287 0196 791F adc r23,r25 |
| 288 0198 610F add r22,r17 |
| 289 019a 711D adc r23,__zero_reg__ |
| 290 019c 6053 subi r22,lo8(-(-48)) |
| 291 019e 7040 sbci r23,hi8(-(-48)) |
| 292 01a0 F701 movw r30,r14 |
| 293 01a2 0894 sec |
| 294 01a4 E11C adc r14,__zero_reg__ |
| 295 01a6 F11C adc r15,__zero_reg__ |
| 296 /* #APP */ |
| 297 01a8 1491 lpm r17, Z |
| 298 |
| 299 /* #NOAPP */ |
| 300 01aa 812F mov r24,r17 |
| 301 01ac 8053 subi r24,lo8(-(-48)) |
| 302 01ae 8A30 cpi r24,lo8(10) |
| 303 01b0 00F0 brlo .L76 |
| 304 01b2 262E mov r2,r22 |
| 305 01b4 1537 cpi r17,lo8(117) |
| 306 01b6 01F4 brne .L168 |
| 307 .L49: |
| 308 01b8 30FE sbrs r3,0 |
| 309 01ba 00C0 rjmp .L50 |
| 310 01bc F601 movw r30,r12 |
| 311 01be 84E0 ldi r24,lo8(4) |
| 312 01c0 90E0 ldi r25,hi8(4) |
| 313 01c2 C80E add r12,r24 |
| 314 01c4 D91E adc r13,r25 |
| 315 01c6 8080 ld r8,Z |
| 316 01c8 9180 ldd r9,Z+1 |
| 317 01ca A280 ldd r10,Z+2 |
| 318 01cc B380 ldd r11,Z+3 |
| 319 01ce 1032 cpi r17,lo8(32) |
| 320 01d0 01F0 breq .+2 |
| 321 01d2 00C0 rjmp .L52 |
| 322 .L164: |
| 323 01d4 89A5 ldd r24,Y+41 |
| 324 01d6 8823 tst r24 |
| 325 01d8 01F0 breq .+2 |
| 326 01da 00C0 rjmp .L161 |
| 327 .L155: |
| 328 01dc 19A7 std Y+41,r17 |
| 329 01de 00C0 rjmp .L161 |
| 330 .L166: |
| 331 01e0 F701 movw r30,r14 |
| 332 01e2 0894 sec |
| 333 01e4 E11C adc r14,__zero_reg__ |
| 334 01e6 F11C adc r15,__zero_reg__ |
| 335 /* #APP */ |
| 336 01e8 1491 lpm r17, Z |
| 337 |
| 338 /* #NOAPP */ |
| 339 01ea 1A32 cpi r17,lo8(42) |
| 340 01ec 01F4 brne .+2 |
| 341 01ee 00C0 rjmp .L169 |
| 342 01f0 60E0 ldi r22,lo8(0) |
| 343 01f2 70E0 ldi r23,hi8(0) |
| 344 01f4 00C0 rjmp .L156 |
| 345 .L170: |
| 346 01f6 CB01 movw r24,r22 |
| 347 01f8 880F lsl r24 |
| 348 01fa 991F rol r25 |
| 349 01fc 880F lsl r24 |
| 350 01fe 991F rol r25 |
| 351 0200 880F lsl r24 |
| 352 0202 991F rol r25 |
| 353 0204 860F add r24,r22 |
| 354 0206 971F adc r25,r23 |
| 355 0208 680F add r22,r24 |
| 356 020a 791F adc r23,r25 |
| 357 020c 610F add r22,r17 |
| 358 020e 711D adc r23,__zero_reg__ |
| 359 0210 6053 subi r22,lo8(-(-48)) |
| 360 0212 7040 sbci r23,hi8(-(-48)) |
| 361 0214 F701 movw r30,r14 |
| 362 0216 0894 sec |
| 363 0218 E11C adc r14,__zero_reg__ |
| 364 021a F11C adc r15,__zero_reg__ |
| 365 /* #APP */ |
| 366 021c 1491 lpm r17, Z |
| 367 |
| 368 /* #NOAPP */ |
| 369 .L156: |
| 370 021e 812F mov r24,r17 |
| 371 0220 8053 subi r24,lo8(-(-48)) |
| 372 0222 8A30 cpi r24,lo8(10) |
| 373 0224 00F0 brlo .L170 |
| 374 0226 EFEF ldi r30,hi8(-1) |
| 375 0228 6F3F cpi r22,lo8(-1) |
| 376 022a 7E07 cpc r23,r30 |
| 377 022c 04F4 brge .L70 |
| 378 022e 6FEF ldi r22,lo8(-1) |
| 379 0230 7FEF ldi r23,hi8(-1) |
| 380 .L70: |
| 381 0232 062F mov r16,r22 |
| 382 0234 00C0 rjmp .L162 |
| 383 .L50: |
| 384 0236 F601 movw r30,r12 |
| 385 0238 82E0 ldi r24,lo8(2) |
| 386 023a 90E0 ldi r25,hi8(2) |
| 387 023c C80E add r12,r24 |
| 388 023e D91E adc r13,r25 |
| 389 0240 8081 ld r24,Z |
| 390 0242 9181 ldd r25,Z+1 |
| 391 0244 4C01 movw r8,r24 |
| 392 0246 AA24 clr r10 |
| 393 0248 BB24 clr r11 |
| 394 024a 00C0 rjmp .L48 |
| 395 .L163: |
| 396 024c 0E94 0000 call PRINTP |
| 397 0250 00C0 rjmp .L43 |
| 398 .L58: |
| 399 0252 1A32 cpi r17,lo8(42) |
| 400 0254 01F4 brne .L59 |
| 401 0256 F601 movw r30,r12 |
| 402 0258 82E0 ldi r24,lo8(2) |
| 403 025a 90E0 ldi r25,hi8(2) |
| 404 025c C80E add r12,r24 |
| 405 025e D91E adc r13,r25 |
| 406 0260 2080 ld r2,Z |
| 407 0262 2220 tst r2 |
| 408 0264 04F0 brlt .+2 |
| 409 0266 00C0 rjmp .L161 |
| 410 0268 2194 neg r2 |
| 411 .L59: |
| 412 026a 90E1 ldi r25,lo8(16) |
| 413 026c 392A or r3,r25 |
| 414 026e EFED ldi r30,lo8(-33) |
| 415 0270 3E22 and r3,r30 |
| 416 0272 00C0 rjmp .L161 |
| 417 .L165: |
| 418 0274 98E0 ldi r25,lo8(8) |
| 419 0276 392A or r3,r25 |
| 420 0278 00C0 rjmp .L161 |
| 421 .L75: |
| 422 027a 1836 cpi r17,lo8(104) |
| 423 027c 01F0 breq .L171 |
| 424 027e 1C36 cpi r17,lo8(108) |
| 425 0280 01F4 brne .L82 |
| 426 0282 81E0 ldi r24,lo8(1) |
| 427 0284 382A or r3,r24 |
| 428 0286 00C0 rjmp .L161 |
| 429 .L167: |
| 430 0288 34FC sbrc r3,4 |
| 431 028a 00C0 rjmp .L161 |
| 432 028c F0E2 ldi r31,lo8(32) |
| 433 028e 3F2A or r3,r31 |
| 434 0290 00C0 rjmp .L161 |
| 435 .L169: |
| 436 0292 F601 movw r30,r12 |
| 437 0294 82E0 ldi r24,lo8(2) |
| 438 0296 90E0 ldi r25,hi8(2) |
| 439 0298 C80E add r12,r24 |
| 440 029a D91E adc r13,r25 |
| 441 029c 6081 ld r22,Z |
| 442 029e 7181 ldd r23,Z+1 |
| 443 02a0 9FEF ldi r25,hi8(-1) |
| 444 02a2 6F3F cpi r22,lo8(-1) |
| 445 02a4 7907 cpc r23,r25 |
| 446 02a6 04F4 brge .L66 |
| 447 02a8 6FEF ldi r22,lo8(-1) |
| 448 02aa 7FEF ldi r23,hi8(-1) |
| 449 .L66: |
| 450 02ac 062F mov r16,r22 |
| 451 02ae 00C0 rjmp .L161 |
| 452 .L171: |
| 453 02b0 24E0 ldi r18,lo8(4) |
| 454 02b2 322A or r3,r18 |
| 455 02b4 00C0 rjmp .L161 |
| 456 .L82: |
| 457 02b6 1336 cpi r17,lo8(99) |
| 458 02b8 01F4 brne .+2 |
| 459 02ba 00C0 rjmp .L172 |
| 460 02bc 1434 cpi r17,lo8(68) |
| 461 02be 01F4 brne .+2 |
| 462 02c0 00C0 rjmp .L87 |
| 463 02c2 1436 cpi r17,lo8(100) |
| 464 02c4 01F4 brne .+2 |
| 465 02c6 00C0 rjmp .L87 |
| 466 02c8 1936 cpi r17,lo8(105) |
| 467 02ca 01F4 brne .+2 |
| 468 02cc 00C0 rjmp .L87 |
| 469 02ce 1F34 cpi r17,lo8(79) |
| 470 02d0 01F4 brne .+2 |
| 471 02d2 00C0 rjmp .L95 |
| 472 02d4 1F36 cpi r17,lo8(111) |
| 473 02d6 01F4 brne .+2 |
| 474 02d8 00C0 rjmp .L95 |
| 475 02da 1037 cpi r17,lo8(112) |
| 476 02dc 01F4 brne .+2 |
| 477 02de 00C0 rjmp .L173 |
| 478 02e0 1337 cpi r17,lo8(115) |
| 479 02e2 01F4 brne .+2 |
| 480 02e4 00C0 rjmp .L174 |
| 481 02e6 1535 cpi r17,lo8(85) |
| 482 02e8 01F4 brne .+2 |
| 483 02ea 00C0 rjmp .L110 |
| 484 02ec 1537 cpi r17,lo8(117) |
| 485 02ee 01F4 brne .+2 |
| 486 02f0 00C0 rjmp .L110 |
| 487 02f2 1835 cpi r17,lo8(88) |
| 488 02f4 01F4 brne .+2 |
| 489 02f6 00C0 rjmp .L114 |
| 490 02f8 1837 cpi r17,lo8(120) |
| 491 02fa 01F4 brne .+2 |
| 492 02fc 00C0 rjmp .L114 |
| 493 02fe 1123 tst r17 |
| 494 0300 01F4 brne .+2 |
| 495 0302 00C0 rjmp .L45 |
| 496 0304 CE01 movw r24,r28 |
| 497 0306 0196 adiw r24,1 |
| 498 0308 9DA7 std Y+45,r25 |
| 499 030a 8CA7 std Y+44,r24 |
| 500 030c 1983 std Y+1,r17 |
| 501 .L159: |
| 502 030e 81E0 ldi r24,lo8(1) |
| 503 0310 482E mov r4,r24 |
| 504 .L157: |
| 505 0312 19A6 std Y+41,__zero_reg__ |
| 506 0314 632C mov r6,r3 |
| 507 0316 7724 clr r7 |
| 508 .L54: |
| 509 0318 042D mov r16,r4 |
| 510 031a 5FA4 ldd r5,Y+47 |
| 511 031c 5418 sub r5,r4 |
| 512 031e 57FC sbrc r5,7 |
| 513 0320 00C0 rjmp .L175 |
| 514 .L129: |
| 515 0322 29A5 ldd r18,Y+41 |
| 516 0324 2223 tst r18 |
| 517 0326 01F0 breq .L130 |
| 518 0328 0F5F subi r16,lo8(-(1)) |
| 519 .L131: |
| 520 032a 050D add r16,r5 |
| 521 032c C301 movw r24,r6 |
| 522 032e 8073 andi r24,lo8(48) |
| 523 0330 9070 andi r25,hi8(48) |
| 524 0332 892B or r24,r25 |
| 525 0334 01F4 brne .+2 |
| 526 0336 00C0 rjmp .L176 |
| 527 .L133: |
| 528 0338 2223 tst r18 |
| 529 033a 01F0 breq .+2 |
| 530 033c 00C0 rjmp .L177 |
| 531 033e 66FC sbrc r6,6 |
| 532 0340 00C0 rjmp .L178 |
| 533 .L135: |
| 534 0342 C301 movw r24,r6 |
| 535 0344 8073 andi r24,lo8(48) |
| 536 0346 9070 andi r25,hi8(48) |
| 537 0348 8097 sbiw r24,32 |
| 538 034a 01F4 brne .+2 |
| 539 034c 00C0 rjmp .L179 |
| 540 .L137: |
| 541 034e 852D mov r24,r5 |
| 542 0350 0E94 0000 call PAD_0 |
| 543 0354 842D mov r24,r4 |
| 544 0356 9927 clr r25 |
| 545 0358 87FD sbrc r24,7 |
| 546 035a 9095 com r25 |
| 547 035c BC01 movw r22,r24 |
| 548 035e 8CA5 ldd r24,Y+44 |
| 549 0360 9DA5 ldd r25,Y+45 |
| 550 0362 0E94 0000 call PRINT |
| 551 0366 64FE sbrs r6,4 |
| 552 0368 00C0 rjmp .L160 |
| 553 036a 822D mov r24,r2 |
| 554 036c 801B sub r24,r16 |
| 555 036e 0E94 0000 call PAD_SP |
| 556 0372 00C0 rjmp .L160 |
| 557 .L130: |
| 558 0374 66FE sbrs r6,6 |
| 559 0376 00C0 rjmp .L131 |
| 560 0378 0E5F subi r16,lo8(-(2)) |
| 561 037a 00C0 rjmp .L131 |
| 562 .L175: |
| 563 037c 5524 clr r5 |
| 564 037e 00C0 rjmp .L129 |
| 565 .L114: |
| 566 0380 E0E1 ldi r30,lo8(16) |
| 567 0382 EEA7 std Y+46,r30 |
| 568 0384 33FE sbrs r3,3 |
| 569 0386 00C0 rjmp .L97 |
| 570 0388 8114 cp r8,__zero_reg__ |
| 571 038a 9104 cpc r9,__zero_reg__ |
| 572 038c A104 cpc r10,__zero_reg__ |
| 573 038e B104 cpc r11,__zero_reg__ |
| 574 0390 01F0 breq .L97 |
| 575 0392 F0E4 ldi r31,lo8(64) |
| 576 0394 3F2A or r3,r31 |
| 577 .L97: |
| 578 0396 19A6 std Y+41,__zero_reg__ |
| 579 .L92: |
| 580 0398 0FA7 std Y+47,r16 |
| 581 039a 07FD sbrc r16,7 |
| 582 039c 00C0 rjmp .L116 |
| 583 039e 2FED ldi r18,lo8(-33) |
| 584 03a0 3222 and r3,r18 |
| 585 .L116: |
| 586 03a2 CE01 movw r24,r28 |
| 587 03a4 8996 adiw r24,41 |
| 588 03a6 9DA7 std Y+45,r25 |
| 589 03a8 8CA7 std Y+44,r24 |
| 590 03aa 8114 cp r8,__zero_reg__ |
| 591 03ac 9104 cpc r9,__zero_reg__ |
| 592 03ae A104 cpc r10,__zero_reg__ |
| 593 03b0 B104 cpc r11,__zero_reg__ |
| 594 03b2 01F4 brne .L118 |
| 595 03b4 9FA5 ldd r25,Y+47 |
| 596 03b6 9923 tst r25 |
| 597 03b8 01F0 breq .L143 |
| 598 .L118: |
| 599 03ba EEA5 ldd r30,Y+46 |
| 600 03bc 4E2E mov r4,r30 |
| 601 03be 5524 clr r5 |
| 602 03c0 6624 clr r6 |
| 603 03c2 7724 clr r7 |
| 604 .L119: |
| 605 03c4 18AA std Y+48,__zero_reg__ |
| 606 03c6 8414 cp r8,r4 |
| 607 03c8 9504 cpc r9,r5 |
| 608 03ca A604 cpc r10,r6 |
| 609 03cc B704 cpc r11,r7 |
| 610 03ce 00F0 brlo .L122 |
| 611 03d0 F1E0 ldi r31,lo8(1) |
| 612 03d2 F8AB std Y+48,r31 |
| 613 .L122: |
| 614 03d4 C501 movw r24,r10 |
| 615 03d6 B401 movw r22,r8 |
| 616 03d8 A301 movw r20,r6 |
| 617 03da 9201 movw r18,r4 |
| 618 03dc 0E94 0000 call __udivmodsi4 |
| 619 03e0 DC01 movw r26,r24 |
| 620 03e2 CB01 movw r24,r22 |
| 621 03e4 082F mov r16,r24 |
| 622 03e6 8A30 cpi r24,lo8(10) |
| 623 03e8 00F4 brsh .L123 |
| 624 03ea 005D subi r16,lo8(-(48)) |
| 625 .L124: |
| 626 03ec ECA5 ldd r30,Y+44 |
| 627 03ee FDA5 ldd r31,Y+45 |
| 628 03f0 0293 st -Z,r16 |
| 629 03f2 FDA7 std Y+45,r31 |
| 630 03f4 ECA7 std Y+44,r30 |
| 631 03f6 C501 movw r24,r10 |
| 632 03f8 B401 movw r22,r8 |
| 633 03fa A301 movw r20,r6 |
| 634 03fc 9201 movw r18,r4 |
| 635 03fe 0E94 0000 call __udivmodsi4 |
| 636 0402 4901 movw r8,r18 |
| 637 0404 5A01 movw r10,r20 |
| 638 0406 F8A9 ldd r31,Y+48 |
| 639 0408 FF23 tst r31 |
| 640 040a 01F4 brne .L119 |
| 641 040c 2EA5 ldd r18,Y+46 |
| 642 040e 2830 cpi r18,lo8(8) |
| 643 0410 01F0 breq .L180 |
| 644 .L143: |
| 645 0412 632C mov r6,r3 |
| 646 0414 7724 clr r7 |
| 647 .L117: |
| 648 0416 CE01 movw r24,r28 |
| 649 0418 0196 adiw r24,1 |
| 650 041a 482E mov r4,r24 |
| 651 041c FCA5 ldd r31,Y+44 |
| 652 041e 4F1A sub r4,r31 |
| 653 0420 28E2 ldi r18,lo8(40) |
| 654 0422 420E add r4,r18 |
| 655 0424 00C0 rjmp .L54 |
| 656 .L123: |
| 657 0426 095A subi r16,lo8(-(87)) |
| 658 0428 1835 cpi r17,lo8(88) |
| 659 042a 01F4 brne .L124 |
| 660 042c 0F7D andi r16,lo8(-33) |
| 661 042e 00C0 rjmp .L124 |
| 662 .L180: |
| 663 0430 632C mov r6,r3 |
| 664 0432 7724 clr r7 |
| 665 0434 63FE sbrs r6,3 |
| 666 0436 00C0 rjmp .L117 |
| 667 0438 0033 cpi r16,lo8(48) |
| 668 043a 01F0 breq .L117 |
| 669 043c 80E3 ldi r24,lo8(48) |
| 670 043e ECA5 ldd r30,Y+44 |
| 671 0440 FDA5 ldd r31,Y+45 |
| 672 0442 8293 st -Z,r24 |
| 673 0444 FDA7 std Y+45,r31 |
| 674 0446 ECA7 std Y+44,r30 |
| 675 0448 00C0 rjmp .L117 |
| 676 .L174: |
| 677 044a F601 movw r30,r12 |
| 678 044c 82E0 ldi r24,lo8(2) |
| 679 044e 90E0 ldi r25,hi8(2) |
| 680 0450 C80E add r12,r24 |
| 681 0452 D91E adc r13,r25 |
| 682 0454 0190 ld __tmp_reg__,Z+ |
| 683 0456 F081 ld r31,Z |
| 684 0458 E02D mov r30,__tmp_reg__ |
| 685 045a FDA7 std Y+45,r31 |
| 686 045c ECA7 std Y+44,r30 |
| 687 045e EF2B or r30,r31 |
| 688 0460 01F4 brne .L102 |
| 689 0462 FE01 movw r30,r28 |
| 690 0464 3196 adiw r30,1 |
| 691 0466 FDA7 std Y+45,r31 |
| 692 0468 ECA7 std Y+44,r30 |
| 693 046a 88E2 ldi r24,lo8(40) |
| 694 046c 8983 std Y+1,r24 |
| 695 046e 8EE6 ldi r24,lo8(110) |
| 696 0470 8183 std Z+1,r24 |
| 697 0472 85E7 ldi r24,lo8(117) |
| 698 0474 8B83 std Y+3,r24 |
| 699 0476 8CE6 ldi r24,lo8(108) |
| 700 0478 8C83 std Y+4,r24 |
| 701 047a 8D83 std Y+5,r24 |
| 702 047c 89E2 ldi r24,lo8(41) |
| 703 047e 8E83 std Y+6,r24 |
| 704 0480 1F82 std Y+7,__zero_reg__ |
| 705 .L102: |
| 706 0482 07FD sbrc r16,7 |
| 707 0484 00C0 rjmp .L103 |
| 708 0486 802F mov r24,r16 |
| 709 0488 9927 clr r25 |
| 710 048a 87FD sbrc r24,7 |
| 711 048c 9095 com r25 |
| 712 048e AC01 movw r20,r24 |
| 713 0490 60E0 ldi r22,lo8(0) |
| 714 0492 70E0 ldi r23,hi8(0) |
| 715 0494 8CA5 ldd r24,Y+44 |
| 716 0496 9DA5 ldd r25,Y+45 |
| 717 0498 0E94 0000 call memchr |
| 718 049c 0097 sbiw r24,0 |
| 719 049e 01F0 breq .L104 |
| 720 04a0 482E mov r4,r24 |
| 721 04a2 FCA5 ldd r31,Y+44 |
| 722 04a4 4F1A sub r4,r31 |
| 723 04a6 0415 cp r16,r4 |
| 724 04a8 04F0 brlt .+2 |
| 725 04aa 00C0 rjmp .L157 |
| 726 .L104: |
| 727 04ac 402E mov r4,r16 |
| 728 04ae 00C0 rjmp .L157 |
| 729 .L103: |
| 730 04b0 ECA5 ldd r30,Y+44 |
| 731 04b2 FDA5 ldd r31,Y+45 |
| 732 04b4 0190 ld __tmp_reg__,Z+ |
| 733 04b6 0020 tst __tmp_reg__ |
| 734 04b8 01F4 brne .-6 |
| 735 04ba 3197 sbiw r30,1 |
| 736 04bc 4E2E mov r4,r30 |
| 737 04be 2CA5 ldd r18,Y+44 |
| 738 04c0 421A sub r4,r18 |
| 739 04c2 00C0 rjmp .L157 |
| 740 .L110: |
| 741 04c4 1535 cpi r17,lo8(85) |
| 742 04c6 01F4 brne .L111 |
| 743 04c8 81E0 ldi r24,lo8(1) |
| 744 04ca 382A or r3,r24 |
| 745 .L111: |
| 746 04cc 9AE0 ldi r25,lo8(10) |
| 747 04ce 9EA7 std Y+46,r25 |
| 748 04d0 00C0 rjmp .L97 |
| 749 .L173: |
| 750 04d2 F601 movw r30,r12 |
| 751 04d4 82E0 ldi r24,lo8(2) |
| 752 04d6 90E0 ldi r25,hi8(2) |
| 753 04d8 C80E add r12,r24 |
| 754 04da D91E adc r13,r25 |
| 755 04dc 8081 ld r24,Z |
| 756 04de 9181 ldd r25,Z+1 |
| 757 04e0 4C01 movw r8,r24 |
| 758 04e2 AA24 clr r10 |
| 759 04e4 BB24 clr r11 |
| 760 04e6 90E1 ldi r25,lo8(16) |
| 761 04e8 9EA7 std Y+46,r25 |
| 762 04ea E0E4 ldi r30,lo8(64) |
| 763 04ec 3E2A or r3,r30 |
| 764 04ee 18E7 ldi r17,lo8(120) |
| 765 04f0 00C0 rjmp .L97 |
| 766 .L95: |
| 767 04f2 1F34 cpi r17,lo8(79) |
| 768 04f4 01F4 brne .L96 |
| 769 04f6 E1E0 ldi r30,lo8(1) |
| 770 04f8 3E2A or r3,r30 |
| 771 .L96: |
| 772 04fa F8E0 ldi r31,lo8(8) |
| 773 04fc FEA7 std Y+46,r31 |
| 774 04fe 00C0 rjmp .L97 |
| 775 .L87: |
| 776 0500 1434 cpi r17,lo8(68) |
| 777 0502 01F4 brne .L88 |
| 778 0504 91E0 ldi r25,lo8(1) |
| 779 0506 392A or r3,r25 |
| 780 .L88: |
| 781 0508 30FE sbrs r3,0 |
| 782 050a 00C0 rjmp .L89 |
| 783 050c F601 movw r30,r12 |
| 784 050e 84E0 ldi r24,lo8(4) |
| 785 0510 90E0 ldi r25,hi8(4) |
| 786 0512 C80E add r12,r24 |
| 787 0514 D91E adc r13,r25 |
| 788 0516 8080 ld r8,Z |
| 789 0518 9180 ldd r9,Z+1 |
| 790 051a A280 ldd r10,Z+2 |
| 791 051c B380 ldd r11,Z+3 |
| 792 .L90: |
| 793 051e B7FE sbrs r11,7 |
| 794 0520 00C0 rjmp .L91 |
| 795 0522 B094 com r11 |
| 796 0524 A094 com r10 |
| 797 0526 9094 com r9 |
| 798 0528 8094 com r8 |
| 799 052a 811C adc r8,__zero_reg__ |
| 800 052c 911C adc r9,__zero_reg__ |
| 801 052e A11C adc r10,__zero_reg__ |
| 802 0530 B11C adc r11,__zero_reg__ |
| 803 0532 8DE2 ldi r24,lo8(45) |
| 804 0534 89A7 std Y+41,r24 |
| 805 .L91: |
| 806 0536 9AE0 ldi r25,lo8(10) |
| 807 0538 9EA7 std Y+46,r25 |
| 808 053a 00C0 rjmp .L92 |
| 809 .L89: |
| 810 053c F601 movw r30,r12 |
| 811 053e 82E0 ldi r24,lo8(2) |
| 812 0540 90E0 ldi r25,hi8(2) |
| 813 0542 C80E add r12,r24 |
| 814 0544 D91E adc r13,r25 |
| 815 0546 8081 ld r24,Z |
| 816 0548 9181 ldd r25,Z+1 |
| 817 054a 4C01 movw r8,r24 |
| 818 054c AA24 clr r10 |
| 819 054e 97FC sbrc r9,7 |
| 820 0550 A094 com r10 |
| 821 0552 BA2C mov r11,r10 |
| 822 0554 00C0 rjmp .L90 |
| 823 .L172: |
| 824 0556 FE01 movw r30,r28 |
| 825 0558 3196 adiw r30,1 |
| 826 055a FDA7 std Y+45,r31 |
| 827 055c ECA7 std Y+44,r30 |
| 828 055e F601 movw r30,r12 |
| 829 0560 82E0 ldi r24,lo8(2) |
| 830 0562 90E0 ldi r25,hi8(2) |
| 831 0564 C80E add r12,r24 |
| 832 0566 D91E adc r13,r25 |
| 833 0568 8081 ld r24,Z |
| 834 056a 8983 std Y+1,r24 |
| 835 056c 00C0 rjmp .L159 |
| 836 .L179: |
| 837 056e 822D mov r24,r2 |
| 838 0570 801B sub r24,r16 |
| 839 0572 0E94 0000 call PAD_0 |
| 840 0576 00C0 rjmp .L137 |
| 841 .L178: |
| 842 0578 80E3 ldi r24,lo8(48) |
| 843 057a 8AA7 std Y+42,r24 |
| 844 057c 1BA7 std Y+43,r17 |
| 845 057e 62E0 ldi r22,lo8(2) |
| 846 0580 70E0 ldi r23,hi8(2) |
| 847 0582 CE01 movw r24,r28 |
| 848 0584 8A96 adiw r24,42 |
| 849 .L158: |
| 850 0586 0E94 0000 call PRINT |
| 851 058a 00C0 rjmp .L135 |
| 852 .L177: |
| 853 058c 61E0 ldi r22,lo8(1) |
| 854 058e 70E0 ldi r23,hi8(1) |
| 855 0590 CE01 movw r24,r28 |
| 856 0592 8996 adiw r24,41 |
| 857 0594 00C0 rjmp .L158 |
| 858 .L176: |
| 859 0596 822D mov r24,r2 |
| 860 0598 801B sub r24,r16 |
| 861 059a 0E94 0000 call PAD_SP |
| 862 059e 29A5 ldd r18,Y+41 |
| 863 05a0 00C0 rjmp .L133 |
| 864 .L45: |
| 865 /* epilogue: frame size=48 */ |
| 866 05a2 E2E1 ldi r30,18 |
| 867 05a4 C05D subi r28,-48 |
| 868 05a6 0C94 0000 jmp __epilogue_restores__+0 |
| 869 /* epilogue end (size=4) */ |
| 870 /* function _printf_P size 639 (629) */ |
| 872 .comm PrintZiel,1,1 |
| 873 .comm Mixer,77,1 |
| 874 /* File "printf_P.c": code 754 = 0x02f2 ( 719), prologues 16, epilogues 19 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 printf_P.c |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:13 .text:00000000 Putchar |
| *COM*:00000001 PrintZiel |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:45 .text:00000032 PRINT |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:81 .text:00000068 PRINTP |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:125 .text:000000a2 PAD_SP |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:147 .text:000000ba PAD_0 |
| C:\Users\Bernd\AppData\Local\Temp/ccF6QCGh.s:169 .text:000000d2 _printf_P |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| uart_putchar |
| DispPtr |
| DisplayBuff |
| __prologue_saves__ |
| __udivmodsi4 |
| memchr |
| __epilogue_restores__ |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/rc.c |
|---|
| 0,0 → 1,104 |
| /************************************************************************************************************************************** |
| * File: rc.c |
| * |
| * Purpose: Decoding of the radio control sum signal |
| * |
| * Functions: void rc_sum_init(void) |
| * ISR(TIMER1_CAPT_vect) |
| * |
| *************************************************************************************************************************************/ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; // containing the stick signal of the according radio control chanel |
| volatile int PPM_diff[11]; // the differential stick signal of the appropriate radio control chanel |
| volatile char Channels; // containing the number of channels |
| volatile char tmpChannels = 0; // |
| volatile unsigned char NewPpmData = 1; // |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // The input capture function of Timer1 is used to decode the PPM sum signal |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| void rc_sum_init(void) |
| { |
| //------------------------------------------------------------------------------------------------ |
| // TCCR1B = Timer/Counter1 Control Register B -> ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 |
| // |
| // ICES1: Input Capture Edge Select = activated |
| // ICNC1: Input Capture Noise Canceler = activated |
| // CSn2:0 Clock Select = 1:64 from prescaler |
| // |
| TCCR1B= (1<<ICES1)|(1<<ICNC1)|(1<<CS11)|(1<<CS10); |
| //------------------------------------------------------------------------------------------------ |
| // TIMSK1 = Timer/Counter1 Interrupt Mask Register -> – – ICIE1 – – OCIE1B OCIE1A TOIE1 |
| // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
| // |
| TIMSK1 |= (1<<ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // This function works with Timer1 to decode the radio control |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| ISR(TIMER1_CAPT_vect) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| signed int tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; // ICR1H and ICR1L – Input Capture Register 1 |
| AltICR = ICR1; |
| if((signal > 1100) && (signal < 8000)) // Syncronisation break? (3.52 ms < signal < 25.6 ms) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // zero is equal to new Data |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| if(abs(signal - PPM_in[index]) < 6) // good signal |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| else SenderOkay = 200; |
| } |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; |
| else if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/rc.d |
|---|
| 0,0 → 1,2 |
| rc.o rc.d : rc.c rc.h main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h eeprom.h twimaster.h menu.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/rc.h |
|---|
| 0,0 → 1,25 |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| // rc.c |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega644__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; // das Fernsteuer-Summensignal - decodiert // PPM_in[1] = Gas // PPM_in[2] = Roll // PPM_in[3] = Nick // PPM_in[4] = Gier |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| extern volatile char Channels,tmpChannels; |
| #endif //_RC_H |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/rc.lst |
|---|
| 0,0 → 1,325 |
| 1 .file "rc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global NewPpmData |
| 11 .data |
| 14 NewPpmData: |
| 15 0000 01 .byte 1 |
| 16 .global tmpChannels |
| 17 .global tmpChannels |
| 18 .section .bss |
| 21 tmpChannels: |
| 22 0000 00 .skip 1,0 |
| 23 .text |
| 24 .global rc_sum_init |
| 26 rc_sum_init: |
| 27 /* prologue: frame size=0 */ |
| 28 /* prologue end (size=0) */ |
| 29 0000 83EC ldi r24,lo8(-61) |
| 30 0002 8093 8100 sts 129,r24 |
| 31 0006 8091 6F00 lds r24,111 |
| 32 000a 8062 ori r24,lo8(32) |
| 33 000c 8093 6F00 sts 111,r24 |
| 34 0010 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 35 0014 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 36 0018 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 37 001c 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 38 0020 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 39 0024 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 40 /* epilogue: frame size=0 */ |
| 41 0028 0895 ret |
| 42 /* epilogue end (size=1) */ |
| 43 /* function rc_sum_init size 21 (20) */ |
| 45 .lcomm AltICR.0,2 |
| 46 .lcomm index.1,2 |
| 47 .global __vector_12 |
| 49 __vector_12: |
| 50 /* prologue: frame size=0 */ |
| 51 002a 1F92 push __zero_reg__ |
| 52 002c 0F92 push __tmp_reg__ |
| 53 002e 0FB6 in __tmp_reg__,__SREG__ |
| 54 0030 0F92 push __tmp_reg__ |
| 55 0032 1124 clr __zero_reg__ |
| 56 0034 EF92 push r14 |
| 57 0036 FF92 push r15 |
| 58 0038 0F93 push r16 |
| 59 003a 1F93 push r17 |
| 60 003c 2F93 push r18 |
| 61 003e 3F93 push r19 |
| 62 0040 4F93 push r20 |
| 63 0042 5F93 push r21 |
| 64 0044 6F93 push r22 |
| 65 0046 7F93 push r23 |
| 66 0048 8F93 push r24 |
| 67 004a 9F93 push r25 |
| 68 004c AF93 push r26 |
| 69 004e BF93 push r27 |
| 70 0050 CF93 push r28 |
| 71 0052 DF93 push r29 |
| 72 0054 EF93 push r30 |
| 73 0056 FF93 push r31 |
| 74 /* prologue end (size=23) */ |
| 75 0058 2091 8600 lds r18,134 |
| 76 005c 3091 8700 lds r19,(134)+1 |
| 77 0060 8091 0000 lds r24,AltICR.0 |
| 78 0064 9091 0000 lds r25,(AltICR.0)+1 |
| 79 0068 281B sub r18,r24 |
| 80 006a 390B sbc r19,r25 |
| 81 006c 8091 8600 lds r24,134 |
| 82 0070 9091 8700 lds r25,(134)+1 |
| 83 0074 9093 0000 sts (AltICR.0)+1,r25 |
| 84 0078 8093 0000 sts AltICR.0,r24 |
| 85 007c C901 movw r24,r18 |
| 86 007e 8D54 subi r24,lo8(-(-1101)) |
| 87 0080 9440 sbci r25,hi8(-(-1101)) |
| 88 0082 835F subi r24,lo8(6899) |
| 89 0084 9A41 sbci r25,hi8(6899) |
| 90 0086 00F4 brsh .L3 |
| 91 0088 8091 0000 lds r24,index.1 |
| 92 008c 8093 0000 sts Channels,r24 |
| 93 0090 8091 0000 lds r24,index.1 |
| 94 0094 9091 0000 lds r25,(index.1)+1 |
| 95 0098 0497 sbiw r24,4 |
| 96 009a 04F0 brlt .L4 |
| 97 009c 1092 0000 sts NewPpmData,__zero_reg__ |
| 98 .L4: |
| 99 00a0 C1E0 ldi r28,lo8(1) |
| 100 00a2 D0E0 ldi r29,hi8(1) |
| 101 00a4 D093 0000 sts (index.1)+1,r29 |
| 102 00a8 C093 0000 sts index.1,r28 |
| 103 00ac 00C0 rjmp .L2 |
| 104 .L3: |
| 105 00ae C091 0000 lds r28,index.1 |
| 106 00b2 D091 0000 lds r29,(index.1)+1 |
| 107 00b6 CA30 cpi r28,10 |
| 108 00b8 D105 cpc r29,__zero_reg__ |
| 109 00ba 04F0 brlt .+2 |
| 110 00bc 00C0 rjmp .L2 |
| 111 00be C901 movw r24,r18 |
| 112 00c0 8B5F subi r24,lo8(-(-251)) |
| 113 00c2 9040 sbci r25,hi8(-(-251)) |
| 114 00c4 845B subi r24,lo8(436) |
| 115 00c6 9140 sbci r25,hi8(436) |
| 116 00c8 00F0 brlo .L26 |
| 117 .L7: |
| 118 00ca FE01 movw r30,r28 |
| 119 00cc 3196 adiw r30,1 |
| 120 00ce F093 0000 sts (index.1)+1,r31 |
| 121 00d2 E093 0000 sts index.1,r30 |
| 122 00d6 E530 cpi r30,5 |
| 123 00d8 F105 cpc r31,__zero_reg__ |
| 124 00da 01F4 brne .+2 |
| 125 00dc 00C0 rjmp .L27 |
| 126 00de 5D98 cbi 43-0x20,5 |
| 127 .L19: |
| 128 00e0 E630 cpi r30,6 |
| 129 00e2 F105 cpc r31,__zero_reg__ |
| 130 00e4 01F4 brne .+2 |
| 131 00e6 00C0 rjmp .L28 |
| 132 00e8 5C98 cbi 43-0x20,4 |
| 133 .L21: |
| 134 00ea 3797 sbiw r30,7 |
| 135 00ec 01F4 brne .+2 |
| 136 00ee 00C0 rjmp .L29 |
| 137 00f0 5B98 cbi 43-0x20,3 |
| 138 00f2 00C0 rjmp .L2 |
| 139 .L26: |
| 140 00f4 225D subi r18,lo8(-(-466)) |
| 141 00f6 3140 sbci r19,hi8(-(-466)) |
| 142 00f8 FE01 movw r30,r28 |
| 143 00fa EC0F add r30,r28 |
| 144 00fc FD1F adc r31,r29 |
| 145 00fe E050 subi r30,lo8(-(PPM_in)) |
| 146 0100 F040 sbci r31,hi8(-(PPM_in)) |
| 147 0102 8081 ld r24,Z |
| 148 0104 9181 ldd r25,Z+1 |
| 149 0106 F901 movw r30,r18 |
| 150 0108 E81B sub r30,r24 |
| 151 010a F90B sbc r31,r25 |
| 152 010c CF01 movw r24,r30 |
| 153 010e F7FD sbrc r31,7 |
| 154 0110 00C0 rjmp .L30 |
| 155 .L9: |
| 156 0112 0697 sbiw r24,6 |
| 157 0114 04F4 brge .L8 |
| 158 0116 8091 0000 lds r24,SenderOkay |
| 159 011a 883C cpi r24,lo8(-56) |
| 160 011c 00F0 brlo .+2 |
| 161 011e 00C0 rjmp .L10 |
| 162 0120 8091 0000 lds r24,SenderOkay |
| 163 0124 865F subi r24,lo8(-(10)) |
| 164 0126 8093 0000 sts SenderOkay,r24 |
| 165 .L8: |
| 166 012a FE01 movw r30,r28 |
| 167 012c EC0F add r30,r28 |
| 168 012e FD1F adc r31,r29 |
| 169 0130 E050 subi r30,lo8(-(PPM_in)) |
| 170 0132 F040 sbci r31,hi8(-(PPM_in)) |
| 171 0134 8081 ld r24,Z |
| 172 0136 9181 ldd r25,Z+1 |
| 173 0138 AC01 movw r20,r24 |
| 174 013a 440F lsl r20 |
| 175 013c 551F rol r21 |
| 176 013e 480F add r20,r24 |
| 177 0140 591F adc r21,r25 |
| 178 0142 420F add r20,r18 |
| 179 0144 531F adc r21,r19 |
| 180 0146 57FD sbrc r21,7 |
| 181 0148 00C0 rjmp .L31 |
| 182 .L12: |
| 183 014a 7A01 movw r14,r20 |
| 184 014c F594 asr r15 |
| 185 014e E794 ror r14 |
| 186 0150 F594 asr r15 |
| 187 0152 E794 ror r14 |
| 188 0154 C901 movw r24,r18 |
| 189 0156 0196 adiw r24,1 |
| 190 0158 8E15 cp r24,r14 |
| 191 015a 9F05 cpc r25,r15 |
| 192 015c 04F4 brge .L13 |
| 193 015e 0894 sec |
| 194 0160 E108 sbc r14,__zero_reg__ |
| 195 0162 F108 sbc r15,__zero_reg__ |
| 196 .L14: |
| 197 0164 8091 0000 lds r24,SenderOkay |
| 198 0168 833C cpi r24,lo8(-61) |
| 199 016a 00F0 brlo .L16 |
| 200 016c 8E01 movw r16,r28 |
| 201 016e 0C0F add r16,r28 |
| 202 0170 1D1F adc r17,r29 |
| 203 0172 F801 movw r30,r16 |
| 204 0174 E050 subi r30,lo8(-(PPM_in)) |
| 205 0176 F040 sbci r31,hi8(-(PPM_in)) |
| 206 0178 8081 ld r24,Z |
| 207 017a 9181 ldd r25,Z+1 |
| 208 017c 9701 movw r18,r14 |
| 209 017e 281B sub r18,r24 |
| 210 0180 390B sbc r19,r25 |
| 211 0182 C901 movw r24,r18 |
| 212 0184 63E0 ldi r22,lo8(3) |
| 213 0186 70E0 ldi r23,hi8(3) |
| 214 0188 0E94 0000 call __divmodhi4 |
| 215 018c CB01 movw r24,r22 |
| 216 018e 880F lsl r24 |
| 217 0190 991F rol r25 |
| 218 0192 860F add r24,r22 |
| 219 0194 971F adc r25,r23 |
| 220 0196 0050 subi r16,lo8(-(PPM_diff)) |
| 221 0198 1040 sbci r17,hi8(-(PPM_diff)) |
| 222 019a F801 movw r30,r16 |
| 223 019c 9183 std Z+1,r25 |
| 224 019e 8083 st Z,r24 |
| 225 .L17: |
| 226 01a0 FE01 movw r30,r28 |
| 227 01a2 EC0F add r30,r28 |
| 228 01a4 FD1F adc r31,r29 |
| 229 01a6 E050 subi r30,lo8(-(PPM_in)) |
| 230 01a8 F040 sbci r31,hi8(-(PPM_in)) |
| 231 01aa F182 std Z+1,r15 |
| 232 01ac E082 st Z,r14 |
| 233 01ae 00C0 rjmp .L7 |
| 234 .L29: |
| 235 01b0 5B9A sbi 43-0x20,3 |
| 236 01b2 00C0 rjmp .L2 |
| 237 .L28: |
| 238 01b4 5C9A sbi 43-0x20,4 |
| 239 01b6 00C0 rjmp .L21 |
| 240 .L27: |
| 241 01b8 5D9A sbi 43-0x20,5 |
| 242 01ba 00C0 rjmp .L19 |
| 243 .L16: |
| 244 01bc FE01 movw r30,r28 |
| 245 01be EC0F add r30,r28 |
| 246 01c0 FD1F adc r31,r29 |
| 247 01c2 E050 subi r30,lo8(-(PPM_diff)) |
| 248 01c4 F040 sbci r31,hi8(-(PPM_diff)) |
| 249 01c6 1182 std Z+1,__zero_reg__ |
| 250 01c8 1082 st Z,__zero_reg__ |
| 251 01ca 00C0 rjmp .L17 |
| 252 .L13: |
| 253 01cc 2150 subi r18,lo8(-(-1)) |
| 254 01ce 3040 sbci r19,hi8(-(-1)) |
| 255 01d0 E216 cp r14,r18 |
| 256 01d2 F306 cpc r15,r19 |
| 257 01d4 04F4 brge .L14 |
| 258 01d6 0894 sec |
| 259 01d8 E11C adc r14,__zero_reg__ |
| 260 01da F11C adc r15,__zero_reg__ |
| 261 01dc 00C0 rjmp .L14 |
| 262 .L10: |
| 263 01de 88EC ldi r24,lo8(-56) |
| 264 01e0 8093 0000 sts SenderOkay,r24 |
| 265 01e4 00C0 rjmp .L8 |
| 266 .L31: |
| 267 01e6 4D5F subi r20,lo8(-(3)) |
| 268 01e8 5F4F sbci r21,hi8(-(3)) |
| 269 01ea 00C0 rjmp .L12 |
| 270 .L30: |
| 271 01ec 9095 com r25 |
| 272 01ee 8195 neg r24 |
| 273 01f0 9F4F sbci r25,lo8(-1) |
| 274 01f2 00C0 rjmp .L9 |
| 275 .L2: |
| 276 /* epilogue: frame size=0 */ |
| 277 01f4 FF91 pop r31 |
| 278 01f6 EF91 pop r30 |
| 279 01f8 DF91 pop r29 |
| 280 01fa CF91 pop r28 |
| 281 01fc BF91 pop r27 |
| 282 01fe AF91 pop r26 |
| 283 0200 9F91 pop r25 |
| 284 0202 8F91 pop r24 |
| 285 0204 7F91 pop r23 |
| 286 0206 6F91 pop r22 |
| 287 0208 5F91 pop r21 |
| 288 020a 4F91 pop r20 |
| 289 020c 3F91 pop r19 |
| 290 020e 2F91 pop r18 |
| 291 0210 1F91 pop r17 |
| 292 0212 0F91 pop r16 |
| 293 0214 FF90 pop r15 |
| 294 0216 EF90 pop r14 |
| 295 0218 0F90 pop __tmp_reg__ |
| 296 021a 0FBE out __SREG__,__tmp_reg__ |
| 297 021c 0F90 pop __tmp_reg__ |
| 298 021e 1F90 pop __zero_reg__ |
| 299 0220 1895 reti |
| 300 /* epilogue end (size=23) */ |
| 301 /* function __vector_12 size 257 (211) */ |
| 303 .comm PPM_in,22,1 |
| 304 .comm PPM_diff,22,1 |
| 305 .comm Channels,1,1 |
| 306 .comm Mixer,77,1 |
| 307 /* File "rc.c": code 278 = 0x0116 ( 231), prologues 23, epilogues 24 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 rc.c |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:14 .data:00000000 NewPpmData |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:21 .bss:00000000 tmpChannels |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:26 .text:00000000 rc_sum_init |
| .bss:00000001 AltICR.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:45 .bss:00000003 index.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccgzl0K0.s:49 .text:0000002a __vector_12 |
| *COM*:00000001 Channels |
| *COM*:00000016 PPM_in |
| *COM*:00000016 PPM_diff |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| AdNeutralRoll |
| AdNeutralNick |
| SenderOkay |
| __divmodhi4 |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/timer0.c |
|---|
| 0,0 → 1,380 |
| /***************************************************************************************************************************** |
| * File: timer0.c |
| * |
| * Purpose: setup of timer0 and timer2 |
| * and delay functions |
| * |
| * Functions: void Timer_Init(void); |
| * void TIMER2_Init(void); |
| * void Delay_ms(unsigned int); |
| * void Delay_ms_Mess(unsigned int); |
| * |
| *****************************************************************************************************************************/ |
| // |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char SendSPI = 0; |
| volatile unsigned char ServoActive = 0; |
| unsigned int BeepMuster = 0xFFFF; |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| //--------------------------- |
| enum |
| { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| //--------------------------- |
| //******************************************************************************************************************** |
| // Timer0 is running with "fast PWM" at OC0A=PORTB3 and OC0B=PORTB4 |
| // setup of Offset P_OFF1 and P_OFF2 for the air pressure sensor |
| //-------------------------------------------------------------------------------------------------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| // ---------------------------------------------------------------------------------------------------------------- |
| // TCCR0B – Timer/Counter Control Register B containing: FOC0A FOC0B – – WGM02 CS02 CS01 CS0 |
| // |
| TCCR0B = CK8; // CK8 = 2 = clk/8 (From prescaler) one turnarround takes 0.1024ms |
| // ---------------------------------------------------------------------------------------------------------------- |
| // TCCR0A – Timer/Counter Control Register A containing: COM0A1 COM0A0 COM0B1 COM0B0 – – WGM01 WGM00 |
| // |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3; // WGM02 WGM01 WGM00 = 011 = Fast PWM |
| OCR0A = 0; // output compare Register A for Counter 0 |
| OCR0B = 120; // output compare Register B for Counter 0 |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload // #define TIMER_RELOAD_VALUE 250 |
| // ---------------------------------------------------------------------------------------------------------------- |
| // TIMSK0 – Timer/Counter Interrupt Mask Register containing: – – – – – OCIE0B OCIE0A TOIE0 |
| // TOIE0: Timer/Counter0 Overflow Interrupt Enable - When the TOIE0 bit is written to one, and the I-bit in the Status Register is set |
| // |
| TIMSK0 |= (1<<TOIE0); |
| } |
| // **************************** EOF: void Timer_Init(void) ******************************************************************* |
| // ************************************************************************************************************************* |
| // this funktions returns the variable "CountMilliseconds" as it will be after the waiting time hase been exipired |
| // ------------------------------------------------------------------------------------------------------------------------- |
| unsigned int SetDelay(unsigned int t) |
| { |
| return(CountMilliseconds + t + 1); |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| // Hier wird also die Zeitdifferenz (t-CountsMilliseconds) mit der Maske 0x08000 maskiert. |
| // 0x8000 = 1000 0000 0000 0000 setzt also bis auf das höchste Bit der 16-bit Zeitdifferenz alle Bits auf 0. |
| // Bei einer Integerzahl codiert das höchst bit das Vorzeichen. Ist also t < CountMillisconds wird, |
| // so flippt das Vorzeichen-Bit auf 1 sonst ist es 0. Diese Eigenschaft wird hier genutzt. |
| // Das Ganze wird dann noch um 9 Bits nach rechts geshiftet, damit die Information im unteren Byte liegt, |
| // um beim Typecast des Rückgabewertes auf 8-Bit die Ändeurng im oberen Byte nicht abgeschnitten wird. |
| // |
| // Man könnte den Code auch so aufschreiben: |
| /* |
| char CheckDelay(unsigned int t) |
| { |
| int diff; |
| diff = int(t-CountMilliseconds); |
| if (diff < 0) return 255; |
| else return 0; |
| } |
| */ |
| // |
| char CheckDelay(unsigned int t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 9); // 0x8000 = 0b 1000 0000 0000 0000 |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| // Interrupt due to overflow of Timer0 |
| // -------------------------------------- |
| ISR(TIMER0_OVF_vect) |
| { |
| static unsigned char cnt_1ms=1, cnt=0; // one turnarround of Timer0 takes 0.1024ms at 256 steps |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; // |
| if(!cnt--) |
| { |
| cnt=9; // 10 steps * 0.1024ms -> 1ms |
| cnt_1ms++; |
| cnt_1ms %= 2; // modulo division |
| if(!cnt_1ms) UpdateMotor = 1; // all 2 ms the motor is updated |
| CountMilliseconds++; |
| } |
| if(beeptime >= 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xFFFF; |
| } |
| if(pieper_ein) |
| { |
| PORTC |= (1<<7); // beeper is connected to PORTC.7 |
| } |
| else |
| { |
| PORTC &= ~(1<<7); |
| } |
| //------------------------------------------------------------------------------------------------------------------------ |
| // Compass works per PWM at PORTC4 |
| //------------------------------------------------------------------------------------------------------------------------ |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) // PORTC4 is up |
| { |
| cntKompass++; |
| } |
| else // PORTC4 is doing down now -> check lenght of PWM pulse |
| { |
| if((cntKompass) && (cntKompass < 362)) // if value is positiv and less then 362 |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; // indicated value of compass |
| } |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; // differential direction |
| cntKompass = 0; // reset PWM counter |
| } |
| } |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| // Purpose: Initialize Timer 2 |
| // |
| // Timer 2 is used to generate the PWM at PD7 (J7) to control a camera servo for nick compensation. |
| // |
| //--------------------------------------------------------------------------------------------------------------------------------------- |
| void TIMER2_Init(void) |
| { |
| unsigned char sreg = SREG; // copy SREG – Status Register |
| cli(); // disable all interrupts before reconfiguration |
| PORTD &= ~(1<<PORTD7); // set PD7 = OC2A to low = Servo PPM |
| //------------------------------------------------------------------------------------------ |
| // DDRC – Port C Data Direction Register containing: DDC7 DDC6 DDC5 DDC4 DDC3 DDC2 DDC1 DDC0 |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| HEF4017R_ON; // #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| //------------------------------------------------------------------------------------------ |
| // TCCR2A = Timer/Counter 2 Control Register A containing: COM2A1 COM2A0 COM2B1 COM2B0 – – WGM21 WGM20 |
| // COM2A1:0: Compare Match Output A Mode. These bits control the Output Compare pin (OC2A) behavior |
| // COM2B1:0: Compare Match Output B Mode. These bits control the Output Compare pin (OC2B) behavior |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); // Normal port operation |
| // |
| // The counter counts from BOTTOM to TOP then restarts from BOTTOM. |
| // TOP is defined as OCR2A asxxx, MGM22:0 = 111. |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| //------------------------------------------------------------------------------------------ |
| // TCCR2B = Timer/Counter 2 Control Register B containing: FOC2A FOC2B – – WGM22 CS22 CS21 CS20 |
| // FOC2A: Force Output Compare A. The FOC2A bit is only active when the WGM bits specify a non-PWM mode |
| // FOC2B: Force Output Compare B. The FOC2B bit is only active when the WGM bits specify a non-PWM mode. |
| // CS22:0: Clock Select. The three Clock Select bits select the clock source to be used by the Timer/Counter |
| // Clock Select = 011 = SYSKLOCK/32 at 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to OCR2A with an update rate of 625 kHz or 0.0016 ms |
| // |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| //------------------------------------------------------------------------------------------ |
| // Reset the Timer/Counter 2 |
| TCNT2 = 0; |
| OCR2A = 255; // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| TCCR2A |= (1<<COM2A1); // Clear OC2A on Compare Match when up-counting. Set OC2A on Compare Match when down-counting |
| //------------------------------------------------------------------------------------------ |
| // TIMSK2 – Timer/Counter2 Interrupt Mask Register containing: – – – – – OCIE2B OCIE2A TOIE2 |
| // OCIE2B: Timer/Counter2 Output Compare Match B Interrupt Enable |
| // TOIE2: Timer/Counter2 Overflow Interrupt Enable |
| // |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); // Output Compare Match B Interrupt is dissabled as Overflow Interrupt |
| TIMSK2 |= (1<<OCIE2A); // Timer/Counter2 Output Compare Match A Interrupt is enabled |
| SREG = sreg; // recopy SREG – Status Register |
| } |
| // ************************************************************************************************************************* |
| // ************************************************************************************************************************* |
| // Timer2 controlls the Position of Control Servos at |
| // OC2A=PORTD7 |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define IRS_RUNTIME 127 |
| #define PPM_STOPPULSE 188 |
| #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| static uint8_t PulseOutput = 0; |
| static uint16_t RemainingPulse = 0; |
| static uint16_t ServoFrameTime = 0; |
| //static uint8_t ServoIndex = 0; |
| #define MULTIPLYER 4 |
| static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| //static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| //------------------------------------------------------------------------------------------------------------------------ |
| // Nick servo state machine |
| //------------------------------------------------------------------------------------------------------------------------ |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0); // make a high pulse |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| ServoFrameTime = RemainingPulse; // accumulate time for correct update rate |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| } |
| PulseOutput = 1; // set pulse output active |
| } |
| if(RemainingPulse > (255 + IRS_RUNTIME)) // General pulse output generator |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| else |
| { |
| if(RemainingPulse > 255) // this is the 2nd last part |
| { |
| if((RemainingPulse - 255) < IRS_RUNTIME) |
| { |
| OCR2A = 255 - IRS_RUNTIME; |
| RemainingPulse -= 255 - IRS_RUNTIME; |
| } |
| else // last part > ISR_RUNTIME |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| } |
| else // this is the last part |
| { |
| OCR2A = RemainingPulse; |
| RemainingPulse = 0; |
| PulseOutput = 0; // trigger to stop pulse |
| } |
| } // EOF: general pulse output generator |
| } |
| // *** EOF: ISR(TIMER2_COMPA_vect) *************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/timer0.d |
|---|
| 0,0 → 1,2 |
| timer0.o timer0.d : timer0.c main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/timer0.h |
|---|
| 0,0 → 1,30 |
| /***************************************************************************************************************************** |
| * File: timer0.h |
| * Purpose: header of timer0.c |
| *****************************************************************************************************************************/ |
| #ifndef _TIMER0 |
| #define _TIMER0 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| void Timer_Init(void); |
| void TIMER2_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI, ServoActive; |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| #endif |
| //*** EOF: _TIMER0_H *********************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/timer0.lst |
|---|
| 0,0 → 1,768 |
| 1 .file "timer0.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global ServoRollValue |
| 11 .global ServoRollValue |
| 12 .section .bss |
| 15 ServoRollValue: |
| 16 0000 0000 .skip 2,0 |
| 17 .global ServoNickValue |
| 18 .global ServoNickValue |
| 21 ServoNickValue: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BeepMuster |
| 24 .data |
| 27 BeepMuster: |
| 28 0000 FFFF .word -1 |
| 29 .global ServoActive |
| 30 .global ServoActive |
| 31 .section .bss |
| 34 ServoActive: |
| 35 0004 00 .skip 1,0 |
| 36 .global SendSPI |
| 37 .global SendSPI |
| 40 SendSPI: |
| 41 0005 00 .skip 1,0 |
| 42 .global beeptime |
| 43 .global beeptime |
| 46 beeptime: |
| 47 0006 0000 .skip 2,0 |
| 48 .global cntKompass |
| 49 .global cntKompass |
| 52 cntKompass: |
| 53 0008 0000 .skip 2,0 |
| 54 .global UpdateMotor |
| 55 .global UpdateMotor |
| 58 UpdateMotor: |
| 59 000a 00 .skip 1,0 |
| 60 .global CountMilliseconds |
| 61 .global CountMilliseconds |
| 64 CountMilliseconds: |
| 65 000b 0000 .skip 2,0 |
| 66 .text |
| 67 .global SetDelay |
| 69 SetDelay: |
| 70 /* prologue: frame size=0 */ |
| 71 /* prologue end (size=0) */ |
| 72 0000 2091 0000 lds r18,CountMilliseconds |
| 73 0004 3091 0000 lds r19,(CountMilliseconds)+1 |
| 74 0008 280F add r18,r24 |
| 75 000a 391F adc r19,r25 |
| 76 000c C901 movw r24,r18 |
| 77 000e 0196 adiw r24,1 |
| 78 /* epilogue: frame size=0 */ |
| 79 0010 0895 ret |
| 80 /* epilogue end (size=1) */ |
| 81 /* function SetDelay size 9 (8) */ |
| 83 .global Timer_Init |
| 85 Timer_Init: |
| 86 /* prologue: frame size=0 */ |
| 87 /* prologue end (size=0) */ |
| 88 0012 8AE0 ldi r24,lo8(10) |
| 89 0014 90E0 ldi r25,hi8(10) |
| 90 0016 0E94 0000 call SetDelay |
| 91 001a 9093 0000 sts (tim_main)+1,r25 |
| 92 001e 8093 0000 sts tim_main,r24 |
| 93 0022 82E0 ldi r24,lo8(2) |
| 94 0024 85BD out 69-0x20,r24 |
| 95 0026 83EA ldi r24,lo8(-93) |
| 96 0028 84BD out 68-0x20,r24 |
| 97 002a 17BC out 71-0x20,__zero_reg__ |
| 98 002c 88E7 ldi r24,lo8(120) |
| 99 002e 88BD out 72-0x20,r24 |
| 100 0030 86E0 ldi r24,lo8(6) |
| 101 0032 86BD out 70-0x20,r24 |
| 102 0034 8091 6E00 lds r24,110 |
| 103 0038 8160 ori r24,lo8(1) |
| 104 003a 8093 6E00 sts 110,r24 |
| 105 /* epilogue: frame size=0 */ |
| 106 003e 0895 ret |
| 107 /* epilogue end (size=1) */ |
| 108 /* function Timer_Init size 23 (22) */ |
| 110 .global CheckDelay |
| 112 CheckDelay: |
| 113 /* prologue: frame size=0 */ |
| 114 /* prologue end (size=0) */ |
| 115 0040 2091 0000 lds r18,CountMilliseconds |
| 116 0044 3091 0000 lds r19,(CountMilliseconds)+1 |
| 117 0048 821B sub r24,r18 |
| 118 004a 930B sbc r25,r19 |
| 119 004c 892F mov r24,r25 |
| 120 004e 9927 clr r25 |
| 121 0050 8695 lsr r24 |
| 122 0052 8074 andi r24,lo8(64) |
| 123 0054 9070 andi r25,hi8(64) |
| 124 /* epilogue: frame size=0 */ |
| 125 0056 0895 ret |
| 126 /* epilogue end (size=1) */ |
| 127 /* function CheckDelay size 12 (11) */ |
| 129 .global Delay_ms |
| 131 Delay_ms: |
| 132 /* prologue: frame size=0 */ |
| 133 0058 CF93 push r28 |
| 134 005a DF93 push r29 |
| 135 /* prologue end (size=2) */ |
| 136 005c 0E94 0000 call SetDelay |
| 137 0060 EC01 movw r28,r24 |
| 138 .L5: |
| 139 0062 CE01 movw r24,r28 |
| 140 0064 0E94 0000 call CheckDelay |
| 141 0068 8823 tst r24 |
| 142 006a 01F0 breq .L5 |
| 143 /* epilogue: frame size=0 */ |
| 144 006c DF91 pop r29 |
| 145 006e CF91 pop r28 |
| 146 0070 0895 ret |
| 147 /* epilogue end (size=3) */ |
| 148 /* function Delay_ms size 13 (8) */ |
| 150 .global Delay_ms_Mess |
| 152 Delay_ms_Mess: |
| 153 /* prologue: frame size=0 */ |
| 154 0072 1F93 push r17 |
| 155 0074 CF93 push r28 |
| 156 0076 DF93 push r29 |
| 157 /* prologue end (size=3) */ |
| 158 0078 0E94 0000 call SetDelay |
| 159 007c EC01 movw r28,r24 |
| 160 007e 1FEC ldi r17,lo8(-49) |
| 161 0080 00C0 rjmp .L17 |
| 162 .L13: |
| 163 0082 8091 0000 lds r24,AdReady |
| 164 0086 8823 tst r24 |
| 165 0088 01F0 breq .L17 |
| 166 008a 9093 0000 sts AdReady,r25 |
| 167 008e 1093 7A00 sts 122,r17 |
| 168 .L17: |
| 169 0092 CE01 movw r24,r28 |
| 170 0094 0E94 0000 call CheckDelay |
| 171 0098 982F mov r25,r24 |
| 172 009a 8823 tst r24 |
| 173 009c 01F0 breq .L13 |
| 174 /* epilogue: frame size=0 */ |
| 175 009e DF91 pop r29 |
| 176 00a0 CF91 pop r28 |
| 177 00a2 1F91 pop r17 |
| 178 00a4 0895 ret |
| 179 /* epilogue end (size=4) */ |
| 180 /* function Delay_ms_Mess size 26 (19) */ |
| 182 .data |
| 185 cnt_1ms.4: |
| 186 0002 01 .byte 1 |
| 187 .lcomm cnt.5,1 |
| 188 .text |
| 189 .global __vector_18 |
| 191 __vector_18: |
| 192 /* prologue: frame size=0 */ |
| 193 00a6 1F92 push __zero_reg__ |
| 194 00a8 0F92 push __tmp_reg__ |
| 195 00aa 0FB6 in __tmp_reg__,__SREG__ |
| 196 00ac 0F92 push __tmp_reg__ |
| 197 00ae 1124 clr __zero_reg__ |
| 198 00b0 2F93 push r18 |
| 199 00b2 3F93 push r19 |
| 200 00b4 5F93 push r21 |
| 201 00b6 6F93 push r22 |
| 202 00b8 7F93 push r23 |
| 203 00ba 8F93 push r24 |
| 204 00bc 9F93 push r25 |
| 205 00be AF93 push r26 |
| 206 00c0 BF93 push r27 |
| 207 00c2 EF93 push r30 |
| 208 00c4 FF93 push r31 |
| 209 /* prologue end (size=16) */ |
| 210 00c6 8091 0000 lds r24,SendSPI |
| 211 00ca 8823 tst r24 |
| 212 00cc 01F0 breq .L19 |
| 213 00ce 8091 0000 lds r24,SendSPI |
| 214 00d2 8150 subi r24,lo8(-(-1)) |
| 215 00d4 8093 0000 sts SendSPI,r24 |
| 216 .L19: |
| 217 00d8 8091 0000 lds r24,cnt.5 |
| 218 00dc 8150 subi r24,lo8(-(-1)) |
| 219 00de 8F3F cpi r24,lo8(-1) |
| 220 00e0 01F0 breq .L36 |
| 221 00e2 8093 0000 sts cnt.5,r24 |
| 222 .L20: |
| 223 00e6 8091 0000 lds r24,beeptime |
| 224 00ea 9091 0000 lds r25,(beeptime)+1 |
| 225 00ee 892B or r24,r25 |
| 226 00f0 01F0 breq .L22 |
| 227 00f2 8091 0000 lds r24,beeptime |
| 228 00f6 9091 0000 lds r25,(beeptime)+1 |
| 229 00fa 0197 sbiw r24,1 |
| 230 00fc 9093 0000 sts (beeptime)+1,r25 |
| 231 0100 8093 0000 sts beeptime,r24 |
| 232 0104 8091 0000 lds r24,beeptime |
| 233 0108 9091 0000 lds r25,(beeptime)+1 |
| 234 010c 2091 0000 lds r18,BeepMuster |
| 235 0110 3091 0000 lds r19,(BeepMuster)+1 |
| 236 0114 8223 and r24,r18 |
| 237 0116 9323 and r25,r19 |
| 238 0118 892B or r24,r25 |
| 239 011a 01F4 brne .L37 |
| 240 .L26: |
| 241 011c 4798 cbi 40-0x20,7 |
| 242 .L27: |
| 243 011e 8091 0000 lds r24,EE_Parameter+8 |
| 244 0122 83FF sbrs r24,3 |
| 245 0124 00C0 rjmp .L18 |
| 246 0126 86B1 in r24,38-0x20 |
| 247 0128 9927 clr r25 |
| 248 012a FC01 movw r30,r24 |
| 249 012c E071 andi r30,lo8(16) |
| 250 012e F070 andi r31,hi8(16) |
| 251 0130 84FF sbrs r24,4 |
| 252 0132 00C0 rjmp .L29 |
| 253 0134 8091 0000 lds r24,cntKompass |
| 254 0138 9091 0000 lds r25,(cntKompass)+1 |
| 255 013c 0196 adiw r24,1 |
| 256 013e 9093 0000 sts (cntKompass)+1,r25 |
| 257 0142 8093 0000 sts cntKompass,r24 |
| 258 0146 00C0 rjmp .L18 |
| 259 .L22: |
| 260 0148 8FEF ldi r24,lo8(-1) |
| 261 014a 9FEF ldi r25,hi8(-1) |
| 262 014c 9093 0000 sts (BeepMuster)+1,r25 |
| 263 0150 8093 0000 sts BeepMuster,r24 |
| 264 0154 00C0 rjmp .L26 |
| 265 .L37: |
| 266 0156 479A sbi 40-0x20,7 |
| 267 0158 00C0 rjmp .L27 |
| 268 .L36: |
| 269 015a 89E0 ldi r24,lo8(9) |
| 270 015c 8093 0000 sts cnt.5,r24 |
| 271 0160 8091 0000 lds r24,cnt_1ms.4 |
| 272 0164 8F5F subi r24,lo8(-(1)) |
| 273 0166 8170 andi r24,lo8(1) |
| 274 0168 8093 0000 sts cnt_1ms.4,r24 |
| 275 016c 8823 tst r24 |
| 276 016e 01F4 brne .L21 |
| 277 0170 81E0 ldi r24,lo8(1) |
| 278 0172 8093 0000 sts UpdateMotor,r24 |
| 279 .L21: |
| 280 0176 8091 0000 lds r24,CountMilliseconds |
| 281 017a 9091 0000 lds r25,(CountMilliseconds)+1 |
| 282 017e 0196 adiw r24,1 |
| 283 0180 9093 0000 sts (CountMilliseconds)+1,r25 |
| 284 0184 8093 0000 sts CountMilliseconds,r24 |
| 285 0188 00C0 rjmp .L20 |
| 286 .L29: |
| 287 018a 8091 0000 lds r24,cntKompass |
| 288 018e 9091 0000 lds r25,(cntKompass)+1 |
| 289 0192 892B or r24,r25 |
| 290 0194 01F0 breq .L31 |
| 291 0196 8091 0000 lds r24,cntKompass |
| 292 019a 9091 0000 lds r25,(cntKompass)+1 |
| 293 019e 8A56 subi r24,lo8(362) |
| 294 01a0 9140 sbci r25,hi8(362) |
| 295 01a2 00F4 brsh .L31 |
| 296 01a4 8091 0000 lds r24,cntKompass |
| 297 01a8 9091 0000 lds r25,(cntKompass)+1 |
| 298 01ac 69E2 ldi r22,lo8(41) |
| 299 01ae 70E0 ldi r23,hi8(41) |
| 300 01b0 0E94 0000 call __udivmodhi4 |
| 301 01b4 8091 0000 lds r24,cntKompass |
| 302 01b8 9091 0000 lds r25,(cntKompass)+1 |
| 303 01bc 860F add r24,r22 |
| 304 01be 971F adc r25,r23 |
| 305 01c0 9093 0000 sts (cntKompass)+1,r25 |
| 306 01c4 8093 0000 sts cntKompass,r24 |
| 307 01c8 8091 0000 lds r24,cntKompass |
| 308 01cc 9091 0000 lds r25,(cntKompass)+1 |
| 309 01d0 0B97 sbiw r24,11 |
| 310 01d2 00F0 brlo .L32 |
| 311 01d4 8091 0000 lds r24,cntKompass |
| 312 01d8 9091 0000 lds r25,(cntKompass)+1 |
| 313 01dc 0A97 sbiw r24,10 |
| 314 01de 9093 0000 sts (KompassValue)+1,r25 |
| 315 01e2 8093 0000 sts KompassValue,r24 |
| 316 .L31: |
| 317 01e6 8091 0000 lds r24,KompassValue |
| 318 01ea 9091 0000 lds r25,(KompassValue)+1 |
| 319 01ee 2091 0000 lds r18,KompassStartwert |
| 320 01f2 3091 0000 lds r19,(KompassStartwert)+1 |
| 321 01f6 821B sub r24,r18 |
| 322 01f8 930B sbc r25,r19 |
| 323 01fa 845E subi r24,lo8(-(540)) |
| 324 01fc 9D4F sbci r25,hi8(-(540)) |
| 325 01fe 68E6 ldi r22,lo8(360) |
| 326 0200 71E0 ldi r23,hi8(360) |
| 327 0202 0E94 0000 call __divmodhi4 |
| 328 0206 845B subi r24,lo8(-(-180)) |
| 329 0208 9040 sbci r25,hi8(-(-180)) |
| 330 020a 9093 0000 sts (KompassRichtung)+1,r25 |
| 331 020e 8093 0000 sts KompassRichtung,r24 |
| 332 0212 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 333 0216 1092 0000 sts cntKompass,__zero_reg__ |
| 334 021a 00C0 rjmp .L18 |
| 335 .L32: |
| 336 021c F093 0000 sts (KompassValue)+1,r31 |
| 337 0220 E093 0000 sts KompassValue,r30 |
| 338 0224 00C0 rjmp .L31 |
| 339 .L18: |
| 340 /* epilogue: frame size=0 */ |
| 341 0226 FF91 pop r31 |
| 342 0228 EF91 pop r30 |
| 343 022a BF91 pop r27 |
| 344 022c AF91 pop r26 |
| 345 022e 9F91 pop r25 |
| 346 0230 8F91 pop r24 |
| 347 0232 7F91 pop r23 |
| 348 0234 6F91 pop r22 |
| 349 0236 5F91 pop r21 |
| 350 0238 3F91 pop r19 |
| 351 023a 2F91 pop r18 |
| 352 023c 0F90 pop __tmp_reg__ |
| 353 023e 0FBE out __SREG__,__tmp_reg__ |
| 354 0240 0F90 pop __tmp_reg__ |
| 355 0242 1F90 pop __zero_reg__ |
| 356 0244 1895 reti |
| 357 /* epilogue end (size=16) */ |
| 358 /* function __vector_18 size 210 (178) */ |
| 360 .global TIMER2_Init |
| 362 TIMER2_Init: |
| 363 /* prologue: frame size=0 */ |
| 364 /* prologue end (size=0) */ |
| 365 0246 9FB7 in r25,95-0x20 |
| 366 /* #APP */ |
| 367 0248 F894 cli |
| 368 /* #NOAPP */ |
| 369 024a 5F98 cbi 43-0x20,7 |
| 370 024c 3E9A sbi 39-0x20,6 |
| 371 024e 469A sbi 40-0x20,6 |
| 372 0250 8091 B000 lds r24,176 |
| 373 0254 8F70 andi r24,lo8(15) |
| 374 0256 8093 B000 sts 176,r24 |
| 375 025a 8091 B000 lds r24,176 |
| 376 025e 8360 ori r24,lo8(3) |
| 377 0260 8093 B000 sts 176,r24 |
| 378 0264 8091 B100 lds r24,177 |
| 379 0268 8B73 andi r24,lo8(59) |
| 380 026a 8093 B100 sts 177,r24 |
| 381 026e 8091 B100 lds r24,177 |
| 382 0272 8B60 ori r24,lo8(11) |
| 383 0274 8093 B100 sts 177,r24 |
| 384 0278 1092 B200 sts 178,__zero_reg__ |
| 385 027c 8FEF ldi r24,lo8(-1) |
| 386 027e 8093 B300 sts 179,r24 |
| 387 0282 8091 B000 lds r24,176 |
| 388 0286 8068 ori r24,lo8(-128) |
| 389 0288 8093 B000 sts 176,r24 |
| 390 028c 8091 7000 lds r24,112 |
| 391 0290 8A7F andi r24,lo8(-6) |
| 392 0292 8093 7000 sts 112,r24 |
| 393 0296 8091 7000 lds r24,112 |
| 394 029a 8260 ori r24,lo8(2) |
| 395 029c 8093 7000 sts 112,r24 |
| 396 02a0 9FBF out 95-0x20,r25 |
| 397 /* epilogue: frame size=0 */ |
| 398 02a2 0895 ret |
| 399 /* epilogue end (size=1) */ |
| 400 /* function TIMER2_Init size 48 (47) */ |
| 402 .lcomm PulseOutput.0,1 |
| 403 .lcomm RemainingPulse.1,2 |
| 404 .lcomm ServoFrameTime.2,2 |
| 405 .data |
| 408 ServoNickOffset.3: |
| 409 0003 FC01 .word 508 |
| 410 .text |
| 411 .global __vector_9 |
| 413 __vector_9: |
| 414 /* prologue: frame size=0 */ |
| 415 02a4 1F92 push __zero_reg__ |
| 416 02a6 0F92 push __tmp_reg__ |
| 417 02a8 0FB6 in __tmp_reg__,__SREG__ |
| 418 02aa 0F92 push __tmp_reg__ |
| 419 02ac 1124 clr __zero_reg__ |
| 420 02ae 2F93 push r18 |
| 421 02b0 3F93 push r19 |
| 422 02b2 4F93 push r20 |
| 423 02b4 5F93 push r21 |
| 424 02b6 6F93 push r22 |
| 425 02b8 7F93 push r23 |
| 426 02ba 8F93 push r24 |
| 427 02bc 9F93 push r25 |
| 428 02be AF93 push r26 |
| 429 02c0 BF93 push r27 |
| 430 02c2 EF93 push r30 |
| 431 02c4 FF93 push r31 |
| 432 /* prologue end (size=17) */ |
| 433 02c6 8091 0000 lds r24,PulseOutput.0 |
| 434 02ca 8823 tst r24 |
| 435 02cc 01F4 brne .L63 |
| 436 02ce 8091 B000 lds r24,176 |
| 437 02d2 86FD sbrc r24,6 |
| 438 02d4 00C0 rjmp .L69 |
| 439 02d6 8091 B000 lds r24,176 |
| 440 02da 8064 ori r24,lo8(64) |
| 441 02dc 8093 B000 sts 176,r24 |
| 442 02e0 8091 0000 lds r24,EE_Parameter+47 |
| 443 02e4 282F mov r18,r24 |
| 444 02e6 3327 clr r19 |
| 445 02e8 8DED ldi r24,lo8(1757) |
| 446 02ea 96E0 ldi r25,hi8(1757) |
| 447 02ec 289F mul r18,r24 |
| 448 02ee A001 movw r20,r0 |
| 449 02f0 299F mul r18,r25 |
| 450 02f2 500D add r21,r0 |
| 451 02f4 389F mul r19,r24 |
| 452 02f6 500D add r21,r0 |
| 453 02f8 1124 clr r1 |
| 454 02fa CA01 movw r24,r20 |
| 455 02fc 2091 0000 lds r18,ServoFrameTime.2 |
| 456 0300 3091 0000 lds r19,(ServoFrameTime.2)+1 |
| 457 0304 821B sub r24,r18 |
| 458 0306 930B sbc r25,r19 |
| 459 0308 9093 0000 sts (RemainingPulse.1)+1,r25 |
| 460 030c 8093 0000 sts RemainingPulse.1,r24 |
| 461 0310 9C01 movw r18,r24 |
| 462 .L56: |
| 463 0312 81E0 ldi r24,lo8(1) |
| 464 0314 8093 0000 sts PulseOutput.0,r24 |
| 465 0318 51E0 ldi r21,hi8(383) |
| 466 031a 2F37 cpi r18,lo8(383) |
| 467 031c 3507 cpc r19,r21 |
| 468 031e 00F4 brsh .L70 |
| 469 .L57: |
| 470 0320 2F3F cpi r18,255 |
| 471 0322 3105 cpc r19,__zero_reg__ |
| 472 0324 01F0 breq .L59 |
| 473 0326 00F0 brlo .L59 |
| 474 0328 A901 movw r20,r18 |
| 475 032a 4F5F subi r20,lo8(-(-255)) |
| 476 032c 5040 sbci r21,hi8(-(-255)) |
| 477 032e 4F37 cpi r20,127 |
| 478 0330 5105 cpc r21,__zero_reg__ |
| 479 0332 00F0 brlo .+2 |
| 480 0334 00C0 rjmp .L60 |
| 481 0336 80E8 ldi r24,lo8(-128) |
| 482 0338 8093 B300 sts 179,r24 |
| 483 033c 2058 subi r18,lo8(-(-128)) |
| 484 033e 3040 sbci r19,hi8(-(-128)) |
| 485 0340 00C0 rjmp .L68 |
| 486 .L63: |
| 487 0342 2091 0000 lds r18,RemainingPulse.1 |
| 488 0346 3091 0000 lds r19,(RemainingPulse.1)+1 |
| 489 034a 51E0 ldi r21,hi8(383) |
| 490 034c 2F37 cpi r18,lo8(383) |
| 491 034e 3507 cpc r19,r21 |
| 492 0350 00F0 brlo .L57 |
| 493 .L70: |
| 494 0352 8FEF ldi r24,lo8(-1) |
| 495 0354 8093 B300 sts 179,r24 |
| 496 0358 2F5F subi r18,lo8(-(-255)) |
| 497 035a 3040 sbci r19,hi8(-(-255)) |
| 498 .L68: |
| 499 035c 3093 0000 sts (RemainingPulse.1)+1,r19 |
| 500 0360 2093 0000 sts RemainingPulse.1,r18 |
| 501 0364 00C0 rjmp .L39 |
| 502 .L59: |
| 503 0366 8091 0000 lds r24,RemainingPulse.1 |
| 504 036a 8093 B300 sts 179,r24 |
| 505 036e 1092 0000 sts (RemainingPulse.1)+1,__zero_reg__ |
| 506 0372 1092 0000 sts RemainingPulse.1,__zero_reg__ |
| 507 0376 1092 0000 sts PulseOutput.0,__zero_reg__ |
| 508 037a 00C0 rjmp .L39 |
| 509 .L69: |
| 510 037c 8091 B000 lds r24,176 |
| 511 0380 8F7B andi r24,lo8(-65) |
| 512 0382 8093 B000 sts 176,r24 |
| 513 0386 89EA ldi r24,lo8(937) |
| 514 0388 93E0 ldi r25,hi8(937) |
| 515 038a 9093 0000 sts (RemainingPulse.1)+1,r25 |
| 516 038e 8093 0000 sts RemainingPulse.1,r24 |
| 517 0392 8091 0000 lds r24,ServoNickOffset.3 |
| 518 0396 9091 0000 lds r25,(ServoNickOffset.3)+1 |
| 519 039a 9C01 movw r18,r24 |
| 520 039c 220F lsl r18 |
| 521 039e 331F rol r19 |
| 522 03a0 280F add r18,r24 |
| 523 03a2 391F adc r19,r25 |
| 524 03a4 8091 0000 lds r24,Parameter_ServoNickControl |
| 525 03a8 9927 clr r25 |
| 526 03aa 880F lsl r24 |
| 527 03ac 991F rol r25 |
| 528 03ae 880F lsl r24 |
| 529 03b0 991F rol r25 |
| 530 03b2 280F add r18,r24 |
| 531 03b4 391F adc r19,r25 |
| 532 03b6 37FD sbrc r19,7 |
| 533 03b8 00C0 rjmp .L71 |
| 534 .L42: |
| 535 03ba C901 movw r24,r18 |
| 536 03bc 9595 asr r25 |
| 537 03be 8795 ror r24 |
| 538 03c0 9595 asr r25 |
| 539 03c2 8795 ror r24 |
| 540 03c4 9093 0000 sts (ServoNickOffset.3)+1,r25 |
| 541 03c8 8093 0000 sts ServoNickOffset.3,r24 |
| 542 03cc 9093 0000 sts (ServoNickValue)+1,r25 |
| 543 03d0 8093 0000 sts ServoNickValue,r24 |
| 544 03d4 8091 0000 lds r24,EE_Parameter+87 |
| 545 03d8 80FF sbrs r24,0 |
| 546 03da 00C0 rjmp .L43 |
| 547 03dc 8091 0000 lds r24,EE_Parameter+40 |
| 548 03e0 682F mov r22,r24 |
| 549 03e2 7727 clr r23 |
| 550 03e4 8827 clr r24 |
| 551 03e6 9927 clr r25 |
| 552 03e8 2091 0000 lds r18,IntegralNick |
| 553 03ec 3091 0000 lds r19,(IntegralNick)+1 |
| 554 03f0 4091 0000 lds r20,(IntegralNick)+2 |
| 555 03f4 5091 0000 lds r21,(IntegralNick)+3 |
| 556 03f8 57FD sbrc r21,7 |
| 557 03fa 00C0 rjmp .L72 |
| 558 .L44: |
| 559 03fc A7E0 ldi r26,7 |
| 560 03fe 5595 1: asr r21 |
| 561 0400 4795 ror r20 |
| 562 0402 3795 ror r19 |
| 563 0404 2795 ror r18 |
| 564 0406 AA95 dec r26 |
| 565 0408 01F4 brne 1b |
| 566 040a 0E94 0000 call __mulsi3 |
| 567 040e 9B01 movw r18,r22 |
| 568 0410 AC01 movw r20,r24 |
| 569 0412 97FD sbrc r25,7 |
| 570 0414 00C0 rjmp .L73 |
| 571 .L45: |
| 572 0416 F6E0 ldi r31,6 |
| 573 0418 5595 1: asr r21 |
| 574 041a 4795 ror r20 |
| 575 041c 3795 ror r19 |
| 576 041e 2795 ror r18 |
| 577 0420 FA95 dec r31 |
| 578 0422 01F4 brne 1b |
| 579 0424 8091 0000 lds r24,ServoNickValue |
| 580 0428 9091 0000 lds r25,(ServoNickValue)+1 |
| 581 042c 820F add r24,r18 |
| 582 042e 931F adc r25,r19 |
| 583 .L65: |
| 584 0430 9093 0000 sts (ServoNickValue)+1,r25 |
| 585 0434 8093 0000 sts ServoNickValue,r24 |
| 586 0438 8091 0000 lds r24,EE_Parameter+41 |
| 587 043c 282F mov r18,r24 |
| 588 043e 3327 clr r19 |
| 589 0440 220F lsl r18 |
| 590 0442 331F rol r19 |
| 591 0444 220F lsl r18 |
| 592 0446 331F rol r19 |
| 593 0448 8091 0000 lds r24,ServoNickValue |
| 594 044c 9091 0000 lds r25,(ServoNickValue)+1 |
| 595 0450 8217 cp r24,r18 |
| 596 0452 9307 cpc r25,r19 |
| 597 0454 04F0 brlt .L66 |
| 598 0456 8091 0000 lds r24,EE_Parameter+42 |
| 599 045a 282F mov r18,r24 |
| 600 045c 3327 clr r19 |
| 601 045e 220F lsl r18 |
| 602 0460 331F rol r19 |
| 603 0462 220F lsl r18 |
| 604 0464 331F rol r19 |
| 605 0466 8091 0000 lds r24,ServoNickValue |
| 606 046a 9091 0000 lds r25,(ServoNickValue)+1 |
| 607 046e 2817 cp r18,r24 |
| 608 0470 3907 cpc r19,r25 |
| 609 0472 04F4 brge .L50 |
| 610 .L66: |
| 611 0474 3093 0000 sts (ServoNickValue)+1,r19 |
| 612 0478 2093 0000 sts ServoNickValue,r18 |
| 613 .L50: |
| 614 047c 2091 0000 lds r18,ServoNickValue |
| 615 0480 3091 0000 lds r19,(ServoNickValue)+1 |
| 616 0484 8091 0000 lds r24,RemainingPulse.1 |
| 617 0488 9091 0000 lds r25,(RemainingPulse.1)+1 |
| 618 048c 280F add r18,r24 |
| 619 048e 391F adc r19,r25 |
| 620 0490 2050 subi r18,lo8(-(-512)) |
| 621 0492 3240 sbci r19,hi8(-(-512)) |
| 622 0494 8091 0000 lds r24,ServoNickValue |
| 623 0498 9091 0000 lds r25,(ServoNickValue)+1 |
| 624 049c 97FD sbrc r25,7 |
| 625 049e 00C0 rjmp .L74 |
| 626 .L52: |
| 627 04a0 9595 asr r25 |
| 628 04a2 8795 ror r24 |
| 629 04a4 9595 asr r25 |
| 630 04a6 8795 ror r24 |
| 631 04a8 9093 0000 sts (ServoNickValue)+1,r25 |
| 632 04ac 8093 0000 sts ServoNickValue,r24 |
| 633 04b0 45E0 ldi r20,hi8(1501) |
| 634 04b2 2D3D cpi r18,lo8(1501) |
| 635 04b4 3407 cpc r19,r20 |
| 636 04b6 00F4 brsh .+2 |
| 637 04b8 00C0 rjmp .L53 |
| 638 04ba 8CED ldi r24,lo8(1500) |
| 639 04bc 95E0 ldi r25,hi8(1500) |
| 640 .L67: |
| 641 04be 9093 0000 sts (RemainingPulse.1)+1,r25 |
| 642 04c2 8093 0000 sts RemainingPulse.1,r24 |
| 643 .L54: |
| 644 04c6 2091 0000 lds r18,RemainingPulse.1 |
| 645 04ca 3091 0000 lds r19,(RemainingPulse.1)+1 |
| 646 04ce 3093 0000 sts (ServoFrameTime.2)+1,r19 |
| 647 04d2 2093 0000 sts ServoFrameTime.2,r18 |
| 648 04d6 00C0 rjmp .L56 |
| 649 .L60: |
| 650 04d8 8FEF ldi r24,lo8(-1) |
| 651 04da 8093 B300 sts 179,r24 |
| 652 04de 5093 0000 sts (RemainingPulse.1)+1,r21 |
| 653 04e2 4093 0000 sts RemainingPulse.1,r20 |
| 654 04e6 00C0 rjmp .L39 |
| 655 .L71: |
| 656 04e8 2D5F subi r18,lo8(-(3)) |
| 657 04ea 3F4F sbci r19,hi8(-(3)) |
| 658 04ec 00C0 rjmp .L42 |
| 659 .L43: |
| 660 04ee 8091 0000 lds r24,EE_Parameter+40 |
| 661 04f2 682F mov r22,r24 |
| 662 04f4 7727 clr r23 |
| 663 04f6 8827 clr r24 |
| 664 04f8 9927 clr r25 |
| 665 04fa 2091 0000 lds r18,IntegralNick |
| 666 04fe 3091 0000 lds r19,(IntegralNick)+1 |
| 667 0502 4091 0000 lds r20,(IntegralNick)+2 |
| 668 0506 5091 0000 lds r21,(IntegralNick)+3 |
| 669 050a 57FD sbrc r21,7 |
| 670 050c 00C0 rjmp .L75 |
| 671 .L47: |
| 672 050e E7E0 ldi r30,7 |
| 673 0510 5595 1: asr r21 |
| 674 0512 4795 ror r20 |
| 675 0514 3795 ror r19 |
| 676 0516 2795 ror r18 |
| 677 0518 EA95 dec r30 |
| 678 051a 01F4 brne 1b |
| 679 051c 0E94 0000 call __mulsi3 |
| 680 0520 9B01 movw r18,r22 |
| 681 0522 AC01 movw r20,r24 |
| 682 0524 97FD sbrc r25,7 |
| 683 0526 00C0 rjmp .L76 |
| 684 .L48: |
| 685 0528 76E0 ldi r23,6 |
| 686 052a 5595 1: asr r21 |
| 687 052c 4795 ror r20 |
| 688 052e 3795 ror r19 |
| 689 0530 2795 ror r18 |
| 690 0532 7A95 dec r23 |
| 691 0534 01F4 brne 1b |
| 692 0536 8091 0000 lds r24,ServoNickValue |
| 693 053a 9091 0000 lds r25,(ServoNickValue)+1 |
| 694 053e 821B sub r24,r18 |
| 695 0540 930B sbc r25,r19 |
| 696 0542 00C0 rjmp .L65 |
| 697 .L53: |
| 698 0544 51E0 ldi r21,hi8(375) |
| 699 0546 2737 cpi r18,lo8(375) |
| 700 0548 3507 cpc r19,r21 |
| 701 054a 00F4 brsh .L64 |
| 702 054c 87E7 ldi r24,lo8(375) |
| 703 054e 91E0 ldi r25,hi8(375) |
| 704 0550 00C0 rjmp .L67 |
| 705 .L64: |
| 706 0552 3093 0000 sts (RemainingPulse.1)+1,r19 |
| 707 0556 2093 0000 sts RemainingPulse.1,r18 |
| 708 055a 00C0 rjmp .L54 |
| 709 .L74: |
| 710 055c 0396 adiw r24,3 |
| 711 055e 00C0 rjmp .L52 |
| 712 .L72: |
| 713 0560 2158 subi r18,lo8(-(127)) |
| 714 0562 3F4F sbci r19,hi8(-(127)) |
| 715 0564 4F4F sbci r20,hlo8(-(127)) |
| 716 0566 5F4F sbci r21,hhi8(-(127)) |
| 717 0568 00C0 rjmp .L44 |
| 718 .L76: |
| 719 056a 215C subi r18,lo8(-(63)) |
| 720 056c 3F4F sbci r19,hi8(-(63)) |
| 721 056e 4F4F sbci r20,hlo8(-(63)) |
| 722 0570 5F4F sbci r21,hhi8(-(63)) |
| 723 0572 00C0 rjmp .L48 |
| 724 .L75: |
| 725 0574 2158 subi r18,lo8(-(127)) |
| 726 0576 3F4F sbci r19,hi8(-(127)) |
| 727 0578 4F4F sbci r20,hlo8(-(127)) |
| 728 057a 5F4F sbci r21,hhi8(-(127)) |
| 729 057c 00C0 rjmp .L47 |
| 730 .L73: |
| 731 057e 215C subi r18,lo8(-(63)) |
| 732 0580 3F4F sbci r19,hi8(-(63)) |
| 733 0582 4F4F sbci r20,hlo8(-(63)) |
| 734 0584 5F4F sbci r21,hhi8(-(63)) |
| 735 0586 00C0 rjmp .L45 |
| 736 .L39: |
| 737 /* epilogue: frame size=0 */ |
| 738 0588 FF91 pop r31 |
| 739 058a EF91 pop r30 |
| 740 058c BF91 pop r27 |
| 741 058e AF91 pop r26 |
| 742 0590 9F91 pop r25 |
| 743 0592 8F91 pop r24 |
| 744 0594 7F91 pop r23 |
| 745 0596 6F91 pop r22 |
| 746 0598 5F91 pop r21 |
| 747 059a 4F91 pop r20 |
| 748 059c 3F91 pop r19 |
| 749 059e 2F91 pop r18 |
| 750 05a0 0F90 pop __tmp_reg__ |
| 751 05a2 0FBE out __SREG__,__tmp_reg__ |
| 752 05a4 0F90 pop __tmp_reg__ |
| 753 05a6 1F90 pop __zero_reg__ |
| 754 05a8 1895 reti |
| 755 /* epilogue end (size=17) */ |
| 756 /* function __vector_9 size 387 (353) */ |
| 758 .comm Mixer,77,1 |
| 759 .lcomm tim_main,2 |
| 760 /* File "timer0.c": code 728 = 0x02d8 ( 646), prologues 38, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:15 .bss:00000000 ServoRollValue |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:21 .bss:00000002 ServoNickValue |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:27 .data:00000000 BeepMuster |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:34 .bss:00000004 ServoActive |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:40 .bss:00000005 SendSPI |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:46 .bss:00000006 beeptime |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:52 .bss:00000008 cntKompass |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:58 .bss:0000000a UpdateMotor |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:64 .bss:0000000b CountMilliseconds |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:69 .text:00000000 SetDelay |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:85 .text:00000012 Timer_Init |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:404 .bss:00000013 tim_main |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:112 .text:00000040 CheckDelay |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:131 .text:00000058 Delay_ms |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:152 .text:00000072 Delay_ms_Mess |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:185 .data:00000002 cnt_1ms.4 |
| .bss:0000000d cnt.5 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:191 .text:000000a6 __vector_18 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:362 .text:00000246 TIMER2_Init |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:187 .bss:0000000e PulseOutput.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:402 .bss:0000000f RemainingPulse.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:403 .bss:00000011 ServoFrameTime.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:408 .data:00000003 ServoNickOffset.3 |
| C:\Users\Bernd\AppData\Local\Temp/ccrsFYQE.s:413 .text:000002a4 __vector_9 |
| *COM*:0000004d Mixer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdReady |
| EE_Parameter |
| __udivmodhi4 |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| Parameter_ServoNickControl |
| IntegralNick |
| __mulsi3 |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/twimaster.c |
|---|
| 0,0 → 1,308 |
| /***************************************************************************************************************************** |
| * File: twimaster.c |
| * |
| * Purpose: setup of I2C (TWI) |
| * |
| * Functions: extern void i2c_init (void); // initialize I2C |
| * extern void i2c_start (void); // Start I2C |
| * extern void i2c_reset(void); // resert I2C |
| * extern void i2c_stop (void); // Stop I2C |
| * extern void i2c_write_byte (char byte); // write 1 Byte |
| * |
| *****************************************************************************************************************************/ |
| #include "twimaster.h" |
| #include "main.h" |
| volatile unsigned char twi_state = 0; |
| unsigned char motor=0; |
| unsigned char motorread=0, MissingMotor=0; |
| unsigned char motor_rx[16], motor_rx2[16]; |
| unsigned char MotorPresent[MAX_MOTORS]; // #define MAX_MOTORS 4 |
| unsigned char MotorError[MAX_MOTORS]; |
| unsigned int I2CError=0; |
| // ************************************************************************************************************************************* |
| // Initzialize I2C (TWI) |
| // |
| void i2c_init(void) |
| { |
| //-------------------------------------------------------------------------------------------------------------------- |
| // TWSR = TWI Status Register containing: TWS7 TWS6 TWS5 TWS4 TWS3 – TWPS1 TWPS0 |
| // |
| TWSR = 0; // TWSR – TWI Status Register |
| //-------------------------------------------------------------------------------------------------------------------- |
| // TWBR = TWI Bit Rate Register containing: TWBR7 TWBR6 TWBR5 TWBR4 TWBR3 TWBR2 TWBR1 TWBR0 |
| // set TWI Bit Rate Register // SYSCLK = 16000000 and SCL_CLOCK = 200000 |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; // selects the division factor for the bit rate generator |
| } |
| // ************************************************************************************************************************************* |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| // Start I2C |
| // |
| void i2c_start(void) |
| { |
| // --------------------------------------------------------------------------- |
| // TWCR = TWI Control Register -> TWINT TWEA TWSTA TWSTO TWWC TWEN – TWIE |
| // TWINT = TWI interrupt flag - to be set to one, to reset the TWINT Flag |
| // TWSTA = TWI start and should be set to one, that TWI is started as Master. |
| // TWEN = TWI enable -> now TWI/I2C is working properly. |
| // TWIE = TWI Interrupt enable is the TWIE Bit -> should be set |
| // |
| TWCR = (1<<TWINT)|(1<<TWSTA)|(1<<TWEN)|(1<<TWIE); |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| // Stop I2C |
| // |
| void i2c_stop(void) |
| { |
| // --------------------------------------------------------------------------- |
| // TWCR = TWI Control Register -> TWINT TWEA TWSTA TWSTO TWWC TWEN – TWIE |
| // TWINT = TWI interrupt flag - to be set to one, to reset the TWINT Flag |
| // TWSTO = TWI STOP Condition Bit (TWSTO = 1) -> now will be stoped |
| // TWEN = TWI enable -> TWI/I2C is working properly |
| // |
| TWCR = (1<<TWINT)|(1<<TWSTO)|(1<<TWEN); |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| // I2C Reset |
| // |
| void i2c_reset(void) |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; // TWI Data Register (TWDR) siehe S 227 |
| motor = 0; // ist das letzte gesendete oder empfangene Byte |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //------------------------------------------------------------------------------------------------------------------------------------- |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| // write via I2C |
| // |
| void i2c_write_byte(char byte) |
| { |
| TWSR = 0x00; |
| TWDR = byte; // sende dieses Byte via TWI Data Register |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| // write byte via I2C |
| // |
| void I2C_WriteByte(int8_t byte) |
| { |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| // ein Byte gelesen und sendet ACK |
| // |
| void I2C_ReceiveByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| // I2C empfing das letzte Byte und sendet kein ACK |
| // |
| void I2C_ReceiveLastByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //--------------------------------------------------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------------------------------------------------- |
| // Interrupt I2C |
| // |
| ISR (TWI_vect) |
| { |
| static unsigned char missing_motor; |
| switch(twi_state++) |
| { |
| //---------------------------------------------------------------------------------------------------------------------------- |
| // write Motor-Data |
| //---------------------------------------------------------------------------------------------------------------------------- |
| case 0: |
| while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // #define MAX_MOTORS 2 |
| if(motor == MAX_MOTORS) // writing finished -> now read |
| { |
| motor = 0; |
| twi_state = 3; |
| if(motorread==0) i2c_write_byte(0x53); // Read-Adress of: Motor 1 = 0x53 / 2 = 0x55 / 3 = 0x57 / 4 = 0x59 |
| if(motorread==1) i2c_write_byte(0x57); |
| } |
| else |
| { |
| if(motor==0) i2c_write_byte(0x52); // Write-Adress of: Motor 1 = 0x52 / 2 = 0x54 / 3 = 0x56 / 4 = 0x58 |
| if(motor==1) i2c_write_byte(0x56); |
| } |
| break; |
| case 1: |
| i2c_write_byte(Motor[motor++]); |
| break; |
| case 2: |
| // TWSR – TWI Status Register -> TWS7 TWS6 TWS5 TWS4 TWS3 - TWPS1 TWPS0 |
| // Data byte has been transmitted; NOT ACK has been received |
| if(TWSR == 0x30) |
| { |
| if(!missing_motor) missing_motor = motor; // |
| if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255; // |
| } |
| i2c_stop(); |
| I2CTimeout = 10; // counted down every 2ms = watchdog |
| twi_state = 0; |
| i2c_start(); |
| break; |
| //---------------------------------------------------------------------------------------------------------- |
| // read Motor-Data |
| //---------------------------------------------------------------------------------------------------------- |
| case 3: |
| if(TWSR != 0x40) // Error? |
| { // send 1. Byte to be read |
| MotorPresent[motorread] = 0; |
| motorread++; |
| if(motorread >= MAX_MOTORS) motorread = 0; // #define MAX_MOTORS 2 |
| i2c_stop(); |
| twi_state = 0; |
| } |
| else |
| { |
| MotorPresent[motorread] = ('1' - '-') + motorread; |
| I2C_ReceiveByte(); |
| } |
| //MissingMotor = missing_motor; |
| MissingMotor = 0; |
| missing_motor = 0; |
| break; |
| case 4: // read 1. Byte and send 2. Byte |
| motor_rx[motorread] = TWDR; |
| I2C_ReceiveLastByte(); // no acknowledge |
| break; |
| case 5: |
| motor_rx2[motorread++] = TWDR; // read 2. Byte |
| if(motorread >= MAX_MOTORS) motorread = 0; // #define MAX_MOTORS 4 |
| i2c_stop(); |
| twi_state = 0; |
| break; |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // write Gyro-Offset |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| case 8: |
| i2c_write_byte(0x98); // Address of DAC see DAC Manual page 17 |
| break; |
| case 9: |
| i2c_write_byte(0x10); // byte sent to chanel A |
| break; |
| case 10: |
| i2c_write_byte(AnalogOffsetNick); // offset sent to DAC |
| break; |
| case 11: |
| i2c_write_byte(0x80); // The 2nd Byte does not care = 0x80 (Dummy) |
| break; |
| case 12: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 13: |
| i2c_write_byte(0x98); // Address of DAC see DAC Manual page 17 |
| break; |
| case 14: |
| i2c_write_byte(0x12); // byte sent to chanel B |
| break; |
| case 15: |
| i2c_write_byte(AnalogOffsetRoll); // offset sent to DAC |
| break; |
| case 16: |
| i2c_write_byte(0x80); // The 2nd Byte does not care = 0x80 (Dummy) |
| break; |
| case 17: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 18: |
| i2c_write_byte(0x98); // Address of DAC see DAC Manual page 17 |
| break; |
| case 19: |
| i2c_write_byte(0x14); // byte sent to chanel C |
| break; |
| case 20: |
| i2c_write_byte(AnalogOffsetGier); // offset sent to DAC |
| break; |
| case 21: |
| i2c_write_byte(0x80); // The 2nd Byte does not care = 0x80 (Dummy) |
| break; |
| case 22: |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| break; |
| default: twi_state = 0; |
| break; |
| } |
| TWCR |= 0x80; // TWWC: TWI Write Collision Flag is set to 1 |
| } |
| //----------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/twimaster.d |
|---|
| 0,0 → 1,2 |
| twimaster.o twimaster.d : twimaster.c twimaster.h main.h old_macros.h _Settings.h \ |
| printf_P.h timer0.h uart.h analog.h eeprom.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/twimaster.h |
|---|
| 0,0 → 1,35 |
| /***************************************************************************************************************************** |
| * File: twimaster.h |
| * Purpose: header of twimaster.c |
| *****************************************************************************************************************************/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| // ------------------------ definions for I2C --- |
| #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 unsigned char motor,MissingMotor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[]; |
| extern unsigned char MotorPresent[]; |
| extern unsigned char MotorError[]; |
| extern void i2c_init(void); // initialize I2C |
| extern void i2c_start(void); // start I2C |
| extern void i2c_stop(void); // stop I2C |
| extern void i2c_write_byte(char byte); // write 1 Byte |
| extern void i2c_reset(void); // reset |
| #endif |
| // *** EOF: I2C_MASTER_H ****************************************************************************************************** |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/twimaster.lst |
|---|
| 0,0 → 1,494 |
| 1 .file "twimaster.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global I2CError |
| 11 .global I2CError |
| 12 .section .bss |
| 15 I2CError: |
| 16 0000 0000 .skip 2,0 |
| 17 .global MissingMotor |
| 18 .global MissingMotor |
| 21 MissingMotor: |
| 22 0002 00 .skip 1,0 |
| 23 .global motorread |
| 24 .global motorread |
| 27 motorread: |
| 28 0003 00 .skip 1,0 |
| 29 .global motor |
| 30 .global motor |
| 33 motor: |
| 34 0004 00 .skip 1,0 |
| 35 .global twi_state |
| 36 .global twi_state |
| 39 twi_state: |
| 40 0005 00 .skip 1,0 |
| 41 .text |
| 42 .global i2c_init |
| 44 i2c_init: |
| 45 /* prologue: frame size=0 */ |
| 46 /* prologue end (size=0) */ |
| 47 0000 1092 B900 sts 185,__zero_reg__ |
| 48 0004 8AE2 ldi r24,lo8(42) |
| 49 0006 8093 B800 sts 184,r24 |
| 50 /* epilogue: frame size=0 */ |
| 51 000a 0895 ret |
| 52 /* epilogue end (size=1) */ |
| 53 /* function i2c_init size 6 (5) */ |
| 55 .global i2c_start |
| 57 i2c_start: |
| 58 /* prologue: frame size=0 */ |
| 59 /* prologue end (size=0) */ |
| 60 000c 85EA ldi r24,lo8(-91) |
| 61 000e 8093 BC00 sts 188,r24 |
| 62 /* epilogue: frame size=0 */ |
| 63 0012 0895 ret |
| 64 /* epilogue end (size=1) */ |
| 65 /* function i2c_start size 4 (3) */ |
| 67 .global i2c_stop |
| 69 i2c_stop: |
| 70 /* prologue: frame size=0 */ |
| 71 /* prologue end (size=0) */ |
| 72 0014 84E9 ldi r24,lo8(-108) |
| 73 0016 8093 BC00 sts 188,r24 |
| 74 /* epilogue: frame size=0 */ |
| 75 001a 0895 ret |
| 76 /* epilogue end (size=1) */ |
| 77 /* function i2c_stop size 4 (3) */ |
| 79 .global i2c_write_byte |
| 81 i2c_write_byte: |
| 82 /* prologue: frame size=0 */ |
| 83 /* prologue end (size=0) */ |
| 84 001c 1092 B900 sts 185,__zero_reg__ |
| 85 0020 8093 BB00 sts 187,r24 |
| 86 0024 85E8 ldi r24,lo8(-123) |
| 87 0026 8093 BC00 sts 188,r24 |
| 88 /* epilogue: frame size=0 */ |
| 89 002a 0895 ret |
| 90 /* epilogue end (size=1) */ |
| 91 /* function i2c_write_byte size 8 (7) */ |
| 93 .global i2c_reset |
| 95 i2c_reset: |
| 96 /* prologue: frame size=0 */ |
| 97 /* prologue end (size=0) */ |
| 98 002c 0E94 0000 call i2c_stop |
| 99 0030 1092 0000 sts twi_state,__zero_reg__ |
| 100 0034 8091 BB00 lds r24,187 |
| 101 0038 1092 0000 sts motor,__zero_reg__ |
| 102 003c 80E8 ldi r24,lo8(-128) |
| 103 003e 8093 BC00 sts 188,r24 |
| 104 0042 1092 BD00 sts 189,__zero_reg__ |
| 105 0046 1092 BA00 sts 186,__zero_reg__ |
| 106 004a 1092 BB00 sts 187,__zero_reg__ |
| 107 004e 1092 B900 sts 185,__zero_reg__ |
| 108 0052 1092 B800 sts 184,__zero_reg__ |
| 109 0056 0E94 0000 call i2c_init |
| 110 005a 0E94 0000 call i2c_start |
| 111 005e 80E0 ldi r24,lo8(0) |
| 112 0060 0E94 0000 call i2c_write_byte |
| 113 /* epilogue: frame size=0 */ |
| 114 0064 0895 ret |
| 115 /* epilogue end (size=1) */ |
| 116 /* function i2c_reset size 29 (28) */ |
| 118 .global I2C_WriteByte |
| 120 I2C_WriteByte: |
| 121 /* prologue: frame size=0 */ |
| 122 /* prologue end (size=0) */ |
| 123 0066 8093 BB00 sts 187,r24 |
| 124 006a 85E8 ldi r24,lo8(-123) |
| 125 006c 8093 BC00 sts 188,r24 |
| 126 /* epilogue: frame size=0 */ |
| 127 0070 0895 ret |
| 128 /* epilogue end (size=1) */ |
| 129 /* function I2C_WriteByte size 6 (5) */ |
| 131 .global I2C_ReceiveByte |
| 133 I2C_ReceiveByte: |
| 134 /* prologue: frame size=0 */ |
| 135 /* prologue end (size=0) */ |
| 136 0072 85EC ldi r24,lo8(-59) |
| 137 0074 8093 BC00 sts 188,r24 |
| 138 /* epilogue: frame size=0 */ |
| 139 0078 0895 ret |
| 140 /* epilogue end (size=1) */ |
| 141 /* function I2C_ReceiveByte size 4 (3) */ |
| 143 .global I2C_ReceiveLastByte |
| 145 I2C_ReceiveLastByte: |
| 146 /* prologue: frame size=0 */ |
| 147 /* prologue end (size=0) */ |
| 148 007a 85E8 ldi r24,lo8(-123) |
| 149 007c 8093 BC00 sts 188,r24 |
| 150 /* epilogue: frame size=0 */ |
| 151 0080 0895 ret |
| 152 /* epilogue end (size=1) */ |
| 153 /* function I2C_ReceiveLastByte size 4 (3) */ |
| 155 .lcomm missing_motor.0,1 |
| 156 .global __vector_26 |
| 158 __vector_26: |
| 159 /* prologue: frame size=0 */ |
| 160 0082 1F92 push __zero_reg__ |
| 161 0084 0F92 push __tmp_reg__ |
| 162 0086 0FB6 in __tmp_reg__,__SREG__ |
| 163 0088 0F92 push __tmp_reg__ |
| 164 008a 1124 clr __zero_reg__ |
| 165 008c 2F93 push r18 |
| 166 008e 3F93 push r19 |
| 167 0090 4F93 push r20 |
| 168 0092 5F93 push r21 |
| 169 0094 6F93 push r22 |
| 170 0096 7F93 push r23 |
| 171 0098 8F93 push r24 |
| 172 009a 9F93 push r25 |
| 173 009c AF93 push r26 |
| 174 009e BF93 push r27 |
| 175 00a0 EF93 push r30 |
| 176 00a2 FF93 push r31 |
| 177 /* prologue end (size=17) */ |
| 178 00a4 8091 0000 lds r24,twi_state |
| 179 00a8 282F mov r18,r24 |
| 180 00aa 3327 clr r19 |
| 181 00ac 4427 clr r20 |
| 182 00ae 5527 clr r21 |
| 183 00b0 8F5F subi r24,lo8(-(1)) |
| 184 00b2 8093 0000 sts twi_state,r24 |
| 185 00b6 F901 movw r30,r18 |
| 186 00b8 2731 cpi r18,23 |
| 187 00ba 3105 cpc r19,__zero_reg__ |
| 188 00bc 00F4 brsh .L48 |
| 189 00be E050 subi r30,lo8(-(pm(.L49))) |
| 190 00c0 F040 sbci r31,hi8(-(pm(.L49))) |
| 191 00c2 0C94 0000 jmp __tablejump2__ |
| 192 .data |
| 193 .section .progmem.gcc_sw_table, "a", @progbits |
| 194 .p2align 1 |
| 195 .L49: |
| 196 0000 0000 .word pm(.L11) |
| 197 0002 0000 .word pm(.L21) |
| 198 0004 0000 .word pm(.L22) |
| 199 0006 0000 .word pm(.L26) |
| 200 0008 0000 .word pm(.L30) |
| 201 000a 0000 .word pm(.L31) |
| 202 000c 0000 .word pm(.L48) |
| 203 000e 0000 .word pm(.L48) |
| 204 0010 0000 .word pm(.L43) |
| 205 0012 0000 .word pm(.L34) |
| 206 0014 0000 .word pm(.L35) |
| 207 0016 0000 .word pm(.L46) |
| 208 0018 0000 .word pm(.L42) |
| 209 001a 0000 .word pm(.L43) |
| 210 001c 0000 .word pm(.L39) |
| 211 001e 0000 .word pm(.L40) |
| 212 0020 0000 .word pm(.L46) |
| 213 0022 0000 .word pm(.L42) |
| 214 0024 0000 .word pm(.L43) |
| 215 0026 0000 .word pm(.L44) |
| 216 0028 0000 .word pm(.L45) |
| 217 002a 0000 .word pm(.L46) |
| 218 002c 0000 .word pm(.L47) |
| 219 .text |
| 220 .L31: |
| 221 00c6 8091 0000 lds r24,motorread |
| 222 00ca E82F mov r30,r24 |
| 223 00cc FF27 clr r31 |
| 224 00ce E050 subi r30,lo8(-(motor_rx2)) |
| 225 00d0 F040 sbci r31,hi8(-(motor_rx2)) |
| 226 00d2 9091 BB00 lds r25,187 |
| 227 00d6 9083 st Z,r25 |
| 228 00d8 8F5F subi r24,lo8(-(1)) |
| 229 00da 8230 cpi r24,lo8(2) |
| 230 00dc 00F4 brsh .+2 |
| 231 00de 00C0 rjmp .L55 |
| 232 00e0 1092 0000 sts motorread,__zero_reg__ |
| 233 00e4 0E94 0000 call i2c_stop |
| 234 .L48: |
| 235 00e8 1092 0000 sts twi_state,__zero_reg__ |
| 236 00ec 00C0 rjmp .L10 |
| 237 .L46: |
| 238 00ee 80E8 ldi r24,lo8(-128) |
| 239 00f0 0E94 0000 call i2c_write_byte |
| 240 00f4 00C0 rjmp .L10 |
| 241 .L43: |
| 242 00f6 88E9 ldi r24,lo8(-104) |
| 243 00f8 0E94 0000 call i2c_write_byte |
| 244 00fc 00C0 rjmp .L10 |
| 245 .L42: |
| 246 00fe 0E94 0000 call i2c_stop |
| 247 0102 8AE0 ldi r24,lo8(10) |
| 248 0104 90E0 ldi r25,hi8(10) |
| 249 0106 9093 0000 sts (I2CTimeout)+1,r25 |
| 250 010a 8093 0000 sts I2CTimeout,r24 |
| 251 010e 0E94 0000 call i2c_start |
| 252 0112 00C0 rjmp .L10 |
| 253 .L44: |
| 254 0114 84E1 ldi r24,lo8(20) |
| 255 0116 0E94 0000 call i2c_write_byte |
| 256 011a 00C0 rjmp .L10 |
| 257 .L39: |
| 258 011c 82E1 ldi r24,lo8(18) |
| 259 011e 0E94 0000 call i2c_write_byte |
| 260 0122 00C0 rjmp .L10 |
| 261 .L35: |
| 262 0124 8091 0000 lds r24,AnalogOffsetNick |
| 263 0128 0E94 0000 call i2c_write_byte |
| 264 012c 00C0 rjmp .L10 |
| 265 .L34: |
| 266 012e 80E1 ldi r24,lo8(16) |
| 267 0130 0E94 0000 call i2c_write_byte |
| 268 0134 00C0 rjmp .L10 |
| 269 .L40: |
| 270 0136 8091 0000 lds r24,AnalogOffsetRoll |
| 271 013a 0E94 0000 call i2c_write_byte |
| 272 013e 00C0 rjmp .L10 |
| 273 .L45: |
| 274 0140 8091 0000 lds r24,AnalogOffsetGier |
| 275 0144 0E94 0000 call i2c_write_byte |
| 276 0148 00C0 rjmp .L10 |
| 277 .L21: |
| 278 014a 8091 0000 lds r24,motor |
| 279 014e E82F mov r30,r24 |
| 280 0150 FF27 clr r31 |
| 281 0152 E050 subi r30,lo8(-(Motor)) |
| 282 0154 F040 sbci r31,hi8(-(Motor)) |
| 283 0156 8F5F subi r24,lo8(-(1)) |
| 284 0158 8093 0000 sts motor,r24 |
| 285 015c 8081 ld r24,Z |
| 286 015e 0E94 0000 call i2c_write_byte |
| 287 0162 00C0 rjmp .L10 |
| 288 .L11: |
| 289 0164 9091 0000 lds r25,motor |
| 290 0168 292F mov r18,r25 |
| 291 016a E92F mov r30,r25 |
| 292 016c FF27 clr r31 |
| 293 016e EE0F lsl r30 |
| 294 0170 FF1F rol r31 |
| 295 0172 EE0F lsl r30 |
| 296 0174 FF1F rol r31 |
| 297 0176 E050 subi r30,lo8(-(Mixer)) |
| 298 0178 F040 sbci r31,hi8(-(Mixer)) |
| 299 017a 8585 ldd r24,Z+13 |
| 300 017c 1816 cp __zero_reg__,r24 |
| 301 017e 04F0 brlt .+2 |
| 302 0180 00C0 rjmp .L59 |
| 303 .L13: |
| 304 0182 9230 cpi r25,lo8(2) |
| 305 0184 01F4 brne .+2 |
| 306 0186 00C0 rjmp .L60 |
| 307 0188 9923 tst r25 |
| 308 018a 01F4 brne .+2 |
| 309 018c 00C0 rjmp .L61 |
| 310 .L19: |
| 311 018e 9130 cpi r25,lo8(1) |
| 312 0190 01F0 breq .+2 |
| 313 0192 00C0 rjmp .L10 |
| 314 0194 86E5 ldi r24,lo8(86) |
| 315 0196 0E94 0000 call i2c_write_byte |
| 316 019a 00C0 rjmp .L10 |
| 317 .L30: |
| 318 019c 8091 0000 lds r24,motorread |
| 319 01a0 E82F mov r30,r24 |
| 320 01a2 FF27 clr r31 |
| 321 01a4 E050 subi r30,lo8(-(motor_rx)) |
| 322 01a6 F040 sbci r31,hi8(-(motor_rx)) |
| 323 01a8 8091 BB00 lds r24,187 |
| 324 01ac 8083 st Z,r24 |
| 325 01ae 0E94 0000 call I2C_ReceiveLastByte |
| 326 01b2 00C0 rjmp .L10 |
| 327 .L26: |
| 328 01b4 8091 B900 lds r24,185 |
| 329 01b8 8034 cpi r24,lo8(64) |
| 330 01ba 01F4 brne .+2 |
| 331 01bc 00C0 rjmp .L27 |
| 332 01be 8091 0000 lds r24,motorread |
| 333 01c2 E82F mov r30,r24 |
| 334 01c4 FF27 clr r31 |
| 335 01c6 E050 subi r30,lo8(-(MotorPresent)) |
| 336 01c8 F040 sbci r31,hi8(-(MotorPresent)) |
| 337 01ca 1082 st Z,__zero_reg__ |
| 338 01cc 8F5F subi r24,lo8(-(1)) |
| 339 01ce 8230 cpi r24,lo8(2) |
| 340 01d0 00F0 brlo .L54 |
| 341 01d2 1092 0000 sts motorread,__zero_reg__ |
| 342 .L28: |
| 343 01d6 0E94 0000 call i2c_stop |
| 344 01da 1092 0000 sts twi_state,__zero_reg__ |
| 345 .L29: |
| 346 01de 1092 0000 sts MissingMotor,__zero_reg__ |
| 347 01e2 1092 0000 sts missing_motor.0,__zero_reg__ |
| 348 01e6 00C0 rjmp .L10 |
| 349 .L22: |
| 350 01e8 8091 B900 lds r24,185 |
| 351 01ec 8033 cpi r24,lo8(48) |
| 352 01ee 01F4 brne .+2 |
| 353 01f0 00C0 rjmp .L62 |
| 354 .L23: |
| 355 01f2 0E94 0000 call i2c_stop |
| 356 01f6 8AE0 ldi r24,lo8(10) |
| 357 01f8 90E0 ldi r25,hi8(10) |
| 358 01fa 9093 0000 sts (I2CTimeout)+1,r25 |
| 359 01fe 8093 0000 sts I2CTimeout,r24 |
| 360 0202 1092 0000 sts twi_state,__zero_reg__ |
| 361 0206 0E94 0000 call i2c_start |
| 362 020a 00C0 rjmp .L10 |
| 363 .L47: |
| 364 020c 0E94 0000 call i2c_stop |
| 365 0210 8AE0 ldi r24,lo8(10) |
| 366 0212 90E0 ldi r25,hi8(10) |
| 367 0214 9093 0000 sts (I2CTimeout)+1,r25 |
| 368 0218 8093 0000 sts I2CTimeout,r24 |
| 369 021c 00C0 rjmp .L48 |
| 370 .L55: |
| 371 021e 8093 0000 sts motorread,r24 |
| 372 0222 0E94 0000 call i2c_stop |
| 373 0226 00C0 rjmp .L48 |
| 374 .L54: |
| 375 0228 8093 0000 sts motorread,r24 |
| 376 022c 00C0 rjmp .L28 |
| 377 .L59: |
| 378 022e 9230 cpi r25,lo8(2) |
| 379 0230 00F0 brlo .+2 |
| 380 0232 00C0 rjmp .L13 |
| 381 .L14: |
| 382 0234 922F mov r25,r18 |
| 383 0236 9F5F subi r25,lo8(-(1)) |
| 384 0238 E92F mov r30,r25 |
| 385 023a FF27 clr r31 |
| 386 023c EE0F lsl r30 |
| 387 023e FF1F rol r31 |
| 388 0240 EE0F lsl r30 |
| 389 0242 FF1F rol r31 |
| 390 0244 E050 subi r30,lo8(-(Mixer)) |
| 391 0246 F040 sbci r31,hi8(-(Mixer)) |
| 392 0248 8585 ldd r24,Z+13 |
| 393 024a 1816 cp __zero_reg__,r24 |
| 394 024c 04F0 brlt .L51 |
| 395 024e 292F mov r18,r25 |
| 396 0250 9230 cpi r25,lo8(2) |
| 397 0252 00F0 brlo .L14 |
| 398 .L51: |
| 399 0254 9093 0000 sts motor,r25 |
| 400 0258 00C0 rjmp .L13 |
| 401 .L60: |
| 402 025a 1092 0000 sts motor,__zero_reg__ |
| 403 025e 83E0 ldi r24,lo8(3) |
| 404 0260 8093 0000 sts twi_state,r24 |
| 405 0264 8091 0000 lds r24,motorread |
| 406 0268 8823 tst r24 |
| 407 026a 01F0 breq .L63 |
| 408 .L16: |
| 409 026c 8130 cpi r24,lo8(1) |
| 410 026e 01F4 brne .L10 |
| 411 0270 87E5 ldi r24,lo8(87) |
| 412 0272 0E94 0000 call i2c_write_byte |
| 413 0276 00C0 rjmp .L10 |
| 414 .L62: |
| 415 0278 8091 0000 lds r24,missing_motor.0 |
| 416 027c 8823 tst r24 |
| 417 027e 01F4 brne .L52 |
| 418 0280 9091 0000 lds r25,motor |
| 419 0284 9093 0000 sts missing_motor.0,r25 |
| 420 .L24: |
| 421 0288 E92F mov r30,r25 |
| 422 028a FF27 clr r31 |
| 423 028c E050 subi r30,lo8(-(MotorError-1)) |
| 424 028e F040 sbci r31,hi8(-(MotorError-1)) |
| 425 0290 8081 ld r24,Z |
| 426 0292 8F5F subi r24,lo8(-(1)) |
| 427 0294 01F4 brne .L53 |
| 428 0296 8FEF ldi r24,lo8(-1) |
| 429 .L53: |
| 430 0298 8083 st Z,r24 |
| 431 029a 00C0 rjmp .L23 |
| 432 .L61: |
| 433 029c 82E5 ldi r24,lo8(82) |
| 434 029e 0E94 0000 call i2c_write_byte |
| 435 02a2 9091 0000 lds r25,motor |
| 436 02a6 00C0 rjmp .L19 |
| 437 .L27: |
| 438 02a8 8091 0000 lds r24,motorread |
| 439 02ac E82F mov r30,r24 |
| 440 02ae FF27 clr r31 |
| 441 02b0 E050 subi r30,lo8(-(MotorPresent)) |
| 442 02b2 F040 sbci r31,hi8(-(MotorPresent)) |
| 443 02b4 8C5F subi r24,lo8(-(4)) |
| 444 02b6 8083 st Z,r24 |
| 445 02b8 0E94 0000 call I2C_ReceiveByte |
| 446 02bc 00C0 rjmp .L29 |
| 447 .L52: |
| 448 02be 9091 0000 lds r25,motor |
| 449 02c2 00C0 rjmp .L24 |
| 450 .L63: |
| 451 02c4 83E5 ldi r24,lo8(83) |
| 452 02c6 0E94 0000 call i2c_write_byte |
| 453 02ca 8091 0000 lds r24,motorread |
| 454 02ce 00C0 rjmp .L16 |
| 455 .L10: |
| 456 02d0 8091 BC00 lds r24,188 |
| 457 02d4 8068 ori r24,lo8(-128) |
| 458 02d6 8093 BC00 sts 188,r24 |
| 459 /* epilogue: frame size=0 */ |
| 460 02da FF91 pop r31 |
| 461 02dc EF91 pop r30 |
| 462 02de BF91 pop r27 |
| 463 02e0 AF91 pop r26 |
| 464 02e2 9F91 pop r25 |
| 465 02e4 8F91 pop r24 |
| 466 02e6 7F91 pop r23 |
| 467 02e8 6F91 pop r22 |
| 468 02ea 5F91 pop r21 |
| 469 02ec 4F91 pop r20 |
| 470 02ee 3F91 pop r19 |
| 471 02f0 2F91 pop r18 |
| 472 02f2 0F90 pop __tmp_reg__ |
| 473 02f4 0FBE out __SREG__,__tmp_reg__ |
| 474 02f6 0F90 pop __tmp_reg__ |
| 475 02f8 1F90 pop __zero_reg__ |
| 476 02fa 1895 reti |
| 477 /* epilogue end (size=17) */ |
| 478 /* function __vector_26 size 342 (308) */ |
| 480 .comm motor_rx,16,1 |
| 481 .comm MotorPresent,2,1 |
| 482 .comm MotorError,2,1 |
| 483 .comm Mixer,77,1 |
| 484 .comm motor_rx2,16,1 |
| 485 /* File "twimaster.c": code 407 = 0x0197 ( 365), prologues 17, epilogues 25 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:15 .bss:00000000 I2CError |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:21 .bss:00000002 MissingMotor |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:27 .bss:00000003 motorread |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:33 .bss:00000004 motor |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:39 .bss:00000005 twi_state |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:44 .text:00000000 i2c_init |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:57 .text:0000000c i2c_start |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:69 .text:00000014 i2c_stop |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:81 .text:0000001c i2c_write_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:95 .text:0000002c i2c_reset |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:120 .text:00000066 I2C_WriteByte |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:133 .text:00000072 I2C_ReceiveByte |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:145 .text:0000007a I2C_ReceiveLastByte |
| .bss:00000006 missing_motor.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccqYbtJB.s:158 .text:00000082 __vector_26 |
| *COM*:00000010 motor_rx2 |
| *COM*:0000004d Mixer |
| *COM*:00000010 motor_rx |
| *COM*:00000002 MotorPresent |
| *COM*:00000002 MotorError |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __tablejump2__ |
| I2CTimeout |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| Motor |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/uart.c |
|---|
| 0,0 → 1,625 |
| /************************************************************************************************************************************** |
| * File: uart.c |
| * |
| * Purpose: This program treats the RS232 USRAT interface |
| * |
| * Functions: void UART_Init(void) |
| * ISR(USART0_TX_vect) |
| * ISR(USART0_RX_vect) |
| * void AddCRC(unsigned int wieviele) |
| * void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
| * void Decode64(void) |
| * void BearbeiteRxDaten(void) |
| * int uart_putchar(char c) |
| * void DatenUebertragung(void) |
| * |
| ******************************************************************************************************************************************/ |
| #include "main.h" |
| #include "uart.h" |
| #include <stdarg.h> |
| #include <string.h> |
| //------------------------ Definitionen --------- |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| //---------------------------------------------Variables------- |
| unsigned char GetExternalControl = 0; |
| unsigned char DebugDisplayAnforderung1 = 0; |
| unsigned char DebugDisplayAnforderung = 0; |
| unsigned char DebugDataAnforderung = 0; |
| unsigned char GetVersionAnforderung = 0; |
| unsigned char GetPPMChannelAnforderung = 0; |
| unsigned char DisplayLine = 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 char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| int Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
| //---------------------------------------structs---------- |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 // -------------------------------------------------------------// siehe "Debugwerte zuordnen" in fc.c Zeile 1270 |
| "3D Nick-Winkel ", // 0 = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); // = Winkel * 10 |
| "AccNick ", // 1 = Mittelwert_AccNick / 4; // = so um die Null |
| "maxcontrollerDD ", // 2 = // = so um die Null |
| "mincontrollerDD ", // 3 = // = so um die Null |
| "MesswertNick ", // 4 = MesswertGier; // = -450 |
| "HiResNick ", // 5 = auf Null bezogener Gyro Nickwert // = so um die Null |
| "AdWertAccNick ", // 6 = // = 713 |
| "Gas = thrust ", // 7 = Gas // = min 72 max 840 entspricht der Gashebelstellung |
| " ", // 8 = // = 0 bis 360 Grad jenachdem wie der MK steht |
| "Spannung V ", // 9 = UBat; // = 120 bei 12V |
| "Empfang ", // 10 = SenderOkay; // = 0 wenn Sender aus und ca 200 wenn Sender an |
| "controllerP ", // 11 = controllerP // = dreht sich im Kreis - Umlauf 40 sec |
| "Motor vorne ", // 12 = Motor[0] // = 0 // wird in SendMotorData(void) hier in fc.c zugewiesen |
| "Motor hinten ", // 13 = Motor[1] // = 0 |
| "controllerD ", // 14 = // = 0 |
| "controllerDD ", // 15 = // = 0 |
| "PPM_in[3] Nick ", // 16 = // = -120...+120 // ab hier beginjnt der zweite Teil der Anzeige ------------ |
| "ipk[0] ", // 17 = // = |
| "ipk[1] ", // 18 = // = |
| "ipk[2] ", // 19 = // = |
| "ucflg1 ", // 20 = // = |
| "Stick Kanal 5 ", // 21 = PPM_in[5] // = ca -120 oder +120 |
| "MesswertNick ", // 22 = MesswertNick; // = 0 |
| "maxcontrollerD ", // 23 = // = 0 |
| "mincontrollerD ", // 24 = // = -560 |
| "AdWertNick ", // 25 = AdWertNick; // = 1130 |
| "maxcontrollerP ", // 26 = // |
| "mincontrollerP ", // 27 = // |
| "PPM_in[4] Gier ", // 28 = PPM_in[4]; // = ca -120 bis +120 |
| "PPM_in[3] Nick ", // 29 = PPM_in[3]; // = ca -120 bis +120 |
| "PPM_in[2] Roll ", // 30 = PPM_in[2]; // = ca -120 bis +120 |
| "PPM_in[1] Gas " // 31 = PPM_in[1]; // = ca -120 bis +120 |
| }; |
| //----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| //------------------------------------------------------------------------------------------------------------------ |
| // Installation of the USART COM Port |
| //------------------------------------------------------------------------------------------------------------------ |
| void UART_Init(void) |
| { |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0B – USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
| // |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); // Writing this bit to one enables the USART Transmitter |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0A – USART Control and Status Register A containing RXC0 TXC0 UDRE0 FE0 DORn UPEn U2X0 MPCM0 |
| // |
| UCSR0A |= (1<<U2X0); // Double the USART Transmission Speed |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0B – USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
| // |
| UCSR0B |= (1<<RXCIE); // RX Complete Interrupt Enable |
| UCSR0B |= (1<<TXCIE); // TX Complete Interrupt Enable |
| //------------------------------------------------------------------------------------------------------------ |
| // UBRRnL and UBRRnH – USART Baud Rate Registers |
| // |
| UBRR0L = (SYSCLK / (BAUD_RATE * 8L) - 1); // set Baudrate to 57600 |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //------------------------------------------------------------------------------------------------------------------ |
| //----------------------------------------------------------------------------------------------------- |
| // Interrupt due to USART0 TX Complete |
| //----------------------------------------------------------------------------------------------------- |
| ISR(USART0_TX_vect) |
| { |
| 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; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| //----------------------------------------------------------------------------------------------------- |
| // Interrupt due to USART0 RX Complete |
| //----------------------------------------------------------------------------------------------------- |
| ISR(USART0_RX_vect) |
| { |
| 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 + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') |
| { |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| //----------------------------------------------------------------------------------------------------- |
| // -------------------------------------------------------------------------- |
| // checksum |
| // -------------------------------------------------------------------------- |
| 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]; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| // --------------------------------------------------------------------------------------------------------------------------- |
| //unsigned char *snd, unsigned char len) |
| // --------------------------------------------------------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| unsigned char *snd = 0; |
| int len = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // EOF : SendOutData() ---------------------------------------------------------------------------------------------------- |
| // ---------------------------------------------------------------------------------------------------------------------- |
| // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| // ---------------------------------------------------------------------------------------------------------------------- |
| void Decode64(void) |
| { |
| unsigned char a,b,c,d; |
| unsigned char x,y,z; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| } |
| //----------------------------------------------------------------------------------------------------- |
| // ---------------------------------------------------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| switch(RxdBuffer[2]) |
| { |
| case 'K': // Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 't': // Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| case 'n': // "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
| break; |
| case 'm': // "Write Mixer |
| while(!UebertragungAbgeschlossen); |
| if(pRxData[0] == MIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| tempchar1 = 1; |
| } |
| else tempchar1 = 0; |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| break; |
| case 'q': // "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(pRxData[0] == 0xFF) |
| { |
| pRxData[0] = GetActiveParamSetNumber(); |
| } |
| // limit settings range |
| if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| while(!UebertragungAbgeschlossen); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EE_DATENREVISION; // #define EE_DATENREVISION 80 // Parameter fürs Koptertool; entspricht den EEPROM-Daten von FlightCtrl Version V0.76g |
| SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| { |
| memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| SetActiveParamSetNumber(pRxData[0]); |
| tempchar1 = GetActiveParamSetNumber(); |
| LipoDetection(0); // jump tp main.c line 59 |
| Piep(tempchar1,110); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| } // EOF : case FC_ADDRESS |
| default: // any Slave Address |
| switch(RxdBuffer[2]) |
| { |
| // 't' comand placed here only for compatibility to BL |
| case 't': // Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K': // Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 'a': // Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcZugriff = 255; |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| break; |
| case 'd': // Poll the debug data |
| DebugDataIntervall = pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| break; |
| case 'h': // x-1 Displayzeilen |
| PcZugriff = 255; |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 'l': // x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g': // |
| GetExternalControl = 1; |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| // -------------------------------------------------------------------------- |
| // function serial output |
| // -------------------------------------------------------------------------- |
| int uart_putchar(char c) |
| { |
| if (c == '\n') uart_putchar('\r'); |
| loop_until_bit_is_set(USR, UDRE); // Warten solange bis Zeichen gesendet wurde |
| UDR = c; // Ausgabe des Zeichens |
| return (0); |
| } |
| //----------------------------------------------------------------------------------------------------- |
| //--------------------------------------------------------------------------------------------- |
| // Datenübertragung |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| DebugDisplayAnforderung = 0; |
| } |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| //if(Poti3 > 64) |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/uart.d |
|---|
| 0,0 → 1,2 |
| uart.o uart.d : uart.c main.h old_macros.h _Settings.h printf_P.h timer0.h uart.h \ |
| analog.h eeprom.h twimaster.h menu.h rc.h fc.h led.h |
| /branches/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/uart.h |
|---|
| 0,0 → 1,124 |
| // ------------------------------------------------------------------------------------------------------------------------------------- |
| // uart.h |
| // ------------------------------------------------------------------------------------------------------------------------------------- |
| #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 volatile char PC_MotortestActive; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer,Kompass_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 BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[16]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| signed int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; // wird als vierstufiges Flag in spi.c uart.c fc.c und main.c verwendet |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| struct str_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char reserve[8]; |
| }; |
| extern struct str_Data3D Data3D; |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| struct str_VersionInfo |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char Reserved[5]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| #define BAUD_RATE 57600 //Die Baud_Rate der Seriellen Schnittstelle ist 57600 Baud |
| //Anpassen der seriellen Schnittstellen Register----- |
| #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 |
| //-------------------------------------- |
| #if defined (__AVR_ATmega644P__) |
| # 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/V0.76g_dk9nw_balancekopter/794 MK FC V0.76g balance/uart.lst |
|---|
| 0,0 → 1,2237 |
| 1 .file "uart.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global ANALOG_TEXT |
| 11 .data |
| 14 ANALOG_TEXT: |
| 15 0000 3344 204E .ascii "3D Nick-Winkel " |
| 15 6963 6B2D |
| 15 5769 6E6B |
| 15 656C 2020 |
| 16 0010 4163 634E .ascii "AccNick " |
| 16 6963 6B20 |
| 16 2020 2020 |
| 16 2020 2020 |
| 17 0020 6D61 7863 .ascii "maxcontrollerDD " |
| 17 6F6E 7472 |
| 17 6F6C 6C65 |
| 17 7244 4420 |
| 18 0030 6D69 6E63 .ascii "mincontrollerDD " |
| 18 6F6E 7472 |
| 18 6F6C 6C65 |
| 18 7244 4420 |
| 19 0040 4D65 7373 .ascii "MesswertNick " |
| 19 7765 7274 |
| 19 4E69 636B |
| 19 2020 2020 |
| 20 0050 4869 5265 .ascii "HiResNick " |
| 20 734E 6963 |
| 20 6B20 2020 |
| 20 2020 2020 |
| 21 0060 4164 5765 .ascii "AdWertAccNick " |
| 21 7274 4163 |
| 21 634E 6963 |
| 21 6B20 2020 |
| 22 0070 4761 7320 .ascii "Gas = thrust " |
| 22 3D20 7468 |
| 22 7275 7374 |
| 22 2020 2020 |
| 23 0080 2020 2020 .ascii " " |
| 23 2020 2020 |
| 23 2020 2020 |
| 23 2020 2020 |
| 24 0090 5370 616E .ascii "Spannung V " |
| 24 6E75 6E67 |
| 24 2056 2020 |
| 24 2020 2020 |
| 25 00a0 456D 7066 .ascii "Empfang " |
| 25 616E 6720 |
| 25 2020 2020 |
| 25 2020 2020 |
| 26 00b0 636F 6E74 .ascii "controllerP " |
| 26 726F 6C6C |
| 26 6572 5020 |
| 26 2020 2020 |
| 27 00c0 4D6F 746F .ascii "Motor vorne " |
| 27 7220 766F |
| 27 726E 6520 |
| 27 2020 2020 |
| 28 00d0 4D6F 746F .ascii "Motor hinten " |
| 28 7220 6869 |
| 28 6E74 656E |
| 28 2020 2020 |
| 29 00e0 636F 6E74 .ascii "controllerD " |
| 29 726F 6C6C |
| 29 6572 4420 |
| 29 2020 2020 |
| 30 00f0 636F 6E74 .ascii "controllerDD " |
| 30 726F 6C6C |
| 30 6572 4444 |
| 30 2020 2020 |
| 31 0100 5050 4D5F .ascii "PPM_in[3] Nick " |
| 31 696E 5B33 |
| 31 5D20 4E69 |
| 31 636B 2020 |
| 32 0110 6970 6B5B .ascii "ipk[0] " |
| 32 305D 2020 |
| 32 2020 2020 |
| 32 2020 2020 |
| 33 0120 6970 6B5B .ascii "ipk[1] " |
| 33 315D 2020 |
| 33 2020 2020 |
| 33 2020 2020 |
| 34 0130 6970 6B5B .ascii "ipk[2] " |
| 34 325D 2020 |
| 34 2020 2020 |
| 34 2020 2020 |
| 35 0140 7563 666C .ascii "ucflg1 " |
| 35 6731 2020 |
| 35 2020 2020 |
| 35 2020 2020 |
| 36 0150 5374 6963 .ascii "Stick Kanal 5 " |
| 36 6B20 4B61 |
| 36 6E61 6C20 |
| 36 3520 2020 |
| 37 0160 4D65 7373 .ascii "MesswertNick " |
| 37 7765 7274 |
| 37 4E69 636B |
| 37 2020 2020 |
| 38 0170 6D61 7863 .ascii "maxcontrollerD " |
| 38 6F6E 7472 |
| 38 6F6C 6C65 |
| 38 7244 2020 |
| 39 0180 6D69 6E63 .ascii "mincontrollerD " |
| 39 6F6E 7472 |
| 39 6F6C 6C65 |
| 39 7244 2020 |
| 40 0190 4164 5765 .ascii "AdWertNick " |
| 40 7274 4E69 |
| 40 636B 2020 |
| 40 2020 2020 |
| 41 01a0 6D61 7863 .ascii "maxcontrollerP " |
| 41 6F6E 7472 |
| 41 6F6C 6C65 |
| 41 7250 2020 |
| 42 01b0 6D69 6E63 .ascii "mincontrollerP " |
| 42 6F6E 7472 |
| 42 6F6C 6C65 |
| 42 7250 2020 |
| 43 01c0 5050 4D5F .ascii "PPM_in[4] Gier " |
| 43 696E 5B34 |
| 43 5D20 4769 |
| 43 6572 2020 |
| 44 01d0 5050 4D5F .ascii "PPM_in[3] Nick " |
| 44 696E 5B33 |
| 44 5D20 4E69 |
| 44 636B 2020 |
| 45 01e0 5050 4D5F .ascii "PPM_in[2] Roll " |
| 45 696E 5B32 |
| 45 5D20 526F |
| 45 6C6C 2020 |
| 46 01f0 5050 4D5F .ascii "PPM_in[1] Gas " |
| 46 696E 5B31 |
| 46 5D20 4761 |
| 46 7320 2020 |
| 47 .global Intervall3D |
| 48 .global Intervall3D |
| 49 .section .bss |
| 52 Intervall3D: |
| 53 0000 0000 .skip 2,0 |
| 54 .global DebugDataIntervall |
| 55 .data |
| 58 DebugDataIntervall: |
| 59 0200 C800 .word 200 |
| 60 .global MeineSlaveAdresse |
| 63 MeineSlaveAdresse: |
| 64 0202 01 .byte 1 |
| 65 .global PcZugriff |
| 68 PcZugriff: |
| 69 0203 64 .byte 100 |
| 70 .global DebugTextAnforderung |
| 73 DebugTextAnforderung: |
| 74 0204 FF .byte -1 |
| 75 .global PC_MotortestActive |
| 76 .global PC_MotortestActive |
| 77 .section .bss |
| 80 PC_MotortestActive: |
| 81 0002 00 .skip 1,0 |
| 82 .global PC_DebugTimeout |
| 83 .global PC_DebugTimeout |
| 86 PC_DebugTimeout: |
| 87 0003 00 .skip 1,0 |
| 88 .global RxDataLen |
| 89 .global RxDataLen |
| 92 RxDataLen: |
| 93 0004 00 .skip 1,0 |
| 94 .global pRxData |
| 95 .global pRxData |
| 98 pRxData: |
| 99 0005 0000 .skip 2,0 |
| 100 .global AnzahlEmpfangsBytes |
| 101 .global AnzahlEmpfangsBytes |
| 104 AnzahlEmpfangsBytes: |
| 105 0007 00 .skip 1,0 |
| 106 .global CntCrcError |
| 107 .global CntCrcError |
| 110 CntCrcError: |
| 111 0008 00 .skip 1,0 |
| 112 .global UebertragungAbgeschlossen |
| 113 .data |
| 116 UebertragungAbgeschlossen: |
| 117 0205 01 .byte 1 |
| 118 .global NeueKoordinateEmpfangen |
| 119 .global NeueKoordinateEmpfangen |
| 120 .section .bss |
| 123 NeueKoordinateEmpfangen: |
| 124 0009 00 .skip 1,0 |
| 125 .global NeuerDatensatzEmpfangen |
| 126 .global NeuerDatensatzEmpfangen |
| 129 NeuerDatensatzEmpfangen: |
| 130 000a 00 .skip 1,0 |
| 131 .global SioTmp |
| 132 .global SioTmp |
| 135 SioTmp: |
| 136 000b 00 .skip 1,0 |
| 137 .global DisplayLine |
| 138 .global DisplayLine |
| 141 DisplayLine: |
| 142 000c 00 .skip 1,0 |
| 143 .global GetPPMChannelAnforderung |
| 144 .global GetPPMChannelAnforderung |
| 147 GetPPMChannelAnforderung: |
| 148 000d 00 .skip 1,0 |
| 149 .global GetVersionAnforderung |
| 150 .global GetVersionAnforderung |
| 153 GetVersionAnforderung: |
| 154 000e 00 .skip 1,0 |
| 155 .global DebugDataAnforderung |
| 156 .global DebugDataAnforderung |
| 159 DebugDataAnforderung: |
| 160 000f 00 .skip 1,0 |
| 161 .global DebugDisplayAnforderung |
| 162 .global DebugDisplayAnforderung |
| 165 DebugDisplayAnforderung: |
| 166 0010 00 .skip 1,0 |
| 167 .global DebugDisplayAnforderung1 |
| 168 .global DebugDisplayAnforderung1 |
| 171 DebugDisplayAnforderung1: |
| 172 0011 00 .skip 1,0 |
| 173 .global GetExternalControl |
| 174 .global GetExternalControl |
| 177 GetExternalControl: |
| 178 0012 00 .skip 1,0 |
| 179 .text |
| 181 eeprom_write_byte: |
| 182 /* prologue: frame size=0 */ |
| 183 /* prologue end (size=0) */ |
| 184 .L2: |
| 185 0000 F999 sbic 63-0x20,1 |
| 186 0002 00C0 rjmp .L2 |
| 187 0004 1FBA out 63-0x20,__zero_reg__ |
| 188 0006 92BD out (65)+1-0x20,r25 |
| 189 0008 81BD out 65-0x20,r24 |
| 190 000a 60BD out 64-0x20,r22 |
| 191 /* #APP */ |
| 192 /* START EEPROM WRITE CRITICAL SECTION */ |
| 193 000c 0FB6 in r0, 63 |
| 194 000e F894 cli |
| 195 0010 FA9A sbi 31, 2 |
| 196 0012 F99A sbi 31, 1 |
| 197 0014 0FBE out 63, r0 |
| 198 /* END EEPROM WRITE CRITICAL SECTION */ |
| 199 /* #NOAPP */ |
| 200 /* epilogue: frame size=0 */ |
| 201 0016 0895 ret |
| 202 /* epilogue end (size=1) */ |
| 203 /* function eeprom_write_byte size 21 (20) */ |
| 205 .global UART_Init |
| 207 UART_Init: |
| 208 /* prologue: frame size=0 */ |
| 209 /* prologue end (size=0) */ |
| 210 0018 88E1 ldi r24,lo8(24) |
| 211 001a 8093 C100 sts 193,r24 |
| 212 001e 8091 C000 lds r24,192 |
| 213 0022 8260 ori r24,lo8(2) |
| 214 0024 8093 C000 sts 192,r24 |
| 215 0028 8091 C100 lds r24,193 |
| 216 002c 8068 ori r24,lo8(-128) |
| 217 002e 8093 C100 sts 193,r24 |
| 218 0032 8091 C100 lds r24,193 |
| 219 0036 8064 ori r24,lo8(64) |
| 220 0038 8093 C100 sts 193,r24 |
| 221 003c 8AE2 ldi r24,lo8(42) |
| 222 003e 8093 C400 sts 196,r24 |
| 223 0042 8091 0000 lds r24,DebugDataIntervall |
| 224 0046 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 225 004a 0E94 0000 call SetDelay |
| 226 004e 9093 0000 sts (Debug_Timer)+1,r25 |
| 227 0052 8093 0000 sts Debug_Timer,r24 |
| 228 0056 8CED ldi r24,lo8(220) |
| 229 0058 90E0 ldi r25,hi8(220) |
| 230 005a 0E94 0000 call SetDelay |
| 231 005e 9093 0000 sts (Kompass_Timer)+1,r25 |
| 232 0062 8093 0000 sts Kompass_Timer,r24 |
| 233 0066 1092 0000 sts VersionInfo,__zero_reg__ |
| 234 006a 8CE4 ldi r24,lo8(76) |
| 235 006c 8093 0000 sts VersionInfo+1,r24 |
| 236 0070 86E0 ldi r24,lo8(6) |
| 237 0072 8093 0000 sts VersionInfo+4,r24 |
| 238 0076 8AE0 ldi r24,lo8(10) |
| 239 0078 8093 0000 sts VersionInfo+2,r24 |
| 240 007c 81E0 ldi r24,lo8(1) |
| 241 007e 8093 0000 sts VersionInfo+3,r24 |
| 242 0082 1092 0000 sts (pRxData)+1,__zero_reg__ |
| 243 0086 1092 0000 sts pRxData,__zero_reg__ |
| 244 008a 1092 0000 sts RxDataLen,__zero_reg__ |
| 245 /* epilogue: frame size=0 */ |
| 246 008e 0895 ret |
| 247 /* epilogue end (size=1) */ |
| 248 /* function UART_Init size 60 (59) */ |
| 250 .lcomm ptr.5,2 |
| 251 .global __vector_22 |
| 253 __vector_22: |
| 254 /* prologue: frame size=0 */ |
| 255 0090 1F92 push __zero_reg__ |
| 256 0092 0F92 push __tmp_reg__ |
| 257 0094 0FB6 in __tmp_reg__,__SREG__ |
| 258 0096 0F92 push __tmp_reg__ |
| 259 0098 1124 clr __zero_reg__ |
| 260 009a 8F93 push r24 |
| 261 009c 9F93 push r25 |
| 262 009e EF93 push r30 |
| 263 00a0 FF93 push r31 |
| 264 /* prologue end (size=9) */ |
| 265 00a2 8091 0000 lds r24,UebertragungAbgeschlossen |
| 266 00a6 8823 tst r24 |
| 267 00a8 01F4 brne .L8 |
| 268 00aa 8091 0000 lds r24,ptr.5 |
| 269 00ae 9091 0000 lds r25,(ptr.5)+1 |
| 270 00b2 0196 adiw r24,1 |
| 271 00b4 FC01 movw r30,r24 |
| 272 00b6 E050 subi r30,lo8(-(SendeBuffer)) |
| 273 00b8 F040 sbci r31,hi8(-(SendeBuffer)) |
| 274 00ba E081 ld r30,Z |
| 275 00bc ED30 cpi r30,lo8(13) |
| 276 00be 01F0 breq .L10 |
| 277 00c0 8639 cpi r24,150 |
| 278 00c2 9105 cpc r25,__zero_reg__ |
| 279 00c4 01F0 breq .L10 |
| 280 00c6 9093 0000 sts (ptr.5)+1,r25 |
| 281 00ca 8093 0000 sts ptr.5,r24 |
| 282 00ce E093 C600 sts 198,r30 |
| 283 00d2 00C0 rjmp .L7 |
| 284 .L8: |
| 285 00d4 1092 0000 sts (ptr.5)+1,__zero_reg__ |
| 286 00d8 1092 0000 sts ptr.5,__zero_reg__ |
| 287 00dc 00C0 rjmp .L7 |
| 288 .L10: |
| 289 00de 1092 0000 sts (ptr.5)+1,__zero_reg__ |
| 290 00e2 1092 0000 sts ptr.5,__zero_reg__ |
| 291 00e6 81E0 ldi r24,lo8(1) |
| 292 00e8 8093 0000 sts UebertragungAbgeschlossen,r24 |
| 293 00ec E093 C600 sts 198,r30 |
| 294 .L7: |
| 295 /* epilogue: frame size=0 */ |
| 296 00f0 FF91 pop r31 |
| 297 00f2 EF91 pop r30 |
| 298 00f4 9F91 pop r25 |
| 299 00f6 8F91 pop r24 |
| 300 00f8 0F90 pop __tmp_reg__ |
| 301 00fa 0FBE out __SREG__,__tmp_reg__ |
| 302 00fc 0F90 pop __tmp_reg__ |
| 303 00fe 1F90 pop __zero_reg__ |
| 304 0100 1895 reti |
| 305 /* epilogue end (size=9) */ |
| 306 /* function __vector_22 size 57 (39) */ |
| 308 .lcomm crc.0,2 |
| 309 .lcomm crc1.1,1 |
| 310 .lcomm crc2.2,1 |
| 311 .lcomm buf_ptr.3,1 |
| 312 .lcomm UartState.4,1 |
| 313 .global __vector_20 |
| 315 __vector_20: |
| 316 /* prologue: frame size=0 */ |
| 317 0102 1F92 push __zero_reg__ |
| 318 0104 0F92 push __tmp_reg__ |
| 319 0106 0FB6 in __tmp_reg__,__SREG__ |
| 320 0108 0F92 push __tmp_reg__ |
| 321 010a 1124 clr __zero_reg__ |
| 322 010c 2F93 push r18 |
| 323 010e 3F93 push r19 |
| 324 0110 4F93 push r20 |
| 325 0112 5F93 push r21 |
| 326 0114 8F93 push r24 |
| 327 0116 9F93 push r25 |
| 328 0118 AF93 push r26 |
| 329 011a BF93 push r27 |
| 330 011c EF93 push r30 |
| 331 011e FF93 push r31 |
| 332 /* prologue end (size=15) */ |
| 333 0120 90E0 ldi r25,lo8(0) |
| 334 0122 8091 C600 lds r24,198 |
| 335 0126 8093 0000 sts SioTmp,r24 |
| 336 012a 5091 0000 lds r21,buf_ptr.3 |
| 337 012e 5639 cpi r21,lo8(-106) |
| 338 0130 00F0 brlo .L14 |
| 339 0132 9093 0000 sts UartState.4,r25 |
| 340 .L14: |
| 341 0136 8091 0000 lds r24,SioTmp |
| 342 013a 8D30 cpi r24,lo8(13) |
| 343 013c 01F0 breq .L33 |
| 344 013e 2091 0000 lds r18,UartState.4 |
| 345 .L15: |
| 346 0142 822F mov r24,r18 |
| 347 0144 9927 clr r25 |
| 348 0146 8130 cpi r24,1 |
| 349 0148 9105 cpc r25,__zero_reg__ |
| 350 014a 01F4 brne .+2 |
| 351 014c 00C0 rjmp .L24 |
| 352 014e 8230 cpi r24,2 |
| 353 0150 9105 cpc r25,__zero_reg__ |
| 354 0152 04F4 brge .+2 |
| 355 0154 00C0 rjmp .L34 |
| 356 0156 0297 sbiw r24,2 |
| 357 0158 01F4 brne .+2 |
| 358 015a 00C0 rjmp .L25 |
| 359 .L28: |
| 360 015c 1092 0000 sts UartState.4,__zero_reg__ |
| 361 0160 00C0 rjmp .L13 |
| 362 .L33: |
| 363 0162 2091 0000 lds r18,UartState.4 |
| 364 0166 2230 cpi r18,lo8(2) |
| 365 0168 01F4 brne .L15 |
| 366 016a 9093 0000 sts UartState.4,r25 |
| 367 016e 852F mov r24,r21 |
| 368 0170 9927 clr r25 |
| 369 0172 8050 subi r24,lo8(-(RxdBuffer)) |
| 370 0174 9040 sbci r25,hi8(-(RxdBuffer)) |
| 371 0176 FC01 movw r30,r24 |
| 372 0178 3297 sbiw r30,2 |
| 373 017a 4081 ld r20,Z |
| 374 017c 2091 0000 lds r18,crc.0 |
| 375 0180 3091 0000 lds r19,(crc.0)+1 |
| 376 0184 241B sub r18,r20 |
| 377 0186 3109 sbc r19,__zero_reg__ |
| 378 0188 DC01 movw r26,r24 |
| 379 018a 1197 sbiw r26,1 |
| 380 018c 8C91 ld r24,X |
| 381 018e 281B sub r18,r24 |
| 382 0190 3109 sbc r19,__zero_reg__ |
| 383 0192 C901 movw r24,r18 |
| 384 0194 9F70 andi r25,hi8(4095) |
| 385 0196 9093 0000 sts (crc.0)+1,r25 |
| 386 019a 8093 0000 sts crc.0,r24 |
| 387 019e 0024 clr __tmp_reg__ |
| 388 01a0 880F lsl r24 |
| 389 01a2 991F rol r25 |
| 390 01a4 001C rol __tmp_reg__ |
| 391 01a6 880F lsl r24 |
| 392 01a8 991F rol r25 |
| 393 01aa 001C rol __tmp_reg__ |
| 394 01ac 892F mov r24,r25 |
| 395 01ae 902D mov r25,__tmp_reg__ |
| 396 01b0 982F mov r25,r24 |
| 397 01b2 935C subi r25,lo8(-(61)) |
| 398 01b4 9093 0000 sts crc1.1,r25 |
| 399 01b8 2F73 andi r18,lo8(63) |
| 400 01ba 3070 andi r19,hi8(63) |
| 401 01bc 235C subi r18,lo8(-(61)) |
| 402 01be 2093 0000 sts crc2.2,r18 |
| 403 01c2 8081 ld r24,Z |
| 404 01c4 8917 cp r24,r25 |
| 405 01c6 01F4 brne .+2 |
| 406 01c8 00C0 rjmp .L35 |
| 407 .L16: |
| 408 01ca 90E0 ldi r25,lo8(0) |
| 409 01cc 8091 0000 lds r24,CntCrcError |
| 410 01d0 8F5F subi r24,lo8(-(1)) |
| 411 01d2 8093 0000 sts CntCrcError,r24 |
| 412 .L17: |
| 413 01d6 3091 0000 lds r19,NeuerDatensatzEmpfangen |
| 414 01da 3323 tst r19 |
| 415 01dc 01F0 breq .+2 |
| 416 01de 00C0 rjmp .L13 |
| 417 01e0 9923 tst r25 |
| 418 01e2 01F4 brne .+2 |
| 419 01e4 00C0 rjmp .L13 |
| 420 01e6 81E0 ldi r24,lo8(1) |
| 421 01e8 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
| 422 01ec 580F add r21,r24 |
| 423 01ee 5093 0000 sts AnzahlEmpfangsBytes,r21 |
| 424 01f2 5150 subi r21,lo8(-(-1)) |
| 425 01f4 E52F mov r30,r21 |
| 426 01f6 FF27 clr r31 |
| 427 01f8 E050 subi r30,lo8(-(RxdBuffer)) |
| 428 01fa F040 sbci r31,hi8(-(RxdBuffer)) |
| 429 01fc 8DE0 ldi r24,lo8(13) |
| 430 01fe 8083 st Z,r24 |
| 431 0200 8091 0000 lds r24,RxdBuffer+2 |
| 432 0204 8235 cpi r24,lo8(82) |
| 433 0206 01F0 breq .+2 |
| 434 0208 00C0 rjmp .L13 |
| 435 020a 88E1 ldi r24,lo8(24) |
| 436 020c 90E0 ldi r25,hi8(24) |
| 437 020e 2CE0 ldi r18,lo8(12) |
| 438 /* #APP */ |
| 439 0210 0FB6 in __tmp_reg__,__SREG__ |
| 440 0212 F894 cli |
| 441 0214 A895 wdr |
| 442 0216 8093 6000 sts 96,r24 |
| 443 021a 0FBE out __SREG__,__tmp_reg__ |
| 444 021c 2093 6000 sts 96,r18 |
| 445 |
| 446 /* #NOAPP */ |
| 447 0220 3093 0000 sts ServoActive,r19 |
| 448 0224 00C0 rjmp .L13 |
| 449 .L24: |
| 450 0226 2F5F subi r18,lo8(-(1)) |
| 451 0228 2093 0000 sts UartState.4,r18 |
| 452 022c E52F mov r30,r21 |
| 453 022e FF27 clr r31 |
| 454 0230 E050 subi r30,lo8(-(RxdBuffer)) |
| 455 0232 F040 sbci r31,hi8(-(RxdBuffer)) |
| 456 0234 8091 0000 lds r24,SioTmp |
| 457 0238 8083 st Z,r24 |
| 458 .L32: |
| 459 023a 5F5F subi r21,lo8(-(1)) |
| 460 023c 5093 0000 sts buf_ptr.3,r21 |
| 461 .L27: |
| 462 0240 2091 0000 lds r18,SioTmp |
| 463 0244 8091 0000 lds r24,crc.0 |
| 464 0248 9091 0000 lds r25,(crc.0)+1 |
| 465 024c 820F add r24,r18 |
| 466 024e 911D adc r25,__zero_reg__ |
| 467 .L31: |
| 468 0250 9093 0000 sts (crc.0)+1,r25 |
| 469 0254 8093 0000 sts crc.0,r24 |
| 470 0258 00C0 rjmp .L13 |
| 471 .L25: |
| 472 025a E52F mov r30,r21 |
| 473 025c FF27 clr r31 |
| 474 025e E050 subi r30,lo8(-(RxdBuffer)) |
| 475 0260 F040 sbci r31,hi8(-(RxdBuffer)) |
| 476 0262 8091 0000 lds r24,SioTmp |
| 477 0266 8083 st Z,r24 |
| 478 0268 5639 cpi r21,lo8(-106) |
| 479 026a 00F0 brlo .L32 |
| 480 026c 1092 0000 sts UartState.4,__zero_reg__ |
| 481 0270 00C0 rjmp .L27 |
| 482 .L34: |
| 483 0272 892B or r24,r25 |
| 484 0274 01F0 breq .+2 |
| 485 0276 00C0 rjmp .L28 |
| 486 0278 8091 0000 lds r24,SioTmp |
| 487 027c 8332 cpi r24,lo8(35) |
| 488 027e 01F0 breq .L36 |
| 489 .L23: |
| 490 0280 8091 0000 lds r24,SioTmp |
| 491 0284 8093 0000 sts RxdBuffer,r24 |
| 492 0288 81E0 ldi r24,lo8(1) |
| 493 028a 8093 0000 sts buf_ptr.3,r24 |
| 494 028e 8091 0000 lds r24,SioTmp |
| 495 0292 9927 clr r25 |
| 496 0294 00C0 rjmp .L31 |
| 497 .L36: |
| 498 0296 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 499 029a 8823 tst r24 |
| 500 029c 01F4 brne .L23 |
| 501 029e 81E0 ldi r24,lo8(1) |
| 502 02a0 8093 0000 sts UartState.4,r24 |
| 503 02a4 00C0 rjmp .L23 |
| 504 .L35: |
| 505 02a6 8C91 ld r24,X |
| 506 02a8 8217 cp r24,r18 |
| 507 02aa 01F0 breq .+2 |
| 508 02ac 00C0 rjmp .L16 |
| 509 02ae 91E0 ldi r25,lo8(1) |
| 510 02b0 00C0 rjmp .L17 |
| 511 .L13: |
| 512 /* epilogue: frame size=0 */ |
| 513 02b2 FF91 pop r31 |
| 514 02b4 EF91 pop r30 |
| 515 02b6 BF91 pop r27 |
| 516 02b8 AF91 pop r26 |
| 517 02ba 9F91 pop r25 |
| 518 02bc 8F91 pop r24 |
| 519 02be 5F91 pop r21 |
| 520 02c0 4F91 pop r20 |
| 521 02c2 3F91 pop r19 |
| 522 02c4 2F91 pop r18 |
| 523 02c6 0F90 pop __tmp_reg__ |
| 524 02c8 0FBE out __SREG__,__tmp_reg__ |
| 525 02ca 0F90 pop __tmp_reg__ |
| 526 02cc 1F90 pop __zero_reg__ |
| 527 02ce 1895 reti |
| 528 /* epilogue end (size=15) */ |
| 529 /* function __vector_20 size 239 (209) */ |
| 531 .global AddCRC |
| 533 AddCRC: |
| 534 /* prologue: frame size=0 */ |
| 535 /* prologue end (size=0) */ |
| 536 02d0 AC01 movw r20,r24 |
| 537 02d2 A0E0 ldi r26,lo8(0) |
| 538 02d4 B0E0 ldi r27,hi8(0) |
| 539 02d6 9D01 movw r18,r26 |
| 540 02d8 A817 cp r26,r24 |
| 541 02da B907 cpc r27,r25 |
| 542 02dc 00F4 brsh .L43 |
| 543 02de E0E0 ldi r30,lo8(SendeBuffer) |
| 544 02e0 F0E0 ldi r31,hi8(SendeBuffer) |
| 545 .L41: |
| 546 02e2 8191 ld r24,Z+ |
| 547 02e4 280F add r18,r24 |
| 548 02e6 311D adc r19,__zero_reg__ |
| 549 02e8 1196 adiw r26,1 |
| 550 02ea A417 cp r26,r20 |
| 551 02ec B507 cpc r27,r21 |
| 552 02ee 00F0 brlo .L41 |
| 553 .L43: |
| 554 02f0 3F70 andi r19,hi8(4095) |
| 555 02f2 FD01 movw r30,r26 |
| 556 02f4 E050 subi r30,lo8(-(SendeBuffer)) |
| 557 02f6 F040 sbci r31,hi8(-(SendeBuffer)) |
| 558 02f8 C901 movw r24,r18 |
| 559 02fa 0024 clr __tmp_reg__ |
| 560 02fc 880F lsl r24 |
| 561 02fe 991F rol r25 |
| 562 0300 001C rol __tmp_reg__ |
| 563 0302 880F lsl r24 |
| 564 0304 991F rol r25 |
| 565 0306 001C rol __tmp_reg__ |
| 566 0308 892F mov r24,r25 |
| 567 030a 902D mov r25,__tmp_reg__ |
| 568 030c 835C subi r24,lo8(-(61)) |
| 569 030e 8083 st Z,r24 |
| 570 0310 1196 adiw r26,1 |
| 571 0312 FD01 movw r30,r26 |
| 572 0314 E050 subi r30,lo8(-(SendeBuffer)) |
| 573 0316 F040 sbci r31,hi8(-(SendeBuffer)) |
| 574 0318 2F73 andi r18,lo8(63) |
| 575 031a 3070 andi r19,hi8(63) |
| 576 031c 822F mov r24,r18 |
| 577 031e 835C subi r24,lo8(-(61)) |
| 578 0320 8083 st Z,r24 |
| 579 0322 A050 subi r26,lo8(-(SendeBuffer+1)) |
| 580 0324 B040 sbci r27,hi8(-(SendeBuffer+1)) |
| 581 0326 8DE0 ldi r24,lo8(13) |
| 582 0328 8C93 st X,r24 |
| 583 032a 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
| 584 032e 8091 0000 lds r24,SendeBuffer |
| 585 0332 8093 C600 sts 198,r24 |
| 586 /* epilogue: frame size=0 */ |
| 587 0336 0895 ret |
| 588 /* epilogue end (size=1) */ |
| 589 /* function AddCRC size 53 (52) */ |
| 591 .global SendOutData |
| 593 SendOutData: |
| 594 /* prologue: frame size=0 */ |
| 595 0338 A0E0 ldi r26,lo8(0) |
| 596 033a B0E0 ldi r27,hi8(0) |
| 597 033c E0E0 ldi r30,pm_lo8(1f) |
| 598 033e F0E0 ldi r31,pm_hi8(1f) |
| 599 0340 0C94 0000 jmp __prologue_saves__+18 |
| 600 1: |
| 601 /* prologue end (size=6) */ |
| 602 0344 2C85 ldd r18,Y+12 |
| 603 0346 9D85 ldd r25,Y+13 |
| 604 0348 7E85 ldd r23,Y+14 |
| 605 034a BB24 clr r11 |
| 606 034c 83E2 ldi r24,lo8(35) |
| 607 034e 8093 0000 sts SendeBuffer,r24 |
| 608 0352 9F59 subi r25,lo8(-(97)) |
| 609 0354 9093 0000 sts SendeBuffer+1,r25 |
| 610 0358 2093 0000 sts SendeBuffer+2,r18 |
| 611 035c 03E0 ldi r16,lo8(3) |
| 612 035e 10E0 ldi r17,hi8(3) |
| 613 0360 7723 tst r23 |
| 614 0362 01F4 brne .+2 |
| 615 0364 00C0 rjmp .L60 |
| 616 0366 CF84 ldd r12,Y+15 |
| 617 0368 D888 ldd r13,Y+16 |
| 618 036a 43E1 ldi r20,lo8(19) |
| 619 036c E42E mov r14,r20 |
| 620 036e F12C mov r15,__zero_reg__ |
| 621 0370 EC0E add r14,r28 |
| 622 0372 FD1E adc r15,r29 |
| 623 0374 A989 ldd r26,Y+17 |
| 624 0376 BA89 ldd r27,Y+18 |
| 625 0378 7150 subi r23,lo8(-(-1)) |
| 626 037a 1097 sbiw r26,0 |
| 627 037c 01F4 brne .+2 |
| 628 037e 00C0 rjmp .L60 |
| 629 .L63: |
| 630 0380 1097 sbiw r26,0 |
| 631 0382 01F4 brne .+2 |
| 632 0384 00C0 rjmp .L49 |
| 633 0386 F601 movw r30,r12 |
| 634 0388 EB0D add r30,r11 |
| 635 038a F11D adc r31,__zero_reg__ |
| 636 038c B394 inc r11 |
| 637 038e 9081 ld r25,Z |
| 638 0390 1197 sbiw r26,1 |
| 639 0392 01F4 brne .L51 |
| 640 0394 7723 tst r23 |
| 641 0396 01F0 breq .L52 |
| 642 0398 F701 movw r30,r14 |
| 643 039a 22E0 ldi r18,lo8(2) |
| 644 039c 30E0 ldi r19,hi8(2) |
| 645 039e E20E add r14,r18 |
| 646 03a0 F31E adc r15,r19 |
| 647 03a2 D701 movw r26,r14 |
| 648 03a4 C080 ld r12,Z |
| 649 03a6 D180 ldd r13,Z+1 |
| 650 03a8 E20E add r14,r18 |
| 651 03aa F31E adc r15,r19 |
| 652 03ac 0D90 ld __tmp_reg__,X+ |
| 653 03ae BC91 ld r27,X |
| 654 03b0 A02D mov r26,__tmp_reg__ |
| 655 03b2 BB24 clr r11 |
| 656 03b4 7150 subi r23,lo8(-(-1)) |
| 657 .L51: |
| 658 03b6 1097 sbiw r26,0 |
| 659 03b8 01F0 breq .L52 |
| 660 03ba F601 movw r30,r12 |
| 661 03bc EB0D add r30,r11 |
| 662 03be F11D adc r31,__zero_reg__ |
| 663 03c0 B394 inc r11 |
| 664 03c2 4081 ld r20,Z |
| 665 03c4 1197 sbiw r26,1 |
| 666 03c6 01F4 brne .+2 |
| 667 03c8 00C0 rjmp .L62 |
| 668 .L54: |
| 669 03ca 1097 sbiw r26,0 |
| 670 03cc 01F0 breq .L55 |
| 671 03ce F601 movw r30,r12 |
| 672 03d0 EB0D add r30,r11 |
| 673 03d2 F11D adc r31,__zero_reg__ |
| 674 03d4 B394 inc r11 |
| 675 03d6 6081 ld r22,Z |
| 676 03d8 1197 sbiw r26,1 |
| 677 03da 01F4 brne .L57 |
| 678 03dc 7723 tst r23 |
| 679 03de 01F0 breq .L57 |
| 680 03e0 F701 movw r30,r14 |
| 681 03e2 3296 adiw r30,2 |
| 682 03e4 D701 movw r26,r14 |
| 683 03e6 CD90 ld r12,X+ |
| 684 03e8 DC90 ld r13,X |
| 685 03ea 32E0 ldi r19,lo8(2) |
| 686 03ec E32E mov r14,r19 |
| 687 03ee F12C mov r15,__zero_reg__ |
| 688 03f0 EE0E add r14,r30 |
| 689 03f2 FF1E adc r15,r31 |
| 690 03f4 A081 ld r26,Z |
| 691 03f6 B181 ldd r27,Z+1 |
| 692 03f8 BB24 clr r11 |
| 693 03fa 7150 subi r23,lo8(-(-1)) |
| 694 03fc 00C0 rjmp .L57 |
| 695 .L49: |
| 696 03fe 90E0 ldi r25,lo8(0) |
| 697 .L52: |
| 698 0400 40E0 ldi r20,lo8(0) |
| 699 .L55: |
| 700 0402 60E0 ldi r22,lo8(0) |
| 701 .L57: |
| 702 0404 F801 movw r30,r16 |
| 703 0406 E050 subi r30,lo8(-(SendeBuffer)) |
| 704 0408 F040 sbci r31,hi8(-(SendeBuffer)) |
| 705 040a 892F mov r24,r25 |
| 706 040c 8695 lsr r24 |
| 707 040e 8695 lsr r24 |
| 708 0410 835C subi r24,lo8(-(61)) |
| 709 0412 8083 st Z,r24 |
| 710 0414 0F5F subi r16,lo8(-(1)) |
| 711 0416 1F4F sbci r17,hi8(-(1)) |
| 712 0418 F801 movw r30,r16 |
| 713 041a E050 subi r30,lo8(-(SendeBuffer)) |
| 714 041c F040 sbci r31,hi8(-(SendeBuffer)) |
| 715 041e 892F mov r24,r25 |
| 716 0420 9927 clr r25 |
| 717 0422 8370 andi r24,lo8(3) |
| 718 0424 9070 andi r25,hi8(3) |
| 719 0426 8295 swap r24 |
| 720 0428 9295 swap r25 |
| 721 042a 907F andi r25,0xf0 |
| 722 042c 9827 eor r25,r24 |
| 723 042e 807F andi r24,0xf0 |
| 724 0430 9827 eor r25,r24 |
| 725 0432 5527 clr r21 |
| 726 0434 9A01 movw r18,r20 |
| 727 0436 3295 swap r19 |
| 728 0438 2295 swap r18 |
| 729 043a 2F70 andi r18,0x0f |
| 730 043c 2327 eor r18,r19 |
| 731 043e 3F70 andi r19,0x0f |
| 732 0440 2327 eor r18,r19 |
| 733 0442 822B or r24,r18 |
| 734 0444 835C subi r24,lo8(-(61)) |
| 735 0446 8083 st Z,r24 |
| 736 0448 0F5F subi r16,lo8(-(1)) |
| 737 044a 1F4F sbci r17,hi8(-(1)) |
| 738 044c F801 movw r30,r16 |
| 739 044e E050 subi r30,lo8(-(SendeBuffer)) |
| 740 0450 F040 sbci r31,hi8(-(SendeBuffer)) |
| 741 0452 4F70 andi r20,lo8(15) |
| 742 0454 5070 andi r21,hi8(15) |
| 743 0456 440F lsl r20 |
| 744 0458 551F rol r21 |
| 745 045a 440F lsl r20 |
| 746 045c 551F rol r21 |
| 747 045e 862F mov r24,r22 |
| 748 0460 9927 clr r25 |
| 749 0462 0024 clr __tmp_reg__ |
| 750 0464 880F lsl r24 |
| 751 0466 991F rol r25 |
| 752 0468 001C rol __tmp_reg__ |
| 753 046a 880F lsl r24 |
| 754 046c 991F rol r25 |
| 755 046e 001C rol __tmp_reg__ |
| 756 0470 892F mov r24,r25 |
| 757 0472 902D mov r25,__tmp_reg__ |
| 758 0474 842B or r24,r20 |
| 759 0476 835C subi r24,lo8(-(61)) |
| 760 0478 8083 st Z,r24 |
| 761 047a 0F5F subi r16,lo8(-(1)) |
| 762 047c 1F4F sbci r17,hi8(-(1)) |
| 763 047e F801 movw r30,r16 |
| 764 0480 E050 subi r30,lo8(-(SendeBuffer)) |
| 765 0482 F040 sbci r31,hi8(-(SendeBuffer)) |
| 766 0484 6F73 andi r22,lo8(63) |
| 767 0486 635C subi r22,lo8(-(61)) |
| 768 0488 6083 st Z,r22 |
| 769 048a 0F5F subi r16,lo8(-(1)) |
| 770 048c 1F4F sbci r17,hi8(-(1)) |
| 771 048e 1097 sbiw r26,0 |
| 772 0490 01F0 breq .+2 |
| 773 0492 00C0 rjmp .L63 |
| 774 0494 00C0 rjmp .L60 |
| 775 .L62: |
| 776 0496 7723 tst r23 |
| 777 0498 01F4 brne .+2 |
| 778 049a 00C0 rjmp .L55 |
| 779 049c F701 movw r30,r14 |
| 780 049e A2E0 ldi r26,lo8(2) |
| 781 04a0 B0E0 ldi r27,hi8(2) |
| 782 04a2 EA0E add r14,r26 |
| 783 04a4 FB1E adc r15,r27 |
| 784 04a6 D701 movw r26,r14 |
| 785 04a8 C080 ld r12,Z |
| 786 04aa D180 ldd r13,Z+1 |
| 787 04ac 22E0 ldi r18,lo8(2) |
| 788 04ae 30E0 ldi r19,hi8(2) |
| 789 04b0 E20E add r14,r18 |
| 790 04b2 F31E adc r15,r19 |
| 791 04b4 0D90 ld __tmp_reg__,X+ |
| 792 04b6 BC91 ld r27,X |
| 793 04b8 A02D mov r26,__tmp_reg__ |
| 794 04ba BB24 clr r11 |
| 795 04bc 7150 subi r23,lo8(-(-1)) |
| 796 04be 00C0 rjmp .L54 |
| 797 .L60: |
| 798 04c0 C801 movw r24,r16 |
| 799 04c2 0E94 0000 call AddCRC |
| 800 /* epilogue: frame size=0 */ |
| 801 04c6 E9E0 ldi r30,9 |
| 802 04c8 0C94 0000 jmp __epilogue_restores__+18 |
| 803 /* epilogue end (size=3) */ |
| 804 /* function SendOutData size 204 (195) */ |
| 806 .global Decode64 |
| 808 Decode64: |
| 809 /* prologue: frame size=0 */ |
| 810 /* prologue end (size=0) */ |
| 811 04cc A3E0 ldi r26,lo8(3) |
| 812 04ce 7A2F mov r23,r26 |
| 813 04d0 4091 0000 lds r20,AnzahlEmpfangsBytes |
| 814 04d4 4650 subi r20,lo8(-(-6)) |
| 815 04d6 01F4 brne .+2 |
| 816 04d8 00C0 rjmp .L66 |
| 817 .L76: |
| 818 04da E72F mov r30,r23 |
| 819 04dc FF27 clr r31 |
| 820 04de E050 subi r30,lo8(-(RxdBuffer)) |
| 821 04e0 F040 sbci r31,hi8(-(RxdBuffer)) |
| 822 04e2 8081 ld r24,Z |
| 823 04e4 8D53 subi r24,lo8(-(-61)) |
| 824 04e6 7F5F subi r23,lo8(-(1)) |
| 825 04e8 E72F mov r30,r23 |
| 826 04ea FF27 clr r31 |
| 827 04ec E050 subi r30,lo8(-(RxdBuffer)) |
| 828 04ee F040 sbci r31,hi8(-(RxdBuffer)) |
| 829 04f0 2081 ld r18,Z |
| 830 04f2 2D53 subi r18,lo8(-(-61)) |
| 831 04f4 7F5F subi r23,lo8(-(1)) |
| 832 04f6 E72F mov r30,r23 |
| 833 04f8 FF27 clr r31 |
| 834 04fa E050 subi r30,lo8(-(RxdBuffer)) |
| 835 04fc F040 sbci r31,hi8(-(RxdBuffer)) |
| 836 04fe 3081 ld r19,Z |
| 837 0500 3D53 subi r19,lo8(-(-61)) |
| 838 0502 7F5F subi r23,lo8(-(1)) |
| 839 0504 E72F mov r30,r23 |
| 840 0506 FF27 clr r31 |
| 841 0508 E050 subi r30,lo8(-(RxdBuffer)) |
| 842 050a F040 sbci r31,hi8(-(RxdBuffer)) |
| 843 050c 6081 ld r22,Z |
| 844 050e 6D53 subi r22,lo8(-(-61)) |
| 845 0510 7F5F subi r23,lo8(-(1)) |
| 846 0512 9927 clr r25 |
| 847 0514 880F lsl r24 |
| 848 0516 991F rol r25 |
| 849 0518 880F lsl r24 |
| 850 051a 991F rol r25 |
| 851 051c 522F mov r21,r18 |
| 852 051e 5295 swap r21 |
| 853 0520 5F70 andi r21,0x0f |
| 854 0522 582B or r21,r24 |
| 855 0524 822F mov r24,r18 |
| 856 0526 9927 clr r25 |
| 857 0528 8F70 andi r24,lo8(15) |
| 858 052a 9070 andi r25,hi8(15) |
| 859 052c 8295 swap r24 |
| 860 052e 9295 swap r25 |
| 861 0530 907F andi r25,0xf0 |
| 862 0532 9827 eor r25,r24 |
| 863 0534 807F andi r24,0xf0 |
| 864 0536 9827 eor r25,r24 |
| 865 0538 232F mov r18,r19 |
| 866 053a 2695 lsr r18 |
| 867 053c 2695 lsr r18 |
| 868 053e 282B or r18,r24 |
| 869 0540 832F mov r24,r19 |
| 870 0542 9927 clr r25 |
| 871 0544 8370 andi r24,lo8(3) |
| 872 0546 9070 andi r25,hi8(3) |
| 873 0548 0024 clr __tmp_reg__ |
| 874 054a 9695 lsr r25 |
| 875 054c 8795 ror r24 |
| 876 054e 0794 ror __tmp_reg__ |
| 877 0550 9695 lsr r25 |
| 878 0552 8795 ror r24 |
| 879 0554 0794 ror __tmp_reg__ |
| 880 0556 982F mov r25,r24 |
| 881 0558 802D mov r24,__tmp_reg__ |
| 882 055a 682B or r22,r24 |
| 883 055c 4150 subi r20,lo8(-(-1)) |
| 884 055e 4F3F cpi r20,lo8(-1) |
| 885 0560 01F0 breq .L66 |
| 886 0562 EA2F mov r30,r26 |
| 887 0564 FF27 clr r31 |
| 888 0566 E050 subi r30,lo8(-(RxdBuffer)) |
| 889 0568 F040 sbci r31,hi8(-(RxdBuffer)) |
| 890 056a 5083 st Z,r21 |
| 891 056c AF5F subi r26,lo8(-(1)) |
| 892 056e 4150 subi r20,lo8(-(-1)) |
| 893 0570 4F3F cpi r20,lo8(-1) |
| 894 0572 01F0 breq .L66 |
| 895 0574 EA2F mov r30,r26 |
| 896 0576 FF27 clr r31 |
| 897 0578 E050 subi r30,lo8(-(RxdBuffer)) |
| 898 057a F040 sbci r31,hi8(-(RxdBuffer)) |
| 899 057c 2083 st Z,r18 |
| 900 057e AF5F subi r26,lo8(-(1)) |
| 901 0580 4150 subi r20,lo8(-(-1)) |
| 902 0582 4F3F cpi r20,lo8(-1) |
| 903 0584 01F0 breq .L66 |
| 904 0586 EA2F mov r30,r26 |
| 905 0588 FF27 clr r31 |
| 906 058a E050 subi r30,lo8(-(RxdBuffer)) |
| 907 058c F040 sbci r31,hi8(-(RxdBuffer)) |
| 908 058e 6083 st Z,r22 |
| 909 0590 AF5F subi r26,lo8(-(1)) |
| 910 0592 4423 tst r20 |
| 911 0594 01F0 breq .+2 |
| 912 0596 00C0 rjmp .L76 |
| 913 .L66: |
| 914 0598 80E0 ldi r24,lo8(RxdBuffer+3) |
| 915 059a 90E0 ldi r25,hi8(RxdBuffer+3) |
| 916 059c 9093 0000 sts (pRxData)+1,r25 |
| 917 05a0 8093 0000 sts pRxData,r24 |
| 918 05a4 A350 subi r26,lo8(-(-3)) |
| 919 05a6 A093 0000 sts RxDataLen,r26 |
| 920 /* epilogue: frame size=0 */ |
| 921 05aa 0895 ret |
| 922 /* epilogue end (size=1) */ |
| 923 /* function Decode64 size 113 (112) */ |
| 925 .global BearbeiteRxDaten |
| 927 BearbeiteRxDaten: |
| 928 /* prologue: frame size=2 */ |
| 929 05ac A2E0 ldi r26,lo8(2) |
| 930 05ae B0E0 ldi r27,hi8(2) |
| 931 05b0 E0E0 ldi r30,pm_lo8(1f) |
| 932 05b2 F0E0 ldi r31,pm_hi8(1f) |
| 933 05b4 0C94 0000 jmp __prologue_saves__+30 |
| 934 1: |
| 935 /* prologue end (size=6) */ |
| 936 05b8 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 937 05bc 8823 tst r24 |
| 938 05be 01F4 brne .+2 |
| 939 05c0 00C0 rjmp .L77 |
| 940 05c2 0E94 0000 call Decode64 |
| 941 05c6 8091 0000 lds r24,RxdBuffer+1 |
| 942 05ca 8236 cpi r24,lo8(98) |
| 943 05cc 01F0 breq .L143 |
| 944 .L115: |
| 945 05ce 8091 0000 lds r24,RxdBuffer+2 |
| 946 05d2 9927 clr r25 |
| 947 05d4 AA27 clr r26 |
| 948 05d6 BB27 clr r27 |
| 949 05d8 FC01 movw r30,r24 |
| 950 05da EB54 subi r30,lo8(-(-75)) |
| 951 05dc F040 sbci r31,hi8(-(-75)) |
| 952 05de EC32 cpi r30,44 |
| 953 05e0 F105 cpc r31,__zero_reg__ |
| 954 05e2 00F4 brsh .L79 |
| 955 05e4 E050 subi r30,lo8(-(pm(.L137))) |
| 956 05e6 F040 sbci r31,hi8(-(pm(.L137))) |
| 957 05e8 0C94 0000 jmp __tablejump2__ |
| 958 .data |
| 959 .section .progmem.gcc_sw_table, "a", @progbits |
| 960 .p2align 1 |
| 961 .L137: |
| 962 0000 0000 .word pm(.L123) |
| 963 0002 0000 .word pm(.L79) |
| 964 0004 0000 .word pm(.L79) |
| 965 0006 0000 .word pm(.L79) |
| 966 0008 0000 .word pm(.L79) |
| 967 000a 0000 .word pm(.L79) |
| 968 000c 0000 .word pm(.L79) |
| 969 000e 0000 .word pm(.L79) |
| 970 0010 0000 .word pm(.L79) |
| 971 0012 0000 .word pm(.L79) |
| 972 0014 0000 .word pm(.L79) |
| 973 0016 0000 .word pm(.L79) |
| 974 0018 0000 .word pm(.L79) |
| 975 001a 0000 .word pm(.L79) |
| 976 001c 0000 .word pm(.L79) |
| 977 001e 0000 .word pm(.L79) |
| 978 0020 0000 .word pm(.L79) |
| 979 0022 0000 .word pm(.L79) |
| 980 0024 0000 .word pm(.L79) |
| 981 0026 0000 .word pm(.L79) |
| 982 0028 0000 .word pm(.L79) |
| 983 002a 0000 .word pm(.L79) |
| 984 002c 0000 .word pm(.L124) |
| 985 002e 0000 .word pm(.L126) |
| 986 0030 0000 .word pm(.L127) |
| 987 0032 0000 .word pm(.L130) |
| 988 0034 0000 .word pm(.L79) |
| 989 0036 0000 .word pm(.L79) |
| 990 0038 0000 .word pm(.L136) |
| 991 003a 0000 .word pm(.L132) |
| 992 003c 0000 .word pm(.L79) |
| 993 003e 0000 .word pm(.L79) |
| 994 0040 0000 .word pm(.L79) |
| 995 0042 0000 .word pm(.L134) |
| 996 0044 0000 .word pm(.L79) |
| 997 0046 0000 .word pm(.L79) |
| 998 0048 0000 .word pm(.L79) |
| 999 004a 0000 .word pm(.L79) |
| 1000 004c 0000 .word pm(.L79) |
| 1001 004e 0000 .word pm(.L79) |
| 1002 0050 0000 .word pm(.L79) |
| 1003 0052 0000 .word pm(.L117) |
| 1004 0054 0000 .word pm(.L79) |
| 1005 0056 0000 .word pm(.L135) |
| 1006 .text |
| 1007 .L132: |
| 1008 05ec 8FEF ldi r24,lo8(-1) |
| 1009 05ee 8093 0000 sts PcZugriff,r24 |
| 1010 05f2 E091 0000 lds r30,pRxData |
| 1011 05f6 F091 0000 lds r31,(pRxData)+1 |
| 1012 05fa 8081 ld r24,Z |
| 1013 05fc 9091 0000 lds r25,RemoteKeys |
| 1014 0600 892B or r24,r25 |
| 1015 0602 8093 0000 sts RemoteKeys,r24 |
| 1016 0606 8823 tst r24 |
| 1017 0608 01F0 breq .L133 |
| 1018 060a 1092 0000 sts DisplayLine,__zero_reg__ |
| 1019 .L133: |
| 1020 060e 81E0 ldi r24,lo8(1) |
| 1021 0610 8093 0000 sts DebugDisplayAnforderung,r24 |
| 1022 .L79: |
| 1023 0614 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
| 1024 0618 1092 0000 sts (pRxData)+1,__zero_reg__ |
| 1025 061c 1092 0000 sts pRxData,__zero_reg__ |
| 1026 0620 1092 0000 sts RxDataLen,__zero_reg__ |
| 1027 0624 00C0 rjmp .L77 |
| 1028 .L143: |
| 1029 0626 8091 0000 lds r24,RxdBuffer+2 |
| 1030 062a 9927 clr r25 |
| 1031 062c 8037 cpi r24,112 |
| 1032 062e 9105 cpc r25,__zero_reg__ |
| 1033 0630 01F4 brne .+2 |
| 1034 0632 00C0 rjmp .L97 |
| 1035 0634 8137 cpi r24,113 |
| 1036 0636 9105 cpc r25,__zero_reg__ |
| 1037 0638 04F4 brge .+2 |
| 1038 063a 00C0 rjmp .L144 |
| 1039 063c 8337 cpi r24,115 |
| 1040 063e 9105 cpc r25,__zero_reg__ |
| 1041 0640 01F4 brne .+2 |
| 1042 0642 00C0 rjmp .L106 |
| 1043 0644 8437 cpi r24,116 |
| 1044 0646 9105 cpc r25,__zero_reg__ |
| 1045 0648 04F0 brlt .+2 |
| 1046 064a 00C0 rjmp .L114 |
| 1047 064c 8137 cpi r24,113 |
| 1048 064e 9105 cpc r25,__zero_reg__ |
| 1049 0650 01F0 breq .+2 |
| 1050 0652 00C0 rjmp .L115 |
| 1051 0654 A091 0000 lds r26,pRxData |
| 1052 0658 B091 0000 lds r27,(pRxData)+1 |
| 1053 065c 8C91 ld r24,X |
| 1054 065e 8F3F cpi r24,lo8(-1) |
| 1055 0660 01F4 brne .+2 |
| 1056 0662 00C0 rjmp .L145 |
| 1057 .L99: |
| 1058 0664 8C91 ld r24,X |
| 1059 0666 8823 tst r24 |
| 1060 0668 01F0 breq .+2 |
| 1061 066a 00C0 rjmp .L100 |
| 1062 066c 81E0 ldi r24,lo8(1) |
| 1063 .L140: |
| 1064 066e 8C93 st X,r24 |
| 1065 0670 A091 0000 lds r26,pRxData |
| 1066 0674 B091 0000 lds r27,(pRxData)+1 |
| 1067 .L101: |
| 1068 0678 45E6 ldi r20,lo8(101) |
| 1069 067a 60E0 ldi r22,lo8(EE_Parameter) |
| 1070 067c 70E0 ldi r23,hi8(EE_Parameter) |
| 1071 067e 8C91 ld r24,X |
| 1072 0680 0E94 0000 call ReadParameterSet |
| 1073 .L103: |
| 1074 0684 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1075 0688 8823 tst r24 |
| 1076 068a 01F0 breq .L103 |
| 1077 068c E091 0000 lds r30,pRxData |
| 1078 0690 F091 0000 lds r31,(pRxData)+1 |
| 1079 0694 8081 ld r24,Z |
| 1080 0696 8983 std Y+1,r24 |
| 1081 0698 80E5 ldi r24,lo8(80) |
| 1082 069a 8A83 std Y+2,r24 |
| 1083 069c 85E6 ldi r24,lo8(101) |
| 1084 069e 90E0 ldi r25,hi8(101) |
| 1085 06a0 9F93 push r25 |
| 1086 06a2 8F93 push r24 |
| 1087 06a4 80E0 ldi r24,lo8(EE_Parameter) |
| 1088 06a6 90E0 ldi r25,hi8(EE_Parameter) |
| 1089 06a8 9F93 push r25 |
| 1090 06aa 8F93 push r24 |
| 1091 06ac 21E0 ldi r18,lo8(1) |
| 1092 06ae 30E0 ldi r19,hi8(1) |
| 1093 06b0 3F93 push r19 |
| 1094 06b2 2F93 push r18 |
| 1095 06b4 CE01 movw r24,r28 |
| 1096 06b6 0296 adiw r24,2 |
| 1097 06b8 9F93 push r25 |
| 1098 06ba 8F93 push r24 |
| 1099 06bc 3F93 push r19 |
| 1100 06be 2F93 push r18 |
| 1101 06c0 CE01 movw r24,r28 |
| 1102 06c2 820F add r24,r18 |
| 1103 06c4 931F adc r25,r19 |
| 1104 06c6 9F93 push r25 |
| 1105 06c8 8F93 push r24 |
| 1106 06ca 83E0 ldi r24,lo8(3) |
| 1107 06cc 8F93 push r24 |
| 1108 06ce 81E0 ldi r24,lo8(1) |
| 1109 06d0 8F93 push r24 |
| 1110 06d2 81E5 ldi r24,lo8(81) |
| 1111 06d4 8F93 push r24 |
| 1112 06d6 0E94 0000 call SendOutData |
| 1113 06da ADB7 in r26,__SP_L__ |
| 1114 06dc BEB7 in r27,__SP_H__ |
| 1115 06de 1F96 adiw r26,15 |
| 1116 06e0 ADBF out __SP_L__,r26 |
| 1117 06e2 00C0 rjmp .L115 |
| 1118 .L144: |
| 1119 06e4 8D36 cpi r24,109 |
| 1120 06e6 9105 cpc r25,__zero_reg__ |
| 1121 06e8 01F0 breq .L91 |
| 1122 06ea 8E36 cpi r24,110 |
| 1123 06ec 9105 cpc r25,__zero_reg__ |
| 1124 06ee 04F0 brlt .+2 |
| 1125 06f0 00C0 rjmp .L113 |
| 1126 06f2 8B34 cpi r24,75 |
| 1127 06f4 9105 cpc r25,__zero_reg__ |
| 1128 06f6 01F0 breq .+2 |
| 1129 06f8 00C0 rjmp .L115 |
| 1130 06fa A091 0000 lds r26,pRxData |
| 1131 06fe B091 0000 lds r27,(pRxData)+1 |
| 1132 0702 8D91 ld r24,X+ |
| 1133 0704 9C91 ld r25,X |
| 1134 0706 9093 0000 sts (KompassValue)+1,r25 |
| 1135 070a 8093 0000 sts KompassValue,r24 |
| 1136 070e 2091 0000 lds r18,KompassStartwert |
| 1137 0712 3091 0000 lds r19,(KompassStartwert)+1 |
| 1138 0716 821B sub r24,r18 |
| 1139 0718 930B sbc r25,r19 |
| 1140 071a 845E subi r24,lo8(-(540)) |
| 1141 071c 9D4F sbci r25,hi8(-(540)) |
| 1142 071e 68E6 ldi r22,lo8(360) |
| 1143 0720 71E0 ldi r23,hi8(360) |
| 1144 0722 0E94 0000 call __divmodhi4 |
| 1145 0726 845B subi r24,lo8(-(-180)) |
| 1146 0728 9040 sbci r25,hi8(-(-180)) |
| 1147 072a 9093 0000 sts (KompassRichtung)+1,r25 |
| 1148 072e 8093 0000 sts KompassRichtung,r24 |
| 1149 0732 00C0 rjmp .L115 |
| 1150 .L91: |
| 1151 0734 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1152 0738 8823 tst r24 |
| 1153 073a 01F0 breq .L91 |
| 1154 073c A091 0000 lds r26,pRxData |
| 1155 0740 B091 0000 lds r27,(pRxData)+1 |
| 1156 0744 1C91 ld r17,X |
| 1157 0746 1130 cpi r17,lo8(1) |
| 1158 0748 01F4 brne .+2 |
| 1159 074a 00C0 rjmp .L146 |
| 1160 074c 1982 std Y+1,__zero_reg__ |
| 1161 .L96: |
| 1162 074e 81E0 ldi r24,lo8(1) |
| 1163 0750 90E0 ldi r25,hi8(1) |
| 1164 0752 9F93 push r25 |
| 1165 0754 8F93 push r24 |
| 1166 0756 CE01 movw r24,r28 |
| 1167 0758 0196 adiw r24,1 |
| 1168 075a 9F93 push r25 |
| 1169 075c 8F93 push r24 |
| 1170 075e 81E0 ldi r24,lo8(1) |
| 1171 0760 8F93 push r24 |
| 1172 0762 8F93 push r24 |
| 1173 0764 8DE4 ldi r24,lo8(77) |
| 1174 .L141: |
| 1175 0766 8F93 push r24 |
| 1176 0768 0E94 0000 call SendOutData |
| 1177 076c 8DB7 in r24,__SP_L__ |
| 1178 076e 9EB7 in r25,__SP_H__ |
| 1179 0770 0796 adiw r24,7 |
| 1180 0772 8DBF out __SP_L__,r24 |
| 1181 0774 00C0 rjmp .L115 |
| 1182 .L135: |
| 1183 0776 81E0 ldi r24,lo8(1) |
| 1184 0778 8093 0000 sts GetVersionAnforderung,r24 |
| 1185 077c 00C0 rjmp .L79 |
| 1186 .L134: |
| 1187 077e 8FEF ldi r24,lo8(-1) |
| 1188 0780 8093 0000 sts PcZugriff,r24 |
| 1189 0784 E091 0000 lds r30,pRxData |
| 1190 0788 F091 0000 lds r31,(pRxData)+1 |
| 1191 078c 8081 ld r24,Z |
| 1192 078e 8093 0000 sts MenuePunkt,r24 |
| 1193 0792 81E0 ldi r24,lo8(1) |
| 1194 0794 8093 0000 sts DebugDisplayAnforderung1,r24 |
| 1195 0798 00C0 rjmp .L79 |
| 1196 .L136: |
| 1197 079a 81E0 ldi r24,lo8(1) |
| 1198 079c 8093 0000 sts GetExternalControl,r24 |
| 1199 07a0 00C0 rjmp .L79 |
| 1200 .L130: |
| 1201 07a2 E091 0000 lds r30,pRxData |
| 1202 07a6 F091 0000 lds r31,(pRxData)+1 |
| 1203 07aa 9081 ld r25,Z |
| 1204 07ac 8AE0 ldi r24,lo8(10) |
| 1205 07ae 989F mul r25,r24 |
| 1206 07b0 C001 movw r24,r0 |
| 1207 07b2 1124 clr r1 |
| 1208 07b4 9093 0000 sts (DebugDataIntervall)+1,r25 |
| 1209 07b8 8093 0000 sts DebugDataIntervall,r24 |
| 1210 07bc 892B or r24,r25 |
| 1211 07be 01F4 brne .+2 |
| 1212 07c0 00C0 rjmp .L79 |
| 1213 07c2 81E0 ldi r24,lo8(1) |
| 1214 07c4 8093 0000 sts DebugDataAnforderung,r24 |
| 1215 07c8 00C0 rjmp .L79 |
| 1216 .L127: |
| 1217 07ca 8091 0000 lds r24,Intervall3D |
| 1218 07ce 9091 0000 lds r25,(Intervall3D)+1 |
| 1219 07d2 892B or r24,r25 |
| 1220 07d4 01F0 breq .+2 |
| 1221 07d6 00C0 rjmp .L138 |
| 1222 07d8 A091 0000 lds r26,pRxData |
| 1223 07dc B091 0000 lds r27,(pRxData)+1 |
| 1224 07e0 9C91 ld r25,X |
| 1225 07e2 9923 tst r25 |
| 1226 07e4 01F0 breq .+2 |
| 1227 07e6 00C0 rjmp .L147 |
| 1228 .L128: |
| 1229 07e8 9C91 ld r25,X |
| 1230 07ea 8AE0 ldi r24,lo8(10) |
| 1231 07ec 989F mul r25,r24 |
| 1232 07ee C001 movw r24,r0 |
| 1233 07f0 1124 clr r1 |
| 1234 07f2 9093 0000 sts (Intervall3D)+1,r25 |
| 1235 07f6 8093 0000 sts Intervall3D,r24 |
| 1236 07fa 00C0 rjmp .L79 |
| 1237 .L126: |
| 1238 07fc A091 0000 lds r26,pRxData |
| 1239 0800 B091 0000 lds r27,(pRxData)+1 |
| 1240 0804 8BE0 ldi r24,lo8(11) |
| 1241 0806 E0E0 ldi r30,lo8(ExternControl) |
| 1242 0808 F0E0 ldi r31,hi8(ExternControl) |
| 1243 080a 0D90 ld __tmp_reg__,X+ |
| 1244 080c 0192 st Z+,__tmp_reg__ |
| 1245 080e 8A95 dec r24 |
| 1246 0810 01F4 brne .-8 |
| 1247 0812 8091 0000 lds r24,ExternControl+9 |
| 1248 0816 8093 0000 sts ConfirmFrame,r24 |
| 1249 .L142: |
| 1250 081a 8FEF ldi r24,lo8(-1) |
| 1251 081c 8093 0000 sts PcZugriff,r24 |
| 1252 0820 00C0 rjmp .L79 |
| 1253 .L124: |
| 1254 0822 E091 0000 lds r30,pRxData |
| 1255 0826 F091 0000 lds r31,(pRxData)+1 |
| 1256 082a E081 ld r30,Z |
| 1257 082c E032 cpi r30,lo8(32) |
| 1258 082e 00F4 brsh .+2 |
| 1259 0830 00C0 rjmp .L139 |
| 1260 0832 8FE1 ldi r24,lo8(31) |
| 1261 0834 8093 0000 sts DebugTextAnforderung,r24 |
| 1262 0838 00C0 rjmp .L142 |
| 1263 .L123: |
| 1264 083a E091 0000 lds r30,pRxData |
| 1265 083e F091 0000 lds r31,(pRxData)+1 |
| 1266 0842 8081 ld r24,Z |
| 1267 0844 9181 ldd r25,Z+1 |
| 1268 0846 9093 0000 sts (KompassValue)+1,r25 |
| 1269 084a 8093 0000 sts KompassValue,r24 |
| 1270 084e 2091 0000 lds r18,KompassStartwert |
| 1271 0852 3091 0000 lds r19,(KompassStartwert)+1 |
| 1272 0856 821B sub r24,r18 |
| 1273 0858 930B sbc r25,r19 |
| 1274 085a 845E subi r24,lo8(-(540)) |
| 1275 085c 9D4F sbci r25,hi8(-(540)) |
| 1276 085e 68E6 ldi r22,lo8(360) |
| 1277 0860 71E0 ldi r23,hi8(360) |
| 1278 0862 0E94 0000 call __divmodhi4 |
| 1279 0866 845B subi r24,lo8(-(-180)) |
| 1280 0868 9040 sbci r25,hi8(-(-180)) |
| 1281 086a 9093 0000 sts (KompassRichtung)+1,r25 |
| 1282 086e 8093 0000 sts KompassRichtung,r24 |
| 1283 0872 00C0 rjmp .L79 |
| 1284 .L117: |
| 1285 0874 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 1286 0878 8531 cpi r24,lo8(21) |
| 1287 087a 00F4 brsh .+2 |
| 1288 087c 00C0 rjmp .L118 |
| 1289 087e E091 0000 lds r30,pRxData |
| 1290 0882 F091 0000 lds r31,(pRxData)+1 |
| 1291 0886 80E1 ldi r24,lo8(16) |
| 1292 0888 A0E0 ldi r26,lo8(MotorTest) |
| 1293 088a B0E0 ldi r27,hi8(MotorTest) |
| 1294 088c 0190 ld __tmp_reg__,Z+ |
| 1295 088e 0D92 st X+,__tmp_reg__ |
| 1296 0890 8A95 dec r24 |
| 1297 0892 01F4 brne .-8 |
| 1298 .L120: |
| 1299 0894 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1300 0898 8823 tst r24 |
| 1301 089a 01F0 breq .L120 |
| 1302 089c 1F92 push __zero_reg__ |
| 1303 089e 8091 0000 lds r24,MeineSlaveAdresse |
| 1304 08a2 8F93 push r24 |
| 1305 08a4 84E5 ldi r24,lo8(84) |
| 1306 08a6 8F93 push r24 |
| 1307 08a8 0E94 0000 call SendOutData |
| 1308 08ac 8AEF ldi r24,lo8(-6) |
| 1309 08ae 8093 0000 sts PC_MotortestActive,r24 |
| 1310 08b2 8FEF ldi r24,lo8(-1) |
| 1311 08b4 8093 0000 sts PcZugriff,r24 |
| 1312 08b8 0F90 pop __tmp_reg__ |
| 1313 08ba 0F90 pop __tmp_reg__ |
| 1314 08bc 0F90 pop __tmp_reg__ |
| 1315 08be 00C0 rjmp .L79 |
| 1316 .L97: |
| 1317 08c0 81E0 ldi r24,lo8(1) |
| 1318 08c2 8093 0000 sts GetPPMChannelAnforderung,r24 |
| 1319 08c6 00C0 rjmp .L115 |
| 1320 .L113: |
| 1321 08c8 8E36 cpi r24,110 |
| 1322 08ca 9105 cpc r25,__zero_reg__ |
| 1323 08cc 01F0 breq .+2 |
| 1324 08ce 00C0 rjmp .L115 |
| 1325 .L87: |
| 1326 08d0 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1327 08d4 8823 tst r24 |
| 1328 08d6 01F0 breq .L87 |
| 1329 08d8 8DE4 ldi r24,lo8(77) |
| 1330 08da 90E0 ldi r25,hi8(77) |
| 1331 08dc 9F93 push r25 |
| 1332 08de 8F93 push r24 |
| 1333 08e0 80E0 ldi r24,lo8(Mixer) |
| 1334 08e2 90E0 ldi r25,hi8(Mixer) |
| 1335 08e4 9F93 push r25 |
| 1336 08e6 8F93 push r24 |
| 1337 08e8 81E0 ldi r24,lo8(1) |
| 1338 08ea 8F93 push r24 |
| 1339 08ec 8F93 push r24 |
| 1340 08ee 8EE4 ldi r24,lo8(78) |
| 1341 08f0 00C0 rjmp .L141 |
| 1342 .L114: |
| 1343 08f2 8437 cpi r24,116 |
| 1344 08f4 9105 cpc r25,__zero_reg__ |
| 1345 08f6 01F0 breq .+2 |
| 1346 08f8 00C0 rjmp .L115 |
| 1347 08fa 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 1348 08fe 8531 cpi r24,lo8(21) |
| 1349 0900 00F4 brsh .+2 |
| 1350 0902 00C0 rjmp .L84 |
| 1351 0904 A091 0000 lds r26,pRxData |
| 1352 0908 B091 0000 lds r27,(pRxData)+1 |
| 1353 090c 80E1 ldi r24,lo8(16) |
| 1354 090e E0E0 ldi r30,lo8(MotorTest) |
| 1355 0910 F0E0 ldi r31,hi8(MotorTest) |
| 1356 0912 0D90 ld __tmp_reg__,X+ |
| 1357 0914 0192 st Z+,__tmp_reg__ |
| 1358 0916 8A95 dec r24 |
| 1359 0918 01F4 brne .-8 |
| 1360 .L85: |
| 1361 091a 80EF ldi r24,lo8(-16) |
| 1362 091c 8093 0000 sts PC_MotortestActive,r24 |
| 1363 0920 8FEF ldi r24,lo8(-1) |
| 1364 0922 8093 0000 sts PcZugriff,r24 |
| 1365 0926 00C0 rjmp .L115 |
| 1366 .L106: |
| 1367 0928 2091 0000 lds r18,pRxData |
| 1368 092c 3091 0000 lds r19,(pRxData)+1 |
| 1369 0930 F901 movw r30,r18 |
| 1370 0932 8081 ld r24,Z |
| 1371 0934 8150 subi r24,lo8(-(-1)) |
| 1372 0936 8530 cpi r24,lo8(5) |
| 1373 0938 00F4 brsh .L107 |
| 1374 093a 8181 ldd r24,Z+1 |
| 1375 093c 8035 cpi r24,lo8(80) |
| 1376 093e 01F0 breq .L148 |
| 1377 .L107: |
| 1378 0940 1982 std Y+1,__zero_reg__ |
| 1379 .L109: |
| 1380 0942 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1381 0946 8823 tst r24 |
| 1382 0948 01F0 breq .L109 |
| 1383 094a 81E0 ldi r24,lo8(1) |
| 1384 094c 90E0 ldi r25,hi8(1) |
| 1385 094e 9F93 push r25 |
| 1386 0950 8F93 push r24 |
| 1387 0952 CE01 movw r24,r28 |
| 1388 0954 0196 adiw r24,1 |
| 1389 0956 9F93 push r25 |
| 1390 0958 8F93 push r24 |
| 1391 095a 81E0 ldi r24,lo8(1) |
| 1392 095c 8F93 push r24 |
| 1393 095e 8F93 push r24 |
| 1394 0960 83E5 ldi r24,lo8(83) |
| 1395 0962 8F93 push r24 |
| 1396 0964 0E94 0000 call SendOutData |
| 1397 0968 EDB7 in r30,__SP_L__ |
| 1398 096a FEB7 in r31,__SP_H__ |
| 1399 096c 3796 adiw r30,7 |
| 1400 096e EDBF out __SP_L__,r30 |
| 1401 0970 00C0 rjmp .L115 |
| 1402 .L148: |
| 1403 0972 60E0 ldi r22,lo8(EE_Parameter) |
| 1404 0974 70E0 ldi r23,hi8(EE_Parameter) |
| 1405 0976 85E6 ldi r24,lo8(101) |
| 1406 0978 2E5F subi r18,lo8(-(2)) |
| 1407 097a 3F4F sbci r19,hi8(-(2)) |
| 1408 097c DB01 movw r26,r22 |
| 1409 097e F901 movw r30,r18 |
| 1410 0980 982F mov r25,r24 |
| 1411 0982 0190 ld __tmp_reg__,Z+ |
| 1412 0984 0D92 st X+,__tmp_reg__ |
| 1413 0986 9A95 dec r25 |
| 1414 0988 01F4 brne .-8 |
| 1415 098a 2250 subi r18,lo8(-(-2)) |
| 1416 098c 3040 sbci r19,hi8(-(-2)) |
| 1417 098e 482F mov r20,r24 |
| 1418 0990 D901 movw r26,r18 |
| 1419 0992 8C91 ld r24,X |
| 1420 0994 0E94 0000 call WriteParameterSet |
| 1421 0998 8091 0000 lds r24,EE_Parameter+54 |
| 1422 099c 9927 clr r25 |
| 1423 099e AA27 clr r26 |
| 1424 09a0 BB27 clr r27 |
| 1425 09a2 BC01 movw r22,r24 |
| 1426 09a4 CD01 movw r24,r26 |
| 1427 09a6 24EC ldi r18,lo8(2500) |
| 1428 09a8 39E0 ldi r19,hi8(2500) |
| 1429 09aa 40E0 ldi r20,hlo8(2500) |
| 1430 09ac 50E0 ldi r21,hhi8(2500) |
| 1431 09ae 0E94 0000 call __mulsi3 |
| 1432 09b2 DC01 movw r26,r24 |
| 1433 09b4 CB01 movw r24,r22 |
| 1434 09b6 8093 0000 sts Umschlag180Nick,r24 |
| 1435 09ba 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1436 09be A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1437 09c2 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1438 09c6 8091 0000 lds r24,EE_Parameter+55 |
| 1439 09ca 9927 clr r25 |
| 1440 09cc AA27 clr r26 |
| 1441 09ce BB27 clr r27 |
| 1442 09d0 BC01 movw r22,r24 |
| 1443 09d2 CD01 movw r24,r26 |
| 1444 09d4 0E94 0000 call __mulsi3 |
| 1445 09d8 DC01 movw r26,r24 |
| 1446 09da CB01 movw r24,r22 |
| 1447 09dc 8093 0000 sts Umschlag180Roll,r24 |
| 1448 09e0 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1449 09e4 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1450 09e8 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1451 09ec E091 0000 lds r30,pRxData |
| 1452 09f0 F091 0000 lds r31,(pRxData)+1 |
| 1453 09f4 8081 ld r24,Z |
| 1454 09f6 0E94 0000 call SetActiveParamSetNumber |
| 1455 09fa 0E94 0000 call GetActiveParamSetNumber |
| 1456 09fe 8983 std Y+1,r24 |
| 1457 0a00 80E0 ldi r24,lo8(0) |
| 1458 0a02 0E94 0000 call LipoDetection |
| 1459 0a06 6EE6 ldi r22,lo8(110) |
| 1460 0a08 70E0 ldi r23,hi8(110) |
| 1461 0a0a 8981 ldd r24,Y+1 |
| 1462 0a0c 0E94 0000 call Piep |
| 1463 0a10 00C0 rjmp .L109 |
| 1464 .L147: |
| 1465 0a12 8AE0 ldi r24,lo8(10) |
| 1466 0a14 989F mul r25,r24 |
| 1467 0a16 C001 movw r24,r0 |
| 1468 0a18 1124 clr r1 |
| 1469 0a1a 0E94 0000 call SetDelay |
| 1470 0a1e 9093 0000 sts (Timer3D)+1,r25 |
| 1471 0a22 8093 0000 sts Timer3D,r24 |
| 1472 .L138: |
| 1473 0a26 A091 0000 lds r26,pRxData |
| 1474 0a2a B091 0000 lds r27,(pRxData)+1 |
| 1475 0a2e 00C0 rjmp .L128 |
| 1476 .L118: |
| 1477 0a30 E091 0000 lds r30,pRxData |
| 1478 0a34 F091 0000 lds r31,(pRxData)+1 |
| 1479 0a38 8081 ld r24,Z |
| 1480 0a3a 9181 ldd r25,Z+1 |
| 1481 0a3c A281 ldd r26,Z+2 |
| 1482 0a3e B381 ldd r27,Z+3 |
| 1483 0a40 8093 0000 sts MotorTest,r24 |
| 1484 0a44 9093 0000 sts (MotorTest)+1,r25 |
| 1485 0a48 A093 0000 sts (MotorTest)+2,r26 |
| 1486 0a4c B093 0000 sts (MotorTest)+3,r27 |
| 1487 0a50 00C0 rjmp .L120 |
| 1488 .L139: |
| 1489 0a52 E093 0000 sts DebugTextAnforderung,r30 |
| 1490 0a56 00C0 rjmp .L142 |
| 1491 .L84: |
| 1492 0a58 A091 0000 lds r26,pRxData |
| 1493 0a5c B091 0000 lds r27,(pRxData)+1 |
| 1494 0a60 8D91 ld r24,X+ |
| 1495 0a62 9D91 ld r25,X+ |
| 1496 0a64 0D90 ld __tmp_reg__,X+ |
| 1497 0a66 BC91 ld r27,X |
| 1498 0a68 A02D mov r26,__tmp_reg__ |
| 1499 0a6a 8093 0000 sts MotorTest,r24 |
| 1500 0a6e 9093 0000 sts (MotorTest)+1,r25 |
| 1501 0a72 A093 0000 sts (MotorTest)+2,r26 |
| 1502 0a76 B093 0000 sts (MotorTest)+3,r27 |
| 1503 0a7a 00C0 rjmp .L85 |
| 1504 .L100: |
| 1505 0a7c 8630 cpi r24,lo8(6) |
| 1506 0a7e 00F4 brsh .+2 |
| 1507 0a80 00C0 rjmp .L101 |
| 1508 0a82 85E0 ldi r24,lo8(5) |
| 1509 0a84 00C0 rjmp .L140 |
| 1510 .L146: |
| 1511 0a86 60E0 ldi r22,lo8(Mixer) |
| 1512 0a88 70E0 ldi r23,hi8(Mixer) |
| 1513 0a8a 8DE4 ldi r24,lo8(77) |
| 1514 0a8c FB01 movw r30,r22 |
| 1515 0a8e 0D90 ld __tmp_reg__,X+ |
| 1516 0a90 0192 st Z+,__tmp_reg__ |
| 1517 0a92 8A95 dec r24 |
| 1518 0a94 01F4 brne .-8 |
| 1519 0a96 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 1520 0a98 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 1521 0a9a 4DE4 ldi r20,lo8(77) |
| 1522 0a9c 50E0 ldi r21,hi8(77) |
| 1523 0a9e 80E0 ldi r24,lo8(EEPromArray+1000) |
| 1524 0aa0 90E0 ldi r25,hi8(EEPromArray+1000) |
| 1525 0aa2 0E94 0000 call __eewr_block |
| 1526 0aa6 1983 std Y+1,r17 |
| 1527 0aa8 00C0 rjmp .L96 |
| 1528 .L145: |
| 1529 0aaa 0E94 0000 call GetActiveParamSetNumber |
| 1530 0aae E091 0000 lds r30,pRxData |
| 1531 0ab2 F091 0000 lds r31,(pRxData)+1 |
| 1532 0ab6 8083 st Z,r24 |
| 1533 0ab8 A091 0000 lds r26,pRxData |
| 1534 0abc B091 0000 lds r27,(pRxData)+1 |
| 1535 0ac0 00C0 rjmp .L99 |
| 1536 .L77: |
| 1537 /* epilogue: frame size=2 */ |
| 1538 0ac2 E3E0 ldi r30,3 |
| 1539 0ac4 CE5F subi r28,-2 |
| 1540 0ac6 0C94 0000 jmp __epilogue_restores__+30 |
| 1541 /* epilogue end (size=4) */ |
| 1542 /* function BearbeiteRxDaten size 699 (689) */ |
| 1544 .global uart_putchar |
| 1546 uart_putchar: |
| 1547 /* prologue: frame size=0 */ |
| 1548 0aca CF93 push r28 |
| 1549 /* prologue end (size=1) */ |
| 1550 0acc C82F mov r28,r24 |
| 1551 0ace 8A30 cpi r24,lo8(10) |
| 1552 0ad0 01F0 breq .L155 |
| 1553 .L152: |
| 1554 0ad2 8091 C000 lds r24,192 |
| 1555 0ad6 85FF sbrs r24,5 |
| 1556 0ad8 00C0 rjmp .L152 |
| 1557 0ada 00C0 rjmp .L156 |
| 1558 .L155: |
| 1559 0adc 8DE0 ldi r24,lo8(13) |
| 1560 0ade 0E94 0000 call uart_putchar |
| 1561 0ae2 00C0 rjmp .L152 |
| 1562 .L156: |
| 1563 0ae4 C093 C600 sts 198,r28 |
| 1564 0ae8 80E0 ldi r24,lo8(0) |
| 1565 0aea 90E0 ldi r25,hi8(0) |
| 1566 /* epilogue: frame size=0 */ |
| 1567 0aec CF91 pop r28 |
| 1568 0aee 0895 ret |
| 1569 /* epilogue end (size=2) */ |
| 1570 /* function uart_putchar size 19 (16) */ |
| 1572 .global DatenUebertragung |
| 1574 DatenUebertragung: |
| 1575 /* prologue: frame size=0 */ |
| 1576 0af0 EF92 push r14 |
| 1577 0af2 FF92 push r15 |
| 1578 0af4 0F93 push r16 |
| 1579 0af6 1F93 push r17 |
| 1580 /* prologue end (size=4) */ |
| 1581 0af8 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1582 0afc 8823 tst r24 |
| 1583 0afe 01F4 brne .+2 |
| 1584 0b00 00C0 rjmp .L157 |
| 1585 0b02 8091 0000 lds r24,DebugDisplayAnforderung |
| 1586 0b06 8823 tst r24 |
| 1587 0b08 01F0 breq .+2 |
| 1588 0b0a 00C0 rjmp .L175 |
| 1589 .L159: |
| 1590 0b0c 8091 0000 lds r24,DebugDisplayAnforderung1 |
| 1591 0b10 8823 tst r24 |
| 1592 0b12 01F0 breq .L161 |
| 1593 0b14 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1594 0b18 8823 tst r24 |
| 1595 0b1a 01F0 breq .+2 |
| 1596 0b1c 00C0 rjmp .L176 |
| 1597 .L161: |
| 1598 0b1e 8091 0000 lds r24,GetVersionAnforderung |
| 1599 0b22 8823 tst r24 |
| 1600 0b24 01F0 breq .L162 |
| 1601 0b26 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1602 0b2a 8823 tst r24 |
| 1603 0b2c 01F0 breq .+2 |
| 1604 0b2e 00C0 rjmp .L177 |
| 1605 .L162: |
| 1606 0b30 8091 0000 lds r24,GetExternalControl |
| 1607 0b34 8823 tst r24 |
| 1608 0b36 01F0 breq .L163 |
| 1609 0b38 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1610 0b3c 8823 tst r24 |
| 1611 0b3e 01F0 breq .+2 |
| 1612 0b40 00C0 rjmp .L178 |
| 1613 .L163: |
| 1614 0b42 8091 0000 lds r24,Kompass_Timer |
| 1615 0b46 9091 0000 lds r25,(Kompass_Timer)+1 |
| 1616 0b4a 0E94 0000 call CheckDelay |
| 1617 0b4e 8823 tst r24 |
| 1618 0b50 01F0 breq .L164 |
| 1619 0b52 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1620 0b56 8823 tst r24 |
| 1621 0b58 01F0 breq .+2 |
| 1622 0b5a 00C0 rjmp .L179 |
| 1623 .L164: |
| 1624 0b5c 8091 0000 lds r24,DebugDataIntervall |
| 1625 0b60 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 1626 0b64 892B or r24,r25 |
| 1627 0b66 01F0 breq .+2 |
| 1628 0b68 00C0 rjmp .L180 |
| 1629 .L168: |
| 1630 0b6a 8091 0000 lds r24,DebugDataAnforderung |
| 1631 0b6e 8823 tst r24 |
| 1632 0b70 01F0 breq .L166 |
| 1633 .L167: |
| 1634 0b72 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1635 0b76 8823 tst r24 |
| 1636 0b78 01F0 breq .+2 |
| 1637 0b7a 00C0 rjmp .L181 |
| 1638 .L166: |
| 1639 0b7c 8091 0000 lds r24,Intervall3D |
| 1640 0b80 9091 0000 lds r25,(Intervall3D)+1 |
| 1641 0b84 892B or r24,r25 |
| 1642 0b86 01F0 breq .+2 |
| 1643 0b88 00C0 rjmp .L182 |
| 1644 .L170: |
| 1645 0b8a 2091 0000 lds r18,DebugTextAnforderung |
| 1646 0b8e 2F3F cpi r18,lo8(-1) |
| 1647 0b90 01F0 breq .L171 |
| 1648 0b92 80E1 ldi r24,lo8(16) |
| 1649 0b94 90E0 ldi r25,hi8(16) |
| 1650 0b96 9F93 push r25 |
| 1651 0b98 8F93 push r24 |
| 1652 0b9a 822F mov r24,r18 |
| 1653 0b9c 9927 clr r25 |
| 1654 0b9e 8295 swap r24 |
| 1655 0ba0 9295 swap r25 |
| 1656 0ba2 907F andi r25,0xf0 |
| 1657 0ba4 9827 eor r25,r24 |
| 1658 0ba6 807F andi r24,0xf0 |
| 1659 0ba8 9827 eor r25,r24 |
| 1660 0baa 8050 subi r24,lo8(-(ANALOG_TEXT)) |
| 1661 0bac 9040 sbci r25,hi8(-(ANALOG_TEXT)) |
| 1662 0bae 9F93 push r25 |
| 1663 0bb0 8F93 push r24 |
| 1664 0bb2 81E0 ldi r24,lo8(1) |
| 1665 0bb4 90E0 ldi r25,hi8(1) |
| 1666 0bb6 9F93 push r25 |
| 1667 0bb8 8F93 push r24 |
| 1668 0bba 80E0 ldi r24,lo8(DebugTextAnforderung) |
| 1669 0bbc 90E0 ldi r25,hi8(DebugTextAnforderung) |
| 1670 0bbe 9F93 push r25 |
| 1671 0bc0 8F93 push r24 |
| 1672 0bc2 82E0 ldi r24,lo8(2) |
| 1673 0bc4 8F93 push r24 |
| 1674 0bc6 81E0 ldi r24,lo8(1) |
| 1675 0bc8 8F93 push r24 |
| 1676 0bca 81E4 ldi r24,lo8(65) |
| 1677 0bcc 8F93 push r24 |
| 1678 0bce 0E94 0000 call SendOutData |
| 1679 0bd2 8FEF ldi r24,lo8(-1) |
| 1680 0bd4 8093 0000 sts DebugTextAnforderung,r24 |
| 1681 0bd8 8DB7 in r24,__SP_L__ |
| 1682 0bda 9EB7 in r25,__SP_H__ |
| 1683 0bdc 0B96 adiw r24,11 |
| 1684 0bde 8DBF out __SP_L__,r24 |
| 1685 .L171: |
| 1686 0be0 8091 0000 lds r24,ConfirmFrame |
| 1687 0be4 8823 tst r24 |
| 1688 0be6 01F0 breq .L172 |
| 1689 0be8 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1690 0bec 8823 tst r24 |
| 1691 0bee 01F0 breq .+2 |
| 1692 0bf0 00C0 rjmp .L183 |
| 1693 .L172: |
| 1694 0bf2 8091 0000 lds r24,GetPPMChannelAnforderung |
| 1695 0bf6 8823 tst r24 |
| 1696 0bf8 01F4 brne .+2 |
| 1697 0bfa 00C0 rjmp .L157 |
| 1698 0bfc 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1699 0c00 8823 tst r24 |
| 1700 0c02 01F4 brne .+2 |
| 1701 0c04 00C0 rjmp .L157 |
| 1702 0c06 00C0 rjmp .L184 |
| 1703 .L175: |
| 1704 0c08 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1705 0c0c 8823 tst r24 |
| 1706 0c0e 01F4 brne .+2 |
| 1707 0c10 00C0 rjmp .L159 |
| 1708 0c12 0E94 0000 call Menu |
| 1709 0c16 84E1 ldi r24,lo8(20) |
| 1710 0c18 90E0 ldi r25,hi8(20) |
| 1711 0c1a 9F93 push r25 |
| 1712 0c1c 8F93 push r24 |
| 1713 0c1e 9091 0000 lds r25,DisplayLine |
| 1714 0c22 84E1 ldi r24,lo8(20) |
| 1715 0c24 989F mul r25,r24 |
| 1716 0c26 C001 movw r24,r0 |
| 1717 0c28 1124 clr r1 |
| 1718 0c2a 8050 subi r24,lo8(-(DisplayBuff)) |
| 1719 0c2c 9040 sbci r25,hi8(-(DisplayBuff)) |
| 1720 0c2e 9F93 push r25 |
| 1721 0c30 8F93 push r24 |
| 1722 0c32 81E0 ldi r24,lo8(1) |
| 1723 0c34 90E0 ldi r25,hi8(1) |
| 1724 0c36 9F93 push r25 |
| 1725 0c38 8F93 push r24 |
| 1726 0c3a 80E0 ldi r24,lo8(DisplayLine) |
| 1727 0c3c 90E0 ldi r25,hi8(DisplayLine) |
| 1728 0c3e 9F93 push r25 |
| 1729 0c40 8F93 push r24 |
| 1730 0c42 82E0 ldi r24,lo8(2) |
| 1731 0c44 8F93 push r24 |
| 1732 0c46 81E0 ldi r24,lo8(1) |
| 1733 0c48 8F93 push r24 |
| 1734 0c4a 88E4 ldi r24,lo8(72) |
| 1735 0c4c 8F93 push r24 |
| 1736 0c4e 0E94 0000 call SendOutData |
| 1737 0c52 8091 0000 lds r24,DisplayLine |
| 1738 0c56 8F5F subi r24,lo8(-(1)) |
| 1739 0c58 2DB7 in r18,__SP_L__ |
| 1740 0c5a 3EB7 in r19,__SP_H__ |
| 1741 0c5c 255F subi r18,lo8(-(11)) |
| 1742 0c5e 3F4F sbci r19,hi8(-(11)) |
| 1743 0c60 2DBF out __SP_L__,r18 |
| 1744 0c62 8430 cpi r24,lo8(4) |
| 1745 0c64 00F4 brsh .+2 |
| 1746 0c66 00C0 rjmp .L174 |
| 1747 0c68 1092 0000 sts DisplayLine,__zero_reg__ |
| 1748 0c6c 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 1749 0c70 00C0 rjmp .L159 |
| 1750 .L184: |
| 1751 0c72 86E1 ldi r24,lo8(22) |
| 1752 0c74 90E0 ldi r25,hi8(22) |
| 1753 0c76 9F93 push r25 |
| 1754 0c78 8F93 push r24 |
| 1755 0c7a 80E0 ldi r24,lo8(PPM_in) |
| 1756 0c7c 90E0 ldi r25,hi8(PPM_in) |
| 1757 0c7e 9F93 push r25 |
| 1758 0c80 8F93 push r24 |
| 1759 0c82 81E0 ldi r24,lo8(1) |
| 1760 0c84 8F93 push r24 |
| 1761 0c86 8F93 push r24 |
| 1762 0c88 80E5 ldi r24,lo8(80) |
| 1763 0c8a 8F93 push r24 |
| 1764 0c8c 0E94 0000 call SendOutData |
| 1765 0c90 1092 0000 sts GetPPMChannelAnforderung,__zero_reg__ |
| 1766 0c94 8DB7 in r24,__SP_L__ |
| 1767 0c96 9EB7 in r25,__SP_H__ |
| 1768 0c98 0796 adiw r24,7 |
| 1769 0c9a 8DBF out __SP_L__,r24 |
| 1770 0c9c 00C0 rjmp .L157 |
| 1771 .L183: |
| 1772 0c9e 81E0 ldi r24,lo8(1) |
| 1773 0ca0 90E0 ldi r25,hi8(1) |
| 1774 0ca2 9F93 push r25 |
| 1775 0ca4 8F93 push r24 |
| 1776 0ca6 80E0 ldi r24,lo8(ConfirmFrame) |
| 1777 0ca8 90E0 ldi r25,hi8(ConfirmFrame) |
| 1778 0caa 9F93 push r25 |
| 1779 0cac 8F93 push r24 |
| 1780 0cae 81E0 ldi r24,lo8(1) |
| 1781 0cb0 8F93 push r24 |
| 1782 0cb2 8F93 push r24 |
| 1783 0cb4 82E4 ldi r24,lo8(66) |
| 1784 0cb6 8F93 push r24 |
| 1785 0cb8 0E94 0000 call SendOutData |
| 1786 0cbc 1092 0000 sts ConfirmFrame,__zero_reg__ |
| 1787 0cc0 2DB7 in r18,__SP_L__ |
| 1788 0cc2 3EB7 in r19,__SP_H__ |
| 1789 0cc4 295F subi r18,lo8(-(7)) |
| 1790 0cc6 3F4F sbci r19,hi8(-(7)) |
| 1791 0cc8 2DBF out __SP_L__,r18 |
| 1792 0cca 00C0 rjmp .L172 |
| 1793 .L179: |
| 1794 0ccc 8091 0000 lds r24,EE_Parameter+23 |
| 1795 0cd0 9927 clr r25 |
| 1796 0cd2 880F lsl r24 |
| 1797 0cd4 991F rol r25 |
| 1798 0cd6 880F lsl r24 |
| 1799 0cd8 991F rol r25 |
| 1800 0cda 7C01 movw r14,r24 |
| 1801 0cdc 0027 clr r16 |
| 1802 0cde F7FC sbrc r15,7 |
| 1803 0ce0 0095 com r16 |
| 1804 0ce2 102F mov r17,r16 |
| 1805 0ce4 8091 0000 lds r24,IntegralNick |
| 1806 0ce8 9091 0000 lds r25,(IntegralNick)+1 |
| 1807 0cec A091 0000 lds r26,(IntegralNick)+2 |
| 1808 0cf0 B091 0000 lds r27,(IntegralNick)+3 |
| 1809 0cf4 BC01 movw r22,r24 |
| 1810 0cf6 CD01 movw r24,r26 |
| 1811 0cf8 A801 movw r20,r16 |
| 1812 0cfa 9701 movw r18,r14 |
| 1813 0cfc 0E94 0000 call __divmodsi4 |
| 1814 0d00 3093 0000 sts (WinkelOut)+1,r19 |
| 1815 0d04 2093 0000 sts WinkelOut,r18 |
| 1816 0d08 8091 0000 lds r24,IntegralRoll |
| 1817 0d0c 9091 0000 lds r25,(IntegralRoll)+1 |
| 1818 0d10 A091 0000 lds r26,(IntegralRoll)+2 |
| 1819 0d14 B091 0000 lds r27,(IntegralRoll)+3 |
| 1820 0d18 BC01 movw r22,r24 |
| 1821 0d1a CD01 movw r24,r26 |
| 1822 0d1c A801 movw r20,r16 |
| 1823 0d1e 9701 movw r18,r14 |
| 1824 0d20 0E94 0000 call __divmodsi4 |
| 1825 0d24 3093 0000 sts (WinkelOut+2)+1,r19 |
| 1826 0d28 2093 0000 sts WinkelOut+2,r18 |
| 1827 0d2c 8091 0000 lds r24,Parameter_UserParam1 |
| 1828 0d30 8093 0000 sts WinkelOut+4,r24 |
| 1829 0d34 8091 0000 lds r24,Parameter_UserParam2 |
| 1830 0d38 8093 0000 sts WinkelOut+5,r24 |
| 1831 0d3c 88E0 ldi r24,lo8(8) |
| 1832 0d3e 90E0 ldi r25,hi8(8) |
| 1833 0d40 9F93 push r25 |
| 1834 0d42 8F93 push r24 |
| 1835 0d44 80E0 ldi r24,lo8(WinkelOut) |
| 1836 0d46 90E0 ldi r25,hi8(WinkelOut) |
| 1837 0d48 9F93 push r25 |
| 1838 0d4a 8F93 push r24 |
| 1839 0d4c 81E0 ldi r24,lo8(1) |
| 1840 0d4e 8F93 push r24 |
| 1841 0d50 83E0 ldi r24,lo8(3) |
| 1842 0d52 8F93 push r24 |
| 1843 0d54 87E7 ldi r24,lo8(119) |
| 1844 0d56 8F93 push r24 |
| 1845 0d58 0E94 0000 call SendOutData |
| 1846 0d5c 8091 0000 lds r24,WinkelOut+6 |
| 1847 0d60 2DB7 in r18,__SP_L__ |
| 1848 0d62 3EB7 in r19,__SP_H__ |
| 1849 0d64 295F subi r18,lo8(-(7)) |
| 1850 0d66 3F4F sbci r19,hi8(-(7)) |
| 1851 0d68 2DBF out __SP_L__,r18 |
| 1852 0d6a 8530 cpi r24,lo8(5) |
| 1853 0d6c 00F0 brlo .L165 |
| 1854 0d6e 86E0 ldi r24,lo8(6) |
| 1855 0d70 8093 0000 sts WinkelOut+6,r24 |
| 1856 .L165: |
| 1857 0d74 83E6 ldi r24,lo8(99) |
| 1858 0d76 90E0 ldi r25,hi8(99) |
| 1859 0d78 0E94 0000 call SetDelay |
| 1860 0d7c 9093 0000 sts (Kompass_Timer)+1,r25 |
| 1861 0d80 8093 0000 sts Kompass_Timer,r24 |
| 1862 0d84 00C0 rjmp .L164 |
| 1863 .L178: |
| 1864 0d86 8BE0 ldi r24,lo8(11) |
| 1865 0d88 90E0 ldi r25,hi8(11) |
| 1866 0d8a 9F93 push r25 |
| 1867 0d8c 8F93 push r24 |
| 1868 0d8e 80E0 ldi r24,lo8(ExternControl) |
| 1869 0d90 90E0 ldi r25,hi8(ExternControl) |
| 1870 0d92 9F93 push r25 |
| 1871 0d94 8F93 push r24 |
| 1872 0d96 81E0 ldi r24,lo8(1) |
| 1873 0d98 8F93 push r24 |
| 1874 0d9a 8091 0000 lds r24,MeineSlaveAdresse |
| 1875 0d9e 8F93 push r24 |
| 1876 0da0 87E4 ldi r24,lo8(71) |
| 1877 0da2 8F93 push r24 |
| 1878 0da4 0E94 0000 call SendOutData |
| 1879 0da8 1092 0000 sts GetExternalControl,__zero_reg__ |
| 1880 0dac 8DB7 in r24,__SP_L__ |
| 1881 0dae 9EB7 in r25,__SP_H__ |
| 1882 0db0 0796 adiw r24,7 |
| 1883 0db2 8DBF out __SP_L__,r24 |
| 1884 0db4 00C0 rjmp .L163 |
| 1885 .L177: |
| 1886 0db6 8AE0 ldi r24,lo8(10) |
| 1887 0db8 90E0 ldi r25,hi8(10) |
| 1888 0dba 9F93 push r25 |
| 1889 0dbc 8F93 push r24 |
| 1890 0dbe 80E0 ldi r24,lo8(VersionInfo) |
| 1891 0dc0 90E0 ldi r25,hi8(VersionInfo) |
| 1892 0dc2 9F93 push r25 |
| 1893 0dc4 8F93 push r24 |
| 1894 0dc6 81E0 ldi r24,lo8(1) |
| 1895 0dc8 8F93 push r24 |
| 1896 0dca 8F93 push r24 |
| 1897 0dcc 86E5 ldi r24,lo8(86) |
| 1898 0dce 8F93 push r24 |
| 1899 0dd0 0E94 0000 call SendOutData |
| 1900 0dd4 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
| 1901 0dd8 2DB7 in r18,__SP_L__ |
| 1902 0dda 3EB7 in r19,__SP_H__ |
| 1903 0ddc 295F subi r18,lo8(-(7)) |
| 1904 0dde 3F4F sbci r19,hi8(-(7)) |
| 1905 0de0 2DBF out __SP_L__,r18 |
| 1906 0de2 00C0 rjmp .L162 |
| 1907 .L176: |
| 1908 0de4 0E94 0000 call Menu |
| 1909 0de8 80E5 ldi r24,lo8(80) |
| 1910 0dea 90E0 ldi r25,hi8(80) |
| 1911 0dec 9F93 push r25 |
| 1912 0dee 8F93 push r24 |
| 1913 0df0 80E0 ldi r24,lo8(DisplayBuff) |
| 1914 0df2 90E0 ldi r25,hi8(DisplayBuff) |
| 1915 0df4 9F93 push r25 |
| 1916 0df6 8F93 push r24 |
| 1917 0df8 21E0 ldi r18,lo8(1) |
| 1918 0dfa 30E0 ldi r19,hi8(1) |
| 1919 0dfc 3F93 push r19 |
| 1920 0dfe 2F93 push r18 |
| 1921 0e00 80E0 ldi r24,lo8(MaxMenue) |
| 1922 0e02 90E0 ldi r25,hi8(MaxMenue) |
| 1923 0e04 9F93 push r25 |
| 1924 0e06 8F93 push r24 |
| 1925 0e08 3F93 push r19 |
| 1926 0e0a 2F93 push r18 |
| 1927 0e0c 80E0 ldi r24,lo8(MenuePunkt) |
| 1928 0e0e 90E0 ldi r25,hi8(MenuePunkt) |
| 1929 0e10 9F93 push r25 |
| 1930 0e12 8F93 push r24 |
| 1931 0e14 83E0 ldi r24,lo8(3) |
| 1932 0e16 8F93 push r24 |
| 1933 0e18 81E0 ldi r24,lo8(1) |
| 1934 0e1a 8F93 push r24 |
| 1935 0e1c 8CE4 ldi r24,lo8(76) |
| 1936 0e1e 8F93 push r24 |
| 1937 0e20 0E94 0000 call SendOutData |
| 1938 0e24 1092 0000 sts DebugDisplayAnforderung1,__zero_reg__ |
| 1939 0e28 8DB7 in r24,__SP_L__ |
| 1940 0e2a 9EB7 in r25,__SP_H__ |
| 1941 0e2c 0F96 adiw r24,15 |
| 1942 0e2e 8DBF out __SP_L__,r24 |
| 1943 0e30 00C0 rjmp .L161 |
| 1944 .L180: |
| 1945 0e32 8091 0000 lds r24,Debug_Timer |
| 1946 0e36 9091 0000 lds r25,(Debug_Timer)+1 |
| 1947 0e3a 0E94 0000 call CheckDelay |
| 1948 0e3e 8823 tst r24 |
| 1949 0e40 01F0 breq .+2 |
| 1950 0e42 00C0 rjmp .L167 |
| 1951 0e44 00C0 rjmp .L168 |
| 1952 .L182: |
| 1953 0e46 8091 0000 lds r24,Timer3D |
| 1954 0e4a 9091 0000 lds r25,(Timer3D)+1 |
| 1955 0e4e 0E94 0000 call CheckDelay |
| 1956 0e52 8823 tst r24 |
| 1957 0e54 01F4 brne .+2 |
| 1958 0e56 00C0 rjmp .L170 |
| 1959 0e58 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1960 0e5c 8823 tst r24 |
| 1961 0e5e 01F4 brne .+2 |
| 1962 0e60 00C0 rjmp .L170 |
| 1963 0e62 8091 0000 lds r24,EE_Parameter+23 |
| 1964 0e66 9927 clr r25 |
| 1965 0e68 880F lsl r24 |
| 1966 0e6a 991F rol r25 |
| 1967 0e6c 880F lsl r24 |
| 1968 0e6e 991F rol r25 |
| 1969 0e70 7C01 movw r14,r24 |
| 1970 0e72 0027 clr r16 |
| 1971 0e74 F7FC sbrc r15,7 |
| 1972 0e76 0095 com r16 |
| 1973 0e78 102F mov r17,r16 |
| 1974 0e7a 8091 0000 lds r24,IntegralNick |
| 1975 0e7e 9091 0000 lds r25,(IntegralNick)+1 |
| 1976 0e82 A091 0000 lds r26,(IntegralNick)+2 |
| 1977 0e86 B091 0000 lds r27,(IntegralNick)+3 |
| 1978 0e8a BC01 movw r22,r24 |
| 1979 0e8c CD01 movw r24,r26 |
| 1980 0e8e A801 movw r20,r16 |
| 1981 0e90 9701 movw r18,r14 |
| 1982 0e92 0E94 0000 call __divmodsi4 |
| 1983 0e96 3093 0000 sts (Data3D)+1,r19 |
| 1984 0e9a 2093 0000 sts Data3D,r18 |
| 1985 0e9e 8091 0000 lds r24,IntegralRoll |
| 1986 0ea2 9091 0000 lds r25,(IntegralRoll)+1 |
| 1987 0ea6 A091 0000 lds r26,(IntegralRoll)+2 |
| 1988 0eaa B091 0000 lds r27,(IntegralRoll)+3 |
| 1989 0eae BC01 movw r22,r24 |
| 1990 0eb0 CD01 movw r24,r26 |
| 1991 0eb2 A801 movw r20,r16 |
| 1992 0eb4 9701 movw r18,r14 |
| 1993 0eb6 0E94 0000 call __divmodsi4 |
| 1994 0eba 3093 0000 sts (Data3D+2)+1,r19 |
| 1995 0ebe 2093 0000 sts Data3D+2,r18 |
| 1996 0ec2 2091 0000 lds r18,ErsatzKompass |
| 1997 0ec6 3091 0000 lds r19,(ErsatzKompass)+1 |
| 1998 0eca 4091 0000 lds r20,(ErsatzKompass)+2 |
| 1999 0ece 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2000 0ed2 DA01 movw r26,r20 |
| 2001 0ed4 C901 movw r24,r18 |
| 2002 0ed6 03E0 ldi r16,3 |
| 2003 0ed8 880F 1: lsl r24 |
| 2004 0eda 991F rol r25 |
| 2005 0edc AA1F rol r26 |
| 2006 0ede BB1F rol r27 |
| 2007 0ee0 0A95 dec r16 |
| 2008 0ee2 01F4 brne 1b |
| 2009 0ee4 820F add r24,r18 |
| 2010 0ee6 931F adc r25,r19 |
| 2011 0ee8 A41F adc r26,r20 |
| 2012 0eea B51F adc r27,r21 |
| 2013 0eec 820F add r24,r18 |
| 2014 0eee 931F adc r25,r19 |
| 2015 0ef0 A41F adc r26,r20 |
| 2016 0ef2 B51F adc r27,r21 |
| 2017 0ef4 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 2018 0ef8 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 2019 0efc 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 2020 0f00 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 2021 0f04 BC01 movw r22,r24 |
| 2022 0f06 CD01 movw r24,r26 |
| 2023 0f08 0E94 0000 call __divmodsi4 |
| 2024 0f0c 3093 0000 sts (Data3D+4)+1,r19 |
| 2025 0f10 2093 0000 sts Data3D+4,r18 |
| 2026 0f14 8EE0 ldi r24,lo8(14) |
| 2027 0f16 90E0 ldi r25,hi8(14) |
| 2028 0f18 9F93 push r25 |
| 2029 0f1a 8F93 push r24 |
| 2030 0f1c 80E0 ldi r24,lo8(Data3D) |
| 2031 0f1e 90E0 ldi r25,hi8(Data3D) |
| 2032 0f20 9F93 push r25 |
| 2033 0f22 8F93 push r24 |
| 2034 0f24 81E0 ldi r24,lo8(1) |
| 2035 0f26 8F93 push r24 |
| 2036 0f28 8F93 push r24 |
| 2037 0f2a 83E4 ldi r24,lo8(67) |
| 2038 0f2c 8F93 push r24 |
| 2039 0f2e 0E94 0000 call SendOutData |
| 2040 0f32 8091 0000 lds r24,Intervall3D |
| 2041 0f36 9091 0000 lds r25,(Intervall3D)+1 |
| 2042 0f3a 0E94 0000 call SetDelay |
| 2043 0f3e 9093 0000 sts (Timer3D)+1,r25 |
| 2044 0f42 8093 0000 sts Timer3D,r24 |
| 2045 0f46 2DB7 in r18,__SP_L__ |
| 2046 0f48 3EB7 in r19,__SP_H__ |
| 2047 0f4a 295F subi r18,lo8(-(7)) |
| 2048 0f4c 3F4F sbci r19,hi8(-(7)) |
| 2049 0f4e 2DBF out __SP_L__,r18 |
| 2050 0f50 00C0 rjmp .L170 |
| 2051 .L181: |
| 2052 0f52 82E4 ldi r24,lo8(66) |
| 2053 0f54 90E0 ldi r25,hi8(66) |
| 2054 0f56 9F93 push r25 |
| 2055 0f58 8F93 push r24 |
| 2056 0f5a 80E0 ldi r24,lo8(DebugOut) |
| 2057 0f5c 90E0 ldi r25,hi8(DebugOut) |
| 2058 0f5e 9F93 push r25 |
| 2059 0f60 8F93 push r24 |
| 2060 0f62 81E0 ldi r24,lo8(1) |
| 2061 0f64 8F93 push r24 |
| 2062 0f66 8F93 push r24 |
| 2063 0f68 84E4 ldi r24,lo8(68) |
| 2064 0f6a 8F93 push r24 |
| 2065 0f6c 0E94 0000 call SendOutData |
| 2066 0f70 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
| 2067 0f74 8DB7 in r24,__SP_L__ |
| 2068 0f76 9EB7 in r25,__SP_H__ |
| 2069 0f78 0796 adiw r24,7 |
| 2070 0f7a 8DBF out __SP_L__,r24 |
| 2071 0f7c 8091 0000 lds r24,DebugDataIntervall |
| 2072 0f80 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 2073 0f84 0097 sbiw r24,0 |
| 2074 0f86 01F4 brne .+2 |
| 2075 0f88 00C0 rjmp .L166 |
| 2076 0f8a 0E94 0000 call SetDelay |
| 2077 0f8e 9093 0000 sts (Debug_Timer)+1,r25 |
| 2078 0f92 8093 0000 sts Debug_Timer,r24 |
| 2079 0f96 00C0 rjmp .L166 |
| 2080 .L174: |
| 2081 0f98 8093 0000 sts DisplayLine,r24 |
| 2082 0f9c 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 2083 0fa0 00C0 rjmp .L159 |
| 2084 .L157: |
| 2085 /* epilogue: frame size=0 */ |
| 2086 0fa2 1F91 pop r17 |
| 2087 0fa4 0F91 pop r16 |
| 2088 0fa6 FF90 pop r15 |
| 2089 0fa8 EF90 pop r14 |
| 2090 0faa 0895 ret |
| 2091 /* epilogue end (size=5) */ |
| 2092 /* function DatenUebertragung size 606 (597) */ |
| 2094 .comm SendeBuffer,150,1 |
| 2095 .comm RxdBuffer,150,1 |
| 2096 .comm Debug_Timer,2,1 |
| 2097 .comm Kompass_Timer,2,1 |
| 2098 .comm MotorTest,16,1 |
| 2099 .comm DebugOut,66,1 |
| 2100 .comm WinkelOut,8,1 |
| 2101 .comm Data3D,14,1 |
| 2102 .comm ExternControl,11,1 |
| 2103 .comm VersionInfo,10,1 |
| 2104 .comm Mixer,77,1 |
| 2105 .comm NMEABuffer,150,1 |
| 2106 .comm ConfirmFrame,1,1 |
| 2107 .comm Timer3D,2,1 |
| 2108 /* File "uart.c": code 2071 = 0x0817 (1988), prologues 41, epilogues 42 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 uart.c |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:14 .data:00000000 ANALOG_TEXT |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:52 .bss:00000000 Intervall3D |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:58 .data:00000200 DebugDataIntervall |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:63 .data:00000202 MeineSlaveAdresse |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:68 .data:00000203 PcZugriff |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:73 .data:00000204 DebugTextAnforderung |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:80 .bss:00000002 PC_MotortestActive |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:86 .bss:00000003 PC_DebugTimeout |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:92 .bss:00000004 RxDataLen |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:98 .bss:00000005 pRxData |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:104 .bss:00000007 AnzahlEmpfangsBytes |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:110 .bss:00000008 CntCrcError |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:116 .data:00000205 UebertragungAbgeschlossen |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:123 .bss:00000009 NeueKoordinateEmpfangen |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:129 .bss:0000000a NeuerDatensatzEmpfangen |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:135 .bss:0000000b SioTmp |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:141 .bss:0000000c DisplayLine |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:147 .bss:0000000d GetPPMChannelAnforderung |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:153 .bss:0000000e GetVersionAnforderung |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:159 .bss:0000000f DebugDataAnforderung |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:165 .bss:00000010 DebugDisplayAnforderung |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:171 .bss:00000011 DebugDisplayAnforderung1 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:177 .bss:00000012 GetExternalControl |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:181 .text:00000000 eeprom_write_byte |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:207 .text:00000018 UART_Init |
| *COM*:00000002 Debug_Timer |
| *COM*:00000002 Kompass_Timer |
| *COM*:0000000a VersionInfo |
| .bss:00000013 ptr.5 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:253 .text:00000090 __vector_22 |
| *COM*:00000096 SendeBuffer |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:250 .bss:00000015 crc.0 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:308 .bss:00000017 crc1.1 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:309 .bss:00000018 crc2.2 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:310 .bss:00000019 buf_ptr.3 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:311 .bss:0000001a UartState.4 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:315 .text:00000102 __vector_20 |
| *COM*:00000096 RxdBuffer |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:533 .text:000002d0 AddCRC |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:593 .text:00000338 SendOutData |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:808 .text:000004cc Decode64 |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:927 .text:000005ac BearbeiteRxDaten |
| *COM*:0000000b ExternControl |
| *COM*:00000001 ConfirmFrame |
| *COM*:00000010 MotorTest |
| *COM*:0000004d Mixer |
| *COM*:00000002 Timer3D |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:1546 .text:00000aca uart_putchar |
| C:\Users\Bernd\AppData\Local\Temp/ccjOzKk7.s:1574 .text:00000af0 DatenUebertragung |
| *COM*:00000008 WinkelOut |
| *COM*:0000000e Data3D |
| *COM*:00000042 DebugOut |
| *COM*:00000096 NMEABuffer |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SetDelay |
| ServoActive |
| __prologue_saves__ |
| __epilogue_restores__ |
| __tablejump2__ |
| RemoteKeys |
| EE_Parameter |
| ReadParameterSet |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| MenuePunkt |
| WriteParameterSet |
| __mulsi3 |
| Umschlag180Nick |
| Umschlag180Roll |
| SetActiveParamSetNumber |
| GetActiveParamSetNumber |
| LipoDetection |
| Piep |
| EEPromArray |
| __eewr_block |
| CheckDelay |
| Menu |
| DisplayBuff |
| PPM_in |
| IntegralNick |
| __divmodsi4 |
| IntegralRoll |
| Parameter_UserParam1 |
| Parameter_UserParam2 |
| MaxMenue |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |