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   1                            .file   "timer0.c"
   2                            .arch atmega644
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                            .text
  11                    .global __vector_18
  13                    __vector_18:
  14                    /* prologue: frame size=0 */
  15 0000 1F92                  push __zero_reg__
  16 0002 0F92                  push __tmp_reg__
  17 0004 0FB6                  in __tmp_reg__,__SREG__
  18 0006 0F92                  push __tmp_reg__
  19 0008 1124                  clr __zero_reg__
  20 000a 2F93                  push r18
  21 000c 3F93                  push r19
  22 000e 5F93                  push r21
  23 0010 6F93                  push r22
  24 0012 7F93                  push r23
  25 0014 8F93                  push r24
  26 0016 9F93                  push r25
  27 0018 AF93                  push r26
  28 001a BF93                  push r27
  29                    /* prologue end (size=14) */
  30 001c 8091 0000             lds r24,cnt.2011
  31 0020 8150                  subi r24,lo8(-(-1))
  32 0022 8093 0000             sts cnt.2011,r24
  33 0026 8F3F                  cpi r24,lo8(-1)
  34 0028 01F4                  brne .L2
  35 002a 89E0                  ldi r24,lo8(9)
  36 002c 8093 0000             sts cnt.2011,r24
  37 0030 8091 0000             lds r24,cnt_1ms.2010
  38 0034 8F5F                  subi r24,lo8(-(1))
  39 0036 8170                  andi r24,lo8(1)
  40 0038 8093 0000             sts cnt_1ms.2010,r24
  41 003c 8823                  tst r24
  42 003e 01F4                  brne .L4
  43 0040 81E0                  ldi r24,lo8(1)
  44 0042 8093 0000             sts UpdateMotor,r24
  45                    .L4:
  46 0046 8091 0000             lds r24,CountMilliseconds
  47 004a 9091 0000             lds r25,(CountMilliseconds)+1
  48 004e 0196                  adiw r24,1
  49 0050 9093 0000             sts (CountMilliseconds)+1,r25
  50 0054 8093 0000             sts CountMilliseconds,r24
  51 0058 8091 0000             lds r24,Timeout
  52 005c 8823                  tst r24
  53 005e 01F0                  breq .L2
  54 0060 8091 0000             lds r24,Timeout
  55 0064 8150                  subi r24,lo8(-(-1))
  56 0066 8093 0000             sts Timeout,r24
  57                    .L2:
  58 006a 8091 0000             lds r24,beeptime
  59 006e 9091 0000             lds r25,(beeptime)+1
  60 0072 0297                  sbiw r24,2
  61 0074 00F0                  brlo .L7
  62 0076 8091 0000             lds r24,beeptime
  63 007a 9091 0000             lds r25,(beeptime)+1
  64 007e 0197                  sbiw r24,1
  65 0080 9093 0000             sts (beeptime)+1,r25
  66 0084 8093 0000             sts beeptime,r24
  67 0088 5A9A                  sbi 43-0x20,2
  68 008a 00C0                  rjmp .L9
  69                    .L7:
  70 008c 5A98                  cbi 43-0x20,2
  71                    .L9:
  72 008e 8091 0000             lds r24,EE_Parameter+8
  73 0092 9927                  clr r25
  74 0094 83FD                  sbrc r24,3
  75 0096 00C0                  rjmp .L10
  76 0098 85FF                  sbrs r24,5
  77 009a 00C0                  rjmp .L18
  78                    .L10:
  79 009c 349B                  sbis 38-0x20,4
  80 009e 00C0                  rjmp .L13
  81 00a0 8091 0000             lds r24,cntKompass
  82 00a4 9091 0000             lds r25,(cntKompass)+1
  83 00a8 0196                  adiw r24,1
  84 00aa 9093 0000             sts (cntKompass)+1,r25
  85 00ae 8093 0000             sts cntKompass,r24
  86 00b2 00C0                  rjmp .L18
  87                    .L13:
  88 00b4 8091 0000             lds r24,cntKompass
  89 00b8 9091 0000             lds r25,(cntKompass)+1
  90 00bc 892B                  or r24,r25
  91 00be 01F0                  breq .L15
  92 00c0 8091 0000             lds r24,cntKompass
  93 00c4 9091 0000             lds r25,(cntKompass)+1
  94 00c8 805A                  subi r24,lo8(4000)
  95 00ca 9F40                  sbci r25,hi8(4000)
  96 00cc 00F4                  brsh .L15
  97 00ce 8091 0000             lds r24,cntKompass
  98 00d2 9091 0000             lds r25,(cntKompass)+1
  99 00d6 9093 0000             sts (KompassValue)+1,r25
 100 00da 8093 0000             sts KompassValue,r24
 101                    .L15:
 102 00de 8091 0000             lds r24,KompassValue
 103 00e2 9091 0000             lds r25,(KompassValue)+1
 104 00e6 2091 0000             lds r18,KompassStartwert
 105 00ea 3091 0000             lds r19,(KompassStartwert)+1
 106 00ee 821B                  sub r24,r18
 107 00f0 930B                  sbc r25,r19
 108 00f2 845E                  subi r24,lo8(-(540))
 109 00f4 9D4F                  sbci r25,hi8(-(540))
 110 00f6 68E6                  ldi r22,lo8(360)
 111 00f8 71E0                  ldi r23,hi8(360)
 112 00fa 0E94 0000             call __divmodhi4
 113 00fe 845B                  subi r24,lo8(-(-180))
 114 0100 9040                  sbci r25,hi8(-(-180))
 115 0102 9093 0000             sts (KompassRichtung)+1,r25
 116 0106 8093 0000             sts KompassRichtung,r24
 117 010a 1092 0000             sts (cntKompass)+1,__zero_reg__
 118 010e 1092 0000             sts cntKompass,__zero_reg__
 119                    .L18:
 120                    /* epilogue: frame size=0 */
 121 0112 BF91                  pop r27
 122 0114 AF91                  pop r26
 123 0116 9F91                  pop r25
 124 0118 8F91                  pop r24
 125 011a 7F91                  pop r23
 126 011c 6F91                  pop r22
 127 011e 5F91                  pop r21
 128 0120 3F91                  pop r19
 129 0122 2F91                  pop r18
 130 0124 0F90                  pop __tmp_reg__
 131 0126 0FBE                  out __SREG__,__tmp_reg__
 132 0128 0F90                  pop __tmp_reg__
 133 012a 1F90                  pop __zero_reg__
 134 012c 1895                  reti
 135                    /* epilogue end (size=14) */
 136                    /* function __vector_18 size 153 (125) */
 138                    .global SetDelay
 140                    SetDelay:
 141                    /* prologue: frame size=0 */
 142                    /* prologue end (size=0) */
 143 012e 2091 0000             lds r18,CountMilliseconds
 144 0132 3091 0000             lds r19,(CountMilliseconds)+1
 145 0136 2F5F                  subi r18,lo8(-(1))
 146 0138 3F4F                  sbci r19,hi8(-(1))
 147 013a 820F                  add r24,r18
 148 013c 931F                  adc r25,r19
 149                    /* epilogue: frame size=0 */
 150 013e 0895                  ret
 151                    /* epilogue end (size=1) */
 152                    /* function SetDelay size 9 (8) */
 154                    .global CheckDelay
 156                    CheckDelay:
 157                    /* prologue: frame size=0 */
 158                    /* prologue end (size=0) */
 159 0140 2091 0000             lds r18,CountMilliseconds
 160 0144 3091 0000             lds r19,(CountMilliseconds)+1
 161 0148 821B                  sub r24,r18
 162 014a 930B                  sbc r25,r19
 163 014c 892F                  mov r24,r25
 164 014e 9927                  clr r25
 165 0150 8695                  lsr r24
 166 0152 8074                  andi r24,lo8(64)
 167 0154 9927                  clr r25
 168                    /* epilogue: frame size=0 */
 169 0156 0895                  ret
 170                    /* epilogue end (size=1) */
 171                    /* function CheckDelay size 12 (11) */
 173                    .global __vector_9
 175                    __vector_9:
 176                    /* prologue: frame size=0 */
 177 0158 1F92                  push __zero_reg__
 178 015a 0F92                  push __tmp_reg__
 179 015c 0FB6                  in __tmp_reg__,__SREG__
 180 015e 0F92                  push __tmp_reg__
 181 0160 1124                  clr __zero_reg__
 182 0162 EF92                  push r14
 183 0164 FF92                  push r15
 184 0166 0F93                  push r16
 185 0168 1F93                  push r17
 186 016a 2F93                  push r18
 187 016c 3F93                  push r19
 188 016e 4F93                  push r20
 189 0170 5F93                  push r21
 190 0172 6F93                  push r22
 191 0174 7F93                  push r23
 192 0176 8F93                  push r24
 193 0178 9F93                  push r25
 194 017a AF93                  push r26
 195 017c BF93                  push r27
 196 017e CF93                  push r28
 197 0180 DF93                  push r29
 198 0182 EF93                  push r30
 199 0184 FF93                  push r31
 200                    /* prologue end (size=23) */
 201 0186 8091 0000             lds r24,timer.2100
 202 018a 8150                  subi r24,lo8(-(-1))
 203 018c 8093 0000             sts timer.2100,r24
 204 0190 8F3F                  cpi r24,lo8(-1)
 205 0192 01F0                  breq .+2
 206 0194 00C0                  rjmp .L24
 207 0196 83E8                  ldi r24,lo8(-125)
 208 0198 8093 B000             sts 176,r24
 209 019c 8091 0000             lds r24,Parameter_ServoNickControl
 210 01a0 C82F                  mov r28,r24
 211 01a2 DD27                  clr r29
 212 01a4 D093 0000             sts (ServoValue)+1,r29
 213 01a8 C093 0000             sts ServoValue,r28
 214 01ac 8091 0000             lds r24,EE_Parameter+38
 215 01b0 E090 0000             lds r14,EE_Parameter+34
 216 01b4 80FF                  sbrs r24,0
 217 01b6 00C0                  rjmp .L26
 218 01b8 6091 0000             lds r22,IntegralNick
 219 01bc 7091 0000             lds r23,(IntegralNick)+1
 220 01c0 8091 0000             lds r24,(IntegralNick)+2
 221 01c4 9091 0000             lds r25,(IntegralNick)+3
 222 01c8 FF24                  clr r15
 223 01ca 0027                  clr r16
 224 01cc 1127                  clr r17
 225 01ce 20E8                  ldi r18,lo8(128)
 226 01d0 30E0                  ldi r19,hi8(128)
 227 01d2 40E0                  ldi r20,hlo8(128)
 228 01d4 50E0                  ldi r21,hhi8(128)
 229 01d6 0E94 0000             call __divmodsi4
 230 01da C801                  movw r24,r16
 231 01dc B701                  movw r22,r14
 232 01de 0E94 0000             call __mulsi3
 233 01e2 20E0                  ldi r18,lo8(512)
 234 01e4 32E0                  ldi r19,hi8(512)
 235 01e6 40E0                  ldi r20,hlo8(512)
 236 01e8 50E0                  ldi r21,hhi8(512)
 237 01ea 0E94 0000             call __divmodsi4
 238 01ee C20F                  add r28,r18
 239 01f0 D31F                  adc r29,r19
 240 01f2 00C0                  rjmp .L35
 241                    .L26:
 242 01f4 6091 0000             lds r22,IntegralNick
 243 01f8 7091 0000             lds r23,(IntegralNick)+1
 244 01fc 8091 0000             lds r24,(IntegralNick)+2
 245 0200 9091 0000             lds r25,(IntegralNick)+3
 246 0204 FF24                  clr r15
 247 0206 0027                  clr r16
 248 0208 1127                  clr r17
 249 020a 20E8                  ldi r18,lo8(128)
 250 020c 30E0                  ldi r19,hi8(128)
 251 020e 40E0                  ldi r20,hlo8(128)
 252 0210 50E0                  ldi r21,hhi8(128)
 253 0212 0E94 0000             call __divmodsi4
 254 0216 C801                  movw r24,r16
 255 0218 B701                  movw r22,r14
 256 021a 0E94 0000             call __mulsi3
 257 021e 20E0                  ldi r18,lo8(512)
 258 0220 32E0                  ldi r19,hi8(512)
 259 0222 40E0                  ldi r20,hlo8(512)
 260 0224 50E0                  ldi r21,hhi8(512)
 261 0226 0E94 0000             call __divmodsi4
 262 022a C21B                  sub r28,r18
 263 022c D30B                  sbc r29,r19
 264                    .L35:
 265 022e D093 0000             sts (ServoValue)+1,r29
 266 0232 C093 0000             sts ServoValue,r28
 267 0236 2091 0000             lds r18,ServoValue
 268 023a 3091 0000             lds r19,(ServoValue)+1
 269 023e 8091 0000             lds r24,EE_Parameter+35
 270 0242 9927                  clr r25
 271 0244 2817                  cp r18,r24
 272 0246 3907                  cpc r19,r25
 273 0248 04F0                  brlt .L36
 274 024a 8091 0000             lds r24,EE_Parameter+36
 275 024e 9927                  clr r25
 276 0250 8217                  cp r24,r18
 277 0252 9307                  cpc r25,r19
 278 0254 04F4                  brge .L31
 279                    .L36:
 280 0256 9093 0000             sts (ServoValue)+1,r25
 281 025a 8093 0000             sts ServoValue,r24
 282                    .L31:
 283 025e 8091 0000             lds r24,ServoValue
 284 0262 8093 B300             sts 179,r24
 285 0266 8091 0000             lds r24,EE_Parameter+37
 286 026a 8093 0000             sts timer.2100,r24
 287 026e 00C0                  rjmp .L34
 288                    .L24:
 289 0270 83E0                  ldi r24,lo8(3)
 290 0272 8093 B000             sts 176,r24
 291 0276 5F98                  cbi 43-0x20,7
 292                    .L34:
 293                    /* epilogue: frame size=0 */
 294 0278 FF91                  pop r31
 295 027a EF91                  pop r30
 296 027c DF91                  pop r29
 297 027e CF91                  pop r28
 298 0280 BF91                  pop r27
 299 0282 AF91                  pop r26
 300 0284 9F91                  pop r25
 301 0286 8F91                  pop r24
 302 0288 7F91                  pop r23
 303 028a 6F91                  pop r22
 304 028c 5F91                  pop r21
 305 028e 4F91                  pop r20
 306 0290 3F91                  pop r19
 307 0292 2F91                  pop r18
 308 0294 1F91                  pop r17
 309 0296 0F91                  pop r16
 310 0298 FF90                  pop r15
 311 029a EF90                  pop r14
 312 029c 0F90                  pop __tmp_reg__
 313 029e 0FBE                  out __SREG__,__tmp_reg__
 314 02a0 0F90                  pop __tmp_reg__
 315 02a2 1F90                  pop __zero_reg__
 316 02a4 1895                  reti
 317                    /* epilogue end (size=23) */
 318                    /* function __vector_9 size 167 (121) */
 320                    .global Timer_Init
 322                    Timer_Init:
 323                    /* prologue: frame size=0 */
 324                    /* prologue end (size=0) */
 325 02a6 8091 0000             lds r24,CountMilliseconds
 326 02aa 9091 0000             lds r25,(CountMilliseconds)+1
 327 02ae 0B96                  adiw r24,11
 328 02b0 9093 0000             sts (tim_main)+1,r25
 329 02b4 8093 0000             sts tim_main,r24
 330 02b8 82E0                  ldi r24,lo8(2)
 331 02ba 85BD                  out 69-0x20,r24
 332 02bc 83EA                  ldi r24,lo8(-93)
 333 02be 84BD                  out 68-0x20,r24
 334 02c0 17BC                  out 71-0x20,__zero_reg__
 335 02c2 88E7                  ldi r24,lo8(120)
 336 02c4 88BD                  out 72-0x20,r24
 337 02c6 96E0                  ldi r25,lo8(6)
 338 02c8 96BD                  out 70-0x20,r25
 339 02ca 83EC                  ldi r24,lo8(-61)
 340 02cc 8093 B000             sts 176,r24
 341 02d0 9093 B100             sts 177,r25
 342 02d4 E0E7                  ldi r30,lo8(112)
 343 02d6 F0E0                  ldi r31,hi8(112)
 344 02d8 8081                  ld r24,Z
 345 02da 8260                  ori r24,lo8(2)
 346 02dc 8083                  st Z,r24
 347 02de EEE6                  ldi r30,lo8(110)
 348 02e0 F0E0                  ldi r31,hi8(110)
 349 02e2 8081                  ld r24,Z
 350 02e4 8160                  ori r24,lo8(1)
 351 02e6 8083                  st Z,r24
 352 02e8 8AE0                  ldi r24,lo8(10)
 353 02ea 8093 B300             sts 179,r24
 354 02ee 1092 B200             sts 178,__zero_reg__
 355                    /* epilogue: frame size=0 */
 356 02f2 0895                  ret
 357                    /* epilogue end (size=1) */
 358                    /* function Timer_Init size 39 (38) */
 360                    .global Delay_ms
 362                    Delay_ms:
 363                    /* prologue: frame size=0 */
 364                    /* prologue end (size=0) */
 365 02f4 2091 0000             lds r18,CountMilliseconds
 366 02f8 3091 0000             lds r19,(CountMilliseconds)+1
 367 02fc 2F5F                  subi r18,lo8(-(1))
 368 02fe 3F4F                  sbci r19,hi8(-(1))
 369 0300 280F                  add r18,r24
 370 0302 391F                  adc r19,r25
 371                    .L40:
 372 0304 8091 0000             lds r24,CountMilliseconds
 373 0308 9091 0000             lds r25,(CountMilliseconds)+1
 374 030c A901                  movw r20,r18
 375 030e 481B                  sub r20,r24
 376 0310 590B                  sbc r21,r25
 377 0312 57FF                  sbrs r21,7
 378 0314 00C0                  rjmp .L40
 379                    /* epilogue: frame size=0 */
 380 0316 0895                  ret
 381                    /* epilogue end (size=1) */
 382                    /* function Delay_ms size 18 (17) */
 384                    .global CountMilliseconds
 385                    .global CountMilliseconds
 386                            .section .bss
 389                    CountMilliseconds:
 390 0000 0000                  .skip 2,0
 391                    .global UpdateMotor
 392                    .global UpdateMotor
 395                    UpdateMotor:
 396 0002 00                    .skip 1,0
 397                    .global cntKompass
 398                    .global cntKompass
 401                    cntKompass:
 402 0003 0000                  .skip 2,0
 403                    .global beeptime
 404                    .global beeptime
 407                    beeptime:
 408 0005 0000                  .skip 2,0
 409                    .global ServoValue
 410                    .global ServoValue
 413                    ServoValue:
 414 0007 0000                  .skip 2,0
 415                            .data
 418                    timer.2100:
 419 0000 0A                    .byte   10
 420                            .lcomm cnt.2011,1
 423                    cnt_1ms.2010:
 424 0001 01                    .byte   1
 425                            .lcomm tim_main,2
 426                            .comm DiffNick,2,1
 427                            .comm DiffRoll,2,1
 428                            .comm SenderOkay,1,1
 429                            .comm CosinusNickWinkel,1,1
 430                            .comm CosinusRollWinkel,1,1
 431                            .comm durchschnitt_northing,4,1
 432                            .comm durchschnitt_easting,4,1
 433                            .comm P_GPS_Verstaerkung,2,1
 434                            .comm D_GPS_Verstaerkung,2,1
 435                            .comm RemoteTasten,1,1
 436                            .comm Timeout,1,1
 437                            .comm IntegralNick,4,1
 438                            .comm IntegralNick2,4,1
 439                            .comm IntegralRoll,4,1
 440                            .comm IntegralRoll2,4,1
 441                            .comm Mess_IntegralNick,4,1
 442                            .comm Mess_IntegralNick2,4,1
 443                            .comm Mess_IntegralRoll,4,1
 444                            .comm Mess_IntegralRoll2,4,1
 445                            .comm Integral_Gier,4,1
 446                            .comm Mess_Integral_Gier,4,1
 447                            .comm h,1,1
 448                            .comm m,1,1
 449                            .comm s,1,1
 450                            .comm Motor_Vorne,1,1
 451                            .comm Motor_Hinten,1,1
 452                            .comm Motor_Rechts,1,1
 453                            .comm Motor_Links,1,1
 454                            .comm Count,1,1
 455                            .comm MotorWert,5,1
 456                    /* File "timer0.c": code  398 = 0x018e ( 320), prologues  37, epilogues  41 */
DEFINED SYMBOLS
                            *ABS*:00000000 timer0.c
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:3      *ABS*:0000003f __SREG__
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:4      *ABS*:0000003e __SP_H__
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:5      *ABS*:0000003d __SP_L__
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:6      *ABS*:00000000 __tmp_reg__
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:7      *ABS*:00000001 __zero_reg__
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:13     .text:00000000 __vector_18
                             .bss:00000009 cnt.2011
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:423    .data:00000001 cnt_1ms.2010
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:395    .bss:00000002 UpdateMotor
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:389    .bss:00000000 CountMilliseconds
                            *COM*:00000001 Timeout
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:407    .bss:00000005 beeptime
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:401    .bss:00000003 cntKompass
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:140    .text:0000012e SetDelay
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:156    .text:00000140 CheckDelay
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:175    .text:00000158 __vector_9
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:418    .data:00000000 timer.2100
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:413    .bss:00000007 ServoValue
                            *COM*:00000004 IntegralNick
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:322    .text:000002a6 Timer_Init
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:420    .bss:0000000a tim_main
C:\DOKUME~1\none\LOKALE~1\Temp/cc6rkWhC.s:362    .text:000002f4 Delay_ms
                            *COM*:00000002 DiffNick
                            *COM*:00000002 DiffRoll
                            *COM*:00000001 SenderOkay
                            *COM*:00000001 CosinusNickWinkel
                            *COM*:00000001 CosinusRollWinkel
                            *COM*:00000004 durchschnitt_northing
                            *COM*:00000004 durchschnitt_easting
                            *COM*:00000002 P_GPS_Verstaerkung
                            *COM*:00000002 D_GPS_Verstaerkung
                            *COM*:00000001 RemoteTasten
                            *COM*:00000004 IntegralNick2
                            *COM*:00000004 IntegralRoll
                            *COM*:00000004 IntegralRoll2
                            *COM*:00000004 Mess_IntegralNick
                            *COM*:00000004 Mess_IntegralNick2
                            *COM*:00000004 Mess_IntegralRoll
                            *COM*:00000004 Mess_IntegralRoll2
                            *COM*:00000004 Integral_Gier
                            *COM*:00000004 Mess_Integral_Gier
                            *COM*:00000001 h
                            *COM*:00000001 m
                            *COM*:00000001 s
                            *COM*:00000001 Motor_Vorne
                            *COM*:00000001 Motor_Hinten
                            *COM*:00000001 Motor_Rechts
                            *COM*:00000001 Motor_Links
                            *COM*:00000001 Count
                            *COM*:00000005 MotorWert

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
KompassValue
KompassStartwert
__divmodhi4
KompassRichtung
Parameter_ServoNickControl
__divmodsi4
__mulsi3