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1 .file "fc.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __CCP__ = 0x346 __tmp_reg__ = 07 __zero_reg__ = 18 .text9 .global CopyDebugValues11 CopyDebugValues:12 0000 EF92 push r1413 0002 FF92 push r1514 0004 0F93 push r1615 0006 1F93 push r1716 /* prologue: function */17 /* frame size = 0 */18 0008 E090 0000 lds r14,EE_Parameter+2819 000c FF24 clr r1520 000e EE0C lsl r1421 0010 FF1C rol r1522 0012 EE0C lsl r1423 0014 FF1C rol r1524 0016 0027 clr r1625 0018 F7FC sbrc r15,726 001a 0095 com r1627 001c 102F mov r17,r1628 001e 6091 0000 lds r22,IntegralNick29 0022 7091 0000 lds r23,(IntegralNick)+130 0026 8091 0000 lds r24,(IntegralNick)+231 002a 9091 0000 lds r25,(IntegralNick)+332 002e A801 movw r20,r1633 0030 9701 movw r18,r1434 0032 0E94 0000 call __divmodsi435 0036 3093 0000 sts (DebugOut+2)+1,r1936 003a 2093 0000 sts DebugOut+2,r1837 003e 6091 0000 lds r22,IntegralRoll38 0042 7091 0000 lds r23,(IntegralRoll)+139 0046 8091 0000 lds r24,(IntegralRoll)+240 004a 9091 0000 lds r25,(IntegralRoll)+341 004e A801 movw r20,r1642 0050 9701 movw r18,r1443 0052 0E94 0000 call __divmodsi444 0056 3093 0000 sts (DebugOut+4)+1,r1945 005a 2093 0000 sts DebugOut+4,r1846 005e 8091 0000 lds r24,Mittelwert_AccNick47 0062 9091 0000 lds r25,(Mittelwert_AccNick)+148 0066 64E0 ldi r22,lo8(4)49 0068 70E0 ldi r23,hi8(4)50 006a 0E94 0000 call __divmodhi451 006e 7093 0000 sts (DebugOut+6)+1,r2352 0072 6093 0000 sts DebugOut+6,r2253 0076 8091 0000 lds r24,Mittelwert_AccRoll54 007a 9091 0000 lds r25,(Mittelwert_AccRoll)+155 007e 64E0 ldi r22,lo8(4)56 0080 70E0 ldi r23,hi8(4)57 0082 0E94 0000 call __divmodhi458 0086 7093 0000 sts (DebugOut+8)+1,r2359 008a 6093 0000 sts DebugOut+8,r2260 008e 2091 0000 lds r18,AdWertGier61 0092 3091 0000 lds r19,(AdWertGier)+162 0096 8091 0000 lds r24,AdNeutralGier63 009a 9091 0000 lds r25,(AdNeutralGier)+164 009e 821B sub r24,r1865 00a0 930B sbc r25,r1966 00a2 9093 0000 sts (DebugOut+10)+1,r2567 00a6 8093 0000 sts DebugOut+10,r2468 00aa 6091 0000 lds r22,HoehenWert69 00ae 7091 0000 lds r23,(HoehenWert)+170 00b2 8091 0000 lds r24,(HoehenWert)+271 00b6 9091 0000 lds r25,(HoehenWert)+372 00ba 25E0 ldi r18,lo8(5)73 00bc 30E0 ldi r19,hi8(5)74 00be 40E0 ldi r20,hlo8(5)75 00c0 50E0 ldi r21,hhi8(5)76 00c2 0E94 0000 call __divmodsi477 00c6 3093 0000 sts (DebugOut+12)+1,r1978 00ca 2093 0000 sts DebugOut+12,r1879 00ce 8091 0000 lds r24,AdWertAccHoch80 00d2 9091 0000 lds r25,(AdWertAccHoch)+181 00d6 9093 0000 sts (DebugOut+14)+1,r2582 00da 8093 0000 sts DebugOut+14,r2483 00de 8091 0000 lds r24,KompassValue84 00e2 9091 0000 lds r25,(KompassValue)+185 00e6 9093 0000 sts (DebugOut+18)+1,r2586 00ea 8093 0000 sts DebugOut+18,r2487 00ee 8091 0000 lds r24,UBat88 00f2 9091 0000 lds r25,(UBat)+189 00f6 9093 0000 sts (DebugOut+20)+1,r2590 00fa 8093 0000 sts DebugOut+20,r2491 00fe 8091 0000 lds r24,SenderOkay92 0102 00E0 ldi r16,lo8(DebugOut+22)93 0104 10E0 ldi r17,hi8(DebugOut+22)94 0106 8093 0000 sts DebugOut+22,r2495 010a 1092 0000 sts DebugOut+23,__zero_reg__96 010e 6091 0000 lds r22,ErsatzKompass97 0112 7091 0000 lds r23,(ErsatzKompass)+198 0116 8091 0000 lds r24,(ErsatzKompass)+299 011a 9091 0000 lds r25,(ErsatzKompass)+3100 011e 2091 0000 lds r18,GIER_GRAD_FAKTOR101 0122 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1102 0126 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2103 012a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3104 012e 0E94 0000 call __divmodsi4105 0132 3093 0000 sts (DebugOut+24)+1,r19106 0136 2093 0000 sts DebugOut+24,r18107 013a 8091 0000 lds r24,Motor+1108 013e 8093 0000 sts DebugOut+26,r24109 0142 F801 movw r30,r16110 0144 1582 std Z+5,__zero_reg__111 0146 8091 0000 lds r24,Motor+9112 014a 8093 0000 sts DebugOut+28,r24113 014e 1782 std Z+7,__zero_reg__114 0150 8091 0000 lds r24,Motor+17115 0154 8093 0000 sts DebugOut+30,r24116 0158 1186 std Z+9,__zero_reg__117 015a 8091 0000 lds r24,Motor+25118 015e 8093 0000 sts DebugOut+32,r24119 0162 1386 std Z+11,__zero_reg__120 0164 8091 0000 lds r24,ServoNickValue121 0168 9091 0000 lds r25,(ServoNickValue)+1122 016c 9093 0000 sts (DebugOut+42)+1,r25123 0170 8093 0000 sts DebugOut+42,r24124 0174 8091 0000 lds r24,Capacity125 0178 9091 0000 lds r25,(Capacity)+1126 017c 9093 0000 sts (DebugOut+46)+1,r25127 0180 8093 0000 sts DebugOut+46,r24128 0184 8091 0000 lds r24,Capacity+4129 0188 9091 0000 lds r25,(Capacity+4)+1130 018c 9093 0000 sts (DebugOut+48)+1,r25131 0190 8093 0000 sts DebugOut+48,r24132 0194 8091 0000 lds r24,Capacity+6133 0198 8093 0000 sts DebugOut+60,r24134 019c 17A2 std Z+39,__zero_reg__135 019e 8091 0000 lds r24,GPS_Nick136 01a2 9091 0000 lds r25,(GPS_Nick)+1137 01a6 9093 0000 sts (DebugOut+62)+1,r25138 01aa 8093 0000 sts DebugOut+62,r24139 01ae 8091 0000 lds r24,GPS_Roll140 01b2 9091 0000 lds r25,(GPS_Roll)+1141 01b6 9093 0000 sts (DebugOut+64)+1,r25142 01ba 8093 0000 sts DebugOut+64,r24143 01be 8091 0000 lds r24,VersionInfo+5144 01c2 8823 tst r24145 01c4 01F4 brne .L2146 01c6 8091 0000 lds r24,VersionInfo+6147 01ca 8823 tst r24148 01cc 01F0 breq .L3149 .L2:150 01ce 8091 0000 lds r24,DebugOut+1151 01d2 8160 ori r24,lo8(1)152 01d4 00C0 rjmp .L6153 .L3:154 01d6 8091 0000 lds r24,DebugOut+1155 01da 8E7F andi r24,lo8(-2)156 .L6:157 01dc 8093 0000 sts DebugOut+1,r24158 /* epilogue start */159 01e0 1F91 pop r17160 01e2 0F91 pop r16161 01e4 FF90 pop r15162 01e6 EF90 pop r14163 01e8 0895 ret165 .global Mittelwert167 Mittelwert:168 01ea ABE1 ldi r26,lo8(27)169 01ec B0E0 ldi r27,hi8(27)170 01ee E0E0 ldi r30,lo8(gs(1f))171 01f0 F0E0 ldi r31,hi8(gs(1f))172 01f2 0C94 0000 jmp __prologue_saves__+((18 - 18) * 2)173 1:174 /* prologue: function */175 /* frame size = 27 */176 01f6 8091 0000 lds r24,AdWertGier177 01fa 9091 0000 lds r25,(AdWertGier)+1178 01fe 2091 0000 lds r18,AdNeutralGier179 0202 3091 0000 lds r19,(AdNeutralGier)+1180 0206 281B sub r18,r24181 0208 390B sbc r19,r25182 020a 3B8F std Y+27,r19183 020c 2A8F std Y+26,r18184 020e 3093 0000 sts (MesswertGier)+1,r19185 0212 2093 0000 sts MesswertGier,r18186 0216 8091 0000 lds r24,AdWertNickFilter187 021a 9091 0000 lds r25,(AdWertNickFilter)+1188 021e 68E0 ldi r22,lo8(8)189 0220 70E0 ldi r23,hi8(8)190 0222 0E94 0000 call __divmodhi4191 0226 6E8B std Y+22,r22192 0228 7F8B std Y+23,r23193 022a 8091 0000 lds r24,AdWertRollFilter194 022e 9091 0000 lds r25,(AdWertRollFilter)+1195 0232 68E0 ldi r22,lo8(8)196 0234 70E0 ldi r23,hi8(8)197 0236 0E94 0000 call __divmodhi4198 023a 688F std Y+24,r22199 023c 798F std Y+25,r23200 023e 4E89 ldd r20,Y+22201 0240 5F89 ldd r21,Y+23202 0242 5093 0000 sts (RohMesswertNick)+1,r21203 0246 4093 0000 sts RohMesswertNick,r20204 024a 688D ldd r22,Y+24205 024c 798D ldd r23,Y+25206 024e 7093 0000 sts (RohMesswertRoll)+1,r23207 0252 6093 0000 sts RohMesswertRoll,r22208 0256 2091 0000 lds r18,AdWertAccNick209 025a 3091 0000 lds r19,(AdWertAccNick)+1210 025e C901 movw r24,r18211 0260 880F lsl r24212 0262 991F rol r25213 0264 820F add r24,r18214 0266 931F adc r25,r19215 0268 880F lsl r24216 026a 991F rol r25217 026c 4091 0000 lds r20,Mittelwert_AccNick218 0270 5091 0000 lds r21,(Mittelwert_AccNick)+1219 0274 9A01 movw r18,r20220 0276 220F lsl r18221 0278 331F rol r19222 027a 240F add r18,r20223 027c 351F adc r19,r21224 027e 820F add r24,r18225 0280 931F adc r25,r19226 0282 64E0 ldi r22,lo8(4)227 0284 70E0 ldi r23,hi8(4)228 0286 0E94 0000 call __divmodhi4229 028a 7093 0000 sts (Mittelwert_AccNick)+1,r23230 028e 6093 0000 sts Mittelwert_AccNick,r22231 0292 2091 0000 lds r18,AdWertAccRoll232 0296 3091 0000 lds r19,(AdWertAccRoll)+1233 029a C901 movw r24,r18234 029c 880F lsl r24235 029e 991F rol r25236 02a0 820F add r24,r18237 02a2 931F adc r25,r19238 02a4 880F lsl r24239 02a6 991F rol r25240 02a8 4091 0000 lds r20,Mittelwert_AccRoll241 02ac 5091 0000 lds r21,(Mittelwert_AccRoll)+1242 02b0 9A01 movw r18,r20243 02b2 220F lsl r18244 02b4 331F rol r19245 02b6 240F add r18,r20246 02b8 351F adc r19,r21247 02ba 820F add r24,r18248 02bc 931F adc r25,r19249 02be 64E0 ldi r22,lo8(4)250 02c0 70E0 ldi r23,hi8(4)251 02c2 0E94 0000 call __divmodhi4252 02c6 7093 0000 sts (Mittelwert_AccRoll)+1,r23253 02ca 6093 0000 sts Mittelwert_AccRoll,r22254 02ce 2091 0000 lds r18,AdWertAccNick255 02d2 3091 0000 lds r19,(AdWertAccNick)+1256 02d6 C901 movw r24,r18257 02d8 880F lsl r24258 02da 991F rol r25259 02dc 820F add r24,r18260 02de 931F adc r25,r19261 02e0 880F lsl r24262 02e2 991F rol r25263 02e4 AA27 clr r26264 02e6 97FD sbrc r25,7265 02e8 A095 com r26266 02ea BA2F mov r27,r26267 02ec 2091 0000 lds r18,IntegralAccNick268 02f0 3091 0000 lds r19,(IntegralAccNick)+1269 02f4 4091 0000 lds r20,(IntegralAccNick)+2270 02f8 5091 0000 lds r21,(IntegralAccNick)+3271 02fc 280F add r18,r24272 02fe 391F adc r19,r25273 0300 4A1F adc r20,r26274 0302 5B1F adc r21,r27275 0304 2093 0000 sts IntegralAccNick,r18276 0308 3093 0000 sts (IntegralAccNick)+1,r19277 030c 4093 0000 sts (IntegralAccNick)+2,r20278 0310 5093 0000 sts (IntegralAccNick)+3,r21279 0314 2091 0000 lds r18,AdWertAccRoll280 0318 3091 0000 lds r19,(AdWertAccRoll)+1281 031c C901 movw r24,r18282 031e 880F lsl r24283 0320 991F rol r25284 0322 820F add r24,r18285 0324 931F adc r25,r19286 0326 880F lsl r24287 0328 991F rol r25288 032a AA27 clr r26289 032c 97FD sbrc r25,7290 032e A095 com r26291 0330 BA2F mov r27,r26292 0332 2091 0000 lds r18,IntegralAccRoll293 0336 3091 0000 lds r19,(IntegralAccRoll)+1294 033a 4091 0000 lds r20,(IntegralAccRoll)+2295 033e 5091 0000 lds r21,(IntegralAccRoll)+3296 0342 280F add r18,r24297 0344 391F adc r19,r25298 0346 4A1F adc r20,r26299 0348 5B1F adc r21,r27300 034a 2093 0000 sts IntegralAccRoll,r18301 034e 3093 0000 sts (IntegralAccRoll)+1,r19302 0352 4093 0000 sts (IntegralAccRoll)+2,r20303 0356 5093 0000 sts (IntegralAccRoll)+3,r21304 035a 2091 0000 lds r18,AdWertAccNick305 035e 3091 0000 lds r19,(AdWertAccNick)+1306 0362 8091 0000 lds r24,NaviAccNick307 0366 9091 0000 lds r25,(NaviAccNick)+1308 036a 820F add r24,r18309 036c 931F adc r25,r19310 036e 9093 0000 sts (NaviAccNick)+1,r25311 0372 8093 0000 sts NaviAccNick,r24312 0376 2091 0000 lds r18,AdWertAccRoll313 037a 3091 0000 lds r19,(AdWertAccRoll)+1314 037e 8091 0000 lds r24,NaviAccRoll315 0382 9091 0000 lds r25,(NaviAccRoll)+1316 0386 820F add r24,r18317 0388 931F adc r25,r19318 038a 9093 0000 sts (NaviAccRoll)+1,r25319 038e 8093 0000 sts NaviAccRoll,r24320 0392 8091 0000 lds r24,NaviCntAcc321 0396 9091 0000 lds r25,(NaviCntAcc)+1322 039a 0196 adiw r24,1323 039c 9093 0000 sts (NaviCntAcc)+1,r25324 03a0 8093 0000 sts NaviCntAcc,r24325 03a4 2091 0000 lds r18,Aktuell_az326 03a8 3091 0000 lds r19,(Aktuell_az)+1327 03ac 8091 0000 lds r24,NeutralAccZ328 03b0 9091 0000 lds r25,(NeutralAccZ)+1329 03b4 281B sub r18,r24330 03b6 390B sbc r19,r25331 03b8 4427 clr r20332 03ba 37FD sbrc r19,7333 03bc 4095 com r20334 03be 542F mov r21,r20335 03c0 8091 0000 lds r24,IntegralAccZ336 03c4 9091 0000 lds r25,(IntegralAccZ)+1337 03c8 A091 0000 lds r26,(IntegralAccZ)+2338 03cc B091 0000 lds r27,(IntegralAccZ)+3339 03d0 820F add r24,r18340 03d2 931F adc r25,r19341 03d4 A41F adc r26,r20342 03d6 B51F adc r27,r21343 03d8 8093 0000 sts IntegralAccZ,r24344 03dc 9093 0000 sts (IntegralAccZ)+1,r25345 03e0 A093 0000 sts (IntegralAccZ)+2,r26346 03e4 B093 0000 sts (IntegralAccZ)+3,r27347 03e8 8FEC ldi r24,lo8(-49)348 03ea 8093 7A00 sts 122,r24349 03ee 1092 0000 sts AdReady,__zero_reg__350 03f2 8091 0000 lds r24,Mess_IntegralRoll351 03f6 9091 0000 lds r25,(Mess_IntegralRoll)+1352 03fa A091 0000 lds r26,(Mess_IntegralRoll)+2353 03fe B091 0000 lds r27,(Mess_IntegralRoll)+3354 0402 8A8B std Y+18,r24355 0404 9B8B std Y+19,r25356 0406 AC8B std Y+20,r26357 0408 BD8B std Y+21,r27358 040a 2091 0000 lds r18,Mess_IntegralNick359 040e 3091 0000 lds r19,(Mess_IntegralNick)+1360 0412 4091 0000 lds r20,(Mess_IntegralNick)+2361 0416 5091 0000 lds r21,(Mess_IntegralNick)+3362 041a 2E87 std Y+14,r18363 041c 3F87 std Y+15,r19364 041e 488B std Y+16,r20365 0420 598B std Y+17,r21366 0422 4A8D ldd r20,Y+26367 0424 5B8D ldd r21,Y+27368 0426 6627 clr r22369 0428 57FD sbrc r21,7370 042a 6095 com r22371 042c 762F mov r23,r22372 042e 4A87 std Y+10,r20373 0430 5B87 std Y+11,r21374 0432 6C87 std Y+12,r22375 0434 7D87 std Y+13,r23376 0436 2090 0000 lds r2,Mess_Integral_Gier377 043a 3090 0000 lds r3,(Mess_Integral_Gier)+1378 043e 4090 0000 lds r4,(Mess_Integral_Gier)+2379 0442 5090 0000 lds r5,(Mess_Integral_Gier)+3380 0446 240E add r2,r20381 0448 351E adc r3,r21382 044a 461E adc r4,r22383 044c 571E adc r5,r23384 044e 2092 0000 sts Mess_Integral_Gier,r2385 0452 3092 0000 sts (Mess_Integral_Gier)+1,r3386 0456 4092 0000 sts (Mess_Integral_Gier)+2,r4387 045a 5092 0000 sts (Mess_Integral_Gier)+3,r5388 045e 6090 0000 lds r6,ErsatzKompass389 0462 7090 0000 lds r7,(ErsatzKompass)+1390 0466 8090 0000 lds r8,(ErsatzKompass)+2391 046a 9090 0000 lds r9,(ErsatzKompass)+3392 046e 640E add r6,r20393 0470 751E adc r7,r21394 0472 861E adc r8,r22395 0474 971E adc r9,r23396 0476 6092 0000 sts ErsatzKompass,r6397 047a 7092 0000 sts (ErsatzKompass)+1,r7398 047e 8092 0000 sts (ErsatzKompass)+2,r8399 0482 9092 0000 sts (ErsatzKompass)+3,r9400 0486 5091 0000 lds r21,Looping_Nick401 048a 5987 std Y+9,r21402 048c 5523 tst r21403 048e 01F0 breq .+2404 0490 00C0 rjmp .L8405 0492 8091 0000 lds r24,Looping_Roll406 0496 8823 tst r24407 0498 01F0 breq .+2408 049a 00C0 rjmp .L8409 049c 8091 0000 lds r24,EE_Parameter+13410 04a0 86FF sbrs r24,6411 04a2 00C0 rjmp .L8412 04a4 2A89 ldd r18,Y+18413 04a6 3B89 ldd r19,Y+19414 04a8 4C89 ldd r20,Y+20415 04aa 5D89 ldd r21,Y+21416 04ac 283B cpi r18,lo8(-93000)417 04ae 64E9 ldi r22,hi8(-93000)418 04b0 3607 cpc r19,r22419 04b2 6EEF ldi r22,hlo8(-93000)420 04b4 4607 cpc r20,r22421 04b6 6FEF ldi r22,hhi8(-93000)422 04b8 5607 cpc r21,r22423 04ba 04F4 brge .L9424 04bc 28EB ldi r18,lo8(-93000)425 04be 34E9 ldi r19,hi8(-93000)426 04c0 4EEF ldi r20,hlo8(-93000)427 04c2 5FEF ldi r21,hhi8(-93000)428 .L9:429 04c4 2983 std Y+1,r18430 04c6 3A83 std Y+2,r19431 04c8 4B83 std Y+3,r20432 04ca 5C83 std Y+4,r21433 04cc 2954 subi r18,lo8(93001)434 04ce 3B46 sbci r19,hi8(93001)435 04d0 4140 sbci r20,hlo8(93001)436 04d2 5040 sbci r21,hhi8(93001)437 04d4 04F0 brlt .L10438 04d6 88E4 ldi r24,lo8(93000)439 04d8 9BE6 ldi r25,hi8(93000)440 04da A1E0 ldi r26,hlo8(93000)441 04dc B0E0 ldi r27,hhi8(93000)442 04de 8983 std Y+1,r24443 04e0 9A83 std Y+2,r25444 04e2 AB83 std Y+3,r26445 04e4 BC83 std Y+4,r27446 .L10:447 04e6 2E85 ldd r18,Y+14448 04e8 3F85 ldd r19,Y+15449 04ea 4889 ldd r20,Y+16450 04ec 5989 ldd r21,Y+17451 04ee 283B cpi r18,lo8(-93000)452 04f0 94E9 ldi r25,hi8(-93000)453 04f2 3907 cpc r19,r25454 04f4 9EEF ldi r25,hlo8(-93000)455 04f6 4907 cpc r20,r25456 04f8 9FEF ldi r25,hhi8(-93000)457 04fa 5907 cpc r21,r25458 04fc 04F4 brge .L11459 04fe 28EB ldi r18,lo8(-93000)460 0500 34E9 ldi r19,hi8(-93000)461 0502 4EEF ldi r20,hlo8(-93000)462 0504 5FEF ldi r21,hhi8(-93000)463 .L11:464 0506 2D83 std Y+5,r18465 0508 3E83 std Y+6,r19466 050a 4F83 std Y+7,r20467 050c 5887 std Y+8,r21468 050e 2954 subi r18,lo8(93001)469 0510 3B46 sbci r19,hi8(93001)470 0512 4140 sbci r20,hlo8(93001)471 0514 5040 sbci r21,hhi8(93001)472 0516 04F0 brlt .L12473 0518 28E4 ldi r18,lo8(93000)474 051a 3BE6 ldi r19,hi8(93000)475 051c 41E0 ldi r20,hlo8(93000)476 051e 50E0 ldi r21,hhi8(93000)477 0520 2D83 std Y+5,r18478 0522 3E83 std Y+6,r19479 0524 4F83 std Y+7,r20480 0526 5887 std Y+8,r21481 .L12:482 0528 A090 0000 lds r10,Parameter_AchsKopplung2483 052c BB24 clr r11484 052e CC24 clr r12485 0530 DD24 clr r13486 0532 688D ldd r22,Y+24487 0534 798D ldd r23,Y+25488 0536 9B01 movw r18,r22489 0538 4427 clr r20490 053a 37FD sbrc r19,7491 053c 4095 com r20492 053e 542F mov r21,r20493 0540 6D81 ldd r22,Y+5494 0542 7E81 ldd r23,Y+6495 0544 8F81 ldd r24,Y+7496 0546 9885 ldd r25,Y+8497 0548 0E94 0000 call __mulsi3498 054c 20E0 ldi r18,lo8(2048)499 054e 38E0 ldi r19,hi8(2048)500 0550 40E0 ldi r20,hlo8(2048)501 0552 50E0 ldi r21,hhi8(2048)502 0554 0E94 0000 call __divmodsi4503 0558 CA01 movw r24,r20504 055a B901 movw r22,r18505 055c A601 movw r20,r12506 055e 9501 movw r18,r10507 0560 0E94 0000 call __mulsi3508 0564 20E0 ldi r18,lo8(4096)509 0566 30E1 ldi r19,hi8(4096)510 0568 40E0 ldi r20,hlo8(4096)511 056a 50E0 ldi r21,hhi8(4096)512 056c 0E94 0000 call __divmodsi4513 0570 7901 movw r14,r18514 0572 8A01 movw r16,r20515 0574 E092 0000 sts tmpl3.2602,r14516 0578 F092 0000 sts (tmpl3.2602)+1,r15517 057c 0093 0000 sts (tmpl3.2602)+2,r16518 0580 1093 0000 sts (tmpl3.2602)+3,r17519 0584 8E89 ldd r24,Y+22520 0586 9F89 ldd r25,Y+23521 0588 9C01 movw r18,r24522 058a 4427 clr r20523 058c 37FD sbrc r19,7524 058e 4095 com r20525 0590 542F mov r21,r20526 0592 6981 ldd r22,Y+1527 0594 7A81 ldd r23,Y+2528 0596 8B81 ldd r24,Y+3529 0598 9C81 ldd r25,Y+4530 059a 0E94 0000 call __mulsi3531 059e 20E0 ldi r18,lo8(2048)532 05a0 38E0 ldi r19,hi8(2048)533 05a2 40E0 ldi r20,hlo8(2048)534 05a4 50E0 ldi r21,hhi8(2048)535 05a6 0E94 0000 call __divmodsi4536 05aa CA01 movw r24,r20537 05ac B901 movw r22,r18538 05ae A601 movw r20,r12539 05b0 9501 movw r18,r10540 05b2 0E94 0000 call __mulsi3541 05b6 20E0 ldi r18,lo8(4096)542 05b8 30E1 ldi r19,hi8(4096)543 05ba 40E0 ldi r20,hlo8(4096)544 05bc 50E0 ldi r21,hhi8(4096)545 05be 0E94 0000 call __divmodsi4546 05c2 C901 movw r24,r18547 05c4 DA01 movw r26,r20548 05c6 F092 0000 sts (KopplungsteilNickRoll)+1,r15549 05ca E092 0000 sts KopplungsteilNickRoll,r14550 05ce 3093 0000 sts (KopplungsteilRollNick)+1,r19551 05d2 2093 0000 sts KopplungsteilRollNick,r18552 05d6 9C01 movw r18,r24553 05d8 AD01 movw r20,r26554 05da 2E19 sub r18,r14555 05dc 3F09 sbc r19,r15556 05de 400B sbc r20,r16557 05e0 510B sbc r21,r17558 05e2 7901 movw r14,r18559 05e4 8A01 movw r16,r20560 05e6 2093 0000 sts tmpl4.2603,r18561 05ea 3093 0000 sts (tmpl4.2603)+1,r19562 05ee 4093 0000 sts (tmpl4.2603)+2,r20563 05f2 5093 0000 sts (tmpl4.2603)+3,r21564 05f6 620E add r6,r18565 05f8 731E adc r7,r19566 05fa 841E adc r8,r20567 05fc 951E adc r9,r21568 05fe 6092 0000 sts ErsatzKompass,r6569 0602 7092 0000 sts (ErsatzKompass)+1,r7570 0606 8092 0000 sts (ErsatzKompass)+2,r8571 060a 9092 0000 sts (ErsatzKompass)+3,r9572 060e 8091 0000 lds r24,Parameter_CouplingYawCorrection573 0612 8823 tst r24574 0614 01F4 brne .L13575 0616 CA01 movw r24,r20576 0618 B901 movw r22,r18577 061a 22E0 ldi r18,lo8(2)578 061c 30E0 ldi r19,hi8(2)579 061e 40E0 ldi r20,hlo8(2)580 0620 50E0 ldi r21,hhi8(2)581 0622 0E94 0000 call __divmodsi4582 0626 221A sub r2,r18583 0628 330A sbc r3,r19584 062a 440A sbc r4,r20585 062c 550A sbc r5,r21586 062e 2092 0000 sts Mess_Integral_Gier,r2587 0632 3092 0000 sts (Mess_Integral_Gier)+1,r3588 0636 4092 0000 sts (Mess_Integral_Gier)+2,r4589 063a 5092 0000 sts (Mess_Integral_Gier)+3,r5590 .L13:591 063e AA84 ldd r10,Y+10592 0640 BB84 ldd r11,Y+11593 0642 CC84 ldd r12,Y+12594 0644 DD84 ldd r13,Y+13595 0646 AE0C add r10,r14596 0648 BF1C adc r11,r15597 064a C01E adc r12,r16598 064c D11E adc r13,r17599 064e E090 0000 lds r14,Parameter_AchsKopplung1600 0652 FF24 clr r15601 0654 00E0 ldi r16,lo8(0)602 0656 10E0 ldi r17,hi8(0)603 0658 C601 movw r24,r12604 065a B501 movw r22,r10605 065c 2D81 ldd r18,Y+5606 065e 3E81 ldd r19,Y+6607 0660 4F81 ldd r20,Y+7608 0662 5885 ldd r21,Y+8609 0664 0E94 0000 call __mulsi3610 0668 20E0 ldi r18,lo8(2048)611 066a 38E0 ldi r19,hi8(2048)612 066c 40E0 ldi r20,hlo8(2048)613 066e 50E0 ldi r21,hhi8(2048)614 0670 0E94 0000 call __divmodsi4615 0674 CA01 movw r24,r20616 0676 B901 movw r22,r18617 0678 A801 movw r20,r16618 067a 9701 movw r18,r14619 067c 0E94 0000 call __mulsi3620 0680 20E0 ldi r18,lo8(4096)621 0682 30E1 ldi r19,hi8(4096)622 0684 40E0 ldi r20,hlo8(4096)623 0686 50E0 ldi r21,hhi8(4096)624 0688 0E94 0000 call __divmodsi4625 068c 922E mov r9,r18626 068e 832E mov r8,r19627 0690 742E mov r7,r20628 0692 652E mov r6,r21629 0694 2093 0000 sts tmpl.2600,r18630 0698 3093 0000 sts tmpl.2600+1,r19631 069c 4093 0000 sts tmpl.2600+2,r20632 06a0 5093 0000 sts tmpl.2600+3,r21633 06a4 C601 movw r24,r12634 06a6 B501 movw r22,r10635 06a8 2981 ldd r18,Y+1636 06aa 3A81 ldd r19,Y+2637 06ac 4B81 ldd r20,Y+3638 06ae 5C81 ldd r21,Y+4639 06b0 0E94 0000 call __mulsi3640 06b4 20E0 ldi r18,lo8(2048)641 06b6 38E0 ldi r19,hi8(2048)642 06b8 40E0 ldi r20,hlo8(2048)643 06ba 50E0 ldi r21,hhi8(2048)644 06bc 0E94 0000 call __divmodsi4645 06c0 CA01 movw r24,r20646 06c2 B901 movw r22,r18647 06c4 A801 movw r20,r16648 06c6 9701 movw r18,r14649 06c8 0E94 0000 call __mulsi3650 06cc 20E0 ldi r18,lo8(4096)651 06ce 30E1 ldi r19,hi8(4096)652 06d0 40E0 ldi r20,hlo8(4096)653 06d2 50E0 ldi r21,hhi8(4096)654 06d4 0E94 0000 call __divmodsi4655 06d8 B901 movw r22,r18656 06da FA01 movw r30,r20657 06dc 2093 0000 sts tmpl2.2601,r18658 06e0 7093 0000 sts tmpl2.2601+1,r23659 06e4 4093 0000 sts tmpl2.2601+2,r20660 06e8 F093 0000 sts tmpl2.2601+3,r31661 06ec 8A8D ldd r24,Y+26662 06ee 9B8D ldd r25,Y+27663 06f0 97FF sbrs r25,7664 06f2 00C0 rjmp .L15665 06f4 9095 com r25666 06f6 8195 neg r24667 06f8 9F4F sbci r25,lo8(-1)668 .L15:669 06fa 8134 cpi r24,65670 06fc 9105 cpc r25,__zero_reg__671 06fe 04F4 brge .+2672 0700 00C0 rjmp .L14673 0702 292D mov r18,r9674 0704 382D mov r19,r8675 0706 472D mov r20,r7676 0708 562D mov r21,r6677 070a C901 movw r24,r18678 070c DA01 movw r26,r20679 070e B7FF sbrs r27,7680 0710 00C0 rjmp .L17681 0712 B095 com r27682 0714 A095 com r26683 0716 9095 com r25684 0718 8195 neg r24685 071a 9F4F sbci r25,lo8(-1)686 071c AF4F sbci r26,lo8(-1)687 071e BF4F sbci r27,lo8(-1)688 .L17:689 0720 8138 cpi r24,lo8(129)690 0722 9105 cpc r25,__zero_reg__691 0724 A105 cpc r26,__zero_reg__692 0726 B105 cpc r27,__zero_reg__693 0728 04F4 brge .L16694 072a CB01 movw r24,r22695 072c DF01 movw r26,r30696 072e B7FF sbrs r27,7697 0730 00C0 rjmp .L18698 0732 B095 com r27699 0734 A095 com r26700 0736 9095 com r25701 0738 8195 neg r24702 073a 9F4F sbci r25,lo8(-1)703 073c AF4F sbci r26,lo8(-1)704 073e BF4F sbci r27,lo8(-1)705 .L18:706 0740 8138 cpi r24,lo8(129)707 0742 9105 cpc r25,__zero_reg__708 0744 A105 cpc r26,__zero_reg__709 0746 B105 cpc r27,__zero_reg__710 0748 04F0 brlt .L14711 .L16:712 074a 81E0 ldi r24,lo8(1)713 074c 8093 0000 sts TrichterFlug,r24714 0750 00C0 rjmp .L14715 .L8:716 0752 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__717 0756 1092 0000 sts KopplungsteilRollNick,__zero_reg__718 075a 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__719 075e 1092 0000 sts KopplungsteilNickRoll,__zero_reg__720 0762 1092 0000 sts tmpl2.2601,__zero_reg__721 0766 1092 0000 sts (tmpl2.2601)+1,__zero_reg__722 076a 1092 0000 sts (tmpl2.2601)+2,__zero_reg__723 076e 1092 0000 sts (tmpl2.2601)+3,__zero_reg__724 0772 1092 0000 sts tmpl.2600,__zero_reg__725 0776 1092 0000 sts (tmpl.2600)+1,__zero_reg__726 077a 1092 0000 sts (tmpl.2600)+2,__zero_reg__727 077e 1092 0000 sts (tmpl.2600)+3,__zero_reg__728 .L14:729 0782 E090 0000 lds r14,tmpl.2600730 0786 F090 0000 lds r15,(tmpl.2600)+1731 078a 0091 0000 lds r16,(tmpl.2600)+2732 078e 1091 0000 lds r17,(tmpl.2600)+3733 0792 A090 0000 lds r10,tmpl2.2601734 0796 B090 0000 lds r11,(tmpl2.2601)+1735 079a C090 0000 lds r12,(tmpl2.2601)+2736 079e D090 0000 lds r13,(tmpl2.2601)+3737 07a2 C601 movw r24,r12738 07a4 B501 movw r22,r10739 07a6 2CE9 ldi r18,lo8(-100)740 07a8 3FEF ldi r19,hi8(-100)741 07aa 4FEF ldi r20,hlo8(-100)742 07ac 5FEF ldi r21,hhi8(-100)743 07ae 0E94 0000 call __divmodsi4744 07b2 2901 movw r4,r18745 07b4 4E0C add r4,r14746 07b6 5F1C adc r5,r15747 07b8 5092 0000 sts (TrimRoll)+1,r5748 07bc 4092 0000 sts TrimRoll,r4749 07c0 C801 movw r24,r16750 07c2 B701 movw r22,r14751 07c4 24E6 ldi r18,lo8(100)752 07c6 30E0 ldi r19,hi8(100)753 07c8 40E0 ldi r20,hlo8(100)754 07ca 50E0 ldi r21,hhi8(100)755 07cc 0E94 0000 call __divmodsi4756 07d0 1901 movw r2,r18757 07d2 2A18 sub r2,r10758 07d4 3B08 sbc r3,r11759 07d6 3092 0000 sts (TrimNick)+1,r3760 07da 2092 0000 sts TrimNick,r2761 07de E090 0000 lds r14,ErsatzKompass762 07e2 F090 0000 lds r15,(ErsatzKompass)+1763 07e6 0091 0000 lds r16,(ErsatzKompass)+2764 07ea 1091 0000 lds r17,(ErsatzKompass)+3765 07ee A090 0000 lds r10,GIER_GRAD_FAKTOR766 07f2 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+1767 07f6 C090 0000 lds r12,(GIER_GRAD_FAKTOR)+2768 07fa D090 0000 lds r13,(GIER_GRAD_FAKTOR)+3769 07fe C601 movw r24,r12770 0800 B501 movw r22,r10771 0802 28E6 ldi r18,lo8(360)772 0804 31E0 ldi r19,hi8(360)773 0806 40E0 ldi r20,hlo8(360)774 0808 50E0 ldi r21,hhi8(360)775 080a 0E94 0000 call __mulsi3776 080e 3B01 movw r6,r22777 0810 4C01 movw r8,r24778 0812 E616 cp r14,r22779 0814 F706 cpc r15,r23780 0816 0807 cpc r16,r24781 0818 1907 cpc r17,r25782 081a 04F0 brlt .L19783 081c C601 movw r24,r12784 081e B501 movw r22,r10785 0820 28E9 ldi r18,lo8(-360)786 0822 3EEF ldi r19,hi8(-360)787 0824 4FEF ldi r20,hlo8(-360)788 0826 5FEF ldi r21,hhi8(-360)789 0828 0E94 0000 call __mulsi3790 082c E60E add r14,r22791 082e F71E adc r15,r23792 0830 081F adc r16,r24793 0832 191F adc r17,r25794 0834 E092 0000 sts ErsatzKompass,r14795 0838 F092 0000 sts (ErsatzKompass)+1,r15796 083c 0093 0000 sts (ErsatzKompass)+2,r16797 0840 1093 0000 sts (ErsatzKompass)+3,r17798 .L19:799 0844 8091 0000 lds r24,ErsatzKompass800 0848 9091 0000 lds r25,(ErsatzKompass)+1801 084c A091 0000 lds r26,(ErsatzKompass)+2802 0850 B091 0000 lds r27,(ErsatzKompass)+3803 0854 B7FF sbrs r27,7804 0856 00C0 rjmp .L20805 0858 860D add r24,r6806 085a 971D adc r25,r7807 085c A81D adc r26,r8808 085e B91D adc r27,r9809 0860 8093 0000 sts ErsatzKompass,r24810 0864 9093 0000 sts (ErsatzKompass)+1,r25811 0868 A093 0000 sts (ErsatzKompass)+2,r26812 086c B093 0000 sts (ErsatzKompass)+3,r27813 .L20:814 0870 288D ldd r18,Y+24815 0872 398D ldd r19,Y+25816 0874 240D add r18,r4817 0876 351D adc r19,r5818 0878 7901 movw r14,r18819 087a 0027 clr r16820 087c F7FC sbrc r15,7821 087e 0095 com r16822 0880 102F mov r17,r16823 0882 8091 0000 lds r24,Mess_IntegralRoll2824 0886 9091 0000 lds r25,(Mess_IntegralRoll2)+1825 088a A091 0000 lds r26,(Mess_IntegralRoll2)+2826 088e B091 0000 lds r27,(Mess_IntegralRoll2)+3827 0892 8E0D add r24,r14828 0894 9F1D adc r25,r15829 0896 A01F adc r26,r16830 0898 B11F adc r27,r17831 089a 8093 0000 sts Mess_IntegralRoll2,r24832 089e 9093 0000 sts (Mess_IntegralRoll2)+1,r25833 08a2 A093 0000 sts (Mess_IntegralRoll2)+2,r26834 08a6 B093 0000 sts (Mess_IntegralRoll2)+3,r27835 08aa 8091 0000 lds r24,LageKorrekturRoll836 08ae 9091 0000 lds r25,(LageKorrekturRoll)+1837 08b2 281B sub r18,r24838 08b4 390B sbc r19,r25839 08b6 4427 clr r20840 08b8 37FD sbrc r19,7841 08ba 4095 com r20842 08bc 542F mov r21,r20843 08be 6A89 ldd r22,Y+18844 08c0 7B89 ldd r23,Y+19845 08c2 8C89 ldd r24,Y+20846 08c4 9D89 ldd r25,Y+21847 08c6 260F add r18,r22848 08c8 371F adc r19,r23849 08ca 481F adc r20,r24850 08cc 591F adc r21,r25851 08ce 2093 0000 sts Mess_IntegralRoll,r18852 08d2 3093 0000 sts (Mess_IntegralRoll)+1,r19853 08d6 4093 0000 sts (Mess_IntegralRoll)+2,r20854 08da 5093 0000 sts (Mess_IntegralRoll)+3,r21855 08de E090 0000 lds r14,Umschlag180Roll856 08e2 F090 0000 lds r15,(Umschlag180Roll)+1857 08e6 0091 0000 lds r16,(Umschlag180Roll)+2858 08ea 1091 0000 lds r17,(Umschlag180Roll)+3859 08ee E216 cp r14,r18860 08f0 F306 cpc r15,r19861 08f2 0407 cpc r16,r20862 08f4 1507 cpc r17,r21863 08f6 04F4 brge .L21864 08f8 88EA ldi r24,lo8(25000)865 08fa 91E6 ldi r25,hi8(25000)866 08fc A0E0 ldi r26,hlo8(25000)867 08fe B0E0 ldi r27,hhi8(25000)868 0900 8E19 sub r24,r14869 0902 9F09 sbc r25,r15870 0904 A00B sbc r26,r16871 0906 B10B sbc r27,r17872 0908 8093 0000 sts Mess_IntegralRoll,r24873 090c 9093 0000 sts (Mess_IntegralRoll)+1,r25874 0910 A093 0000 sts (Mess_IntegralRoll)+2,r26875 0914 B093 0000 sts (Mess_IntegralRoll)+3,r27876 0918 8093 0000 sts Mess_IntegralRoll2,r24877 091c 9093 0000 sts (Mess_IntegralRoll2)+1,r25878 0920 A093 0000 sts (Mess_IntegralRoll2)+2,r26879 0924 B093 0000 sts (Mess_IntegralRoll2)+3,r27880 .L21:881 0928 2227 clr r18882 092a 3327 clr r19883 092c A901 movw r20,r18884 092e 2E19 sub r18,r14885 0930 3F09 sbc r19,r15886 0932 400B sbc r20,r16887 0934 510B sbc r21,r17888 0936 8091 0000 lds r24,Mess_IntegralRoll889 093a 9091 0000 lds r25,(Mess_IntegralRoll)+1890 093e A091 0000 lds r26,(Mess_IntegralRoll)+2891 0942 B091 0000 lds r27,(Mess_IntegralRoll)+3892 0946 8217 cp r24,r18893 0948 9307 cpc r25,r19894 094a A407 cpc r26,r20895 094c B507 cpc r27,r21896 094e 04F4 brge .L22897 0950 D801 movw r26,r16898 0952 C701 movw r24,r14899 0954 885A subi r24,lo8(-(-25000))900 0956 9146 sbci r25,hi8(-(-25000))901 0958 A040 sbci r26,hlo8(-(-25000))902 095a B040 sbci r27,hhi8(-(-25000))903 095c 8093 0000 sts Mess_IntegralRoll,r24904 0960 9093 0000 sts (Mess_IntegralRoll)+1,r25905 0964 A093 0000 sts (Mess_IntegralRoll)+2,r26906 0968 B093 0000 sts (Mess_IntegralRoll)+3,r27907 096c 8093 0000 sts Mess_IntegralRoll2,r24908 0970 9093 0000 sts (Mess_IntegralRoll2)+1,r25909 0974 A093 0000 sts (Mess_IntegralRoll2)+2,r26910 0978 B093 0000 sts (Mess_IntegralRoll2)+3,r27911 .L22:912 097c 2E89 ldd r18,Y+22913 097e 3F89 ldd r19,Y+23914 0980 220D add r18,r2915 0982 331D adc r19,r3916 0984 7901 movw r14,r18917 0986 0027 clr r16918 0988 F7FC sbrc r15,7919 098a 0095 com r16920 098c 102F mov r17,r16921 098e 8091 0000 lds r24,Mess_IntegralNick2922 0992 9091 0000 lds r25,(Mess_IntegralNick2)+1923 0996 A091 0000 lds r26,(Mess_IntegralNick2)+2924 099a B091 0000 lds r27,(Mess_IntegralNick2)+3925 099e 8E0D add r24,r14926 09a0 9F1D adc r25,r15927 09a2 A01F adc r26,r16928 09a4 B11F adc r27,r17929 09a6 8093 0000 sts Mess_IntegralNick2,r24930 09aa 9093 0000 sts (Mess_IntegralNick2)+1,r25931 09ae A093 0000 sts (Mess_IntegralNick2)+2,r26932 09b2 B093 0000 sts (Mess_IntegralNick2)+3,r27933 09b6 8091 0000 lds r24,LageKorrekturNick934 09ba 9091 0000 lds r25,(LageKorrekturNick)+1935 09be 281B sub r18,r24936 09c0 390B sbc r19,r25937 09c2 4427 clr r20938 09c4 37FD sbrc r19,7939 09c6 4095 com r20940 09c8 542F mov r21,r20941 09ca 8E85 ldd r24,Y+14942 09cc 9F85 ldd r25,Y+15943 09ce A889 ldd r26,Y+16944 09d0 B989 ldd r27,Y+17945 09d2 280F add r18,r24946 09d4 391F adc r19,r25947 09d6 4A1F adc r20,r26948 09d8 5B1F adc r21,r27949 09da 2093 0000 sts Mess_IntegralNick,r18950 09de 3093 0000 sts (Mess_IntegralNick)+1,r19951 09e2 4093 0000 sts (Mess_IntegralNick)+2,r20952 09e6 5093 0000 sts (Mess_IntegralNick)+3,r21953 09ea E090 0000 lds r14,Umschlag180Nick954 09ee F090 0000 lds r15,(Umschlag180Nick)+1955 09f2 0091 0000 lds r16,(Umschlag180Nick)+2956 09f6 1091 0000 lds r17,(Umschlag180Nick)+3957 09fa E216 cp r14,r18958 09fc F306 cpc r15,r19959 09fe 0407 cpc r16,r20960 0a00 1507 cpc r17,r21961 0a02 04F4 brge .L23962 0a04 88EA ldi r24,lo8(25000)963 0a06 91E6 ldi r25,hi8(25000)964 0a08 A0E0 ldi r26,hlo8(25000)965 0a0a B0E0 ldi r27,hhi8(25000)966 0a0c 8E19 sub r24,r14967 0a0e 9F09 sbc r25,r15968 0a10 A00B sbc r26,r16969 0a12 B10B sbc r27,r17970 0a14 8093 0000 sts Mess_IntegralNick,r24971 0a18 9093 0000 sts (Mess_IntegralNick)+1,r25972 0a1c A093 0000 sts (Mess_IntegralNick)+2,r26973 0a20 B093 0000 sts (Mess_IntegralNick)+3,r27974 0a24 8093 0000 sts Mess_IntegralNick2,r24975 0a28 9093 0000 sts (Mess_IntegralNick2)+1,r25976 0a2c A093 0000 sts (Mess_IntegralNick2)+2,r26977 0a30 B093 0000 sts (Mess_IntegralNick2)+3,r27978 .L23:979 0a34 2227 clr r18980 0a36 3327 clr r19981 0a38 A901 movw r20,r18982 0a3a 2E19 sub r18,r14983 0a3c 3F09 sbc r19,r15984 0a3e 400B sbc r20,r16985 0a40 510B sbc r21,r17986 0a42 8091 0000 lds r24,Mess_IntegralNick987 0a46 9091 0000 lds r25,(Mess_IntegralNick)+1988 0a4a A091 0000 lds r26,(Mess_IntegralNick)+2989 0a4e B091 0000 lds r27,(Mess_IntegralNick)+3990 0a52 8217 cp r24,r18991 0a54 9307 cpc r25,r19992 0a56 A407 cpc r26,r20993 0a58 B507 cpc r27,r21994 0a5a 04F4 brge .L24995 0a5c D801 movw r26,r16996 0a5e C701 movw r24,r14997 0a60 885A subi r24,lo8(-(-25000))998 0a62 9146 sbci r25,hi8(-(-25000))999 0a64 A040 sbci r26,hlo8(-(-25000))1000 0a66 B040 sbci r27,hhi8(-(-25000))1001 0a68 8093 0000 sts Mess_IntegralNick,r241002 0a6c 9093 0000 sts (Mess_IntegralNick)+1,r251003 0a70 A093 0000 sts (Mess_IntegralNick)+2,r261004 0a74 B093 0000 sts (Mess_IntegralNick)+3,r271005 0a78 8093 0000 sts Mess_IntegralNick2,r241006 0a7c 9093 0000 sts (Mess_IntegralNick2)+1,r251007 0a80 A093 0000 sts (Mess_IntegralNick2)+2,r261008 0a84 B093 0000 sts (Mess_IntegralNick2)+3,r271009 .L24:1010 0a88 8091 0000 lds r24,Mess_Integral_Gier1011 0a8c 9091 0000 lds r25,(Mess_Integral_Gier)+11012 0a90 A091 0000 lds r26,(Mess_Integral_Gier)+21013 0a94 B091 0000 lds r27,(Mess_Integral_Gier)+31014 0a98 8093 0000 sts Integral_Gier,r241015 0a9c 9093 0000 sts (Integral_Gier)+1,r251016 0aa0 A093 0000 sts (Integral_Gier)+2,r261017 0aa4 B093 0000 sts (Integral_Gier)+3,r271018 0aa8 8091 0000 lds r24,Mess_IntegralNick1019 0aac 9091 0000 lds r25,(Mess_IntegralNick)+11020 0ab0 A091 0000 lds r26,(Mess_IntegralNick)+21021 0ab4 B091 0000 lds r27,(Mess_IntegralNick)+31022 0ab8 8093 0000 sts IntegralNick,r241023 0abc 9093 0000 sts (IntegralNick)+1,r251024 0ac0 A093 0000 sts (IntegralNick)+2,r261025 0ac4 B093 0000 sts (IntegralNick)+3,r271026 0ac8 8091 0000 lds r24,Mess_IntegralRoll1027 0acc 9091 0000 lds r25,(Mess_IntegralRoll)+11028 0ad0 A091 0000 lds r26,(Mess_IntegralRoll)+21029 0ad4 B091 0000 lds r27,(Mess_IntegralRoll)+31030 0ad8 8093 0000 sts IntegralRoll,r241031 0adc 9093 0000 sts (IntegralRoll)+1,r251032 0ae0 A093 0000 sts (IntegralRoll)+2,r261033 0ae4 B093 0000 sts (IntegralRoll)+3,r271034 0ae8 8091 0000 lds r24,Mess_IntegralNick21035 0aec 9091 0000 lds r25,(Mess_IntegralNick2)+11036 0af0 A091 0000 lds r26,(Mess_IntegralNick2)+21037 0af4 B091 0000 lds r27,(Mess_IntegralNick2)+31038 0af8 8093 0000 sts IntegralNick2,r241039 0afc 9093 0000 sts (IntegralNick2)+1,r251040 0b00 A093 0000 sts (IntegralNick2)+2,r261041 0b04 B093 0000 sts (IntegralNick2)+3,r271042 0b08 8091 0000 lds r24,Mess_IntegralRoll21043 0b0c 9091 0000 lds r25,(Mess_IntegralRoll2)+11044 0b10 A091 0000 lds r26,(Mess_IntegralRoll2)+21045 0b14 B091 0000 lds r27,(Mess_IntegralRoll2)+31046 0b18 8093 0000 sts IntegralRoll2,r241047 0b1c 9093 0000 sts (IntegralRoll2)+1,r251048 0b20 A093 0000 sts (IntegralRoll2)+2,r261049 0b24 B093 0000 sts (IntegralRoll2)+3,r271050 0b28 8091 0000 lds r24,HiResNick1051 0b2c 9091 0000 lds r25,(HiResNick)+11052 0b30 68E0 ldi r22,lo8(8)1053 0b32 70E0 ldi r23,hi8(8)1054 0b34 0E94 0000 call __divmodhi41055 0b38 7093 0000 sts (MesswertNick)+1,r231056 0b3c 6093 0000 sts MesswertNick,r221057 0b40 8091 0000 lds r24,HiResRoll1058 0b44 9091 0000 lds r25,(HiResRoll)+11059 0b48 68E0 ldi r22,lo8(8)1060 0b4a 70E0 ldi r23,hi8(8)1061 0b4c 0E94 0000 call __divmodhi41062 0b50 7093 0000 sts (MesswertRoll)+1,r231063 0b54 6093 0000 sts MesswertRoll,r221064 0b58 8091 0000 lds r24,AdWertNick1065 0b5c 9091 0000 lds r25,(AdWertNick)+11066 0b60 0F97 sbiw r24,151067 0b62 04F4 brge .L251068 0b64 88E1 ldi r24,lo8(-1000)1069 0b66 9CEF ldi r25,hi8(-1000)1070 0b68 9093 0000 sts (MesswertNick)+1,r251071 0b6c 8093 0000 sts MesswertNick,r241072 .L25:1073 0b70 8091 0000 lds r24,AdWertNick1074 0b74 9091 0000 lds r25,(AdWertNick)+11075 0b78 0797 sbiw r24,71076 0b7a 04F4 brge .L261077 0b7c 80E3 ldi r24,lo8(-2000)1078 0b7e 98EF ldi r25,hi8(-2000)1079 0b80 9093 0000 sts (MesswertNick)+1,r251080 0b84 8093 0000 sts MesswertNick,r241081 .L26:1082 0b88 2091 0000 lds r18,PlatinenVersion1083 0b8c 2A30 cpi r18,lo8(10)1084 0b8e 01F4 brne .L271085 0b90 8091 0000 lds r24,AdWertNick1086 0b94 9091 0000 lds r25,(AdWertNick)+11087 0b98 835F subi r24,lo8(1011)1088 0b9a 9340 sbci r25,hi8(1011)1089 0b9c 04F0 brlt .L281090 0b9e 88EE ldi r24,lo8(1000)1091 0ba0 93E0 ldi r25,hi8(1000)1092 0ba2 9093 0000 sts (MesswertNick)+1,r251093 0ba6 8093 0000 sts MesswertNick,r241094 .L28:1095 0baa 8091 0000 lds r24,AdWertNick1096 0bae 9091 0000 lds r25,(AdWertNick)+11097 0bb2 8A5F subi r24,lo8(1018)1098 0bb4 9340 sbci r25,hi8(1018)1099 0bb6 04F0 brlt .L291100 0bb8 00C0 rjmp .L621101 .L27:1102 0bba 8091 0000 lds r24,AdWertNick1103 0bbe 9091 0000 lds r25,(AdWertNick)+11104 0bc2 815D subi r24,lo8(2001)1105 0bc4 9740 sbci r25,hi8(2001)1106 0bc6 04F0 brlt .L301107 0bc8 88EE ldi r24,lo8(1000)1108 0bca 93E0 ldi r25,hi8(1000)1109 0bcc 9093 0000 sts (MesswertNick)+1,r251110 0bd0 8093 0000 sts MesswertNick,r241111 .L30:1112 0bd4 8091 0000 lds r24,AdWertNick1113 0bd8 9091 0000 lds r25,(AdWertNick)+11114 0bdc 805E subi r24,lo8(2016)1115 0bde 9740 sbci r25,hi8(2016)1116 0be0 04F0 brlt .L291117 .L62:1118 0be2 80ED ldi r24,lo8(2000)1119 0be4 97E0 ldi r25,hi8(2000)1120 0be6 9093 0000 sts (MesswertNick)+1,r251121 0bea 8093 0000 sts MesswertNick,r241122 .L29:1123 0bee 8091 0000 lds r24,AdWertRoll1124 0bf2 9091 0000 lds r25,(AdWertRoll)+11125 0bf6 0F97 sbiw r24,151126 0bf8 04F4 brge .L311127 0bfa 88E1 ldi r24,lo8(-1000)1128 0bfc 9CEF ldi r25,hi8(-1000)1129 0bfe 9093 0000 sts (MesswertRoll)+1,r251130 0c02 8093 0000 sts MesswertRoll,r241131 .L31:1132 0c06 8091 0000 lds r24,AdWertRoll1133 0c0a 9091 0000 lds r25,(AdWertRoll)+11134 0c0e 0797 sbiw r24,71135 0c10 04F4 brge .L321136 0c12 80E3 ldi r24,lo8(-2000)1137 0c14 98EF ldi r25,hi8(-2000)1138 0c16 9093 0000 sts (MesswertRoll)+1,r251139 0c1a 8093 0000 sts MesswertRoll,r241140 .L32:1141 0c1e 2A30 cpi r18,lo8(10)1142 0c20 01F4 brne .L331143 0c22 8091 0000 lds r24,AdWertRoll1144 0c26 9091 0000 lds r25,(AdWertRoll)+11145 0c2a 835F subi r24,lo8(1011)1146 0c2c 9340 sbci r25,hi8(1011)1147 0c2e 04F0 brlt .L341148 0c30 88EE ldi r24,lo8(1000)1149 0c32 93E0 ldi r25,hi8(1000)1150 0c34 9093 0000 sts (MesswertRoll)+1,r251151 0c38 8093 0000 sts MesswertRoll,r241152 .L34:1153 0c3c 8091 0000 lds r24,AdWertRoll1154 0c40 9091 0000 lds r25,(AdWertRoll)+11155 0c44 8A5F subi r24,lo8(1018)1156 0c46 9340 sbci r25,hi8(1018)1157 0c48 04F0 brlt .L351158 0c4a 00C0 rjmp .L631159 .L33:1160 0c4c 8091 0000 lds r24,AdWertRoll1161 0c50 9091 0000 lds r25,(AdWertRoll)+11162 0c54 815D subi r24,lo8(2001)1163 0c56 9740 sbci r25,hi8(2001)1164 0c58 04F0 brlt .L361165 0c5a 88EE ldi r24,lo8(1000)1166 0c5c 93E0 ldi r25,hi8(1000)1167 0c5e 9093 0000 sts (MesswertRoll)+1,r251168 0c62 8093 0000 sts MesswertRoll,r241169 .L36:1170 0c66 8091 0000 lds r24,AdWertRoll1171 0c6a 9091 0000 lds r25,(AdWertRoll)+11172 0c6e 805E subi r24,lo8(2016)1173 0c70 9740 sbci r25,hi8(2016)1174 0c72 04F0 brlt .L351175 .L63:1176 0c74 80ED ldi r24,lo8(2000)1177 0c76 97E0 ldi r25,hi8(2000)1178 0c78 9093 0000 sts (MesswertRoll)+1,r251179 0c7c 8093 0000 sts MesswertRoll,r241180 .L35:1181 0c80 4091 0000 lds r20,Parameter_Gyro_D1182 0c84 4423 tst r201183 0c86 01F4 brne .+21184 0c88 00C0 rjmp .L371185 0c8a E091 0000 lds r30,HiResNick1186 0c8e F091 0000 lds r31,(HiResNick)+11187 0c92 2091 0000 lds r18,oldNick.26041188 0c96 3091 0000 lds r19,(oldNick.2604)+11189 0c9a E21B sub r30,r181190 0c9c F30B sbc r31,r191191 0c9e F093 0000 sts (d2Nick.2607)+1,r311192 0ca2 E093 0000 sts d2Nick.2607,r301193 0ca6 8091 0000 lds r24,HiResNick1194 0caa 9091 0000 lds r25,(HiResNick)+11195 0cae 820F add r24,r181196 0cb0 931F adc r25,r191197 0cb2 62E0 ldi r22,lo8(2)1198 0cb4 70E0 ldi r23,hi8(2)1199 0cb6 0E94 0000 call __divmodhi41200 0cba 7093 0000 sts (oldNick.2604)+1,r231201 0cbe 6093 0000 sts oldNick.2604,r221202 0cc2 E138 cpi r30,1291203 0cc4 F105 cpc r31,__zero_reg__1204 0cc6 04F0 brlt .L381205 0cc8 80E8 ldi r24,lo8(128)1206 0cca 90E0 ldi r25,hi8(128)1207 0ccc 00C0 rjmp .L641208 .L38:1209 0cce E058 subi r30,lo8(-128)1210 0cd0 FF4F sbci r31,hi8(-128)1211 0cd2 04F4 brge .L391212 0cd4 80E8 ldi r24,lo8(-128)1213 0cd6 9FEF ldi r25,hi8(-128)1214 .L64:1215 0cd8 9093 0000 sts (d2Nick.2607)+1,r251216 0cdc 8093 0000 sts d2Nick.2607,r241217 .L39:1218 0ce0 042F mov r16,r201219 0ce2 10E0 ldi r17,lo8(0)1220 0ce4 8091 0000 lds r24,d2Nick.26071221 0ce8 9091 0000 lds r25,(d2Nick.2607)+11222 0cec 089F mul r16,r241223 0cee 7001 movw r14,r01224 0cf0 099F mul r16,r251225 0cf2 F00C add r15,r01226 0cf4 189F mul r17,r241227 0cf6 F00C add r15,r01228 0cf8 1124 clr r11229 0cfa C701 movw r24,r141230 0cfc 60E1 ldi r22,lo8(16)1231 0cfe 70E0 ldi r23,hi8(16)1232 0d00 0E94 0000 call __divmodhi41233 0d04 8091 0000 lds r24,MesswertNick1234 0d08 9091 0000 lds r25,(MesswertNick)+11235 0d0c 860F add r24,r221236 0d0e 971F adc r25,r231237 0d10 9093 0000 sts (MesswertNick)+1,r251238 0d14 8093 0000 sts MesswertNick,r241239 0d18 E091 0000 lds r30,HiResRoll1240 0d1c F091 0000 lds r31,(HiResRoll)+11241 0d20 2091 0000 lds r18,oldRoll.26051242 0d24 3091 0000 lds r19,(oldRoll.2605)+11243 0d28 E21B sub r30,r181244 0d2a F30B sbc r31,r191245 0d2c F093 0000 sts (d2Roll.2606)+1,r311246 0d30 E093 0000 sts d2Roll.2606,r301247 0d34 8091 0000 lds r24,HiResRoll1248 0d38 9091 0000 lds r25,(HiResRoll)+11249 0d3c 820F add r24,r181250 0d3e 931F adc r25,r191251 0d40 62E0 ldi r22,lo8(2)1252 0d42 70E0 ldi r23,hi8(2)1253 0d44 0E94 0000 call __divmodhi41254 0d48 7093 0000 sts (oldRoll.2605)+1,r231255 0d4c 6093 0000 sts oldRoll.2605,r221256 0d50 E138 cpi r30,1291257 0d52 F105 cpc r31,__zero_reg__1258 0d54 04F0 brlt .L401259 0d56 80E8 ldi r24,lo8(128)1260 0d58 90E0 ldi r25,hi8(128)1261 0d5a 00C0 rjmp .L651262 .L40:1263 0d5c E058 subi r30,lo8(-128)1264 0d5e FF4F sbci r31,hi8(-128)1265 0d60 04F4 brge .L411266 0d62 80E8 ldi r24,lo8(-128)1267 0d64 9FEF ldi r25,hi8(-128)1268 .L65:1269 0d66 9093 0000 sts (d2Roll.2606)+1,r251270 0d6a 8093 0000 sts d2Roll.2606,r241271 .L41:1272 0d6e 8091 0000 lds r24,d2Roll.26061273 0d72 9091 0000 lds r25,(d2Roll.2606)+11274 0d76 089F mul r16,r241275 0d78 9001 movw r18,r01276 0d7a 099F mul r16,r251277 0d7c 300D add r19,r01278 0d7e 189F mul r17,r241279 0d80 300D add r19,r01280 0d82 1124 clr r11281 0d84 C901 movw r24,r181282 0d86 60E1 ldi r22,lo8(16)1283 0d88 70E0 ldi r23,hi8(16)1284 0d8a 0E94 0000 call __divmodhi41285 0d8e 8091 0000 lds r24,MesswertRoll1286 0d92 9091 0000 lds r25,(MesswertRoll)+11287 0d96 860F add r24,r221288 0d98 971F adc r25,r231289 0d9a 9093 0000 sts (MesswertRoll)+1,r251290 0d9e 8093 0000 sts MesswertRoll,r241291 0da2 8091 0000 lds r24,HiResNick1292 0da6 9091 0000 lds r25,(HiResNick)+11293 0daa E80E add r14,r241294 0dac F91E adc r15,r251295 0dae F092 0000 sts (HiResNick)+1,r151296 0db2 E092 0000 sts HiResNick,r141297 0db6 8091 0000 lds r24,HiResRoll1298 0dba 9091 0000 lds r25,(HiResRoll)+11299 0dbe 280F add r18,r241300 0dc0 391F adc r19,r251301 0dc2 3093 0000 sts (HiResRoll)+1,r191302 0dc6 2093 0000 sts HiResRoll,r181303 .L37:1304 0dca 2091 0000 lds r18,KopplungsteilNickRoll1305 0dce 3091 0000 lds r19,KopplungsteilNickRoll+11306 0dd2 888D ldd r24,Y+241307 0dd4 998D ldd r25,Y+251308 0dd6 1816 cp __zero_reg__,r241309 0dd8 1906 cpc __zero_reg__,r251310 0dda 04F4 brge .L421311 0ddc C901 movw r24,r181312 0dde 9C01 movw r18,r241313 0de0 97FF sbrs r25,71314 0de2 00C0 rjmp .L431315 0de4 3095 com r191316 0de6 2195 neg r181317 0de8 3F4F sbci r19,lo8(-1)1318 .L43:1319 0dea B901 movw r22,r181320 0dec 8827 clr r241321 0dee 77FD sbrc r23,71322 0df0 8095 com r241323 0df2 982F mov r25,r241324 0df4 2091 0000 lds r18,Parameter_CouplingYawCorrection1325 0df8 30E0 ldi r19,lo8(0)1326 0dfa 40E0 ldi r20,lo8(0)1327 0dfc 50E0 ldi r21,hi8(0)1328 0dfe 0E94 0000 call __mulsi31329 0e02 20E4 ldi r18,lo8(64)1330 0e04 30E0 ldi r19,hi8(64)1331 0e06 40E0 ldi r20,hlo8(64)1332 0e08 50E0 ldi r21,hhi8(64)1333 0e0a 0E94 0000 call __divmodsi41334 0e0e 00C0 rjmp .L661335 .L42:1336 0e10 C901 movw r24,r181337 0e12 9C01 movw r18,r241338 0e14 97FF sbrs r25,71339 0e16 00C0 rjmp .L451340 0e18 3095 com r191341 0e1a 2195 neg r181342 0e1c 3F4F sbci r19,lo8(-1)1343 .L45:1344 0e1e B901 movw r22,r181345 0e20 8827 clr r241346 0e22 77FD sbrc r23,71347 0e24 8095 com r241348 0e26 982F mov r25,r241349 0e28 2091 0000 lds r18,Parameter_CouplingYawCorrection1350 0e2c 30E0 ldi r19,lo8(0)1351 0e2e 40E0 ldi r20,lo8(0)1352 0e30 50E0 ldi r21,hi8(0)1353 0e32 0E94 0000 call __mulsi31354 0e36 20E4 ldi r18,lo8(64)1355 0e38 30E0 ldi r19,hi8(64)1356 0e3a 40E0 ldi r20,hlo8(64)1357 0e3c 50E0 ldi r21,hhi8(64)1358 0e3e 0E94 0000 call __divmodsi41359 0e42 5095 com r211360 0e44 4095 com r201361 0e46 3095 com r191362 0e48 2195 neg r181363 0e4a 3F4F sbci r19,lo8(-1)1364 0e4c 4F4F sbci r20,lo8(-1)1365 0e4e 5F4F sbci r21,lo8(-1)1366 .L66:1367 0e50 420E add r4,r181368 0e52 531E adc r5,r191369 0e54 5092 0000 sts (TrimRoll)+1,r51370 0e58 4092 0000 sts TrimRoll,r41371 0e5c 2091 0000 lds r18,KopplungsteilRollNick1372 0e60 3091 0000 lds r19,KopplungsteilRollNick+11373 0e64 AE89 ldd r26,Y+221374 0e66 BF89 ldd r27,Y+231375 0e68 1A16 cp __zero_reg__,r261376 0e6a 1B06 cpc __zero_reg__,r271377 0e6c 04F4 brge .L461378 0e6e C901 movw r24,r181379 0e70 9C01 movw r18,r241380 0e72 97FF sbrs r25,71381 0e74 00C0 rjmp .L471382 0e76 3095 com r191383 0e78 2195 neg r181384 0e7a 3F4F sbci r19,lo8(-1)1385 .L47:1386 0e7c B901 movw r22,r181387 0e7e 8827 clr r241388 0e80 77FD sbrc r23,71389 0e82 8095 com r241390 0e84 982F mov r25,r241391 0e86 2091 0000 lds r18,Parameter_CouplingYawCorrection1392 0e8a 30E0 ldi r19,lo8(0)1393 0e8c 40E0 ldi r20,lo8(0)1394 0e8e 50E0 ldi r21,hi8(0)1395 0e90 0E94 0000 call __mulsi31396 0e94 20E4 ldi r18,lo8(64)1397 0e96 30E0 ldi r19,hi8(64)1398 0e98 40E0 ldi r20,hlo8(64)1399 0e9a 50E0 ldi r21,hhi8(64)1400 0e9c 0E94 0000 call __divmodsi41401 0ea0 00C0 rjmp .L671402 .L46:1403 0ea2 C901 movw r24,r181404 0ea4 9C01 movw r18,r241405 0ea6 97FF sbrs r25,71406 0ea8 00C0 rjmp .L491407 0eaa 3095 com r191408 0eac 2195 neg r181409 0eae 3F4F sbci r19,lo8(-1)1410 .L49:1411 0eb0 B901 movw r22,r181412 0eb2 8827 clr r241413 0eb4 77FD sbrc r23,71414 0eb6 8095 com r241415 0eb8 982F mov r25,r241416 0eba 2091 0000 lds r18,Parameter_CouplingYawCorrection1417 0ebe 30E0 ldi r19,lo8(0)1418 0ec0 40E0 ldi r20,lo8(0)1419 0ec2 50E0 ldi r21,hi8(0)1420 0ec4 0E94 0000 call __mulsi31421 0ec8 20E4 ldi r18,lo8(64)1422 0eca 30E0 ldi r19,hi8(64)1423 0ecc 40E0 ldi r20,hlo8(64)1424 0ece 50E0 ldi r21,hhi8(64)1425 0ed0 0E94 0000 call __divmodsi41426 0ed4 5095 com r211427 0ed6 4095 com r201428 0ed8 3095 com r191429 0eda 2195 neg r181430 0edc 3F4F sbci r19,lo8(-1)1431 0ede 4F4F sbci r20,lo8(-1)1432 0ee0 5F4F sbci r21,lo8(-1)1433 .L67:1434 0ee2 220E add r2,r181435 0ee4 331E adc r3,r191436 0ee6 3092 0000 sts (TrimNick)+1,r31437 0eea 2092 0000 sts TrimNick,r21438 0eee 8091 0000 lds r24,EE_Parameter+131439 0ef2 87FF sbrs r24,71440 0ef4 00C0 rjmp .L501441 0ef6 B985 ldd r27,Y+91442 0ef8 BB23 tst r271443 0efa 01F0 breq .L511444 .L50:1445 0efc 20E0 ldi r18,lo8(EE_Parameter+5)1446 0efe 30E0 ldi r19,hi8(EE_Parameter+5)1447 0f00 00E0 ldi r16,lo8(Poti)1448 0f02 10E0 ldi r17,hi8(Poti)1449 0f04 00C0 rjmp .L521450 .L51:1451 0f06 8091 0000 lds r24,Looping_Roll1452 0f0a 8823 tst r241453 0f0c 01F4 brne .L501454 0f0e EE89 ldd r30,Y+221455 0f10 FF89 ldd r31,Y+231456 0f12 21E0 ldi r18,hi8(257)1457 0f14 E130 cpi r30,lo8(257)1458 0f16 F207 cpc r31,r181459 0f18 04F0 brlt .L531460 0f1a 8091 0000 lds r24,MesswertNick1461 0f1e 9091 0000 lds r25,(MesswertNick)+11462 0f22 8050 subi r24,lo8(-(-256))1463 0f24 9140 sbci r25,hi8(-(-256))1464 0f26 8E0F add r24,r301465 0f28 9F1F adc r25,r311466 0f2a 00C0 rjmp .L691467 .L53:1468 0f2c 4E89 ldd r20,Y+221469 0f2e 5F89 ldd r21,Y+231470 0f30 6FEF ldi r22,hi8(-256)1471 0f32 4030 cpi r20,lo8(-256)1472 0f34 5607 cpc r21,r221473 0f36 04F4 brge .L541474 0f38 8091 0000 lds r24,MesswertNick1475 0f3c 9091 0000 lds r25,(MesswertNick)+11476 0f40 8050 subi r24,lo8(-(256))1477 0f42 9F4F sbci r25,hi8(-(256))1478 0f44 840F add r24,r201479 0f46 951F adc r25,r211480 .L69:1481 0f48 9093 0000 sts (MesswertNick)+1,r251482 0f4c 8093 0000 sts MesswertNick,r241483 .L54:1484 0f50 888D ldd r24,Y+241485 0f52 998D ldd r25,Y+251486 0f54 8150 subi r24,lo8(257)1487 0f56 9140 sbci r25,hi8(257)1488 0f58 04F0 brlt .L551489 0f5a 8091 0000 lds r24,MesswertRoll1490 0f5e 9091 0000 lds r25,(MesswertRoll)+11491 0f62 8050 subi r24,lo8(-(-256))1492 0f64 9140 sbci r25,hi8(-(-256))1493 0f66 E88D ldd r30,Y+241494 0f68 F98D ldd r31,Y+251495 0f6a 8E0F add r24,r301496 0f6c 9F1F adc r25,r311497 0f6e 00C0 rjmp .L681498 .L55:1499 0f70 288D ldd r18,Y+241500 0f72 398D ldd r19,Y+251501 0f74 4FEF ldi r20,hi8(-256)1502 0f76 2030 cpi r18,lo8(-256)1503 0f78 3407 cpc r19,r201504 0f7a 04F0 brlt .+21505 0f7c 00C0 rjmp .L501506 0f7e 8091 0000 lds r24,MesswertRoll1507 0f82 9091 0000 lds r25,(MesswertRoll)+11508 0f86 8050 subi r24,lo8(-(256))1509 0f88 9F4F sbci r25,hi8(-(256))1510 0f8a 820F add r24,r181511 0f8c 931F adc r25,r191512 .L68:1513 0f8e 9093 0000 sts (MesswertRoll)+1,r251514 0f92 8093 0000 sts MesswertRoll,r241515 0f96 00C0 rjmp .L501516 .L52:1517 0f98 D901 movw r26,r181518 0f9a EC91 ld r30,X1519 0f9c F0E0 ldi r31,lo8(0)1520 0f9e EE0F lsl r301521 0fa0 FF1F rol r311522 0fa2 E050 subi r30,lo8(-(PPM_in))1523 0fa4 F040 sbci r31,hi8(-(PPM_in))1524 0fa6 8081 ld r24,Z1525 0fa8 9181 ldd r25,Z+11526 0faa 8259 subi r24,lo8(-(110))1527 0fac 9F4F sbci r25,hi8(-(110))1528 0fae 97FF sbrs r25,71529 0fb0 00C0 rjmp .L561530 0fb2 80E0 ldi r24,lo8(0)1531 0fb4 90E0 ldi r25,hi8(0)1532 .L56:1533 0fb6 FC01 movw r30,r241534 0fb8 8F3F cpi r24,2551535 0fba 9105 cpc r25,__zero_reg__1536 0fbc 01F0 breq .L571537 0fbe 04F0 brlt .L571538 0fc0 EFEF ldi r30,lo8(255)1539 0fc2 F0E0 ldi r31,hi8(255)1540 .L57:1541 0fc4 D801 movw r26,r161542 0fc6 4C91 ld r20,X1543 0fc8 842F mov r24,r201544 0fca 90E0 ldi r25,lo8(0)1545 0fcc E817 cp r30,r241546 0fce F907 cpc r31,r251547 0fd0 01F0 breq .L581548 0fd2 BF01 movw r22,r301549 0fd4 681B sub r22,r241550 0fd6 790B sbc r23,r251551 0fd8 CB01 movw r24,r221552 0fda 68E0 ldi r22,lo8(8)1553 0fdc 70E0 ldi r23,hi8(8)1554 0fde 0E94 0000 call __divmodhi41555 0fe2 640F add r22,r201556 0fe4 D801 movw r26,r161557 0fe6 6C93 st X,r221558 0fe8 862F mov r24,r221559 0fea 90E0 ldi r25,lo8(0)1560 0fec E817 cp r30,r241561 0fee F907 cpc r31,r251562 0ff0 04F4 brge .L591563 0ff2 6150 subi r22,lo8(-(-1))1564 0ff4 6C93 st X,r221565 0ff6 00C0 rjmp .L581566 .L59:1567 0ff8 6F5F subi r22,lo8(-(1))1568 0ffa F801 movw r30,r161569 0ffc 6083 st Z,r221570 .L58:1571 0ffe 2F5F subi r18,lo8(-(1))1572 1000 3F4F sbci r19,hi8(-(1))1573 1002 0F5F subi r16,lo8(-(1))1574 1004 1F4F sbci r17,hi8(-(1))1575 1006 F0E0 ldi r31,hi8(EE_Parameter+13)1576 1008 2030 cpi r18,lo8(EE_Parameter+13)1577 100a 3F07 cpc r19,r311578 100c 01F4 brne .L521579 /* epilogue start */1580 100e 6B96 adiw r28,271581 1010 E2E1 ldi r30, lo8(18)1582 1012 0C94 0000 jmp __epilogue_restores__ + ((18 - 18) * 2)1584 .global SendMotorData1586 SendMotorData:1587 /* prologue: function */1588 /* frame size = 0 */1589 1016 8091 0000 lds r24,MotorenEin1590 101a 8823 tst r241591 101c 01F4 brne .L711592 101e 8091 0000 lds r24,FCFlags1593 1022 8C7F andi r24,lo8(-4)1594 1024 8093 0000 sts FCFlags,r241595 1028 A0E0 ldi r26,lo8(MotorTest)1596 102a B0E0 ldi r27,hi8(MotorTest)1597 102c E0E0 ldi r30,lo8(Motor+1)1598 102e F0E0 ldi r31,hi8(Motor+1)1599 .L73:1600 1030 8091 0000 lds r24,PC_MotortestActive1601 1034 8823 tst r241602 1036 01F4 brne .L721603 1038 1C92 st X,__zero_reg__1604 .L72:1605 103a 8D91 ld r24,X+1606 103c 8083 st Z,r241607 103e 1182 std Z+1,__zero_reg__1608 1040 3896 adiw r30,81609 1042 80E0 ldi r24,hi8(MotorTest+12)1610 1044 A030 cpi r26,lo8(MotorTest+12)1611 1046 B807 cpc r27,r241612 1048 01F4 brne .L731613 104a 8091 0000 lds r24,PC_MotortestActive1614 104e 8823 tst r241615 1050 01F0 breq .L741616 1052 8091 0000 lds r24,PC_MotortestActive1617 1056 8150 subi r24,lo8(-(-1))1618 1058 8093 0000 sts PC_MotortestActive,r241619 105c 00C0 rjmp .L741620 .L71:1621 105e 8091 0000 lds r24,FCFlags1622 1062 8160 ori r24,lo8(1)1623 1064 8093 0000 sts FCFlags,r241624 .L74:1625 1068 1092 0000 sts motor_write,__zero_reg__1626 106c 1092 0000 sts twi_state,__zero_reg__1627 1070 8091 0000 lds r24,BLFlags1628 1074 8E7F andi r24,lo8(-2)1629 1076 8093 0000 sts BLFlags,r241630 107a 85EA ldi r24,lo8(-91)1631 107c 8093 BC00 sts 188,r241632 /* epilogue start */1633 1080 0895 ret1635 .global ParameterZuordnung1637 ParameterZuordnung:1638 /* prologue: function */1639 /* frame size = 0 */1640 1082 8091 0000 lds r24,EE_Parameter+151641 1086 883F cpi r24,lo8(-8)1642 1088 00F0 brlo .L1611643 .L78:1644 108a EFEF ldi r30,lo8(255)1645 108c F0E0 ldi r31,hi8(255)1646 108e E81B sub r30,r241647 1090 F109 sbc r31,__zero_reg__1648 1092 E050 subi r30,lo8(-(Poti))1649 1094 F040 sbci r31,hi8(-(Poti))1650 1096 8081 ld r24,Z1651 .L161:1652 1098 8093 0000 sts Parameter_Luftdruck_D,r241653 109c 8091 0000 lds r24,Parameter_Luftdruck_D1654 10a0 8823 tst r241655 10a2 01F4 brne .L801656 10a4 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__1657 10a8 00C0 rjmp .L811658 .L80:1659 10aa 8436 cpi r24,lo8(100)1660 10ac 00F0 brlo .L811661 10ae 84E6 ldi r24,lo8(100)1662 10b0 8093 0000 sts Parameter_Luftdruck_D,r241663 .L81:1664 10b4 8091 0000 lds r24,EE_Parameter+171665 10b8 883F cpi r24,lo8(-8)1666 10ba 00F0 brlo .L1621667 .L82:1668 10bc EFEF ldi r30,lo8(255)1669 10be F0E0 ldi r31,hi8(255)1670 10c0 E81B sub r30,r241671 10c2 F109 sbc r31,__zero_reg__1672 10c4 E050 subi r30,lo8(-(Poti))1673 10c6 F040 sbci r31,hi8(-(Poti))1674 10c8 8081 ld r24,Z1675 .L162:1676 10ca 8093 0000 sts Parameter_Hoehe_P,r241677 10ce 8091 0000 lds r24,Parameter_Hoehe_P1678 10d2 8823 tst r241679 10d4 01F4 brne .L841680 10d6 1092 0000 sts Parameter_Hoehe_P,__zero_reg__1681 10da 00C0 rjmp .L851682 .L84:1683 10dc 8436 cpi r24,lo8(100)1684 10de 00F0 brlo .L851685 10e0 84E6 ldi r24,lo8(100)1686 10e2 8093 0000 sts Parameter_Hoehe_P,r241687 .L85:1688 10e6 8091 0000 lds r24,EE_Parameter+301689 10ea 883F cpi r24,lo8(-8)1690 10ec 00F0 brlo .L1631691 .L86:1692 10ee EFEF ldi r30,lo8(255)1693 10f0 F0E0 ldi r31,hi8(255)1694 10f2 E81B sub r30,r241695 10f4 F109 sbc r31,__zero_reg__1696 10f6 E050 subi r30,lo8(-(Poti))1697 10f8 F040 sbci r31,hi8(-(Poti))1698 10fa 8081 ld r24,Z1699 .L163:1700 10fc 8093 0000 sts Parameter_Gyro_P,r241701 1100 8091 0000 lds r24,Parameter_Gyro_P1702 1104 8B30 cpi r24,lo8(11)1703 1106 00F4 brsh .L881704 1108 8AE0 ldi r24,lo8(10)1705 110a 00C0 rjmp .L1641706 .L88:1707 110c 8F3F cpi r24,lo8(-1)1708 110e 01F4 brne .L891709 .L164:1710 1110 8093 0000 sts Parameter_Gyro_P,r241711 .L89:1712 1114 8091 0000 lds r24,EE_Parameter+731713 1118 883F cpi r24,lo8(-8)1714 111a 00F0 brlo .L1651715 .L90:1716 111c EFEF ldi r30,lo8(255)1717 111e F0E0 ldi r31,hi8(255)1718 1120 E81B sub r30,r241719 1122 F109 sbc r31,__zero_reg__1720 1124 E050 subi r30,lo8(-(Poti))1721 1126 F040 sbci r31,hi8(-(Poti))1722 1128 8081 ld r24,Z1723 .L165:1724 112a 8093 0000 sts Parameter_J16Timing,r241725 112e 8091 0000 lds r24,Parameter_J16Timing1726 1132 8230 cpi r24,lo8(2)1727 1134 00F4 brsh .L921728 1136 81E0 ldi r24,lo8(1)1729 1138 00C0 rjmp .L1661730 .L92:1731 113a 8F3F cpi r24,lo8(-1)1732 113c 01F4 brne .L931733 .L166:1734 113e 8093 0000 sts Parameter_J16Timing,r241735 .L93:1736 1142 8091 0000 lds r24,EE_Parameter+751737 1146 883F cpi r24,lo8(-8)1738 1148 00F0 brlo .L1671739 .L94:1740 114a EFEF ldi r30,lo8(255)1741 114c F0E0 ldi r31,hi8(255)1742 114e E81B sub r30,r241743 1150 F109 sbc r31,__zero_reg__1744 1152 E050 subi r30,lo8(-(Poti))1745 1154 F040 sbci r31,hi8(-(Poti))1746 1156 8081 ld r24,Z1747 .L167:1748 1158 8093 0000 sts Parameter_J17Timing,r241749 115c 8091 0000 lds r24,Parameter_J17Timing1750 1160 8230 cpi r24,lo8(2)1751 1162 00F4 brsh .L961752 1164 81E0 ldi r24,lo8(1)1753 1166 00C0 rjmp .L1681754 .L96:1755 1168 8F3F cpi r24,lo8(-1)1756 116a 01F4 brne .L971757 .L168:1758 116c 8093 0000 sts Parameter_J17Timing,r241759 .L97:1760 1170 8091 0000 lds r24,EE_Parameter+541761 1174 883F cpi r24,lo8(-8)1762 1176 00F0 brlo .L1691763 .L98:1764 1178 EFEF ldi r30,lo8(255)1765 117a F0E0 ldi r31,hi8(255)1766 117c E81B sub r30,r241767 117e F109 sbc r31,__zero_reg__1768 1180 E050 subi r30,lo8(-(Poti))1769 1182 F040 sbci r31,hi8(-(Poti))1770 1184 8081 ld r24,Z1771 .L169:1772 1186 8093 0000 sts Parameter_Servo3,r241773 118a 8091 0000 lds r24,EE_Parameter+551774 118e 883F cpi r24,lo8(-8)1775 1190 00F0 brlo .L1701776 .L100:1777 1192 EFEF ldi r30,lo8(255)1778 1194 F0E0 ldi r31,hi8(255)1779 1196 E81B sub r30,r241780 1198 F109 sbc r31,__zero_reg__1781 119a E050 subi r30,lo8(-(Poti))1782 119c F040 sbci r31,hi8(-(Poti))1783 119e 8081 ld r24,Z1784 .L170:1785 11a0 8093 0000 sts Parameter_Servo4,r241786 11a4 8091 0000 lds r24,EE_Parameter+561787 11a8 883F cpi r24,lo8(-8)1788 11aa 00F0 brlo .L1711789 .L102:1790 11ac EFEF ldi r30,lo8(255)1791 11ae F0E0 ldi r31,hi8(255)1792 11b0 E81B sub r30,r241793 11b2 F109 sbc r31,__zero_reg__1794 11b4 E050 subi r30,lo8(-(Poti))1795 11b6 F040 sbci r31,hi8(-(Poti))1796 11b8 8081 ld r24,Z1797 .L171:1798 11ba 8093 0000 sts Parameter_Servo5,r241799 11be 8091 0000 lds r24,EE_Parameter+161800 11c2 883F cpi r24,lo8(-8)1801 11c4 00F0 brlo .L1721802 .L104:1803 11c6 EFEF ldi r30,lo8(255)1804 11c8 F0E0 ldi r31,hi8(255)1805 11ca E81B sub r30,r241806 11cc F109 sbc r31,__zero_reg__1807 11ce E050 subi r30,lo8(-(Poti))1808 11d0 F040 sbci r31,hi8(-(Poti))1809 11d2 8081 ld r24,Z1810 .L172:1811 11d4 8093 0000 sts Parameter_MaxHoehe,r241812 11d8 8091 0000 lds r24,EE_Parameter+191813 11dc 883F cpi r24,lo8(-8)1814 11de 00F0 brlo .L1731815 .L106:1816 11e0 EFEF ldi r30,lo8(255)1817 11e2 F0E0 ldi r31,hi8(255)1818 11e4 E81B sub r30,r241819 11e6 F109 sbc r31,__zero_reg__1820 11e8 E050 subi r30,lo8(-(Poti))1821 11ea F040 sbci r31,hi8(-(Poti))1822 11ec 8081 ld r24,Z1823 .L173:1824 11ee 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241825 11f2 8091 0000 lds r24,EE_Parameter+211826 11f6 883F cpi r24,lo8(-8)1827 11f8 00F0 brlo .L1741828 .L108:1829 11fa EFEF ldi r30,lo8(255)1830 11fc F0E0 ldi r31,hi8(255)1831 11fe E81B sub r30,r241832 1200 F109 sbc r31,__zero_reg__1833 1202 E050 subi r30,lo8(-(Poti))1834 1204 F040 sbci r31,hi8(-(Poti))1835 1206 8081 ld r24,Z1836 .L174:1837 1208 8093 0000 sts Parameter_Hoehe_GPS_Z,r241838 120c 8091 0000 lds r24,EE_Parameter+291839 1210 883F cpi r24,lo8(-8)1840 1212 00F0 brlo .L1751841 .L110:1842 1214 EFEF ldi r30,lo8(255)1843 1216 F0E0 ldi r31,hi8(255)1844 1218 E81B sub r30,r241845 121a F109 sbc r31,__zero_reg__1846 121c E050 subi r30,lo8(-(Poti))1847 121e F040 sbci r31,hi8(-(Poti))1848 1220 8081 ld r24,Z1849 .L175:1850 1222 8093 0000 sts Parameter_KompassWirkung,r241851 1226 8091 0000 lds r24,EE_Parameter+311852 122a 883F cpi r24,lo8(-8)1853 122c 00F0 brlo .L1761854 .L112:1855 122e EFEF ldi r30,lo8(255)1856 1230 F0E0 ldi r31,hi8(255)1857 1232 E81B sub r30,r241858 1234 F109 sbc r31,__zero_reg__1859 1236 E050 subi r30,lo8(-(Poti))1860 1238 F040 sbci r31,hi8(-(Poti))1861 123a 8081 ld r24,Z1862 .L176:1863 123c 8093 0000 sts Parameter_Gyro_I,r241864 1240 8091 0000 lds r24,EE_Parameter+321865 1244 883F cpi r24,lo8(-8)1866 1246 00F0 brlo .L1771867 .L114:1868 1248 EFEF ldi r30,lo8(255)1869 124a F0E0 ldi r31,hi8(255)1870 124c E81B sub r30,r241871 124e F109 sbc r31,__zero_reg__1872 1250 E050 subi r30,lo8(-(Poti))1873 1252 F040 sbci r31,hi8(-(Poti))1874 1254 8081 ld r24,Z1875 .L177:1876 1256 8093 0000 sts Parameter_Gyro_D,r241877 125a 8091 0000 lds r24,EE_Parameter+331878 125e 883F cpi r24,lo8(-8)1879 1260 00F0 brlo .L1781880 .L116:1881 1262 EFEF ldi r30,lo8(255)1882 1264 F0E0 ldi r31,hi8(255)1883 1266 E81B sub r30,r241884 1268 F109 sbc r31,__zero_reg__1885 126a E050 subi r30,lo8(-(Poti))1886 126c F040 sbci r31,hi8(-(Poti))1887 126e 8081 ld r24,Z1888 .L178:1889 1270 8093 0000 sts Parameter_Gyro_Gier_P,r241890 1274 8091 0000 lds r24,EE_Parameter+341891 1278 883F cpi r24,lo8(-8)1892 127a 00F0 brlo .L1791893 .L118:1894 127c EFEF ldi r30,lo8(255)1895 127e F0E0 ldi r31,hi8(255)1896 1280 E81B sub r30,r241897 1282 F109 sbc r31,__zero_reg__1898 1284 E050 subi r30,lo8(-(Poti))1899 1286 F040 sbci r31,hi8(-(Poti))1900 1288 8081 ld r24,Z1901 .L179:1902 128a 8093 0000 sts Parameter_Gyro_Gier_I,r241903 128e 8091 0000 lds r24,EE_Parameter+401904 1292 883F cpi r24,lo8(-8)1905 1294 00F0 brlo .L1801906 .L120:1907 1296 EFEF ldi r30,lo8(255)1908 1298 F0E0 ldi r31,hi8(255)1909 129a E81B sub r30,r241910 129c F109 sbc r31,__zero_reg__1911 129e E050 subi r30,lo8(-(Poti))1912 12a0 F040 sbci r31,hi8(-(Poti))1913 12a2 8081 ld r24,Z1914 .L180:1915 12a4 8093 0000 sts Parameter_I_Faktor,r241916 12a8 8091 0000 lds r24,EE_Parameter+411917 12ac 883F cpi r24,lo8(-8)1918 12ae 00F0 brlo .L1811919 .L122:1920 12b0 EFEF ldi r30,lo8(255)1921 12b2 F0E0 ldi r31,hi8(255)1922 12b4 E81B sub r30,r241923 12b6 F109 sbc r31,__zero_reg__1924 12b8 E050 subi r30,lo8(-(Poti))1925 12ba F040 sbci r31,hi8(-(Poti))1926 12bc 8081 ld r24,Z1927 .L181:1928 12be 8093 0000 sts Parameter_UserParam1,r241929 12c2 8091 0000 lds r24,EE_Parameter+421930 12c6 883F cpi r24,lo8(-8)1931 12c8 00F0 brlo .L1821932 .L124:1933 12ca EFEF ldi r30,lo8(255)1934 12cc F0E0 ldi r31,hi8(255)1935 12ce E81B sub r30,r241936 12d0 F109 sbc r31,__zero_reg__1937 12d2 E050 subi r30,lo8(-(Poti))1938 12d4 F040 sbci r31,hi8(-(Poti))1939 12d6 8081 ld r24,Z1940 .L182:1941 12d8 8093 0000 sts Parameter_UserParam2,r241942 12dc 8091 0000 lds r24,EE_Parameter+431943 12e0 883F cpi r24,lo8(-8)1944 12e2 00F0 brlo .L1831945 .L126:1946 12e4 EFEF ldi r30,lo8(255)1947 12e6 F0E0 ldi r31,hi8(255)1948 12e8 E81B sub r30,r241949 12ea F109 sbc r31,__zero_reg__1950 12ec E050 subi r30,lo8(-(Poti))1951 12ee F040 sbci r31,hi8(-(Poti))1952 12f0 8081 ld r24,Z1953 .L183:1954 12f2 8093 0000 sts Parameter_UserParam3,r241955 12f6 8091 0000 lds r24,EE_Parameter+441956 12fa 883F cpi r24,lo8(-8)1957 12fc 00F0 brlo .L1841958 .L128:1959 12fe EFEF ldi r30,lo8(255)1960 1300 F0E0 ldi r31,hi8(255)1961 1302 E81B sub r30,r241962 1304 F109 sbc r31,__zero_reg__1963 1306 E050 subi r30,lo8(-(Poti))1964 1308 F040 sbci r31,hi8(-(Poti))1965 130a 8081 ld r24,Z1966 .L184:1967 130c 8093 0000 sts Parameter_UserParam4,r241968 1310 8091 0000 lds r24,EE_Parameter+681969 1314 883F cpi r24,lo8(-8)1970 1316 00F0 brlo .L1851971 .L130:1972 1318 EFEF ldi r30,lo8(255)1973 131a F0E0 ldi r31,hi8(255)1974 131c E81B sub r30,r241975 131e F109 sbc r31,__zero_reg__1976 1320 E050 subi r30,lo8(-(Poti))1977 1322 F040 sbci r31,hi8(-(Poti))1978 1324 8081 ld r24,Z1979 .L185:1980 1326 8093 0000 sts Parameter_UserParam5,r241981 132a 8091 0000 lds r24,EE_Parameter+691982 132e 883F cpi r24,lo8(-8)1983 1330 00F0 brlo .L1861984 .L132:1985 1332 EFEF ldi r30,lo8(255)1986 1334 F0E0 ldi r31,hi8(255)1987 1336 E81B sub r30,r241988 1338 F109 sbc r31,__zero_reg__1989 133a E050 subi r30,lo8(-(Poti))1990 133c F040 sbci r31,hi8(-(Poti))1991 133e 8081 ld r24,Z1992 .L186:1993 1340 8093 0000 sts Parameter_UserParam6,r241994 1344 8091 0000 lds r24,EE_Parameter+701995 1348 883F cpi r24,lo8(-8)1996 134a 00F0 brlo .L1871997 .L134:1998 134c EFEF ldi r30,lo8(255)1999 134e F0E0 ldi r31,hi8(255)2000 1350 E81B sub r30,r242001 1352 F109 sbc r31,__zero_reg__2002 1354 E050 subi r30,lo8(-(Poti))2003 1356 F040 sbci r31,hi8(-(Poti))2004 1358 8081 ld r24,Z2005 .L187:2006 135a 8093 0000 sts Parameter_UserParam7,r242007 135e 8091 0000 lds r24,EE_Parameter+712008 1362 883F cpi r24,lo8(-8)2009 1364 00F0 brlo .L1882010 .L136:2011 1366 EFEF ldi r30,lo8(255)2012 1368 F0E0 ldi r31,hi8(255)2013 136a E81B sub r30,r242014 136c F109 sbc r31,__zero_reg__2015 136e E050 subi r30,lo8(-(Poti))2016 1370 F040 sbci r31,hi8(-(Poti))2017 1372 8081 ld r24,Z2018 .L188:2019 1374 8093 0000 sts Parameter_UserParam8,r242020 1378 8091 0000 lds r24,EE_Parameter+452021 137c 883F cpi r24,lo8(-8)2022 137e 00F0 brlo .L1892023 .L138:2024 1380 EFEF ldi r30,lo8(255)2025 1382 F0E0 ldi r31,hi8(255)2026 1384 E81B sub r30,r242027 1386 F109 sbc r31,__zero_reg__2028 1388 E050 subi r30,lo8(-(Poti))2029 138a F040 sbci r31,hi8(-(Poti))2030 138c 8081 ld r24,Z2031 .L189:2032 138e 8093 0000 sts Parameter_ServoNickControl,r242033 1392 8091 0000 lds r24,EE_Parameter+492034 1396 883F cpi r24,lo8(-8)2035 1398 00F0 brlo .L1902036 .L140:2037 139a EFEF ldi r30,lo8(255)2038 139c F0E0 ldi r31,hi8(255)2039 139e E81B sub r30,r242040 13a0 F109 sbc r31,__zero_reg__2041 13a2 E050 subi r30,lo8(-(Poti))2042 13a4 F040 sbci r31,hi8(-(Poti))2043 13a6 8081 ld r24,Z2044 .L190:2045 13a8 8093 0000 sts Parameter_ServoRollControl,r242046 13ac 8091 0000 lds r24,EE_Parameter+572047 13b0 883F cpi r24,lo8(-8)2048 13b2 00F0 brlo .L1912049 .L142:2050 13b4 EFEF ldi r30,lo8(255)2051 13b6 F0E0 ldi r31,hi8(255)2052 13b8 E81B sub r30,r242053 13ba F109 sbc r31,__zero_reg__2054 13bc E050 subi r30,lo8(-(Poti))2055 13be F040 sbci r31,hi8(-(Poti))2056 13c0 8081 ld r24,Z2057 .L191:2058 13c2 8093 0000 sts Parameter_LoopGasLimit,r242059 13c6 8091 0000 lds r24,EE_Parameter+602060 13ca 883F cpi r24,lo8(-8)2061 13cc 00F0 brlo .L1922062 .L144:2063 13ce EFEF ldi r30,lo8(255)2064 13d0 F0E0 ldi r31,hi8(255)2065 13d2 E81B sub r30,r242066 13d4 F109 sbc r31,__zero_reg__2067 13d6 E050 subi r30,lo8(-(Poti))2068 13d8 F040 sbci r31,hi8(-(Poti))2069 13da 8081 ld r24,Z2070 .L192:2071 13dc 8093 0000 sts Parameter_AchsKopplung1,r242072 13e0 8091 0000 lds r24,EE_Parameter+612073 13e4 883F cpi r24,lo8(-8)2074 13e6 00F0 brlo .L1932075 .L146:2076 13e8 EFEF ldi r30,lo8(255)2077 13ea F0E0 ldi r31,hi8(255)2078 13ec E81B sub r30,r242079 13ee F109 sbc r31,__zero_reg__2080 13f0 E050 subi r30,lo8(-(Poti))2081 13f2 F040 sbci r31,hi8(-(Poti))2082 13f4 8081 ld r24,Z2083 .L193:2084 13f6 8093 0000 sts Parameter_AchsKopplung2,r242085 13fa 8091 0000 lds r24,EE_Parameter+622086 13fe 883F cpi r24,lo8(-8)2087 1400 00F0 brlo .L1942088 .L148:2089 1402 EFEF ldi r30,lo8(255)2090 1404 F0E0 ldi r31,hi8(255)2091 1406 E81B sub r30,r242092 1408 F109 sbc r31,__zero_reg__2093 140a E050 subi r30,lo8(-(Poti))2094 140c F040 sbci r31,hi8(-(Poti))2095 140e 8081 ld r24,Z2096 .L194:2097 1410 8093 0000 sts Parameter_CouplingYawCorrection,r242098 1414 8091 0000 lds r24,EE_Parameter+672099 1418 883F cpi r24,lo8(-8)2100 141a 00F0 brlo .L1952101 .L150:2102 141c EFEF ldi r30,lo8(255)2103 141e F0E0 ldi r31,hi8(255)2104 1420 E81B sub r30,r242105 1422 F109 sbc r31,__zero_reg__2106 1424 E050 subi r30,lo8(-(Poti))2107 1426 F040 sbci r31,hi8(-(Poti))2108 1428 8081 ld r24,Z2109 .L195:2110 142a 8093 0000 sts Parameter_DynamicStability,r242111 142e 8091 0000 lds r24,EE_Parameter+942112 1432 883F cpi r24,lo8(-8)2113 1434 00F0 brlo .L1962114 .L152:2115 1436 EFEF ldi r30,lo8(255)2116 1438 F0E0 ldi r31,hi8(255)2117 143a E81B sub r30,r242118 143c F109 sbc r31,__zero_reg__2119 143e E050 subi r30,lo8(-(Poti))2120 1440 F040 sbci r31,hi8(-(Poti))2121 1442 8081 ld r24,Z2122 .L196:2123 1444 8093 0000 sts Parameter_ExternalControl,r242124 1448 6091 0000 lds r22,Parameter_I_Faktor2125 144c 70E0 ldi r23,lo8(0)2126 144e 6F5F subi r22,lo8(-(1))2127 1450 7F4F sbci r23,hi8(-(1))2128 1452 8CE3 ldi r24,lo8(10300)2129 1454 98E2 ldi r25,hi8(10300)2130 1456 0E94 0000 call __divmodhi42131 145a 7093 0000 sts (Ki)+1,r232132 145e 6093 0000 sts Ki,r222133 1462 8091 0000 lds r24,EE_Parameter+272134 1466 8093 0000 sts MAX_GAS,r242135 146a 8091 0000 lds r24,EE_Parameter+262136 146e 8093 0000 sts MIN_GAS,r242137 1472 9091 0000 lds r25,EE_Parameter+962138 1476 9333 cpi r25,lo8(51)2139 1478 00F0 brlo .L1542140 147a 81E0 ldi r24,lo8(1)2141 147c 8093 0000 sts CareFree,r242142 1480 983F cpi r25,lo8(-8)2143 1482 00F0 brlo .L1552144 1484 EFEF ldi r30,lo8(255)2145 1486 F0E0 ldi r31,hi8(255)2146 1488 E91B sub r30,r252147 148a F109 sbc r31,__zero_reg__2148 148c E050 subi r30,lo8(-(Poti))2149 148e F040 sbci r31,hi8(-(Poti))2150 1490 8081 ld r24,Z2151 1492 8233 cpi r24,lo8(50)2152 1494 00F4 brsh .L1552153 1496 1092 0000 sts CareFree,__zero_reg__2154 .L155:2155 149a 8091 0000 lds r24,FromNaviCtrl+72156 149e 9091 0000 lds r25,(FromNaviCtrl+7)+12157 14a2 97FF sbrs r25,72158 14a4 00C0 rjmp .L1562159 14a6 8091 0000 lds r24,CareFree2160 14aa 8823 tst r242161 14ac 01F0 breq .L1562162 14ae 8091 0000 lds r24,VersionInfo+52163 14b2 8068 ori r24,lo8(-128)2164 14b4 00C0 rjmp .L1972165 .L156:2166 14b6 8091 0000 lds r24,VersionInfo+52167 14ba 8F77 andi r24,lo8(127)2168 .L197:2169 14bc 8093 0000 sts VersionInfo+5,r242170 14c0 00C0 rjmp .L1572171 .L154:2172 14c2 1092 0000 sts CareFree,__zero_reg__2173 .L157:2174 14c6 8091 0000 lds r24,FromNaviCtrl+72175 14ca 9091 0000 lds r25,(FromNaviCtrl+7)+12176 14ce 97FF sbrs r25,72177 14d0 00C0 rjmp .L1582178 14d2 8091 0000 lds r24,MotorenEin2179 14d6 8823 tst r242180 14d8 01F0 breq .L1582181 14da 8091 0000 lds r24,CareFree2182 14de 8823 tst r242183 14e0 01F0 breq .L1582184 14e2 8091 0000 lds r24,BeepMuster2185 14e6 9091 0000 lds r25,(BeepMuster)+12186 14ea 8F5F subi r24,lo8(-1)2187 14ec 9F4F sbci r25,hi8(-1)2188 14ee 01F4 brne .L1582189 14f0 88E9 ldi r24,lo8(15000)2190 14f2 9AE3 ldi r25,hi8(15000)2191 14f4 9093 0000 sts (beeptime)+1,r252192 14f8 8093 0000 sts beeptime,r242193 14fc 80E0 ldi r24,lo8(-23552)2194 14fe 94EA ldi r25,hi8(-23552)2195 1500 9093 0000 sts (BeepMuster)+1,r252196 1504 8093 0000 sts BeepMuster,r242197 1508 1092 0000 sts CareFree,__zero_reg__2198 .L158:2199 150c 8091 0000 lds r24,CareFree2200 1510 8823 tst r242201 1512 01F0 breq .L1602202 1514 8091 0000 lds r24,Parameter_AchsKopplung12203 1518 823D cpi r24,lo8(-46)2204 151a 00F4 brsh .L1602205 151c 825E subi r24,lo8(-(30))2206 151e 8093 0000 sts Parameter_AchsKopplung1,r242207 .L160:2208 1522 0895 ret2210 .global CalibrierMittelwert2212 CalibrierMittelwert:2213 1524 CF93 push r282214 1526 DF93 push r292215 /* prologue: function */2216 /* frame size = 0 */2217 1528 8091 0000 lds r24,PlatinenVersion2218 152c 8D30 cpi r24,lo8(13)2219 152e 01F4 brne .L1992220 1530 0E94 0000 call SucheGyroOffset2221 .L199:2222 1534 1092 7A00 sts 122,__zero_reg__2223 1538 8091 0000 lds r24,AdWertNick2224 153c 9091 0000 lds r25,(AdWertNick)+12225 1540 9093 0000 sts (MesswertNick)+1,r252226 1544 8093 0000 sts MesswertNick,r242227 1548 8091 0000 lds r24,AdWertRoll2228 154c 9091 0000 lds r25,(AdWertRoll)+12229 1550 9093 0000 sts (MesswertRoll)+1,r252230 1554 8093 0000 sts MesswertRoll,r242231 1558 8091 0000 lds r24,AdWertGier2232 155c 9091 0000 lds r25,(AdWertGier)+12233 1560 9093 0000 sts (MesswertGier)+1,r252234 1564 8093 0000 sts MesswertGier,r242235 1568 2091 0000 lds r18,AdWertAccNick2236 156c 3091 0000 lds r19,(AdWertAccNick)+12237 1570 C901 movw r24,r182238 1572 880F lsl r242239 1574 991F rol r252240 1576 820F add r24,r182241 1578 931F adc r25,r192242 157a 880F lsl r242243 157c 991F rol r252244 157e 9093 0000 sts (Mittelwert_AccNick)+1,r252245 1582 8093 0000 sts Mittelwert_AccNick,r242246 1586 2091 0000 lds r18,AdWertAccRoll2247 158a 3091 0000 lds r19,(AdWertAccRoll)+12248 158e C901 movw r24,r182249 1590 880F lsl r242250 1592 991F rol r252251 1594 820F add r24,r182252 1596 931F adc r25,r192253 1598 880F lsl r242254 159a 991F rol r252255 159c 9093 0000 sts (Mittelwert_AccRoll)+1,r252256 15a0 8093 0000 sts Mittelwert_AccRoll,r242257 15a4 8FEC ldi r24,lo8(-49)2258 15a6 8093 7A00 sts 122,r242259 15aa C0E0 ldi r28,lo8(EE_Parameter+5)2260 15ac D0E0 ldi r29,hi8(EE_Parameter+5)2261 15ae A0E0 ldi r26,lo8(Poti)2262 15b0 B0E0 ldi r27,hi8(Poti)2263 .L204:2264 15b2 E881 ld r30,Y2265 15b4 F0E0 ldi r31,lo8(0)2266 15b6 EE0F lsl r302267 15b8 FF1F rol r312268 15ba E050 subi r30,lo8(-(PPM_in))2269 15bc F040 sbci r31,hi8(-(PPM_in))2270 15be 0190 ld __tmp_reg__,Z+2271 15c0 F081 ld r31,Z2272 15c2 E02D mov r30,__tmp_reg__2273 15c4 E259 subi r30,lo8(-(110))2274 15c6 FF4F sbci r31,hi8(-(110))2275 15c8 1E16 cp __zero_reg__,r302276 15ca 1F06 cpc __zero_reg__,r312277 15cc 04F0 brlt .L2002278 15ce E0E0 ldi r30,lo8(0)2279 15d0 F0E0 ldi r31,hi8(0)2280 15d2 00C0 rjmp .L2012281 .L200:2282 15d4 EF3F cpi r30,2552283 15d6 F105 cpc r31,__zero_reg__2284 15d8 04F0 brlt .L2012285 15da EFEF ldi r30,lo8(255)2286 15dc F0E0 ldi r31,hi8(255)2287 .L201:2288 15de 8C91 ld r24,X2289 15e0 282F mov r18,r242290 15e2 30E0 ldi r19,lo8(0)2291 15e4 E217 cp r30,r182292 15e6 F307 cpc r31,r192293 15e8 04F4 brge .L2022294 15ea 8150 subi r24,lo8(-(-1))2295 15ec 00C0 rjmp .L2072296 .L202:2297 15ee 2E17 cp r18,r302298 15f0 3F07 cpc r19,r312299 15f2 04F4 brge .L2032300 15f4 8F5F subi r24,lo8(-(1))2301 .L207:2302 15f6 8C93 st X,r242303 .L203:2304 15f8 2196 adiw r28,12305 15fa 1196 adiw r26,12306 15fc 80E0 ldi r24,hi8(EE_Parameter+13)2307 15fe C030 cpi r28,lo8(EE_Parameter+13)2308 1600 D807 cpc r29,r242309 1602 01F4 brne .L2042310 1604 6AA9 ldd r22,Y+502311 1606 70E0 ldi r23,lo8(0)2312 1608 80E0 ldi r24,lo8(0)2313 160a 90E0 ldi r25,hi8(0)2314 160c 24EC ldi r18,lo8(2500)2315 160e 39E0 ldi r19,hi8(2500)2316 1610 40E0 ldi r20,hlo8(2500)2317 1612 50E0 ldi r21,hhi8(2500)2318 1614 0E94 0000 call __mulsi32319 1618 6093 0000 sts Umschlag180Nick,r222320 161c 7093 0000 sts (Umschlag180Nick)+1,r232321 1620 8093 0000 sts (Umschlag180Nick)+2,r242322 1624 9093 0000 sts (Umschlag180Nick)+3,r252323 1628 6BA9 ldd r22,Y+512324 162a 70E0 ldi r23,lo8(0)2325 162c 80E0 ldi r24,lo8(0)2326 162e 90E0 ldi r25,hi8(0)2327 1630 0E94 0000 call __mulsi32328 1634 6093 0000 sts Umschlag180Roll,r222329 1638 7093 0000 sts (Umschlag180Roll)+1,r232330 163c 8093 0000 sts (Umschlag180Roll)+2,r242331 1640 9093 0000 sts (Umschlag180Roll)+3,r252332 /* epilogue start */2333 1644 DF91 pop r292334 1646 CF91 pop r282335 1648 0895 ret2337 .global SetNeutral2339 SetNeutral:2340 164a A0E0 ldi r26,lo8(0)2341 164c B0E0 ldi r27,hi8(0)2342 164e E0E0 ldi r30,lo8(gs(1f))2343 1650 F0E0 ldi r31,hi8(gs(1f))2344 1652 0C94 0000 jmp __prologue_saves__+((18 - 14) * 2)2345 1:2346 /* prologue: function */2347 /* frame size = 0 */2348 1656 682E mov r6,r242349 1658 1092 0000 sts VersionInfo+5,__zero_reg__2350 165c 469A sbi 40-32,62351 165e 1092 0000 sts (NeutralAccX)+1,__zero_reg__2352 1662 1092 0000 sts NeutralAccX,__zero_reg__2353 1666 1092 0000 sts (NeutralAccY)+1,__zero_reg__2354 166a 1092 0000 sts NeutralAccY,__zero_reg__2355 166e 1092 0000 sts (NeutralAccZ)+1,__zero_reg__2356 1672 1092 0000 sts NeutralAccZ,__zero_reg__2357 1676 1092 0000 sts (AdNeutralNick)+1,__zero_reg__2358 167a 1092 0000 sts AdNeutralNick,__zero_reg__2359 167e 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__2360 1682 1092 0000 sts AdNeutralRoll,__zero_reg__2361 1686 1092 0000 sts (AdNeutralGier)+1,__zero_reg__2362 168a 1092 0000 sts AdNeutralGier,__zero_reg__2363 168e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__2364 1692 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__2365 1696 1092 0000 sts ExpandBaro,__zero_reg__2366 169a 0E94 0000 call CalibrierMittelwert2367 169e 84E6 ldi r24,lo8(100)2368 16a0 90E0 ldi r25,hi8(100)2369 16a2 0E94 0000 call Delay_ms_Mess2370 16a6 0E94 0000 call CalibrierMittelwert2371 16aa 8091 0000 lds r24,EE_Parameter+132372 16ae 80FF sbrs r24,02373 16b0 00C0 rjmp .L2092374 16b2 8091 0000 lds r24,MessLuftdruck2375 16b6 9091 0000 lds r25,(MessLuftdruck)+12376 16ba 875B subi r24,lo8(951)2377 16bc 9340 sbci r25,hi8(951)2378 16be 00F4 brsh .L2102379 16c0 8091 0000 lds r24,MessLuftdruck2380 16c4 9091 0000 lds r25,(MessLuftdruck)+12381 16c8 8E5E subi r24,lo8(750)2382 16ca 9240 sbci r25,hi8(750)2383 16cc 00F4 brsh .L2092384 .L210:2385 16ce 0E94 0000 call SucheLuftruckOffset2386 .L209:2387 16d2 AA24 clr r102388 16d4 C0E0 ldi r28,lo8(0)2389 16d6 D0E0 ldi r29,hi8(0)2390 16d8 00E0 ldi r16,lo8(0)2391 16da 10E0 ldi r17,hi8(0)2392 16dc EE24 clr r142393 16de FF24 clr r152394 .L211:2395 16e0 8AE0 ldi r24,lo8(10)2396 16e2 90E0 ldi r25,hi8(10)2397 16e4 0E94 0000 call Delay_ms_Mess2398 16e8 8091 0000 lds r24,AdWertGier2399 16ec 9091 0000 lds r25,(AdWertGier)+12400 16f0 C80F add r28,r242401 16f2 D91F adc r29,r252402 16f4 8091 0000 lds r24,AdWertNick2403 16f8 9091 0000 lds r25,(AdWertNick)+12404 16fc 080F add r16,r242405 16fe 191F adc r17,r252406 1700 8091 0000 lds r24,AdWertRoll2407 1704 9091 0000 lds r25,(AdWertRoll)+12408 1708 E80E add r14,r242409 170a F91E adc r15,r252410 170c A394 inc r102411 170e 80E2 ldi r24,lo8(32)2412 1710 A816 cp r10,r242413 1712 01F4 brne .L2112414 1714 9801 movw r18,r162415 1716 205F subi r18,lo8(-(16))2416 1718 3F4F sbci r19,hi8(-(16))2417 171a 3695 lsr r192418 171c 2795 ror r182419 171e 3695 lsr r192420 1720 2795 ror r182421 1722 3093 0000 sts (AdNeutralNick)+1,r192422 1726 2093 0000 sts AdNeutralNick,r182423 172a C701 movw r24,r142424 172c 4096 adiw r24,162425 172e 9695 lsr r252426 1730 8795 ror r242427 1732 9695 lsr r252428 1734 8795 ror r242429 1736 9093 0000 sts (AdNeutralRoll)+1,r252430 173a 8093 0000 sts AdNeutralRoll,r242431 173e 6096 adiw r28,162432 1740 15E0 ldi r17,52433 1742 D695 1: lsr r292434 1744 C795 ror r282435 1746 1A95 dec r172436 1748 01F4 brne 1b2437 174a D093 0000 sts (AdNeutralGier)+1,r292438 174e C093 0000 sts AdNeutralGier,r282439 1752 9093 0000 sts (StartNeutralRoll)+1,r252440 1756 8093 0000 sts StartNeutralRoll,r242441 175a 3093 0000 sts (StartNeutralNick)+1,r192442 175e 2093 0000 sts StartNeutralNick,r182443 1762 6620 tst r62444 1764 01F4 brne .+22445 1766 00C0 rjmp .L2122446 1768 8091 0000 lds r24,Mittelwert_AccNick2447 176c 9091 0000 lds r25,(Mittelwert_AccNick)+12448 1770 97FF sbrs r25,72449 1772 00C0 rjmp .L2132450 1774 9095 com r252451 1776 8195 neg r242452 1778 9F4F sbci r25,lo8(-1)2453 .L213:2454 177a 6CE0 ldi r22,lo8(12)2455 177c 70E0 ldi r23,hi8(12)2456 177e 0E94 0000 call __divmodhi42457 1782 9B01 movw r18,r222458 1784 6093 0000 sts NeutralAccX,r222459 1788 3093 0000 sts NeutralAccX+1,r192460 178c 8091 0000 lds r24,Mittelwert_AccRoll2461 1790 9091 0000 lds r25,(Mittelwert_AccRoll)+12462 1794 97FF sbrs r25,72463 1796 00C0 rjmp .L2142464 1798 9095 com r252465 179a 8195 neg r242466 179c 9F4F sbci r25,lo8(-1)2467 .L214:2468 179e 6CE0 ldi r22,lo8(12)2469 17a0 70E0 ldi r23,hi8(12)2470 17a2 0E94 0000 call __divmodhi42471 17a6 7093 0000 sts (NeutralAccY)+1,r232472 17aa 6093 0000 sts NeutralAccY,r222473 17ae 8091 0000 lds r24,Aktuell_az2474 17b2 9091 0000 lds r25,(Aktuell_az)+12475 17b6 9093 0000 sts (NeutralAccZ)+1,r252476 17ba 8093 0000 sts NeutralAccZ,r242477 17be 84E0 ldi r24,lo8(4)2478 17c0 90E0 ldi r25,hi8(4)2479 17c2 B901 movw r22,r182480 17c4 0E94 0000 call SetParamWord2481 17c8 6091 0000 lds r22,NeutralAccY2482 17cc 7091 0000 lds r23,(NeutralAccY)+12483 17d0 86E0 ldi r24,lo8(6)2484 17d2 90E0 ldi r25,hi8(6)2485 17d4 0E94 0000 call SetParamWord2486 17d8 6091 0000 lds r22,NeutralAccZ2487 17dc 7091 0000 lds r23,(NeutralAccZ)+12488 17e0 88E0 ldi r24,lo8(8)2489 17e2 90E0 ldi r25,hi8(8)2490 17e4 0E94 0000 call SetParamWord2491 17e8 00C0 rjmp .L2152492 .L212:2493 17ea 84E0 ldi r24,lo8(4)2494 17ec 90E0 ldi r25,hi8(4)2495 17ee 0E94 0000 call GetParamWord2496 17f2 9093 0000 sts (NeutralAccX)+1,r252497 17f6 8093 0000 sts NeutralAccX,r242498 17fa 86E0 ldi r24,lo8(6)2499 17fc 90E0 ldi r25,hi8(6)2500 17fe 0E94 0000 call GetParamWord2501 1802 9093 0000 sts (NeutralAccY)+1,r252502 1806 8093 0000 sts NeutralAccY,r242503 180a 88E0 ldi r24,lo8(8)2504 180c 90E0 ldi r25,hi8(8)2505 180e 0E94 0000 call GetParamWord2506 1812 9C01 movw r18,r242507 1814 9093 0000 sts (NeutralAccZ)+1,r252508 1818 8093 0000 sts NeutralAccZ,r242509 181c 8091 0000 lds r24,NeutralAccX2510 1820 9091 0000 lds r25,(NeutralAccX)+12511 1824 8150 subi r24,lo8(2049)2512 1826 9840 sbci r25,hi8(2049)2513 1828 00F4 brsh .L2162514 182a 8091 0000 lds r24,NeutralAccY2515 182e 9091 0000 lds r25,(NeutralAccY)+12516 1832 8150 subi r24,lo8(2049)2517 1834 9840 sbci r25,hi8(2049)2518 1836 00F4 brsh .L2162519 1838 2150 subi r18,lo8(1025)2520 183a 3440 sbci r19,hi8(1025)2521 183c 00F4 brsh .+22522 183e 00C0 rjmp .L2152523 .L216:2524 1840 00D0 rcall .2525 1842 00D0 rcall .2526 1844 80E0 ldi r24,lo8(gs(uart_putchar))2527 1846 90E0 ldi r25,hi8(gs(uart_putchar))2528 1848 EDB7 in r30,__SP_L__2529 184a FEB7 in r31,__SP_H__2530 184c 9283 std Z+2,r252531 184e 8183 std Z+1,r242532 1850 80E0 ldi r24,lo8(__c.2485)2533 1852 90E0 ldi r25,hi8(__c.2485)2534 1854 9483 std Z+4,r252535 1856 8383 std Z+3,r242536 1858 E091 0000 lds r30,_printf_P2537 185c F091 0000 lds r31,(_printf_P)+12538 1860 0995 icall2539 1862 8091 0000 lds r24,Mittelwert_AccNick2540 1866 9091 0000 lds r25,(Mittelwert_AccNick)+12541 186a 97FF sbrs r25,72542 186c 00C0 rjmp .L2172543 186e 9095 com r252544 1870 8195 neg r242545 1872 9F4F sbci r25,lo8(-1)2546 .L217:2547 1874 6CE0 ldi r22,lo8(12)2548 1876 70E0 ldi r23,hi8(12)2549 1878 0E94 0000 call __divmodhi42550 187c 7093 0000 sts (NeutralAccX)+1,r232551 1880 6093 0000 sts NeutralAccX,r222552 1884 8091 0000 lds r24,Mittelwert_AccRoll2553 1888 9091 0000 lds r25,(Mittelwert_AccRoll)+12554 188c 97FF sbrs r25,72555 188e 00C0 rjmp .L2182556 1890 9095 com r252557 1892 8195 neg r242558 1894 9F4F sbci r25,lo8(-1)2559 .L218:2560 1896 6CE0 ldi r22,lo8(12)2561 1898 70E0 ldi r23,hi8(12)2562 189a 0E94 0000 call __divmodhi42563 189e 7093 0000 sts (NeutralAccY)+1,r232564 18a2 6093 0000 sts NeutralAccY,r222565 18a6 8091 0000 lds r24,Aktuell_az2566 18aa 9091 0000 lds r25,(Aktuell_az)+12567 18ae 9093 0000 sts (NeutralAccZ)+1,r252568 18b2 8093 0000 sts NeutralAccZ,r242569 18b6 0F90 pop __tmp_reg__2570 18b8 0F90 pop __tmp_reg__2571 18ba 0F90 pop __tmp_reg__2572 18bc 0F90 pop __tmp_reg__2573 .L215:2574 18be 1092 0000 sts (MesswertNick)+1,__zero_reg__2575 18c2 1092 0000 sts MesswertNick,__zero_reg__2576 18c6 1092 0000 sts (MesswertRoll)+1,__zero_reg__2577 18ca 1092 0000 sts MesswertRoll,__zero_reg__2578 18ce 1092 0000 sts (MesswertGier)+1,__zero_reg__2579 18d2 1092 0000 sts MesswertGier,__zero_reg__2580 18d6 84E6 ldi r24,lo8(100)2581 18d8 90E0 ldi r25,hi8(100)2582 18da 0E94 0000 call Delay_ms_Mess2583 18de 2091 0000 lds r18,AdWertAccNick2584 18e2 3091 0000 lds r19,(AdWertAccNick)+12585 18e6 B901 movw r22,r182586 18e8 660F lsl r222587 18ea 771F rol r232588 18ec 620F add r22,r182589 18ee 731F adc r23,r192590 18f0 660F lsl r222591 18f2 771F rol r232592 18f4 7093 0000 sts (Mittelwert_AccNick)+1,r232593 18f8 6093 0000 sts Mittelwert_AccNick,r222594 18fc 2091 0000 lds r18,AdWertAccRoll2595 1900 3091 0000 lds r19,(AdWertAccRoll)+12596 1904 7901 movw r14,r182597 1906 EE0C lsl r142598 1908 FF1C rol r152599 190a E20E add r14,r182600 190c F31E adc r15,r192601 190e EE0C lsl r142602 1910 FF1C rol r152603 1912 F092 0000 sts (Mittelwert_AccRoll)+1,r152604 1916 E092 0000 sts Mittelwert_AccRoll,r142605 191a A090 0000 lds r10,EE_Parameter+282606 191e BB24 clr r112607 1920 CC24 clr r122608 1922 DD24 clr r132609 1924 8827 clr r242610 1926 77FD sbrc r23,72611 1928 8095 com r242612 192a 982F mov r25,r242613 192c A601 movw r20,r122614 192e 9501 movw r18,r102615 1930 0E94 0000 call __mulsi32616 1934 3B01 movw r6,r222617 1936 4C01 movw r8,r242618 1938 6093 0000 sts IntegralNick,r222619 193c 7093 0000 sts (IntegralNick)+1,r232620 1940 8093 0000 sts (IntegralNick)+2,r242621 1944 9093 0000 sts (IntegralNick)+3,r252622 1948 0027 clr r162623 194a F7FC sbrc r15,72624 194c 0095 com r162625 194e 102F mov r17,r162626 1950 C801 movw r24,r162627 1952 B701 movw r22,r142628 1954 0E94 0000 call __mulsi32629 1958 6093 0000 sts IntegralRoll,r222630 195c 7093 0000 sts (IntegralRoll)+1,r232631 1960 8093 0000 sts (IntegralRoll)+2,r242632 1964 9093 0000 sts (IntegralRoll)+3,r252633 1968 6092 0000 sts Mess_IntegralNick2,r62634 196c 7092 0000 sts (Mess_IntegralNick2)+1,r72635 1970 8092 0000 sts (Mess_IntegralNick2)+2,r82636 1974 9092 0000 sts (Mess_IntegralNick2)+3,r92637 1978 6093 0000 sts Mess_IntegralRoll2,r222638 197c 7093 0000 sts (Mess_IntegralRoll2)+1,r232639 1980 8093 0000 sts (Mess_IntegralRoll2)+2,r242640 1984 9093 0000 sts (Mess_IntegralRoll2)+3,r252641 1988 1092 0000 sts Mess_Integral_Gier,__zero_reg__2642 198c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2643 1990 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2644 1994 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2645 1998 8091 0000 lds r24,Luftdruck2646 199c 9091 0000 lds r25,(Luftdruck)+12647 19a0 A091 0000 lds r26,(Luftdruck)+22648 19a4 B091 0000 lds r27,(Luftdruck)+32649 19a8 9093 0000 sts (StartLuftdruck)+1,r252650 19ac 8093 0000 sts StartLuftdruck,r242651 19b0 1092 0000 sts (VarioMeter)+1,__zero_reg__2652 19b4 1092 0000 sts VarioMeter,__zero_reg__2653 19b8 1092 0000 sts Mess_Integral_Hoch,__zero_reg__2654 19bc 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__2655 19c0 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__2656 19c4 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__2657 19c8 8091 0000 lds r24,KompassValue2658 19cc 9091 0000 lds r25,(KompassValue)+12659 19d0 9093 0000 sts (KompassStartwert)+1,r252660 19d4 8093 0000 sts KompassStartwert,r242661 19d8 0E94 0000 call GPS_Neutral2662 19dc 82E3 ldi r24,lo8(50)2663 19de 90E0 ldi r25,hi8(50)2664 19e0 9093 0000 sts (beeptime)+1,r252665 19e4 8093 0000 sts beeptime,r242666 19e8 6091 0000 lds r22,EE_Parameter+632667 19ec 70E0 ldi r23,lo8(0)2668 19ee 80E0 ldi r24,lo8(0)2669 19f0 90E0 ldi r25,hi8(0)2670 19f2 24EC ldi r18,lo8(2500)2671 19f4 39E0 ldi r19,hi8(2500)2672 19f6 40E0 ldi r20,hlo8(2500)2673 19f8 50E0 ldi r21,hhi8(2500)2674 19fa 0E94 0000 call __mulsi32675 19fe 6856 subi r22,lo8(-(15000))2676 1a00 754C sbci r23,hi8(-(15000))2677 1a02 8F4F sbci r24,hlo8(-(15000))2678 1a04 9F4F sbci r25,hhi8(-(15000))2679 1a06 6093 0000 sts Umschlag180Nick,r222680 1a0a 7093 0000 sts (Umschlag180Nick)+1,r232681 1a0e 8093 0000 sts (Umschlag180Nick)+2,r242682 1a12 9093 0000 sts (Umschlag180Nick)+3,r252683 1a16 6091 0000 lds r22,EE_Parameter+642684 1a1a 70E0 ldi r23,lo8(0)2685 1a1c 80E0 ldi r24,lo8(0)2686 1a1e 90E0 ldi r25,hi8(0)2687 1a20 0E94 0000 call __mulsi32688 1a24 6856 subi r22,lo8(-(15000))2689 1a26 754C sbci r23,hi8(-(15000))2690 1a28 8F4F sbci r24,hlo8(-(15000))2691 1a2a 9F4F sbci r25,hhi8(-(15000))2692 1a2c 6093 0000 sts Umschlag180Roll,r222693 1a30 7093 0000 sts (Umschlag180Roll)+1,r232694 1a34 8093 0000 sts (Umschlag180Roll)+2,r242695 1a38 9093 0000 sts (Umschlag180Roll)+3,r252696 1a3c 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__2697 1a40 1092 0000 sts ExternHoehenValue,__zero_reg__2698 1a44 6091 0000 lds r22,KompassValue2699 1a48 7091 0000 lds r23,(KompassValue)+12700 1a4c 8827 clr r242701 1a4e 77FD sbrc r23,72702 1a50 8095 com r242703 1a52 982F mov r25,r242704 1a54 2091 0000 lds r18,GIER_GRAD_FAKTOR2705 1a58 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+12706 1a5c 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+22707 1a60 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+32708 1a64 0E94 0000 call __mulsi32709 1a68 6093 0000 sts ErsatzKompass,r222710 1a6c 7093 0000 sts (ErsatzKompass)+1,r232711 1a70 8093 0000 sts (ErsatzKompass)+2,r242712 1a74 9093 0000 sts (ErsatzKompass)+3,r252713 1a78 1092 0000 sts (GierGyroFehler)+1,__zero_reg__2714 1a7c 1092 0000 sts GierGyroFehler,__zero_reg__2715 1a80 81E0 ldi r24,lo8(1)2716 1a82 8093 0000 sts SendVersionToNavi,r242717 1a86 0E94 0000 call LED_Init2718 1a8a 8091 0000 lds r24,FCFlags2719 1a8e 8460 ori r24,lo8(4)2720 1a90 8093 0000 sts FCFlags,r242721 1a94 8FEF ldi r24,lo8(-1)2722 1a96 8093 0000 sts FromNaviCtrl_Value,r242723 1a9a 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__2724 1a9e 80E2 ldi r24,lo8(32)2725 1aa0 8093 0000 sts FromNaviCtrl_Value+2,r242726 1aa4 A0E0 ldi r26,lo8(EE_Parameter+5)2727 1aa6 B0E0 ldi r27,hi8(EE_Parameter+5)2728 1aa8 C0E0 ldi r28,lo8(Poti)2729 1aaa D0E0 ldi r29,hi8(Poti)2730 .L219:2731 1aac ED91 ld r30,X+2732 1aae F0E0 ldi r31,lo8(0)2733 1ab0 EE0F lsl r302734 1ab2 FF1F rol r312735 1ab4 E050 subi r30,lo8(-(PPM_in))2736 1ab6 F040 sbci r31,hi8(-(PPM_in))2737 1ab8 8081 ld r24,Z2738 1aba 9181 ldd r25,Z+12739 1abc 8259 subi r24,lo8(-(110))2740 1abe 8993 st Y+,r242741 1ac0 F0E0 ldi r31,hi8(EE_Parameter+13)2742 1ac2 A030 cpi r26,lo8(EE_Parameter+13)2743 1ac4 BF07 cpc r27,r312744 1ac6 01F4 brne .L2192745 1ac8 84E6 ldi r24,lo8(100)2746 1aca 8093 0000 sts SenderOkay,r242747 1ace 8091 0000 lds r24,ServoActive2748 1ad2 8823 tst r242749 1ad4 01F0 breq .L2202750 1ad6 469A sbi 40-32,62751 1ad8 579A sbi 42-32,72752 .L220:2753 1ada 8091 0000 lds r24,AdNeutralNick2754 1ade 9091 0000 lds r25,(AdNeutralNick)+12755 1ae2 8056 subi r24,lo8(-(-2400))2756 1ae4 9940 sbci r25,hi8(-(-2400))2757 1ae6 815C subi r24,lo8(11201)2758 1ae8 9B42 sbci r25,hi8(11201)2759 1aea 00F0 brlo .L2212760 1aec 8091 0000 lds r24,VersionInfo+52761 1af0 8160 ori r24,lo8(1)2762 1af2 8093 0000 sts VersionInfo+5,r242763 .L221:2764 1af6 8091 0000 lds r24,AdNeutralRoll2765 1afa 9091 0000 lds r25,(AdNeutralRoll)+12766 1afe 8056 subi r24,lo8(-(-2400))2767 1b00 9940 sbci r25,hi8(-(-2400))2768 1b02 815C subi r24,lo8(11201)2769 1b04 9B42 sbci r25,hi8(11201)2770 1b06 00F0 brlo .L2222771 1b08 8091 0000 lds r24,VersionInfo+52772 1b0c 8260 ori r24,lo8(2)2773 1b0e 8093 0000 sts VersionInfo+5,r242774 .L222:2775 1b12 8091 0000 lds r24,AdNeutralGier2776 1b16 9091 0000 lds r25,(AdNeutralGier)+12777 1b1a 8C52 subi r24,lo8(-(-300))2778 1b1c 9140 sbci r25,hi8(-(-300))2779 1b1e 8957 subi r24,lo8(1401)2780 1b20 9540 sbci r25,hi8(1401)2781 1b22 00F0 brlo .L2232782 1b24 8091 0000 lds r24,VersionInfo+52783 1b28 8460 ori r24,lo8(4)2784 1b2a 8093 0000 sts VersionInfo+5,r242785 .L223:2786 1b2e 8091 0000 lds r24,NeutralAccX2787 1b32 9091 0000 lds r25,(NeutralAccX)+12788 1b36 8C52 subi r24,lo8(-(-300))2789 1b38 9140 sbci r25,hi8(-(-300))2790 1b3a 835C subi r24,lo8(451)2791 1b3c 9140 sbci r25,hi8(451)2792 1b3e 00F0 brlo .L2242793 1b40 8091 0000 lds r24,VersionInfo+52794 1b44 8860 ori r24,lo8(8)2795 1b46 8093 0000 sts VersionInfo+5,r242796 .L224:2797 1b4a 8091 0000 lds r24,NeutralAccY2798 1b4e 9091 0000 lds r25,(NeutralAccY)+12799 1b52 8C52 subi r24,lo8(-(-300))2800 1b54 9140 sbci r25,hi8(-(-300))2801 1b56 835C subi r24,lo8(451)2802 1b58 9140 sbci r25,hi8(451)2803 1b5a 00F0 brlo .L2252804 1b5c 8091 0000 lds r24,VersionInfo+52805 1b60 8061 ori r24,lo8(16)2806 1b62 8093 0000 sts VersionInfo+5,r242807 .L225:2808 1b66 8091 0000 lds r24,NeutralAccZ2809 1b6a 9091 0000 lds r25,(NeutralAccZ)+12810 1b6e 8050 subi r24,lo8(-(-512))2811 1b70 9240 sbci r25,hi8(-(-512))2812 1b72 8355 subi r24,lo8(339)2813 1b74 9140 sbci r25,hi8(339)2814 1b76 00F0 brlo .L2272815 1b78 8091 0000 lds r24,VersionInfo+52816 1b7c 8062 ori r24,lo8(32)2817 1b7e 8093 0000 sts VersionInfo+5,r242818 .L227:2819 /* epilogue start */2820 1b82 CDB7 in r28,__SP_L__2821 1b84 DEB7 in r29,__SP_H__2822 1b86 EEE0 ldi r30, lo8(14)2823 1b88 0C94 0000 jmp __epilogue_restores__ + ((18 - 14) * 2)2825 .global Piep2827 Piep:2828 1b8c EF92 push r142829 1b8e FF92 push r152830 1b90 1F93 push r172831 1b92 CF93 push r282832 1b94 DF93 push r292833 /* prologue: function */2834 /* frame size = 0 */2835 1b96 182F mov r17,r242836 1b98 EB01 movw r28,r222837 1b9a 8091 0000 lds r24,MotorenEin2838 1b9e 8823 tst r242839 1ba0 01F4 brne .L2352840 1ba2 7B01 movw r14,r222841 1ba4 EE0C lsl r142842 1ba6 FF1C rol r152843 1ba8 00C0 rjmp .L2322844 .L234:2845 1baa D093 0000 sts (beeptime)+1,r292846 1bae C093 0000 sts beeptime,r282847 .L233:2848 1bb2 8091 0000 lds r24,beeptime2849 1bb6 9091 0000 lds r25,(beeptime)+12850 1bba 892B or r24,r252851 1bbc 01F4 brne .L2332852 1bbe C701 movw r24,r142853 1bc0 0E94 0000 call Delay_ms2854 1bc4 1150 subi r17,lo8(-(-1))2855 .L232:2856 1bc6 1123 tst r172857 1bc8 01F4 brne .L2342858 .L235:2859 /* epilogue start */2860 1bca DF91 pop r292861 1bcc CF91 pop r282862 1bce 1F91 pop r172863 1bd0 FF90 pop r152864 1bd2 EF90 pop r142865 1bd4 0895 ret2867 .global MotorRegler2869 MotorRegler:2870 1bd6 A5E4 ldi r26,lo8(69)2871 1bd8 B0E0 ldi r27,hi8(69)2872 1bda E0E0 ldi r30,lo8(gs(1f))2873 1bdc F0E0 ldi r31,hi8(gs(1f))2874 1bde 0C94 0000 jmp __prologue_saves__+((18 - 18) * 2)2875 1:2876 /* prologue: function */2877 /* frame size = 69 */2878 1be2 0E94 0000 call Mittelwert2879 1be6 8091 0000 lds r24,PlatinenVersion2880 1bea 8C30 cpi r24,lo8(12)2881 1bec 00F4 brsh .L2382882 1bee 299A sbi 37-32,12883 1bf0 00C0 rjmp .L2392884 .L238:2885 1bf2 2998 cbi 37-32,12886 .L239:2887 1bf4 2091 0000 lds r18,StickGas2888 1bf8 3091 0000 lds r19,(StickGas)+12889 1bfc 3FA3 std Y+39,r192890 1bfe 2EA3 std Y+38,r182891 1c00 8091 0000 lds r24,MIN_GAS2892 1c04 282F mov r18,r242893 1c06 30E0 ldi r19,lo8(0)2894 1c08 C901 movw r24,r182895 1c0a 0996 adiw r24,92896 1c0c 4EA1 ldd r20,Y+382897 1c0e 5FA1 ldd r21,Y+392898 1c10 8417 cp r24,r202899 1c12 9507 cpc r25,r212900 1c14 04F0 brlt .L2402901 1c16 B901 movw r22,r182902 1c18 665F subi r22,lo8(-(10))2903 1c1a 7F4F sbci r23,hi8(-(10))2904 1c1c 7FA3 std Y+39,r232905 1c1e 6EA3 std Y+38,r222906 .L240:2907 1c20 8091 0000 lds r24,SenderOkay2908 1c24 8436 cpi r24,lo8(100)2909 1c26 00F0 brlo .+22910 1c28 00C0 rjmp .L2412911 1c2a 8091 0000 lds r24,RcLostTimer.30472912 1c2e 9091 0000 lds r25,(RcLostTimer.3047)+12913 1c32 0097 sbiw r24,02914 1c34 01F0 breq .L2422915 1c36 0197 sbiw r24,12916 1c38 9093 0000 sts (RcLostTimer.3047)+1,r252917 1c3c 8093 0000 sts RcLostTimer.3047,r242918 1c40 00C0 rjmp .L2432919 .L242:2920 1c42 1092 0000 sts MotorenEin,__zero_reg__2921 1c46 8091 0000 lds r24,FCFlags2922 1c4a 8F7E andi r24,lo8(-17)2923 1c4c 8093 0000 sts FCFlags,r242924 .L243:2925 1c50 8091 0000 lds r24,PlatinenVersion2926 1c54 8A30 cpi r24,lo8(10)2927 1c56 01F0 breq .L2442928 1c58 8431 cpi r24,lo8(20)2929 1c5a 00F0 brlo .L2452930 .L244:2931 1c5c 289A sbi 37-32,02932 1c5e 00C0 rjmp .L2462933 .L245:2934 1c60 2898 cbi 37-32,02935 .L246:2936 1c62 8091 0000 lds r24,modell_fliegt2937 1c66 9091 0000 lds r25,(modell_fliegt)+12938 1c6a 895E subi r24,lo8(1001)2939 1c6c 9340 sbci r25,hi8(1001)2940 1c6e 00F0 brlo .L2472941 1c70 8091 0000 lds r24,EE_Parameter+372942 1c74 A82F mov r26,r242943 1c76 B0E0 ldi r27,lo8(0)2944 1c78 BFA3 std Y+39,r272945 1c7a AEA3 std Y+38,r262946 1c7c 8091 0000 lds r24,FCFlags2947 1c80 8061 ori r24,lo8(16)2948 1c82 8093 0000 sts FCFlags,r242949 1c86 A091 0000 lds r26,EE_Parameter+12950 1c8a B0E0 ldi r27,lo8(0)2951 1c8c AA0F lsl r262952 1c8e BB1F rol r272953 1c90 FD01 movw r30,r262954 1c92 E050 subi r30,lo8(-(PPM_diff))2955 1c94 F040 sbci r31,hi8(-(PPM_diff))2956 1c96 1182 std Z+1,__zero_reg__2957 1c98 1082 st Z,__zero_reg__2958 1c9a E091 0000 lds r30,EE_Parameter+22959 1c9e 2E2F mov r18,r302960 1ca0 30E0 ldi r19,lo8(0)2961 1ca2 220F lsl r182962 1ca4 331F rol r192963 1ca6 C901 movw r24,r182964 1ca8 8050 subi r24,lo8(-(PPM_diff))2965 1caa 9040 sbci r25,hi8(-(PPM_diff))2966 1cac FC01 movw r30,r242967 1cae 1182 std Z+1,__zero_reg__2968 1cb0 1082 st Z,__zero_reg__2969 1cb2 A050 subi r26,lo8(-(PPM_in))2970 1cb4 B040 sbci r27,hi8(-(PPM_in))2971 1cb6 1196 adiw r26,12972 1cb8 1C92 st X,__zero_reg__2973 1cba 1E92 st -X,__zero_reg__2974 1cbc 2050 subi r18,lo8(-(PPM_in))2975 1cbe 3040 sbci r19,hi8(-(PPM_in))2976 1cc0 D901 movw r26,r182977 1cc2 1196 adiw r26,12978 1cc4 1C92 st X,__zero_reg__2979 1cc6 1E92 st -X,__zero_reg__2980 1cc8 E091 0000 lds r30,EE_Parameter+42981 1ccc F0E0 ldi r31,lo8(0)2982 1cce EE0F lsl r302983 1cd0 FF1F rol r312984 1cd2 E050 subi r30,lo8(-(PPM_in))2985 1cd4 F040 sbci r31,hi8(-(PPM_in))2986 1cd6 1182 std Z+1,__zero_reg__2987 1cd8 1082 st Z,__zero_reg__2988 1cda 00C0 rjmp .L2482989 .L247:2990 1cdc 1092 0000 sts MotorenEin,__zero_reg__2991 1ce0 00C0 rjmp .L2482992 .L241:2993 1ce2 8091 0000 lds r24,SenderOkay2994 1ce6 8D38 cpi r24,lo8(-115)2995 1ce8 00F4 brsh .+22996 1cea 00C0 rjmp .L2482997 1cec 8091 0000 lds r24,FCFlags2998 1cf0 8F7E andi r24,lo8(-17)2999 1cf2 8093 0000 sts FCFlags,r243000 1cf6 8091 0000 lds r24,EE_Parameter+383001 1cfa 22E3 ldi r18,lo8(50)3002 1cfc 829F mul r24,r183003 1cfe C001 movw r24,r03004 1d00 1124 clr r13005 1d02 9093 0000 sts (RcLostTimer.3047)+1,r253006 1d06 8093 0000 sts RcLostTimer.3047,r243007 1d0a EEA1 ldd r30,Y+383008 1d0c FFA1 ldd r31,Y+393009 1d0e B997 sbiw r30,413010 1d10 04F0 brlt .L2493011 1d12 8091 0000 lds r24,MotorenEin3012 1d16 8823 tst r243013 1d18 01F0 breq .L2493014 1d1a 8091 0000 lds r24,modell_fliegt3015 1d1e 9091 0000 lds r25,(modell_fliegt)+13016 1d22 FFEF ldi r31,hi8(-1)3017 1d24 8F3F cpi r24,lo8(-1)3018 1d26 9F07 cpc r25,r313019 1d28 01F0 breq .L2493020 1d2a 0196 adiw r24,13021 1d2c 9093 0000 sts (modell_fliegt)+1,r253022 1d30 8093 0000 sts modell_fliegt,r243023 .L249:3024 1d34 8091 0000 lds r24,modell_fliegt3025 1d38 9091 0000 lds r25,(modell_fliegt)+13026 1d3c 8F3F cpi r24,2553027 1d3e 9105 cpc r25,__zero_reg__3028 1d40 01F0 breq .+23029 1d42 00F4 brsh .L2503030 1d44 1092 0000 sts SummeNick,__zero_reg__3031 1d48 1092 0000 sts (SummeNick)+1,__zero_reg__3032 1d4c 1092 0000 sts (SummeNick)+2,__zero_reg__3033 1d50 1092 0000 sts (SummeNick)+3,__zero_reg__3034 1d54 1092 0000 sts SummeRoll,__zero_reg__3035 1d58 1092 0000 sts (SummeRoll)+1,__zero_reg__3036 1d5c 1092 0000 sts (SummeRoll)+2,__zero_reg__3037 1d60 1092 0000 sts (SummeRoll)+3,__zero_reg__3038 1d64 1092 0000 sts sollGier.3042,__zero_reg__3039 1d68 1092 0000 sts (sollGier.3042)+1,__zero_reg__3040 1d6c 1092 0000 sts (sollGier.3042)+2,__zero_reg__3041 1d70 1092 0000 sts (sollGier.3042)+3,__zero_reg__3042 1d74 1092 0000 sts Mess_Integral_Gier,__zero_reg__3043 1d78 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__3044 1d7c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__3045 1d80 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__3046 1d84 8A3F cpi r24,2503047 1d86 9105 cpc r25,__zero_reg__3048 1d88 01F4 brne .L2513049 1d8a 81E0 ldi r24,lo8(1)3050 1d8c 8093 0000 sts NeueKompassRichtungMerken.3052,r243051 1d90 00C0 rjmp .L2513052 .L250:3053 1d92 8091 0000 lds r24,FCFlags3054 1d96 8260 ori r24,lo8(2)3055 1d98 8093 0000 sts FCFlags,r243056 .L251:3057 1d9c E091 0000 lds r30,EE_Parameter+33058 1da0 F0E0 ldi r31,lo8(0)3059 1da2 EE0F lsl r303060 1da4 FF1F rol r313061 1da6 E050 subi r30,lo8(-(PPM_in))3062 1da8 F040 sbci r31,hi8(-(PPM_in))3063 1daa 8081 ld r24,Z3064 1dac 9181 ldd r25,Z+13065 1dae 8135 cpi r24,813066 1db0 9105 cpc r25,__zero_reg__3067 1db2 04F4 brge .+23068 1db4 00C0 rjmp .L2523069 1db6 8091 0000 lds r24,MotorenEin3070 1dba 8823 tst r243071 1dbc 01F0 breq .+23072 1dbe 00C0 rjmp .L2523073 1dc0 8091 0000 lds r24,EE_Parameter+43074 1dc4 E82F mov r30,r243075 1dc6 F0E0 ldi r31,lo8(0)3076 1dc8 EE0F lsl r303077 1dca FF1F rol r313078 1dcc E050 subi r30,lo8(-(PPM_in))3079 1dce F040 sbci r31,hi8(-(PPM_in))3080 1dd0 8081 ld r24,Z3081 1dd2 9181 ldd r25,Z+13082 1dd4 8C34 cpi r24,763083 1dd6 9105 cpc r25,__zero_reg__3084 1dd8 04F4 brge .+23085 1dda 00C0 rjmp .L2533086 1ddc 8091 0000 lds r24,delay_neutral.30483087 1de0 8F5F subi r24,lo8(-(1))3088 1de2 8093 0000 sts delay_neutral.3048,r243089 1de6 893C cpi r24,lo8(-55)3090 1de8 00F4 brsh .+23091 1dea 00C0 rjmp .L2523092 1dec 8091 0000 lds r24,PlatinenVersion3093 1df0 8C30 cpi r24,lo8(12)3094 1df2 00F4 brsh .L2543095 1df4 2998 cbi 37-32,13096 1df6 00C0 rjmp .L2553097 .L254:3098 1df8 299A sbi 37-32,13099 .L255:3100 1dfa 1092 0000 sts MotorenEin,__zero_reg__3101 1dfe 1092 0000 sts delay_neutral.3048,__zero_reg__3102 1e02 1092 0000 sts (modell_fliegt)+1,__zero_reg__3103 1e06 1092 0000 sts modell_fliegt,__zero_reg__3104 1e0a 8091 0000 lds r24,EE_Parameter+13105 1e0e 282F mov r18,r243106 1e10 30E0 ldi r19,lo8(0)3107 1e12 F901 movw r30,r183108 1e14 EE0F lsl r303109 1e16 FF1F rol r313110 1e18 E050 subi r30,lo8(-(PPM_in))3111 1e1a F040 sbci r31,hi8(-(PPM_in))3112 1e1c 8081 ld r24,Z3113 1e1e 9181 ldd r25,Z+13114 1e20 8734 cpi r24,713115 1e22 9105 cpc r25,__zero_reg__3116 1e24 04F4 brge .L2563117 1e26 E091 0000 lds r30,EE_Parameter+23118 1e2a F0E0 ldi r31,lo8(0)3119 1e2c EE0F lsl r303120 1e2e FF1F rol r313121 1e30 E050 subi r30,lo8(-(PPM_in))3122 1e32 F040 sbci r31,hi8(-(PPM_in))3123 1e34 0190 ld __tmp_reg__,Z+3124 1e36 F081 ld r31,Z3125 1e38 E02D mov r30,__tmp_reg__3126 1e3a F7FF sbrs r31,73127 1e3c 00C0 rjmp .L2583128 1e3e F095 com r313129 1e40 E195 neg r303130 1e42 FF4F sbci r31,lo8(-1)3131 .L258:3132 1e44 E734 cpi r30,713133 1e46 F105 cpc r31,__zero_reg__3134 1e48 04F4 brge .+23135 1e4a 00C0 rjmp .L2573136 .L256:3137 1e4c 8091 0000 lds r24,EE_Parameter+23138 1e50 A82F mov r26,r243139 1e52 B0E0 ldi r27,lo8(0)3140 1e54 FD01 movw r30,r263141 1e56 EE0F lsl r303142 1e58 FF1F rol r313143 1e5a E050 subi r30,lo8(-(PPM_in))3144 1e5c F040 sbci r31,hi8(-(PPM_in))3145 1e5e 8081 ld r24,Z3146 1e60 9181 ldd r25,Z+13147 1e62 8734 cpi r24,713148 1e64 9105 cpc r25,__zero_reg__3149 1e66 04F0 brlt .L2593150 1e68 F901 movw r30,r183151 1e6a EE0F lsl r303152 1e6c FF1F rol r313153 1e6e E050 subi r30,lo8(-(PPM_in))3154 1e70 F040 sbci r31,hi8(-(PPM_in))3155 1e72 0190 ld __tmp_reg__,Z+3156 1e74 F081 ld r31,Z3157 1e76 E02D mov r30,__tmp_reg__3158 .L259:3159 1e78 FD01 movw r30,r263160 1e7a EE0F lsl r303161 1e7c FF1F rol r313162 1e7e E050 subi r30,lo8(-(PPM_in))3163 1e80 F040 sbci r31,hi8(-(PPM_in))3164 1e82 8081 ld r24,Z3165 1e84 9181 ldd r25,Z+13166 1e86 8734 cpi r24,713167 1e88 9105 cpc r25,__zero_reg__3168 1e8a 04F0 brlt .L2603169 1e8c F901 movw r30,r183170 1e8e EE0F lsl r303171 1e90 FF1F rol r313172 1e92 E050 subi r30,lo8(-(PPM_in))3173 1e94 F040 sbci r31,hi8(-(PPM_in))3174 1e96 8081 ld r24,Z3175 1e98 9181 ldd r25,Z+13176 1e9a 8734 cpi r24,713177 1e9c 9105 cpc r25,__zero_reg__3178 1e9e 04F0 brlt .L2603179 1ea0 42E0 ldi r20,lo8(2)3180 1ea2 00C0 rjmp .L2613181 .L260:3182 1ea4 41E0 ldi r20,lo8(1)3183 .L261:3184 1ea6 FD01 movw r30,r263185 1ea8 EE0F lsl r303186 1eaa FF1F rol r313187 1eac E050 subi r30,lo8(-(PPM_in))3188 1eae F040 sbci r31,hi8(-(PPM_in))3189 1eb0 8081 ld r24,Z3190 1eb2 9181 ldd r25,Z+13191 1eb4 8634 cpi r24,703192 1eb6 9105 cpc r25,__zero_reg__3193 1eb8 04F4 brge .L2623194 1eba F901 movw r30,r183195 1ebc EE0F lsl r303196 1ebe FF1F rol r313197 1ec0 E050 subi r30,lo8(-(PPM_in))3198 1ec2 F040 sbci r31,hi8(-(PPM_in))3199 1ec4 8081 ld r24,Z3200 1ec6 9181 ldd r25,Z+13201 1ec8 8734 cpi r24,713202 1eca 9105 cpc r25,__zero_reg__3203 1ecc 04F0 brlt .L2623204 1ece 43E0 ldi r20,lo8(3)3205 .L262:3206 1ed0 FD01 movw r30,r263207 1ed2 EE0F lsl r303208 1ed4 FF1F rol r313209 1ed6 E050 subi r30,lo8(-(PPM_in))3210 1ed8 F040 sbci r31,hi8(-(PPM_in))3211 1eda 8081 ld r24,Z3212 1edc 9181 ldd r25,Z+13213 1ede 8A5B subi r24,lo8(-70)3214 1ee0 9F4F sbci r25,hi8(-70)3215 1ee2 04F4 brge .L2633216 1ee4 F901 movw r30,r183217 1ee6 EE0F lsl r303218 1ee8 FF1F rol r313219 1eea E050 subi r30,lo8(-(PPM_in))3220 1eec F040 sbci r31,hi8(-(PPM_in))3221 1eee 8081 ld r24,Z3222 1ef0 9181 ldd r25,Z+13223 1ef2 8734 cpi r24,713224 1ef4 9105 cpc r25,__zero_reg__3225 1ef6 04F0 brlt .L2633226 1ef8 44E0 ldi r20,lo8(4)3227 .L263:3228 1efa AA0F lsl r263229 1efc BB1F rol r273230 1efe A050 subi r26,lo8(-(PPM_in))3231 1f00 B040 sbci r27,hi8(-(PPM_in))3232 1f02 8D91 ld r24,X+3233 1f04 9C91 ld r25,X3234 1f06 8A5B subi r24,lo8(-70)3235 1f08 9F4F sbci r25,hi8(-70)3236 1f0a 04F4 brge .L2643237 1f0c 220F lsl r183238 1f0e 331F rol r193239 1f10 2050 subi r18,lo8(-(PPM_in))3240 1f12 3040 sbci r19,hi8(-(PPM_in))3241 1f14 D901 movw r26,r183242 1f16 8D91 ld r24,X+3243 1f18 9C91 ld r25,X3244 1f1a 8634 cpi r24,703245 1f1c 9105 cpc r25,__zero_reg__3246 1f1e 04F4 brge .L2643247 1f20 45E0 ldi r20,lo8(5)3248 .L264:3249 1f22 842F mov r24,r203250 1f24 0E94 0000 call SetActiveParamSet3251 .L257:3252 1f28 E091 0000 lds r30,EE_Parameter+23253 1f2c F0E0 ldi r31,lo8(0)3254 1f2e EE0F lsl r303255 1f30 FF1F rol r313256 1f32 E050 subi r30,lo8(-(PPM_in))3257 1f34 F040 sbci r31,hi8(-(PPM_in))3258 1f36 0190 ld __tmp_reg__,Z+3259 1f38 F081 ld r31,Z3260 1f3a E02D mov r30,__tmp_reg__3261 1f3c F7FF sbrs r31,73262 1f3e 00C0 rjmp .L2663263 1f40 F095 com r313264 1f42 E195 neg r303265 1f44 FF4F sbci r31,lo8(-1)3266 .L266:3267 1f46 7E97 sbiw r30,303268 1f48 04F4 brge .L2653269 1f4a E091 0000 lds r30,EE_Parameter+13270 1f4e F0E0 ldi r31,lo8(0)3271 1f50 EE0F lsl r303272 1f52 FF1F rol r313273 1f54 E050 subi r30,lo8(-(PPM_in))3274 1f56 F040 sbci r31,hi8(-(PPM_in))3275 1f58 8081 ld r24,Z3276 1f5a 9181 ldd r25,Z+13277 1f5c 8A5B subi r24,lo8(-70)3278 1f5e 9F4F sbci r25,hi8(-70)3279 1f60 04F4 brge .L2653280 1f62 81E0 ldi r24,lo8(1)3281 1f64 8093 0000 sts WinkelOut+6,r243282 1f68 88EE ldi r24,lo8(1000)3283 1f6a 93E0 ldi r25,hi8(1000)3284 1f6c 9093 0000 sts (beeptime)+1,r253285 1f70 8093 0000 sts beeptime,r243286 1f74 00C0 rjmp .L2523287 .L265:3288 1f76 0E94 0000 call GetActiveParamSet3289 1f7a 0E94 0000 call ParamSet_ReadFromEEProm3290 1f7e 80E0 ldi r24,lo8(0)3291 1f80 0E94 0000 call LipoDetection3292 1f84 8091 0000 lds r24,EE_Parameter+393293 1f88 0E94 0000 call LIBFC_ReceiverInit3294 1f8c 8091 0000 lds r24,EE_Parameter+133295 1f90 80FF sbrs r24,03296 1f92 00C0 rjmp .L2673297 1f94 8091 0000 lds r24,MessLuftdruck3298 1f98 9091 0000 lds r25,(MessLuftdruck)+13299 1f9c 875B subi r24,lo8(951)3300 1f9e 9340 sbci r25,hi8(951)3301 1fa0 00F4 brsh .L2683302 1fa2 8091 0000 lds r24,MessLuftdruck3303 1fa6 9091 0000 lds r25,(MessLuftdruck)+13304 1faa 8E5E subi r24,lo8(750)3305 1fac 9240 sbci r25,hi8(750)3306 1fae 00F4 brsh .L2673307 .L268:3308 1fb0 0E94 0000 call SucheLuftruckOffset3309 .L267:3310 1fb4 1092 0000 sts ServoActive,__zero_reg__3311 1fb8 80E0 ldi r24,lo8(0)3312 1fba 0E94 0000 call SetNeutral3313 1fbe 81E0 ldi r24,lo8(1)3314 1fc0 8093 0000 sts calibration_done.3051,r243315 1fc4 8093 0000 sts ServoActive,r243316 1fc8 579A sbi 42-32,73317 1fca 00C0 rjmp .L5293318 .L253:3319 1fcc 8081 ld r24,Z3320 1fce 9181 ldd r25,Z+13321 1fd0 855B subi r24,lo8(-75)3322 1fd2 9F4F sbci r25,hi8(-75)3323 1fd4 04F4 brge .L2693324 1fd6 8091 0000 lds r24,delay_neutral.30483325 1fda 8F5F subi r24,lo8(-(1))3326 1fdc 8093 0000 sts delay_neutral.3048,r243327 1fe0 893C cpi r24,lo8(-55)3328 1fe2 00F0 brlo .L2523329 1fe4 8091 0000 lds r24,PlatinenVersion3330 1fe8 8C30 cpi r24,lo8(12)3331 1fea 00F4 brsh .L2703332 1fec 2998 cbi 37-32,13333 1fee 00C0 rjmp .L2713334 .L270:3335 1ff0 299A sbi 37-32,13336 .L271:3337 1ff2 1092 0000 sts MotorenEin,__zero_reg__3338 1ff6 1092 0000 sts delay_neutral.3048,__zero_reg__3339 1ffa 1092 0000 sts (modell_fliegt)+1,__zero_reg__3340 1ffe 1092 0000 sts modell_fliegt,__zero_reg__3341 2002 81E0 ldi r24,lo8(1)3342 2004 0E94 0000 call SetNeutral3343 2008 81E0 ldi r24,lo8(1)3344 200a 8093 0000 sts calibration_done.3051,r243345 .L529:3346 200e 0E94 0000 call GetActiveParamSet3347 2012 68E7 ldi r22,lo8(120)3348 2014 70E0 ldi r23,hi8(120)3349 2016 0E94 0000 call Piep3350 201a 00C0 rjmp .L2523351 .L269:3352 201c 1092 0000 sts delay_neutral.3048,__zero_reg__3353 .L252:3354 2020 E091 0000 lds r30,EE_Parameter+33355 2024 F0E0 ldi r31,lo8(0)3356 2026 EE0F lsl r303357 2028 FF1F rol r313358 202a E050 subi r30,lo8(-(PPM_in))3359 202c F040 sbci r31,hi8(-(PPM_in))3360 202e 8081 ld r24,Z3361 2030 9181 ldd r25,Z+13362 2032 8B5A subi r24,lo8(-85)3363 2034 9F4F sbci r25,hi8(-85)3364 2036 04F0 brlt .+23365 2038 00C0 rjmp .L2483366 203a 8091 0000 lds r24,MotorenEin3367 203e 8823 tst r243368 2040 01F0 breq .+23369 2042 00C0 rjmp .L2723370 2044 E091 0000 lds r30,EE_Parameter+43371 2048 F0E0 ldi r31,lo8(0)3372 204a EE0F lsl r303373 204c FF1F rol r313374 204e E050 subi r30,lo8(-(PPM_in))3375 2050 F040 sbci r31,hi8(-(PPM_in))3376 2052 8081 ld r24,Z3377 2054 9181 ldd r25,Z+13378 2056 855B subi r24,lo8(-75)3379 2058 9F4F sbci r25,hi8(-75)3380 205a 04F0 brlt .+23381 205c 00C0 rjmp .L2733382 205e 8091 0000 lds r24,delay_einschalten.30493383 2062 8F5F subi r24,lo8(-(1))3384 2064 8093 0000 sts delay_einschalten.3049,r243385 2068 893C cpi r24,lo8(-55)3386 206a 00F4 brsh .+23387 206c 00C0 rjmp .L2483388 206e 1092 0000 sts delay_einschalten.3049,__zero_reg__3389 2072 8091 0000 lds r24,VersionInfo+53390 2076 8823 tst r243391 2078 01F0 breq .+23392 207a 00C0 rjmp .L2743393 207c 8091 0000 lds r24,calibration_done.30513394 2080 8823 tst r243395 2082 01F4 brne .+23396 2084 00C0 rjmp .L2743397 2086 81E0 ldi r24,lo8(1)3398 2088 90E0 ldi r25,hi8(1)3399 208a 9093 0000 sts (modell_fliegt)+1,r253400 208e 8093 0000 sts modell_fliegt,r243401 2092 81E0 ldi r24,lo8(1)3402 2094 8093 0000 sts MotorenEin,r243403 2098 1092 0000 sts sollGier.3042,__zero_reg__3404 209c 1092 0000 sts (sollGier.3042)+1,__zero_reg__3405 20a0 1092 0000 sts (sollGier.3042)+2,__zero_reg__3406 20a4 1092 0000 sts (sollGier.3042)+3,__zero_reg__3407 20a8 1092 0000 sts Mess_Integral_Gier,__zero_reg__3408 20ac 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__3409 20b0 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__3410 20b4 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__3411 20b8 1092 0000 sts Mess_Integral_Gier2,__zero_reg__3412 20bc 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__3413 20c0 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__3414 20c4 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__3415 20c8 6091 0000 lds r22,Mittelwert_AccNick3416 20cc 7091 0000 lds r23,(Mittelwert_AccNick)+13417 20d0 8827 clr r243418 20d2 77FD sbrc r23,73419 20d4 8095 com r243420 20d6 982F mov r25,r243421 20d8 E090 0000 lds r14,EE_Parameter+283422 20dc FF24 clr r153423 20de 00E0 ldi r16,lo8(0)3424 20e0 10E0 ldi r17,hi8(0)3425 20e2 A801 movw r20,r163426 20e4 9701 movw r18,r143427 20e6 0E94 0000 call __mulsi33428 20ea 6093 0000 sts Mess_IntegralNick,r223429 20ee 7093 0000 sts (Mess_IntegralNick)+1,r233430 20f2 8093 0000 sts (Mess_IntegralNick)+2,r243431 20f6 9093 0000 sts (Mess_IntegralNick)+3,r253432 20fa 6091 0000 lds r22,Mittelwert_AccRoll3433 20fe 7091 0000 lds r23,(Mittelwert_AccRoll)+13434 2102 8827 clr r243435 2104 77FD sbrc r23,73436 2106 8095 com r243437 2108 982F mov r25,r243438 210a 0E94 0000 call __mulsi33439 210e 6093 0000 sts Mess_IntegralRoll,r223440 2112 7093 0000 sts (Mess_IntegralRoll)+1,r233441 2116 8093 0000 sts (Mess_IntegralRoll)+2,r243442 211a 9093 0000 sts (Mess_IntegralRoll)+3,r253443 211e 8091 0000 lds r24,IntegralNick3444 2122 9091 0000 lds r25,(IntegralNick)+13445 2126 A091 0000 lds r26,(IntegralNick)+23446 212a B091 0000 lds r27,(IntegralNick)+33447 212e 8093 0000 sts Mess_IntegralNick2,r243448 2132 9093 0000 sts (Mess_IntegralNick2)+1,r253449 2136 A093 0000 sts (Mess_IntegralNick2)+2,r263450 213a B093 0000 sts (Mess_IntegralNick2)+3,r273451 213e 8091 0000 lds r24,IntegralRoll3452 2142 9091 0000 lds r25,(IntegralRoll)+13453 2146 A091 0000 lds r26,(IntegralRoll)+23454 214a B091 0000 lds r27,(IntegralRoll)+33455 214e 8093 0000 sts Mess_IntegralRoll2,r243456 2152 9093 0000 sts (Mess_IntegralRoll2)+1,r253457 2156 A093 0000 sts (Mess_IntegralRoll2)+2,r263458 215a B093 0000 sts (Mess_IntegralRoll2)+3,r273459 215e 1092 0000 sts SummeNick,__zero_reg__3460 2162 1092 0000 sts (SummeNick)+1,__zero_reg__3461 2166 1092 0000 sts (SummeNick)+2,__zero_reg__3462 216a 1092 0000 sts (SummeNick)+3,__zero_reg__3463 216e 1092 0000 sts SummeRoll,__zero_reg__3464 2172 1092 0000 sts (SummeRoll)+1,__zero_reg__3465 2176 1092 0000 sts (SummeRoll)+2,__zero_reg__3466 217a 1092 0000 sts (SummeRoll)+3,__zero_reg__3467 217e 8091 0000 lds r24,FCFlags3468 2182 8860 ori r24,lo8(8)3469 2184 8093 0000 sts FCFlags,r243470 2188 8091 0000 lds r24,EE_Parameter+953471 218c 2FE0 ldi r18,lo8(15)3472 218e 829F mul r24,r183473 2190 C001 movw r24,r03474 2192 1124 clr r13475 2194 2091 0000 lds r18,KompassValue3476 2198 3091 0000 lds r19,(KompassValue)+13477 219c 820F add r24,r183478 219e 931F adc r25,r193479 21a0 68E6 ldi r22,lo8(360)3480 21a2 71E0 ldi r23,hi8(360)3481 21a4 0E94 0000 call __divmodhi43482 21a8 62E0 ldi r22,lo8(2)3483 21aa 70E0 ldi r23,hi8(2)3484 21ac 0E94 0000 call __divmodhi43485 21b0 6093 0000 sts ControlHeading,r223486 21b4 00C0 rjmp .L2483487 .L274:3488 21b6 8CED ldi r24,lo8(1500)3489 21b8 95E0 ldi r25,hi8(1500)3490 21ba 9093 0000 sts (beeptime)+1,r253491 21be 8093 0000 sts beeptime,r243492 21c2 00C0 rjmp .L2483493 .L273:3494 21c4 1092 0000 sts delay_einschalten.3049,__zero_reg__3495 21c8 00C0 rjmp .L2483496 .L272:3497 21ca E091 0000 lds r30,EE_Parameter+43498 21ce F0E0 ldi r31,lo8(0)3499 21d0 EE0F lsl r303500 21d2 FF1F rol r313501 21d4 E050 subi r30,lo8(-(PPM_in))3502 21d6 F040 sbci r31,hi8(-(PPM_in))3503 21d8 8081 ld r24,Z3504 21da 9181 ldd r25,Z+13505 21dc 8C34 cpi r24,763506 21de 9105 cpc r25,__zero_reg__3507 21e0 04F0 brlt .L2753508 21e2 8091 0000 lds r24,delay_ausschalten.30503509 21e6 8F5F subi r24,lo8(-(1))3510 21e8 8093 0000 sts delay_ausschalten.3050,r243511 21ec 893C cpi r24,lo8(-55)3512 21ee 00F0 brlo .L2483513 21f0 1092 0000 sts MotorenEin,__zero_reg__3514 21f4 1092 0000 sts delay_ausschalten.3050,__zero_reg__3515 21f8 1092 0000 sts (modell_fliegt)+1,__zero_reg__3516 21fc 1092 0000 sts modell_fliegt,__zero_reg__3517 2200 00C0 rjmp .L2483518 .L275:3519 2202 1092 0000 sts delay_ausschalten.3050,__zero_reg__3520 .L248:3521 2206 8091 0000 lds r24,NewPpmData3522 220a 8150 subi r24,lo8(-(-1))3523 220c 8093 0000 sts NewPpmData,r243524 2210 8F5F subi r24,lo8(-(1))3525 2212 01F0 breq .L2763526 2214 8091 0000 lds r24,FCFlags3527 2218 84FF sbrs r24,43528 221a 00C0 rjmp .L2773529 .L276:3530 221c 0E94 0000 call ParameterZuordnung3531 2220 2091 0000 lds r18,EE_Parameter+13532 2224 022F mov r16,r183533 2226 10E0 ldi r17,lo8(0)3534 2228 000F lsl r163535 222a 111F rol r173536 222c F801 movw r30,r163537 222e E050 subi r30,lo8(-(PPM_in))3538 2230 F040 sbci r31,hi8(-(PPM_in))3539 2232 8081 ld r24,Z3540 2234 9181 ldd r25,Z+13541 2236 E090 0000 lds r14,EE_Parameter+233542 223a FF24 clr r153543 223c BC01 movw r22,r243544 223e 6E9D mul r22,r143545 2240 C001 movw r24,r03546 2242 6F9D mul r22,r153547 2244 900D add r25,r03548 2246 7E9D mul r23,r143549 2248 900D add r25,r03550 224a 1124 clr r13551 224c 4091 0000 lds r20,stick_nick.30593552 2250 5091 0000 lds r21,(stick_nick.3059)+13553 2254 9A01 movw r18,r203554 2256 220F lsl r183555 2258 331F rol r193556 225a 240F add r18,r203557 225c 351F adc r19,r213558 225e 820F add r24,r183559 2260 931F adc r25,r193560 2262 64E0 ldi r22,lo8(4)3561 2264 70E0 ldi r23,hi8(4)3562 2266 0E94 0000 call __divmodhi43563 226a CB01 movw r24,r223564 226c 7093 0000 sts (stick_nick.3059)+1,r233565 2270 6093 0000 sts stick_nick.3059,r223566 2274 0050 subi r16,lo8(-(PPM_diff))3567 2276 1040 sbci r17,hi8(-(PPM_diff))3568 2278 D801 movw r26,r163569 227a 2D91 ld r18,X+3570 227c 3C91 ld r19,X3571 227e 0091 0000 lds r16,EE_Parameter+243572 2282 10E0 ldi r17,lo8(0)3573 2284 F901 movw r30,r183574 2286 E09F mul r30,r163575 2288 9001 movw r18,r03576 228a E19F mul r30,r173577 228c 300D add r19,r03578 228e F09F mul r31,r163579 2290 300D add r19,r03580 2292 1124 clr r13581 2294 820F add r24,r183582 2296 931F adc r25,r193583 2298 9093 0000 sts (stick_nick.3059)+1,r253584 229c 8093 0000 sts stick_nick.3059,r243585 22a0 8091 0000 lds r24,EE_Parameter+23586 22a4 C82E mov r12,r243587 22a6 DD24 clr r133588 22a8 CC0C lsl r123589 22aa DD1C rol r133590 22ac F601 movw r30,r123591 22ae E050 subi r30,lo8(-(PPM_in))3592 22b0 F040 sbci r31,hi8(-(PPM_in))3593 22b2 8081 ld r24,Z3594 22b4 9181 ldd r25,Z+13595 22b6 9C01 movw r18,r243596 22b8 2E9D mul r18,r143597 22ba C001 movw r24,r03598 22bc 2F9D mul r18,r153599 22be 900D add r25,r03600 22c0 3E9D mul r19,r143601 22c2 900D add r25,r03602 22c4 1124 clr r13603 22c6 4091 0000 lds r20,stick_roll.30603604 22ca 5091 0000 lds r21,(stick_roll.3060)+13605 22ce 9A01 movw r18,r203606 22d0 220F lsl r183607 22d2 331F rol r193608 22d4 240F add r18,r203609 22d6 351F adc r19,r213610 22d8 820F add r24,r183611 22da 931F adc r25,r193612 22dc 64E0 ldi r22,lo8(4)3613 22de 70E0 ldi r23,hi8(4)3614 22e0 0E94 0000 call __divmodhi43615 22e4 7093 0000 sts (stick_roll.3060)+1,r233616 22e8 6093 0000 sts stick_roll.3060,r223617 22ec 40E0 ldi r20,lo8(PPM_diff)3618 22ee 50E0 ldi r21,hi8(PPM_diff)3619 22f0 C40E add r12,r203620 22f2 D51E adc r13,r213621 22f4 D601 movw r26,r123622 22f6 8D91 ld r24,X+3623 22f8 9C91 ld r25,X3624 22fa 809F mul r24,r163625 22fc F001 movw r30,r03626 22fe 819F mul r24,r173627 2300 F00D add r31,r03628 2302 909F mul r25,r163629 2304 F00D add r31,r03630 2306 1124 clr r13631 2308 E60F add r30,r223632 230a F71F adc r31,r233633 230c F093 0000 sts (stick_roll.3060)+1,r313634 2310 E093 0000 sts stick_roll.3060,r303635 2314 9E01 movw r18,r283636 2316 2F5F subi r18,lo8(-(1))3637 2318 3F4F sbci r19,hi8(-(1))3638 231a 40E0 ldi r20,lo8(C.354.3251)3639 231c 50E0 ldi r21,hi8(C.354.3251)3640 231e 8FE1 ldi r24,lo8(31)3641 .L278:3642 2320 DA01 movw r26,r203643 2322 0D90 ld r0,X+3644 2324 AD01 movw r20,r263645 2326 D901 movw r26,r183646 2328 0D92 st X+,r03647 232a 9D01 movw r18,r263648 232c 8150 subi r24,lo8(-(-1))3649 232e 01F4 brne .L2783650 2330 8091 0000 lds r24,CareFree3651 2334 C090 0000 lds r12,stick_nick.30593652 2338 D090 0000 lds r13,(stick_nick.3059)+13653 233c 8823 tst r243654 233e 01F0 breq .L2793655 2340 C601 movw r24,r123656 2342 64E0 ldi r22,lo8(4)3657 2344 70E0 ldi r23,hi8(4)3658 2346 0E94 0000 call __divmodhi43659 234a 6B01 movw r12,r223660 234c CF01 movw r24,r303661 234e 64E0 ldi r22,lo8(4)3662 2350 70E0 ldi r23,hi8(4)3663 2352 0E94 0000 call __divmodhi43664 2356 8B01 movw r16,r223665 2358 E090 0000 lds r14,FromNC_Rotate_S3666 235c FF24 clr r153667 235e E7FC sbrc r14,73668 2360 F094 com r153669 2362 6E9D mul r22,r143670 2364 C001 movw r24,r03671 2366 6F9D mul r22,r153672 2368 900D add r25,r03673 236a 7E9D mul r23,r143674 236c 900D add r25,r03675 236e 1124 clr r13676 2370 E091 0000 lds r30,FromNC_Rotate_C3677 2374 FF27 clr r313678 2376 E7FD sbrc r30,73679 2378 F095 com r313680 237a EC9D mul r30,r123681 237c 9001 movw r18,r03682 237e ED9D mul r30,r133683 2380 300D add r19,r03684 2382 FC9D mul r31,r123685 2384 300D add r19,r03686 2386 1124 clr r13687 2388 820F add r24,r183688 238a 931F adc r25,r193689 238c 68E0 ldi r22,lo8(8)3690 238e 70E0 ldi r23,hi8(8)3691 2390 0E94 0000 call __divmodhi43692 2394 7093 0000 sts (StickNick)+1,r233693 2398 6093 0000 sts StickNick,r223694 239c 0E9F mul r16,r303695 239e C001 movw r24,r03696 23a0 0F9F mul r16,r313697 23a2 900D add r25,r03698 23a4 1E9F mul r17,r303699 23a6 900D add r25,r03700 23a8 1124 clr r13701 23aa EC9C mul r14,r123702 23ac 9001 movw r18,r03703 23ae ED9C mul r14,r133704 23b0 300D add r19,r03705 23b2 FC9C mul r15,r123706 23b4 300D add r19,r03707 23b6 1124 clr r13708 23b8 00C0 rjmp .L5303709 .L279:3710 23ba E091 0000 lds r30,EE_Parameter+953711 23be F0E0 ldi r31,lo8(0)3712 23c0 DE01 movw r26,r283713 23c2 AE0F add r26,r303714 23c4 BF1F adc r27,r313715 23c6 1796 adiw r26,73716 23c8 0C91 ld r16,X3717 23ca 1797 sbiw r26,73718 23cc 0093 0000 sts FromNC_Rotate_C,r163719 23d0 FD01 movw r30,r263720 23d2 E181 ldd r30,Z+13721 23d4 E093 0000 sts FromNC_Rotate_S,r303722 23d8 FF27 clr r313723 23da E7FD sbrc r30,73724 23dc F095 com r313725 23de E090 0000 lds r14,stick_roll.30603726 23e2 F090 0000 lds r15,(stick_roll.3060)+13727 23e6 EE9D mul r30,r143728 23e8 C001 movw r24,r03729 23ea EF9D mul r30,r153730 23ec 900D add r25,r03731 23ee FE9D mul r31,r143732 23f0 900D add r25,r03733 23f2 1124 clr r13734 23f4 1127 clr r173735 23f6 07FD sbrc r16,73736 23f8 1095 com r173737 23fa 0C9D mul r16,r123738 23fc 9001 movw r18,r03739 23fe 0D9D mul r16,r133740 2400 300D add r19,r03741 2402 1C9D mul r17,r123742 2404 300D add r19,r03743 2406 1124 clr r13744 2408 820F add r24,r183745 240a 931F adc r25,r193746 240c 68E0 ldi r22,lo8(8)3747 240e 70E0 ldi r23,hi8(8)3748 2410 0E94 0000 call __divmodhi43749 2414 7093 0000 sts (StickNick)+1,r233750 2418 6093 0000 sts StickNick,r223751 241c 0E9D mul r16,r143752 241e C001 movw r24,r03753 2420 0F9D mul r16,r153754 2422 900D add r25,r03755 2424 1E9D mul r17,r143756 2426 900D add r25,r03757 2428 1124 clr r13758 242a EC9D mul r30,r123759 242c 9001 movw r18,r03760 242e ED9D mul r30,r133761 2430 300D add r19,r03762 2432 FC9D mul r31,r123763 2434 300D add r19,r03764 2436 1124 clr r13765 .L530:3766 2438 821B sub r24,r183767 243a 930B sbc r25,r193768 243c 68E0 ldi r22,lo8(8)3769 243e 70E0 ldi r23,hi8(8)3770 2440 0E94 0000 call __divmodhi43771 2444 7093 0000 sts (StickRoll)+1,r233772 2448 6093 0000 sts StickRoll,r223773 244c E091 0000 lds r30,EE_Parameter+43774 2450 F0E0 ldi r31,lo8(0)3775 2452 EE0F lsl r303776 2454 FF1F rol r313777 2456 E050 subi r30,lo8(-(PPM_in))3778 2458 F040 sbci r31,hi8(-(PPM_in))3779 245a 8081 ld r24,Z3780 245c 9181 ldd r25,Z+13781 245e 2227 clr r183782 2460 3327 clr r193783 2462 281B sub r18,r243784 2464 390B sbc r19,r253785 2466 2330 cpi r18,33786 2468 3105 cpc r19,__zero_reg__3787 246a 04F0 brlt .L2813788 246c 2250 subi r18,lo8(-(-2))3789 246e 3040 sbci r19,hi8(-(-2))3790 2470 00C0 rjmp .L5313791 .L281:3792 2472 BFEF ldi r27,hi8(-2)3793 2474 2E3F cpi r18,lo8(-2)3794 2476 3B07 cpc r19,r273795 2478 04F4 brge .L2833796 247a 2E5F subi r18,lo8(-(2))3797 247c 3F4F sbci r19,hi8(-(2))3798 .L531:3799 247e 3093 0000 sts (StickGier)+1,r193800 2482 2093 0000 sts StickGier,r183801 2486 00C0 rjmp .L2823802 .L283:3803 2488 1092 0000 sts (StickGier)+1,__zero_reg__3804 248c 1092 0000 sts StickGier,__zero_reg__3805 .L282:3806 2490 8091 0000 lds r24,GPS_Nick23807 2494 9091 0000 lds r25,(GPS_Nick2)+13808 2498 9095 com r253809 249a 8195 neg r243810 249c 9F4F sbci r25,lo8(-1)3811 249e 2091 0000 lds r18,GPS_Nick3812 24a2 3091 0000 lds r19,(GPS_Nick)+13813 24a6 821B sub r24,r183814 24a8 930B sbc r25,r193815 24aa E090 0000 lds r14,StickNick3816 24ae F090 0000 lds r15,(StickNick)+13817 24b2 E80E add r14,r243818 24b4 F91E adc r15,r253819 24b6 F092 0000 sts (StickNick)+1,r153820 24ba E092 0000 sts StickNick,r143821 24be 8091 0000 lds r24,GPS_Roll23822 24c2 9091 0000 lds r25,(GPS_Roll2)+13823 24c6 9095 com r253824 24c8 8195 neg r243825 24ca 9F4F sbci r25,lo8(-1)3826 24cc 2091 0000 lds r18,GPS_Roll3827 24d0 3091 0000 lds r19,(GPS_Roll)+13828 24d4 821B sub r24,r183829 24d6 930B sbc r25,r193830 24d8 0091 0000 lds r16,StickRoll3831 24dc 1091 0000 lds r17,(StickRoll)+13832 24e0 080F add r16,r243833 24e2 191F adc r17,r253834 24e4 1093 0000 sts (StickRoll)+1,r173835 24e8 0093 0000 sts StickRoll,r163836 24ec E091 0000 lds r30,EE_Parameter+33837 24f0 F0E0 ldi r31,lo8(0)3838 24f2 EE0F lsl r303839 24f4 FF1F rol r313840 24f6 E050 subi r30,lo8(-(PPM_in))3841 24f8 F040 sbci r31,hi8(-(PPM_in))3842 24fa C080 ld r12,Z3843 24fc D180 ldd r13,Z+13844 24fe E8E7 ldi r30,lo8(120)3845 2500 F0E0 ldi r31,hi8(120)3846 2502 CE0E add r12,r303847 2504 DF1E adc r13,r313848 2506 D092 0000 sts (StickGas)+1,r133849 250a C092 0000 sts StickGas,r123850 250e 6091 0000 lds r22,Parameter_Gyro_P3851 2512 70E0 ldi r23,lo8(0)3852 2514 8827 clr r243853 2516 77FD sbrc r23,73854 2518 8095 com r243855 251a 982F mov r25,r243856 251c 0E94 0000 call __floatsisf3857 2520 20E0 ldi r18,lo8(0x41200000)3858 2522 30E0 ldi r19,hi8(0x41200000)3859 2524 40E2 ldi r20,hlo8(0x41200000)3860 2526 51E4 ldi r21,hhi8(0x41200000)3861 2528 0E94 0000 call __addsf33862 252c 0E94 0000 call __fixunssfsi3863 2530 6093 0000 sts GyroFaktor,r223864 2534 8091 0000 lds r24,Parameter_Gyro_I3865 2538 8093 0000 sts IntegralFaktor,r243866 253c 6091 0000 lds r22,Parameter_Gyro_Gier_P3867 2540 70E0 ldi r23,lo8(0)3868 2542 8827 clr r243869 2544 77FD sbrc r23,73870 2546 8095 com r243871 2548 982F mov r25,r243872 254a 0E94 0000 call __floatsisf3873 254e 20E0 ldi r18,lo8(0x41200000)3874 2550 30E0 ldi r19,hi8(0x41200000)3875 2552 40E2 ldi r20,hlo8(0x41200000)3876 2554 51E4 ldi r21,hhi8(0x41200000)3877 2556 0E94 0000 call __addsf33878 255a 0E94 0000 call __fixunssfsi3879 255e 6093 0000 sts GyroFaktorGier,r223880 2562 8091 0000 lds r24,Parameter_Gyro_Gier_I3881 2566 8093 0000 sts IntegralFaktorGier,r243882 256a 8091 0000 lds r24,ExternControl+103883 256e 80FF sbrs r24,03884 2570 00C0 rjmp .L2843885 2572 8091 0000 lds r24,Parameter_ExternalControl3886 2576 8138 cpi r24,lo8(-127)3887 2578 00F4 brsh .+23888 257a 00C0 rjmp .L2843889 257c 2091 0000 lds r18,EE_Parameter+233890 2580 30E0 ldi r19,lo8(0)3891 2582 8091 0000 lds r24,ExternControl+33892 2586 9927 clr r253893 2588 87FD sbrc r24,73894 258a 9095 com r253895 258c AC01 movw r20,r243896 258e 249F mul r18,r203897 2590 C001 movw r24,r03898 2592 259F mul r18,r213899 2594 900D add r25,r03900 2596 349F mul r19,r203901 2598 900D add r25,r03902 259a 1124 clr r13903 259c E80E add r14,r243904 259e F91E adc r15,r253905 25a0 F092 0000 sts (StickNick)+1,r153906 25a4 E092 0000 sts StickNick,r143907 25a8 8091 0000 lds r24,ExternControl+43908 25ac 9927 clr r253909 25ae 87FD sbrc r24,73910 25b0 9095 com r253911 25b2 BC01 movw r22,r243912 25b4 269F mul r18,r223913 25b6 C001 movw r24,r03914 25b8 279F mul r18,r233915 25ba 900D add r25,r03916 25bc 369F mul r19,r223917 25be 900D add r25,r03918 25c0 1124 clr r13919 25c2 080F add r16,r243920 25c4 191F adc r17,r253921 25c6 1093 0000 sts (StickRoll)+1,r173922 25ca 0093 0000 sts StickRoll,r163923 25ce 2091 0000 lds r18,ExternControl+53924 25d2 3327 clr r193925 25d4 27FD sbrc r18,73926 25d6 3095 com r193927 25d8 8091 0000 lds r24,StickGier3928 25dc 9091 0000 lds r25,(StickGier)+13929 25e0 820F add r24,r183930 25e2 931F adc r25,r193931 25e4 9093 0000 sts (StickGier)+1,r253932 25e8 8093 0000 sts StickGier,r243933 25ec 2091 0000 lds r18,EE_Parameter+183934 25f0 30E0 ldi r19,lo8(0)3935 25f2 8091 0000 lds r24,ExternControl+73936 25f6 9927 clr r253937 25f8 87FD sbrc r24,73938 25fa 9095 com r253939 25fc DC01 movw r26,r243940 25fe 2A9F mul r18,r263941 2600 C001 movw r24,r03942 2602 2B9F mul r18,r273943 2604 900D add r25,r03944 2606 3A9F mul r19,r263945 2608 900D add r25,r03946 260a 1124 clr r13947 260c 9093 0000 sts (ExternHoehenValue)+1,r253948 2610 8093 0000 sts ExternHoehenValue,r243949 2614 8091 0000 lds r24,ExternControl+63950 2618 90E0 ldi r25,lo8(0)3951 261a 8C15 cp r24,r123952 261c 9D05 cpc r25,r133953 261e 04F4 brge .L2843954 2620 9093 0000 sts (StickGas)+1,r253955 2624 8093 0000 sts StickGas,r243956 .L284:3957 2628 8091 0000 lds r24,StickGas3958 262c 9091 0000 lds r25,(StickGas)+13959 2630 97FF sbrs r25,73960 2632 00C0 rjmp .L2853961 2634 1092 0000 sts (StickGas)+1,__zero_reg__3962 2638 1092 0000 sts StickGas,__zero_reg__3963 .L285:3964 263c 8091 0000 lds r24,EE_Parameter+133965 2640 82FF sbrs r24,23966 2642 00C0 rjmp .L2863967 2644 1092 0000 sts IntegralFaktor,__zero_reg__3968 .L286:3969 2648 4091 0000 lds r20,StickNick3970 264c 1091 0000 lds r17,StickNick+13971 2650 E091 0000 lds r30,MaxStickNick3972 2654 F091 0000 lds r31,(MaxStickNick)+13973 2658 842F mov r24,r203974 265a 912F mov r25,r173975 265c 64E0 ldi r22,lo8(4)3976 265e 70E0 ldi r23,hi8(4)3977 2660 0E94 0000 call __divmodhi43978 2664 CB01 movw r24,r223979 2666 77FF sbrs r23,73980 2668 00C0 rjmp .L2883981 266a 9095 com r253982 266c 8195 neg r243983 266e 9F4F sbci r25,lo8(-1)3984 .L288:3985 2670 E817 cp r30,r243986 2672 F907 cpc r31,r253987 2674 04F4 brge .L2873988 2676 842F mov r24,r203989 2678 912F mov r25,r173990 267a 9C01 movw r18,r243991 267c 37FF sbrs r19,73992 267e 00C0 rjmp .L2893993 2680 3095 com r193994 2682 2195 neg r183995 2684 3F4F sbci r19,lo8(-1)3996 .L289:3997 2686 C901 movw r24,r183998 2688 9595 asr r253999 268a 8795 ror r244000 268c 9595 asr r254001 268e 8795 ror r244002 2690 9093 0000 sts (MaxStickNick)+1,r254003 2694 8093 0000 sts MaxStickNick,r244004 2698 8536 cpi r24,1014005 269a 9105 cpc r25,__zero_reg__4006 269c 04F0 brlt .L2904007 269e 84E6 ldi r24,lo8(100)4008 26a0 90E0 ldi r25,hi8(100)4009 26a2 9093 0000 sts (MaxStickNick)+1,r254010 26a6 8093 0000 sts MaxStickNick,r244011 26aa 00C0 rjmp .L2904012 .L287:4013 26ac 3197 sbiw r30,14014 26ae F093 0000 sts (MaxStickNick)+1,r314015 26b2 E093 0000 sts MaxStickNick,r304016 .L290:4017 26b6 4091 0000 lds r20,StickRoll4018 26ba 1091 0000 lds r17,StickRoll+14019 26be E091 0000 lds r30,MaxStickRoll4020 26c2 F091 0000 lds r31,(MaxStickRoll)+14021 26c6 842F mov r24,r204022 26c8 912F mov r25,r174023 26ca 64E0 ldi r22,lo8(4)4024 26cc 70E0 ldi r23,hi8(4)4025 26ce 0E94 0000 call __divmodhi44026 26d2 CB01 movw r24,r224027 26d4 77FF sbrs r23,74028 26d6 00C0 rjmp .L2924029 26d8 9095 com r254030 26da 8195 neg r244031 26dc 9F4F sbci r25,lo8(-1)4032 .L292:4033 26de E817 cp r30,r244034 26e0 F907 cpc r31,r254035 26e2 04F4 brge .L2914036 26e4 842F mov r24,r204037 26e6 912F mov r25,r174038 26e8 9C01 movw r18,r244039 26ea 37FF sbrs r19,74040 26ec 00C0 rjmp .L2934041 26ee 3095 com r194042 26f0 2195 neg r184043 26f2 3F4F sbci r19,lo8(-1)4044 .L293:4045 26f4 C901 movw r24,r184046 26f6 9595 asr r254047 26f8 8795 ror r244048 26fa 9595 asr r254049 26fc 8795 ror r244050 26fe 9093 0000 sts (MaxStickRoll)+1,r254051 2702 8093 0000 sts MaxStickRoll,r244052 2706 8536 cpi r24,1014053 2708 9105 cpc r25,__zero_reg__4054 270a 04F0 brlt .L2944055 270c 84E6 ldi r24,lo8(100)4056 270e 90E0 ldi r25,hi8(100)4057 2710 9093 0000 sts (MaxStickRoll)+1,r254058 2714 8093 0000 sts MaxStickRoll,r244059 2718 00C0 rjmp .L2944060 .L291:4061 271a 3197 sbiw r30,14062 271c F093 0000 sts (MaxStickRoll)+1,r314063 2720 E093 0000 sts MaxStickRoll,r304064 .L294:4065 2724 8091 0000 lds r24,FCFlags4066 2728 84FF sbrs r24,44067 272a 00C0 rjmp .L2954068 272c 1092 0000 sts (MaxStickNick)+1,__zero_reg__4069 2730 1092 0000 sts MaxStickNick,__zero_reg__4070 2734 1092 0000 sts (MaxStickRoll)+1,__zero_reg__4071 2738 1092 0000 sts MaxStickRoll,__zero_reg__4072 .L295:4073 273c 8091 0000 lds r24,EE_Parameter+24074 2740 A82F mov r26,r244075 2742 B0E0 ldi r27,lo8(0)4076 2744 FD01 movw r30,r264077 2746 EE0F lsl r304078 2748 FF1F rol r314079 274a E050 subi r30,lo8(-(PPM_in))4080 274c F040 sbci r31,hi8(-(PPM_in))4081 274e 2081 ld r18,Z4082 2750 3181 ldd r19,Z+14083 2752 8091 0000 lds r24,EE_Parameter+584084 2756 482F mov r20,r244085 2758 50E0 ldi r21,lo8(0)4086 275a 4217 cp r20,r184087 275c 5307 cpc r21,r194088 275e 04F4 brge .L2964089 2760 8091 0000 lds r24,EE_Parameter+974090 2764 82FF sbrs r24,24091 2766 00C0 rjmp .L2964092 2768 81E0 ldi r24,lo8(1)4093 276a 8093 0000 sts Looping_Links,r244094 276e 00C0 rjmp .L2974095 .L296:4096 2770 AA0F lsl r264097 2772 BB1F rol r274098 2774 A050 subi r26,lo8(-(PPM_in))4099 2776 B040 sbci r27,hi8(-(PPM_in))4100 2778 2D91 ld r18,X+4101 277a 3C91 ld r19,X4102 277c 8091 0000 lds r24,EE_Parameter+594103 2780 481B sub r20,r244104 2782 5109 sbc r21,__zero_reg__4105 2784 2417 cp r18,r204106 2786 3507 cpc r19,r214107 2788 04F4 brge .L2974108 278a 1092 0000 sts Looping_Links,__zero_reg__4109 .L297:4110 278e 8091 0000 lds r24,EE_Parameter+24111 2792 A82F mov r26,r244112 2794 B0E0 ldi r27,lo8(0)4113 2796 FD01 movw r30,r264114 2798 EE0F lsl r304115 279a FF1F rol r314116 279c E050 subi r30,lo8(-(PPM_in))4117 279e F040 sbci r31,hi8(-(PPM_in))4118 27a0 2081 ld r18,Z4119 27a2 3181 ldd r19,Z+14120 27a4 8091 0000 lds r24,EE_Parameter+584121 27a8 482F mov r20,r244122 27aa 50E0 ldi r21,lo8(0)4123 27ac 8827 clr r244124 27ae 9927 clr r254125 27b0 841B sub r24,r204126 27b2 950B sbc r25,r214127 27b4 2817 cp r18,r244128 27b6 3907 cpc r19,r254129 27b8 04F4 brge .L2984130 27ba 8091 0000 lds r24,EE_Parameter+974131 27be 83FF sbrs r24,34132 27c0 00C0 rjmp .L2984133 27c2 81E0 ldi r24,lo8(1)4134 27c4 8093 0000 sts Looping_Rechts,r244135 27c8 00C0 rjmp .L2994136 .L298:4137 27ca 8091 0000 lds r24,Looping_Rechts4138 27ce 8823 tst r244139 27d0 01F0 breq .L2994140 27d2 AA0F lsl r264141 27d4 BB1F rol r274142 27d6 A050 subi r26,lo8(-(PPM_in))4143 27d8 B040 sbci r27,hi8(-(PPM_in))4144 27da 2D91 ld r18,X+4145 27dc 3C91 ld r19,X4146 27de 8091 0000 lds r24,EE_Parameter+594147 27e2 90E0 ldi r25,lo8(0)4148 27e4 841B sub r24,r204149 27e6 950B sbc r25,r214150 27e8 8217 cp r24,r184151 27ea 9307 cpc r25,r194152 27ec 04F4 brge .L2994153 27ee 1092 0000 sts Looping_Rechts,__zero_reg__4154 .L299:4155 27f2 8091 0000 lds r24,EE_Parameter+14156 27f6 A82F mov r26,r244157 27f8 B0E0 ldi r27,lo8(0)4158 27fa FD01 movw r30,r264159 27fc EE0F lsl r304160 27fe FF1F rol r314161 2800 E050 subi r30,lo8(-(PPM_in))4162 2802 F040 sbci r31,hi8(-(PPM_in))4163 2804 2081 ld r18,Z4164 2806 3181 ldd r19,Z+14165 2808 8091 0000 lds r24,EE_Parameter+584166 280c 482F mov r20,r244167 280e 50E0 ldi r21,lo8(0)4168 2810 4217 cp r20,r184169 2812 5307 cpc r21,r194170 2814 04F4 brge .L3004171 2816 8091 0000 lds r24,EE_Parameter+974172 281a 80FF sbrs r24,04173 281c 00C0 rjmp .L3004174 281e 81E0 ldi r24,lo8(1)4175 2820 8093 0000 sts Looping_Oben,r244176 2824 00C0 rjmp .L3014177 .L300:4178 2826 8091 0000 lds r24,Looping_Oben4179 282a 8823 tst r244180 282c 01F0 breq .L3014181 282e AA0F lsl r264182 2830 BB1F rol r274183 2832 A050 subi r26,lo8(-(PPM_in))4184 2834 B040 sbci r27,hi8(-(PPM_in))4185 2836 2D91 ld r18,X+4186 2838 3C91 ld r19,X4187 283a 8091 0000 lds r24,EE_Parameter+594188 283e 481B sub r20,r244189 2840 5109 sbc r21,__zero_reg__4190 2842 2417 cp r18,r204191 2844 3507 cpc r19,r214192 2846 04F4 brge .L3014193 2848 1092 0000 sts Looping_Oben,__zero_reg__4194 .L301:4195 284c 8091 0000 lds r24,EE_Parameter+14196 2850 A82F mov r26,r244197 2852 B0E0 ldi r27,lo8(0)4198 2854 FD01 movw r30,r264199 2856 EE0F lsl r304200 2858 FF1F rol r314201 285a E050 subi r30,lo8(-(PPM_in))4202 285c F040 sbci r31,hi8(-(PPM_in))4203 285e 2081 ld r18,Z4204 2860 3181 ldd r19,Z+14205 2862 8091 0000 lds r24,EE_Parameter+584206 2866 482F mov r20,r244207 2868 50E0 ldi r21,lo8(0)4208 286a 8827 clr r244209 286c 9927 clr r254210 286e 841B sub r24,r204211 2870 950B sbc r25,r214212 2872 2817 cp r18,r244213 2874 3907 cpc r19,r254214 2876 04F4 brge .L3024215 2878 8091 0000 lds r24,EE_Parameter+974216 287c 81FF sbrs r24,14217 287e 00C0 rjmp .L3024218 2880 81E0 ldi r24,lo8(1)4219 2882 8093 0000 sts Looping_Unten,r244220 2886 00C0 rjmp .L3034221 .L302:4222 2888 8091 0000 lds r24,Looping_Unten4223 288c 8823 tst r244224 288e 01F0 breq .L3034225 2890 AA0F lsl r264226 2892 BB1F rol r274227 2894 A050 subi r26,lo8(-(PPM_in))4228 2896 B040 sbci r27,hi8(-(PPM_in))4229 2898 2D91 ld r18,X+4230 289a 3C91 ld r19,X4231 289c 8091 0000 lds r24,EE_Parameter+594232 28a0 90E0 ldi r25,lo8(0)4233 28a2 841B sub r24,r204234 28a4 950B sbc r25,r214235 28a6 8217 cp r24,r184236 28a8 9307 cpc r25,r194237 28aa 04F4 brge .L3034238 28ac 1092 0000 sts Looping_Unten,__zero_reg__4239 .L303:4240 28b0 8091 0000 lds r24,Looping_Links4241 28b4 8823 tst r244242 28b6 01F4 brne .L3044243 28b8 8091 0000 lds r24,Looping_Rechts4244 28bc 8823 tst r244245 28be 01F0 breq .L3054246 .L304:4247 28c0 81E0 ldi r24,lo8(1)4248 28c2 8093 0000 sts Looping_Roll,r244249 28c6 00C0 rjmp .L3064250 .L305:4251 28c8 1092 0000 sts Looping_Roll,__zero_reg__4252 .L306:4253 28cc 8091 0000 lds r24,Looping_Oben4254 28d0 8823 tst r244255 28d2 01F4 brne .L3074256 28d4 8091 0000 lds r24,Looping_Unten4257 28d8 8823 tst r244258 28da 01F0 breq .L3084259 .L307:4260 28dc 81E0 ldi r24,lo8(1)4261 28de 8093 0000 sts Looping_Nick,r244262 28e2 1092 0000 sts Looping_Roll,__zero_reg__4263 28e6 1092 0000 sts Looping_Links,__zero_reg__4264 28ea 1092 0000 sts Looping_Rechts,__zero_reg__4265 28ee 00C0 rjmp .L2774266 .L308:4267 28f0 1092 0000 sts Looping_Nick,__zero_reg__4268 .L277:4269 28f4 8091 0000 lds r24,Looping_Roll4270 28f8 8823 tst r244271 28fa 01F4 brne .L3094272 28fc 8091 0000 lds r24,Looping_Nick4273 2900 8823 tst r244274 2902 01F0 breq .L3104275 .L309:4276 2904 8091 0000 lds r24,EE_Parameter+574277 2908 90E0 ldi r25,lo8(0)4278 290a EEA1 ldd r30,Y+384279 290c FFA1 ldd r31,Y+394280 290e 8E17 cp r24,r304281 2910 9F07 cpc r25,r314282 2912 04F4 brge .L3114283 2914 9FA3 std Y+39,r254284 2916 8EA3 std Y+38,r244285 .L311:4286 2918 81E0 ldi r24,lo8(1)4287 291a 8093 0000 sts TrichterFlug,r244288 .L310:4289 291e 8091 0000 lds r24,FCFlags4290 2922 84FF sbrs r24,44291 2924 00C0 rjmp .L3124292 2926 1092 0000 sts (StickGier)+1,__zero_reg__4293 292a 1092 0000 sts StickGier,__zero_reg__4294 292e 1092 0000 sts (StickNick)+1,__zero_reg__4295 2932 1092 0000 sts StickNick,__zero_reg__4296 2936 1092 0000 sts (StickRoll)+1,__zero_reg__4297 293a 1092 0000 sts StickRoll,__zero_reg__4298 293e 9AE5 ldi r25,lo8(90)4299 2940 9093 0000 sts GyroFaktor,r254300 2944 88E7 ldi r24,lo8(120)4301 2946 8093 0000 sts IntegralFaktor,r244302 294a 9093 0000 sts GyroFaktorGier,r254303 294e 8093 0000 sts IntegralFaktorGier,r244304 2952 1092 0000 sts Looping_Roll,__zero_reg__4305 2956 1092 0000 sts Looping_Nick,__zero_reg__4306 .L312:4307 295a 8091 0000 lds r24,MittelIntegralNick4308 295e 9091 0000 lds r25,(MittelIntegralNick)+14309 2962 A091 0000 lds r26,(MittelIntegralNick)+24310 2966 B091 0000 lds r27,(MittelIntegralNick)+34311 296a 2091 0000 lds r18,IntegralNick4312 296e 3091 0000 lds r19,(IntegralNick)+14313 2972 4091 0000 lds r20,(IntegralNick)+24314 2976 5091 0000 lds r21,(IntegralNick)+34315 297a 820F add r24,r184316 297c 931F adc r25,r194317 297e A41F adc r26,r204318 2980 B51F adc r27,r214319 2982 8093 0000 sts MittelIntegralNick,r244320 2986 9093 0000 sts (MittelIntegralNick)+1,r254321 298a A093 0000 sts (MittelIntegralNick)+2,r264322 298e B093 0000 sts (MittelIntegralNick)+3,r274323 2992 8091 0000 lds r24,MittelIntegralRoll4324 2996 9091 0000 lds r25,(MittelIntegralRoll)+14325 299a A091 0000 lds r26,(MittelIntegralRoll)+24326 299e B091 0000 lds r27,(MittelIntegralRoll)+34327 29a2 2091 0000 lds r18,IntegralRoll4328 29a6 3091 0000 lds r19,(IntegralRoll)+14329 29aa 4091 0000 lds r20,(IntegralRoll)+24330 29ae 5091 0000 lds r21,(IntegralRoll)+34331 29b2 820F add r24,r184332 29b4 931F adc r25,r194333 29b6 A41F adc r26,r204334 29b8 B51F adc r27,r214335 29ba 8093 0000 sts MittelIntegralRoll,r244336 29be 9093 0000 sts (MittelIntegralRoll)+1,r254337 29c2 A093 0000 sts (MittelIntegralRoll)+2,r264338 29c6 B093 0000 sts (MittelIntegralRoll)+3,r274339 29ca 8091 0000 lds r24,MittelIntegralNick24340 29ce 9091 0000 lds r25,(MittelIntegralNick2)+14341 29d2 A091 0000 lds r26,(MittelIntegralNick2)+24342 29d6 B091 0000 lds r27,(MittelIntegralNick2)+34343 29da 2091 0000 lds r18,IntegralNick24344 29de 3091 0000 lds r19,(IntegralNick2)+14345 29e2 4091 0000 lds r20,(IntegralNick2)+24346 29e6 5091 0000 lds r21,(IntegralNick2)+34347 29ea 820F add r24,r184348 29ec 931F adc r25,r194349 29ee A41F adc r26,r204350 29f0 B51F adc r27,r214351 29f2 8093 0000 sts MittelIntegralNick2,r244352 29f6 9093 0000 sts (MittelIntegralNick2)+1,r254353 29fa A093 0000 sts (MittelIntegralNick2)+2,r264354 29fe B093 0000 sts (MittelIntegralNick2)+3,r274355 2a02 8091 0000 lds r24,MittelIntegralRoll24356 2a06 9091 0000 lds r25,(MittelIntegralRoll2)+14357 2a0a A091 0000 lds r26,(MittelIntegralRoll2)+24358 2a0e B091 0000 lds r27,(MittelIntegralRoll2)+34359 2a12 2091 0000 lds r18,IntegralRoll24360 2a16 3091 0000 lds r19,(IntegralRoll2)+14361 2a1a 4091 0000 lds r20,(IntegralRoll2)+24362 2a1e 5091 0000 lds r21,(IntegralRoll2)+34363 2a22 820F add r24,r184364 2a24 931F adc r25,r194365 2a26 A41F adc r26,r204366 2a28 B51F adc r27,r214367 2a2a 8093 0000 sts MittelIntegralRoll2,r244368 2a2e 9093 0000 sts (MittelIntegralRoll2)+1,r254369 2a32 A093 0000 sts (MittelIntegralRoll2)+2,r264370 2a36 B093 0000 sts (MittelIntegralRoll2)+3,r274371 2a3a 8091 0000 lds r24,Looping_Nick4372 2a3e 8823 tst r244373 2a40 01F4 brne .L3134374 2a42 8091 0000 lds r24,Looping_Roll4375 2a46 8823 tst r244376 2a48 01F4 brne .+24377 2a4a 00C0 rjmp .L3144378 .L313:4379 2a4c 1092 0000 sts IntegralAccNick,__zero_reg__4380 2a50 1092 0000 sts (IntegralAccNick)+1,__zero_reg__4381 2a54 1092 0000 sts (IntegralAccNick)+2,__zero_reg__4382 2a58 1092 0000 sts (IntegralAccNick)+3,__zero_reg__4383 2a5c 1092 0000 sts IntegralAccRoll,__zero_reg__4384 2a60 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__4385 2a64 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__4386 2a68 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__4387 2a6c 1092 0000 sts MittelIntegralNick,__zero_reg__4388 2a70 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__4389 2a74 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__4390 2a78 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__4391 2a7c 1092 0000 sts MittelIntegralRoll,__zero_reg__4392 2a80 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__4393 2a84 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__4394 2a88 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__4395 2a8c 1092 0000 sts MittelIntegralNick2,__zero_reg__4396 2a90 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__4397 2a94 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__4398 2a98 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__4399 2a9c 1092 0000 sts MittelIntegralRoll2,__zero_reg__4400 2aa0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__4401 2aa4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__4402 2aa8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__4403 2aac 8091 0000 lds r24,Mess_IntegralNick4404 2ab0 9091 0000 lds r25,(Mess_IntegralNick)+14405 2ab4 A091 0000 lds r26,(Mess_IntegralNick)+24406 2ab8 B091 0000 lds r27,(Mess_IntegralNick)+34407 2abc 8093 0000 sts Mess_IntegralNick2,r244408 2ac0 9093 0000 sts (Mess_IntegralNick2)+1,r254409 2ac4 A093 0000 sts (Mess_IntegralNick2)+2,r264410 2ac8 B093 0000 sts (Mess_IntegralNick2)+3,r274411 2acc 8091 0000 lds r24,Mess_IntegralRoll4412 2ad0 9091 0000 lds r25,(Mess_IntegralRoll)+14413 2ad4 A091 0000 lds r26,(Mess_IntegralRoll)+24414 2ad8 B091 0000 lds r27,(Mess_IntegralRoll)+34415 2adc 8093 0000 sts Mess_IntegralRoll2,r244416 2ae0 9093 0000 sts (Mess_IntegralRoll2)+1,r254417 2ae4 A093 0000 sts (Mess_IntegralRoll2)+2,r264418 2ae8 B093 0000 sts (Mess_IntegralRoll2)+3,r274419 2aec 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__4420 2af0 1092 0000 sts ZaehlMessungen,__zero_reg__4421 2af4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__4422 2af8 1092 0000 sts LageKorrekturNick,__zero_reg__4423 2afc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__4424 2b00 1092 0000 sts LageKorrekturRoll,__zero_reg__4425 .L314:4426 2b04 8091 0000 lds r24,Looping_Nick4427 2b08 8823 tst r244428 2b0a 01F0 breq .+24429 2b0c 00C0 rjmp .L3154430 2b0e 8091 0000 lds r24,Looping_Roll4431 2b12 8823 tst r244432 2b14 01F0 breq .+24433 2b16 00C0 rjmp .L3154434 2b18 8091 0000 lds r24,Aktuell_az4435 2b1c 9091 0000 lds r25,(Aktuell_az)+14436 2b20 8150 subi r24,lo8(513)4437 2b22 9240 sbci r25,hi8(513)4438 2b24 04F4 brge .L3164439 2b26 8091 0000 lds r24,MotorenEin4440 2b2a 8823 tst r244441 2b2c 01F4 brne .+24442 2b2e 00C0 rjmp .L3154443 .L316:4444 2b30 2091 0000 lds r18,FromNaviCtrl_Value4445 2b34 4090 0000 lds r4,Mittelwert_AccNick4446 2b38 5090 0000 lds r5,(Mittelwert_AccNick)+14447 2b3c 2090 0000 lds r2,Mittelwert_AccRoll4448 2b40 3090 0000 lds r3,(Mittelwert_AccRoll)+14449 2b44 6091 0000 lds r22,IntegralNick4450 2b48 7091 0000 lds r23,(IntegralNick)+14451 2b4c 8091 0000 lds r24,(IntegralNick)+24452 2b50 9091 0000 lds r25,(IntegralNick)+34453 2b54 6090 0000 lds r6,IntegralRoll4454 2b58 7090 0000 lds r7,(IntegralRoll)+14455 2b5c 8090 0000 lds r8,(IntegralRoll)+24456 2b60 9090 0000 lds r9,(IntegralRoll)+34457 2b64 4091 0000 lds r20,MaxStickNick4458 2b68 5091 0000 lds r21,(MaxStickNick)+14459 2b6c 5DAB std Y+53,r214460 2b6e 4CAB std Y+52,r204461 2b70 2F3F cpi r18,lo8(-1)4462 2b72 01F4 brne .+24463 2b74 00C0 rjmp .L3174464 2b76 E090 0000 lds r14,EE_Parameter+284465 2b7a FF24 clr r154466 2b7c 00E0 ldi r16,lo8(0)4467 2b7e 10E0 ldi r17,hi8(0)4468 2b80 A22E mov r10,r184469 2b82 BB24 clr r114470 2b84 A7FC sbrc r10,74471 2b86 B094 com r114472 2b88 CB2C mov r12,r114473 2b8a DB2C mov r13,r114474 2b8c A801 movw r20,r164475 2b8e 9701 movw r18,r144476 2b90 0E94 0000 call __divmodsi44477 2b94 C201 movw r24,r44478 2b96 AA27 clr r264479 2b98 97FD sbrc r25,74480 2b9a A095 com r264481 2b9c BA2F mov r27,r264482 2b9e 281B sub r18,r244483 2ba0 390B sbc r19,r254484 2ba2 4A0B sbc r20,r264485 2ba4 5B0B sbc r21,r274486 2ba6 CA01 movw r24,r204487 2ba8 B901 movw r22,r184488 2baa A601 movw r20,r124489 2bac 9501 movw r18,r104490 2bae 0E94 0000 call __mulsi34491 2bb2 20E0 ldi r18,lo8(512)4492 2bb4 32E0 ldi r19,hi8(512)4493 2bb6 40E0 ldi r20,hlo8(512)4494 2bb8 50E0 ldi r21,hhi8(512)4495 2bba 0E94 0000 call __divmodsi44496 2bbe 28AB std Y+48,r184497 2bc0 39AB std Y+49,r194498 2bc2 4AAB std Y+50,r204499 2bc4 5BAB std Y+51,r214500 2bc6 2CA7 std Y+44,r184501 2bc8 3DA7 std Y+45,r194502 2bca 4EA7 std Y+46,r204503 2bcc 5FA7 std Y+47,r214504 2bce C401 movw r24,r84505 2bd0 B301 movw r22,r64506 2bd2 A801 movw r20,r164507 2bd4 9701 movw r18,r144508 2bd6 0E94 0000 call __divmodsi44509 2bda C101 movw r24,r24510 2bdc AA27 clr r264511 2bde 97FD sbrc r25,74512 2be0 A095 com r264513 2be2 BA2F mov r27,r264514 2be4 281B sub r18,r244515 2be6 390B sbc r19,r254516 2be8 4A0B sbc r20,r264517 2bea 5B0B sbc r21,r274518 2bec CA01 movw r24,r204519 2bee B901 movw r22,r184520 2bf0 A601 movw r20,r124521 2bf2 9501 movw r18,r104522 2bf4 0E94 0000 call __mulsi34523 2bf8 20E0 ldi r18,lo8(512)4524 2bfa 32E0 ldi r19,hi8(512)4525 2bfc 40E0 ldi r20,hlo8(512)4526 2bfe 50E0 ldi r21,hhi8(512)4527 2c00 0E94 0000 call __divmodsi44528 2c04 122F mov r17,r184529 2c06 032F mov r16,r194530 2c08 F42E mov r15,r204531 2c0a E52E mov r14,r214532 2c0c 222E mov r2,r184533 2c0e 332E mov r3,r194534 2c10 442E mov r4,r204535 2c12 552E mov r5,r214536 2c14 6CA9 ldd r22,Y+524537 2c16 7DA9 ldd r23,Y+534538 2c18 6134 cpi r22,654539 2c1a 7105 cpc r23,__zero_reg__4540 2c1c 04F4 brge .L3184541 2c1e 8091 0000 lds r24,MaxStickRoll4542 2c22 9091 0000 lds r25,(MaxStickRoll)+14543 2c26 8134 cpi r24,654544 2c28 9105 cpc r25,__zero_reg__4545 2c2a 04F0 brlt .L3194546 .L318:4547 2c2c 68A9 ldd r22,Y+484548 2c2e 79A9 ldd r23,Y+494549 2c30 8AA9 ldd r24,Y+504550 2c32 9BA9 ldd r25,Y+514551 2c34 22E0 ldi r18,lo8(2)4552 2c36 30E0 ldi r19,hi8(2)4553 2c38 40E0 ldi r20,hlo8(2)4554 2c3a 50E0 ldi r21,hhi8(2)4555 2c3c 0E94 0000 call __divmodsi44556 2c40 2CA7 std Y+44,r184557 2c42 3DA7 std Y+45,r194558 2c44 4EA7 std Y+46,r204559 2c46 5FA7 std Y+47,r214560 2c48 612F mov r22,r174561 2c4a 702F mov r23,r164562 2c4c 8F2D mov r24,r154563 2c4e 9E2D mov r25,r144564 2c50 22E0 ldi r18,lo8(2)4565 2c52 30E0 ldi r19,hi8(2)4566 2c54 40E0 ldi r20,hlo8(2)4567 2c56 50E0 ldi r21,hhi8(2)4568 2c58 0E94 0000 call __divmodsi44569 2c5c 1901 movw r2,r184570 2c5e 2A01 movw r4,r204571 .L319:4572 2c60 E091 0000 lds r30,EE_Parameter+44573 2c64 F0E0 ldi r31,lo8(0)4574 2c66 EE0F lsl r304575 2c68 FF1F rol r314576 2c6a E050 subi r30,lo8(-(PPM_in))4577 2c6c F040 sbci r31,hi8(-(PPM_in))4578 2c6e 0190 ld __tmp_reg__,Z+4579 2c70 F081 ld r31,Z4580 2c72 E02D mov r30,__tmp_reg__4581 2c74 F7FF sbrs r31,74582 2c76 00C0 rjmp .L3214583 2c78 F095 com r314584 2c7a E195 neg r304585 2c7c FF4F sbci r31,lo8(-1)4586 .L321:4587 2c7e 7A97 sbiw r30,264588 2c80 04F0 brlt .L3204589 2c82 6CA5 ldd r22,Y+444590 2c84 7DA5 ldd r23,Y+454591 2c86 8EA5 ldd r24,Y+464592 2c88 9FA5 ldd r25,Y+474593 2c8a 23E0 ldi r18,lo8(3)4594 2c8c 30E0 ldi r19,hi8(3)4595 2c8e 40E0 ldi r20,hlo8(3)4596 2c90 50E0 ldi r21,hhi8(3)4597 2c92 0E94 0000 call __divmodsi44598 2c96 2CA7 std Y+44,r184599 2c98 3DA7 std Y+45,r194600 2c9a 4EA7 std Y+46,r204601 2c9c 5FA7 std Y+47,r214602 2c9e B101 movw r22,r24603 2ca0 C201 movw r24,r44604 2ca2 23E0 ldi r18,lo8(3)4605 2ca4 30E0 ldi r19,hi8(3)4606 2ca6 40E0 ldi r20,hlo8(3)4607 2ca8 50E0 ldi r21,hhi8(3)4608 2caa 0E94 0000 call __divmodsi44609 2cae 1901 movw r2,r184610 2cb0 2A01 movw r4,r204611 .L320:4612 2cb2 6091 0000 lds r22,FromNaviCtrl_Value+24613 2cb6 662E mov r6,r224614 2cb8 7724 clr r74615 2cba 67FC sbrc r6,74616 2cbc 7094 com r74617 2cbe 872C mov r8,r74618 2cc0 972C mov r9,r74619 2cc2 2CA5 ldd r18,Y+444620 2cc4 3DA5 ldd r19,Y+454621 2cc6 4EA5 ldd r20,Y+464622 2cc8 5FA5 ldd r21,Y+474623 2cca C901 movw r24,r184624 2ccc DA01 movw r26,r204625 2cce 9C01 movw r18,r244626 2cd0 AD01 movw r20,r264627 2cd2 6216 cp r6,r184628 2cd4 7306 cpc r7,r194629 2cd6 8406 cpc r8,r204630 2cd8 9506 cpc r9,r214631 2cda 04F4 brge .L3224632 2cdc A401 movw r20,r84633 2cde 9301 movw r18,r64634 .L322:4635 2ce0 862F mov r24,r224636 2ce2 9927 clr r254637 2ce4 87FD sbrc r24,74638 2ce6 9095 com r254639 2ce8 9095 com r254640 2cea 8195 neg r244641 2cec 9F4F sbci r25,lo8(-1)4642 2cee 7C01 movw r14,r244643 2cf0 0027 clr r164644 2cf2 F7FC sbrc r15,74645 2cf4 0095 com r164646 2cf6 102F mov r17,r164647 2cf8 5901 movw r10,r184648 2cfa 6A01 movw r12,r204649 2cfc 2E15 cp r18,r144650 2cfe 3F05 cpc r19,r154651 2d00 4007 cpc r20,r164652 2d02 5107 cpc r21,r174653 2d04 04F4 brge .L3234654 2d06 5701 movw r10,r144655 2d08 6801 movw r12,r164656 .L323:4657 2d0a C101 movw r24,r24658 2d0c D201 movw r26,r44659 2d0e 6816 cp r6,r244660 2d10 7906 cpc r7,r254661 2d12 8A06 cpc r8,r264662 2d14 9B06 cpc r9,r274663 2d16 04F4 brge .L3244664 2d18 D401 movw r26,r84665 2d1a C301 movw r24,r64666 .L324:4667 2d1c 8E15 cp r24,r144668 2d1e 9F05 cpc r25,r154669 2d20 A007 cpc r26,r164670 2d22 B107 cpc r27,r174671 2d24 04F4 brge .+24672 2d26 00C0 rjmp .L3254673 2d28 7C01 movw r14,r244674 2d2a 8D01 movw r16,r264675 2d2c 00C0 rjmp .L3254676 .L317:4677 2d2e E090 0000 lds r14,EE_Parameter+284678 2d32 FF24 clr r154679 2d34 00E0 ldi r16,lo8(0)4680 2d36 10E0 ldi r17,hi8(0)4681 2d38 A801 movw r20,r164682 2d3a 9701 movw r18,r144683 2d3c 0E94 0000 call __divmodsi44684 2d40 5901 movw r10,r184685 2d42 6A01 movw r12,r204686 2d44 C201 movw r24,r44687 2d46 AA27 clr r264688 2d48 97FD sbrc r25,74689 2d4a A095 com r264690 2d4c BA2F mov r27,r264691 2d4e A81A sub r10,r244692 2d50 B90A sbc r11,r254693 2d52 CA0A sbc r12,r264694 2d54 DB0A sbc r13,r274695 2d56 C401 movw r24,r84696 2d58 B301 movw r22,r64697 2d5a A801 movw r20,r164698 2d5c 9701 movw r18,r144699 2d5e 0E94 0000 call __divmodsi44700 2d62 7901 movw r14,r184701 2d64 8A01 movw r16,r204702 2d66 C101 movw r24,r24703 2d68 AA27 clr r264704 2d6a 97FD sbrc r25,74705 2d6c A095 com r264706 2d6e BA2F mov r27,r264707 2d70 E81A sub r14,r244708 2d72 F90A sbc r15,r254709 2d74 0A0B sbc r16,r264710 2d76 1B0B sbc r17,r274711 2d78 C601 movw r24,r124712 2d7a B501 movw r22,r104713 2d7c 20E1 ldi r18,lo8(16)4714 2d7e 30E0 ldi r19,hi8(16)4715 2d80 40E0 ldi r20,hlo8(16)4716 2d82 50E0 ldi r21,hhi8(16)4717 2d84 0E94 0000 call __divmodsi44718 2d88 922E mov r9,r184719 2d8a 832E mov r8,r194720 2d8c 742E mov r7,r204721 2d8e 652E mov r6,r214722 2d90 822F mov r24,r184723 2d92 932F mov r25,r194724 2d94 A42F mov r26,r204725 2d96 B52F mov r27,r214726 2d98 5C01 movw r10,r244727 2d9a 6D01 movw r12,r264728 2d9c C801 movw r24,r164729 2d9e B701 movw r22,r144730 2da0 20E1 ldi r18,lo8(16)4731 2da2 30E0 ldi r19,hi8(16)4732 2da4 40E0 ldi r20,hlo8(16)4733 2da6 50E0 ldi r21,hhi8(16)4734 2da8 0E94 0000 call __divmodsi44735 2dac 522E mov r5,r184736 2dae 432E mov r4,r194737 2db0 1A01 movw r2,r204738 2db2 822F mov r24,r184739 2db4 932F mov r25,r194740 2db6 DA01 movw r26,r204741 2db8 7C01 movw r14,r244742 2dba 8D01 movw r16,r264743 2dbc 8CA9 ldd r24,Y+524744 2dbe 9DA9 ldd r25,Y+534745 2dc0 8134 cpi r24,654746 2dc2 9105 cpc r25,__zero_reg__4747 2dc4 04F4 brge .L3264748 2dc6 8091 0000 lds r24,MaxStickRoll4749 2dca 9091 0000 lds r25,(MaxStickRoll)+14750 2dce 8134 cpi r24,654751 2dd0 9105 cpc r25,__zero_reg__4752 2dd2 04F0 brlt .L3274753 .L326:4754 2dd4 692D mov r22,r94755 2dd6 782D mov r23,r84756 2dd8 872D mov r24,r74757 2dda 962D mov r25,r64758 2ddc 23E0 ldi r18,lo8(3)4759 2dde 30E0 ldi r19,hi8(3)4760 2de0 40E0 ldi r20,hlo8(3)4761 2de2 50E0 ldi r21,hhi8(3)4762 2de4 0E94 0000 call __divmodsi44763 2de8 C901 movw r24,r184764 2dea DA01 movw r26,r204765 2dec 5C01 movw r10,r244766 2dee 6D01 movw r12,r264767 2df0 652D mov r22,r54768 2df2 742D mov r23,r44769 2df4 C101 movw r24,r24770 2df6 23E0 ldi r18,lo8(3)4771 2df8 30E0 ldi r19,hi8(3)4772 2dfa 40E0 ldi r20,hlo8(3)4773 2dfc 50E0 ldi r21,hhi8(3)4774 2dfe 0E94 0000 call __divmodsi44775 2e02 C901 movw r24,r184776 2e04 DA01 movw r26,r204777 2e06 7C01 movw r14,r244778 2e08 8D01 movw r16,r264779 .L327:4780 2e0a E091 0000 lds r30,EE_Parameter+44781 2e0e F0E0 ldi r31,lo8(0)4782 2e10 EE0F lsl r304783 2e12 FF1F rol r314784 2e14 E050 subi r30,lo8(-(PPM_in))4785 2e16 F040 sbci r31,hi8(-(PPM_in))4786 2e18 0190 ld __tmp_reg__,Z+4787 2e1a F081 ld r31,Z4788 2e1c E02D mov r30,__tmp_reg__4789 2e1e F7FF sbrs r31,74790 2e20 00C0 rjmp .L3294791 2e22 F095 com r314792 2e24 E195 neg r304793 2e26 FF4F sbci r31,lo8(-1)4794 .L329:4795 2e28 7A97 sbiw r30,264796 2e2a 04F0 brlt .L3284797 2e2c C601 movw r24,r124798 2e2e B501 movw r22,r104799 2e30 23E0 ldi r18,lo8(3)4800 2e32 30E0 ldi r19,hi8(3)4801 2e34 40E0 ldi r20,hlo8(3)4802 2e36 50E0 ldi r21,hhi8(3)4803 2e38 0E94 0000 call __divmodsi44804 2e3c C901 movw r24,r184805 2e3e DA01 movw r26,r204806 2e40 5C01 movw r10,r244807 2e42 6D01 movw r12,r264808 2e44 C801 movw r24,r164809 2e46 B701 movw r22,r144810 2e48 23E0 ldi r18,lo8(3)4811 2e4a 30E0 ldi r19,hi8(3)4812 2e4c 40E0 ldi r20,hlo8(3)4813 2e4e 50E0 ldi r21,hhi8(3)4814 2e50 0E94 0000 call __divmodsi44815 2e54 C901 movw r24,r184816 2e56 DA01 movw r26,r204817 2e58 7C01 movw r14,r244818 2e5a 8D01 movw r16,r264819 .L328:4820 2e5c 91E2 ldi r25,lo8(33)4821 2e5e A916 cp r10,r254822 2e60 B104 cpc r11,__zero_reg__4823 2e62 C104 cpc r12,__zero_reg__4824 2e64 D104 cpc r13,__zero_reg__4825 2e66 04F0 brlt .L3304826 2e68 90E2 ldi r25,lo8(32)4827 2e6a A92E mov r10,r254828 2e6c B12C mov r11,__zero_reg__4829 2e6e C12C mov r12,__zero_reg__4830 2e70 D12C mov r13,__zero_reg__4831 2e72 00C0 rjmp .L3314832 .L330:4833 2e74 A0EE ldi r26,lo8(-32)4834 2e76 AA16 cp r10,r264835 2e78 AFEF ldi r26,hi8(-32)4836 2e7a BA06 cpc r11,r264837 2e7c AFEF ldi r26,hlo8(-32)4838 2e7e CA06 cpc r12,r264839 2e80 AFEF ldi r26,hhi8(-32)4840 2e82 DA06 cpc r13,r264841 2e84 04F4 brge .L3314842 2e86 80EE ldi r24,lo8(-32)4843 2e88 A82E mov r10,r244844 2e8a 8FEF ldi r24,hi8(-32)4845 2e8c B82E mov r11,r244846 2e8e 8FEF ldi r24,hlo8(-32)4847 2e90 C82E mov r12,r244848 2e92 8FEF ldi r24,hhi8(-32)4849 2e94 D82E mov r13,r244850 .L331:4851 2e96 B1E2 ldi r27,lo8(33)4852 2e98 EB16 cp r14,r274853 2e9a F104 cpc r15,__zero_reg__4854 2e9c 0105 cpc r16,__zero_reg__4855 2e9e 1105 cpc r17,__zero_reg__4856 2ea0 04F0 brlt .L3324857 2ea2 10E2 ldi r17,lo8(32)4858 2ea4 E12E mov r14,r174859 2ea6 F12C mov r15,__zero_reg__4860 2ea8 012D mov r16,__zero_reg__4861 2eaa 112D mov r17,__zero_reg__4862 2eac 00C0 rjmp .L3254863 .L332:4864 2eae E0EE ldi r30,lo8(-32)4865 2eb0 EE16 cp r14,r304866 2eb2 EFEF ldi r30,hi8(-32)4867 2eb4 FE06 cpc r15,r304868 2eb6 EFEF ldi r30,hlo8(-32)4869 2eb8 0E07 cpc r16,r304870 2eba EFEF ldi r30,hhi8(-32)4871 2ebc 1E07 cpc r17,r304872 2ebe 04F4 brge .L3254873 2ec0 B0EE ldi r27,lo8(-32)4874 2ec2 EB2E mov r14,r274875 2ec4 BFEF ldi r27,hi8(-32)4876 2ec6 FB2E mov r15,r274877 2ec8 BFEF ldi r27,hlo8(-32)4878 2eca 0B2F mov r16,r274879 2ecc BFEF ldi r27,hhi8(-32)4880 2ece 1B2F mov r17,r274881 .L325:4882 2ed0 8091 0000 lds r24,Mess_IntegralNick4883 2ed4 9091 0000 lds r25,(Mess_IntegralNick)+14884 2ed8 A091 0000 lds r26,(Mess_IntegralNick)+24885 2edc B091 0000 lds r27,(Mess_IntegralNick)+34886 2ee0 8A19 sub r24,r104887 2ee2 9B09 sbc r25,r114888 2ee4 AC09 sbc r26,r124889 2ee6 BD09 sbc r27,r134890 2ee8 8093 0000 sts Mess_IntegralNick,r244891 2eec 9093 0000 sts (Mess_IntegralNick)+1,r254892 2ef0 A093 0000 sts (Mess_IntegralNick)+2,r264893 2ef4 B093 0000 sts (Mess_IntegralNick)+3,r274894 2ef8 8091 0000 lds r24,Mess_IntegralRoll4895 2efc 9091 0000 lds r25,(Mess_IntegralRoll)+14896 2f00 A091 0000 lds r26,(Mess_IntegralRoll)+24897 2f04 B091 0000 lds r27,(Mess_IntegralRoll)+34898 2f08 8E19 sub r24,r144899 2f0a 9F09 sbc r25,r154900 2f0c A00B sbc r26,r164901 2f0e B10B sbc r27,r174902 2f10 8093 0000 sts Mess_IntegralRoll,r244903 2f14 9093 0000 sts (Mess_IntegralRoll)+1,r254904 2f18 A093 0000 sts (Mess_IntegralRoll)+2,r264905 2f1c B093 0000 sts (Mess_IntegralRoll)+3,r274906 .L315:4907 2f20 8091 0000 lds r24,ZaehlMessungen4908 2f24 9091 0000 lds r25,(ZaehlMessungen)+14909 2f28 8F3F cpi r24,2554910 2f2a 9105 cpc r25,__zero_reg__4911 2f2c 01F0 breq .+24912 2f2e 00F4 brsh .+24913 2f30 00C0 rjmp .L3334914 2f32 8091 0000 lds r24,Looping_Nick4915 2f36 8823 tst r244916 2f38 01F0 breq .+24917 2f3a 00C0 rjmp .L3344918 2f3c 8091 0000 lds r24,Looping_Roll4919 2f40 8823 tst r244920 2f42 01F0 breq .+24921 2f44 00C0 rjmp .L3344922 2f46 8091 0000 lds r24,TrichterFlug4923 2f4a 8823 tst r244924 2f4c 01F0 breq .+24925 2f4e 00C0 rjmp .L3344926 2f50 8091 0000 lds r24,EE_Parameter+664927 2f54 8823 tst r244928 2f56 01F4 brne .+24929 2f58 00C0 rjmp .L3344930 2f5a 6091 0000 lds r22,MittelIntegralNick4931 2f5e 7091 0000 lds r23,(MittelIntegralNick)+14932 2f62 8091 0000 lds r24,(MittelIntegralNick)+24933 2f66 9091 0000 lds r25,(MittelIntegralNick)+34934 2f6a 20E0 ldi r18,lo8(256)4935 2f6c 31E0 ldi r19,hi8(256)4936 2f6e 40E0 ldi r20,hlo8(256)4937 2f70 50E0 ldi r21,hhi8(256)4938 2f72 0E94 0000 call __divmodsi44939 2f76 5901 movw r10,r184940 2f78 6A01 movw r12,r204941 2f7a 2093 0000 sts MittelIntegralNick,r184942 2f7e 3093 0000 sts (MittelIntegralNick)+1,r194943 2f82 4093 0000 sts (MittelIntegralNick)+2,r204944 2f86 5093 0000 sts (MittelIntegralNick)+3,r214945 2f8a 6091 0000 lds r22,MittelIntegralRoll4946 2f8e 7091 0000 lds r23,(MittelIntegralRoll)+14947 2f92 8091 0000 lds r24,(MittelIntegralRoll)+24948 2f96 9091 0000 lds r25,(MittelIntegralRoll)+34949 2f9a 20E0 ldi r18,lo8(256)4950 2f9c 31E0 ldi r19,hi8(256)4951 2f9e 40E0 ldi r20,hlo8(256)4952 2fa0 50E0 ldi r21,hhi8(256)4953 2fa2 0E94 0000 call __divmodsi44954 2fa6 3901 movw r6,r184955 2fa8 4A01 movw r8,r204956 2faa 2093 0000 sts MittelIntegralRoll,r184957 2fae 3093 0000 sts (MittelIntegralRoll)+1,r194958 2fb2 4093 0000 sts (MittelIntegralRoll)+2,r204959 2fb6 5093 0000 sts (MittelIntegralRoll)+3,r214960 2fba E090 0000 lds r14,EE_Parameter+284961 2fbe FF24 clr r154962 2fc0 00E0 ldi r16,lo8(0)4963 2fc2 10E0 ldi r17,hi8(0)4964 2fc4 2091 0000 lds r18,IntegralAccNick4965 2fc8 3091 0000 lds r19,(IntegralAccNick)+14966 2fcc 4091 0000 lds r20,(IntegralAccNick)+24967 2fd0 5091 0000 lds r21,(IntegralAccNick)+34968 2fd4 C801 movw r24,r164969 2fd6 B701 movw r22,r144970 2fd8 0E94 0000 call __mulsi34971 2fdc 20E0 ldi r18,lo8(256)4972 2fde 31E0 ldi r19,hi8(256)4973 2fe0 40E0 ldi r20,hlo8(256)4974 2fe2 50E0 ldi r21,hhi8(256)4975 2fe4 0E94 0000 call __divmodsi44976 2fe8 28A7 std Y+40,r184977 2fea 39A7 std Y+41,r194978 2fec 4AA7 std Y+42,r204979 2fee 5BA7 std Y+43,r214980 2ff0 2093 0000 sts IntegralAccNick,r184981 2ff4 3093 0000 sts (IntegralAccNick)+1,r194982 2ff8 4093 0000 sts (IntegralAccNick)+2,r204983 2ffc 5093 0000 sts (IntegralAccNick)+3,r214984 3000 2091 0000 lds r18,IntegralAccRoll4985 3004 3091 0000 lds r19,(IntegralAccRoll)+14986 3008 4091 0000 lds r20,(IntegralAccRoll)+24987 300c 5091 0000 lds r21,(IntegralAccRoll)+34988 3010 C801 movw r24,r164989 3012 B701 movw r22,r144990 3014 0E94 0000 call __mulsi34991 3018 20E0 ldi r18,lo8(256)4992 301a 31E0 ldi r19,hi8(256)4993 301c 40E0 ldi r20,hlo8(256)4994 301e 50E0 ldi r21,hhi8(256)4995 3020 0E94 0000 call __divmodsi44996 3024 1901 movw r2,r184997 3026 2A01 movw r4,r204998 3028 2093 0000 sts IntegralAccRoll,r184999 302c 3093 0000 sts (IntegralAccRoll)+1,r195000 3030 4093 0000 sts (IntegralAccRoll)+2,r205001 3034 5093 0000 sts (IntegralAccRoll)+3,r215002 3038 6091 0000 lds r22,IntegralAccZ5003 303c 7091 0000 lds r23,(IntegralAccZ)+15004 3040 8091 0000 lds r24,(IntegralAccZ)+25005 3044 9091 0000 lds r25,(IntegralAccZ)+35006 3048 20E0 ldi r18,lo8(256)5007 304a 31E0 ldi r19,hi8(256)5008 304c 40E0 ldi r20,hlo8(256)5009 304e 50E0 ldi r21,hhi8(256)5010 3050 0E94 0000 call __divmodsi45011 3054 2093 0000 sts IntegralAccZ,r185012 3058 3093 0000 sts (IntegralAccZ)+1,r195013 305c 4093 0000 sts (IntegralAccZ)+2,r205014 3060 5093 0000 sts (IntegralAccZ)+3,r215015 3064 28A5 ldd r18,Y+405016 3066 39A5 ldd r19,Y+415017 3068 4AA5 ldd r20,Y+425018 306a 5BA5 ldd r21,Y+435019 306c A21A sub r10,r185020 306e B30A sbc r11,r195021 3070 C40A sbc r12,r205022 3072 D50A sbc r13,r215023 3074 A092 0000 sts IntegralFehlerNick.3045,r105024 3078 B092 0000 sts (IntegralFehlerNick.3045)+1,r115025 307c C092 0000 sts (IntegralFehlerNick.3045)+2,r125026 3080 D092 0000 sts (IntegralFehlerNick.3045)+3,r135027 3084 E090 0000 lds r14,EE_Parameter+655028 3088 FF24 clr r155029 308a 00E0 ldi r16,lo8(0)5030 308c 10E0 ldi r17,hi8(0)5031 308e C601 movw r24,r125032 3090 B501 movw r22,r105033 3092 A801 movw r20,r165034 3094 9701 movw r18,r145035 3096 0E94 0000 call __divmodsi45036 309a 5901 movw r10,r185037 309c 6A01 movw r12,r205038 309e 2093 0000 sts ausgleichNick.3053,r185039 30a2 3093 0000 sts (ausgleichNick.3053)+1,r195040 30a6 4093 0000 sts (ausgleichNick.3053)+2,r205041 30aa 5093 0000 sts (ausgleichNick.3053)+3,r215042 30ae 6218 sub r6,r25043 30b0 7308 sbc r7,r35044 30b2 8408 sbc r8,r45045 30b4 9508 sbc r9,r55046 30b6 6092 0000 sts IntegralFehlerRoll.3046,r65047 30ba 7092 0000 sts (IntegralFehlerRoll.3046)+1,r75048 30be 8092 0000 sts (IntegralFehlerRoll.3046)+2,r85049 30c2 9092 0000 sts (IntegralFehlerRoll.3046)+3,r95050 30c6 C401 movw r24,r85051 30c8 B301 movw r22,r65052 30ca A801 movw r20,r165053 30cc 9701 movw r18,r145054 30ce 0E94 0000 call __divmodsi45055 30d2 7901 movw r14,r185056 30d4 8A01 movw r16,r205057 30d6 2093 0000 sts ausgleichRoll.3054,r185058 30da 3093 0000 sts (ausgleichRoll.3054)+1,r195059 30de 4093 0000 sts (ausgleichRoll.3054)+2,r205060 30e2 5093 0000 sts (ausgleichRoll.3054)+3,r215061 30e6 C601 movw r24,r125062 30e8 B501 movw r22,r105063 30ea 20E0 ldi r18,lo8(256)5064 30ec 31E0 ldi r19,hi8(256)5065 30ee 40E0 ldi r20,hlo8(256)5066 30f0 50E0 ldi r21,hhi8(256)5067 30f2 0E94 0000 call __divmodsi45068 30f6 3093 0000 sts (LageKorrekturNick)+1,r195069 30fa 2093 0000 sts LageKorrekturNick,r185070 30fe C801 movw r24,r165071 3100 B701 movw r22,r145072 3102 20E0 ldi r18,lo8(256)5073 3104 31E0 ldi r19,hi8(256)5074 3106 40E0 ldi r20,hlo8(256)5075 3108 50E0 ldi r21,hhi8(256)5076 310a 0E94 0000 call __divmodsi45077 310e 3093 0000 sts (LageKorrekturRoll)+1,r195078 3112 2093 0000 sts LageKorrekturRoll,r185079 3116 8091 0000 lds r24,MaxStickNick5080 311a 9091 0000 lds r25,(MaxStickNick)+15081 311e 8134 cpi r24,655082 3120 9105 cpc r25,__zero_reg__5083 3122 04F4 brge .L3355084 3124 8091 0000 lds r24,MaxStickRoll5085 3128 9091 0000 lds r25,(MaxStickRoll)+15086 312c 8134 cpi r24,655087 312e 9105 cpc r25,__zero_reg__5088 3130 04F4 brge .L3355089 3132 E091 0000 lds r30,EE_Parameter+45090 3136 F0E0 ldi r31,lo8(0)5091 3138 EE0F lsl r305092 313a FF1F rol r315093 313c E050 subi r30,lo8(-(PPM_in))5094 313e F040 sbci r31,hi8(-(PPM_in))5095 3140 0190 ld __tmp_reg__,Z+5096 3142 F081 ld r31,Z5097 3144 E02D mov r30,__tmp_reg__5098 3146 F7FF sbrs r31,75099 3148 00C0 rjmp .L3375100 314a F095 com r315101 314c E195 neg r305102 314e FF4F sbci r31,lo8(-1)5103 .L337:5104 3150 7A97 sbiw r30,265105 3152 04F0 brlt .L3365106 .L335:5107 3154 8091 0000 lds r24,FromNaviCtrl_Value5108 3158 8F3F cpi r24,lo8(-1)5109 315a 01F4 brne .L3365110 315c 8091 0000 lds r24,LageKorrekturNick5111 3160 9091 0000 lds r25,(LageKorrekturNick)+15112 3164 62E0 ldi r22,lo8(2)5113 3166 70E0 ldi r23,hi8(2)5114 3168 0E94 0000 call __divmodhi45115 316c 7093 0000 sts (LageKorrekturNick)+1,r235116 3170 6093 0000 sts LageKorrekturNick,r225117 3174 8091 0000 lds r24,LageKorrekturRoll5118 3178 9091 0000 lds r25,(LageKorrekturRoll)+15119 317c 62E0 ldi r22,lo8(2)5120 317e 70E0 ldi r23,hi8(2)5121 3180 0E94 0000 call __divmodhi45122 3184 7093 0000 sts (LageKorrekturRoll)+1,r235123 3188 6093 0000 sts LageKorrekturRoll,r225124 .L336:5125 318c E090 0000 lds r14,IntegralNick25126 3190 F090 0000 lds r15,(IntegralNick2)+15127 3194 0091 0000 lds r16,(IntegralNick2)+25128 3198 1091 0000 lds r17,(IntegralNick2)+35129 319c 8091 0000 lds r24,IntegralNick5130 31a0 9091 0000 lds r25,(IntegralNick)+15131 31a4 A091 0000 lds r26,(IntegralNick)+25132 31a8 B091 0000 lds r27,(IntegralNick)+35133 31ac E81A sub r14,r245134 31ae F90A sbc r15,r255135 31b0 0A0B sbc r16,r265136 31b2 1B0B sbc r17,r275137 31b4 E092 0000 sts tmp_long.3043,r145138 31b8 F092 0000 sts (tmp_long.3043)+1,r155139 31bc 0093 0000 sts (tmp_long.3043)+2,r165140 31c0 1093 0000 sts (tmp_long.3043)+3,r175141 31c4 2091 0000 lds r18,IntegralRoll25142 31c8 3091 0000 lds r19,(IntegralRoll2)+15143 31cc 4091 0000 lds r20,(IntegralRoll2)+25144 31d0 5091 0000 lds r21,(IntegralRoll2)+35145 31d4 8091 0000 lds r24,IntegralRoll5146 31d8 9091 0000 lds r25,(IntegralRoll)+15147 31dc A091 0000 lds r26,(IntegralRoll)+25148 31e0 B091 0000 lds r27,(IntegralRoll)+35149 31e4 281B sub r18,r245150 31e6 390B sbc r19,r255151 31e8 4A0B sbc r20,r265152 31ea 5B0B sbc r21,r275153 31ec 2093 0000 sts tmp_long2.3044,r185154 31f0 3093 0000 sts (tmp_long2.3044)+1,r195155 31f4 4093 0000 sts (tmp_long2.3044)+2,r205156 31f8 5093 0000 sts (tmp_long2.3044)+3,r215157 31fc E092 0000 sts IntegralFehlerNick.3045,r145158 3200 F092 0000 sts (IntegralFehlerNick.3045)+1,r155159 3204 0093 0000 sts (IntegralFehlerNick.3045)+2,r165160 3208 1093 0000 sts (IntegralFehlerNick.3045)+3,r175161 320c 2093 0000 sts IntegralFehlerRoll.3046,r185162 3210 3093 0000 sts (IntegralFehlerRoll.3046)+1,r195163 3214 4093 0000 sts (IntegralFehlerRoll.3046)+2,r205164 3218 5093 0000 sts (IntegralFehlerRoll.3046)+3,r215165 321c 8091 0000 lds r24,Mess_IntegralNick25166 3220 9091 0000 lds r25,(Mess_IntegralNick2)+15167 3224 A091 0000 lds r26,(Mess_IntegralNick2)+25168 3228 B091 0000 lds r27,(Mess_IntegralNick2)+35169 322c 8E19 sub r24,r145170 322e 9F09 sbc r25,r155171 3230 A00B sbc r26,r165172 3232 B10B sbc r27,r175173 3234 8093 0000 sts Mess_IntegralNick2,r245174 3238 9093 0000 sts (Mess_IntegralNick2)+1,r255175 323c A093 0000 sts (Mess_IntegralNick2)+2,r265176 3240 B093 0000 sts (Mess_IntegralNick2)+3,r275177 3244 8091 0000 lds r24,Mess_IntegralRoll25178 3248 9091 0000 lds r25,(Mess_IntegralRoll2)+15179 324c A091 0000 lds r26,(Mess_IntegralRoll2)+25180 3250 B091 0000 lds r27,(Mess_IntegralRoll2)+35181 3254 821B sub r24,r185182 3256 930B sbc r25,r195183 3258 A40B sbc r26,r205184 325a B50B sbc r27,r215185 325c 8093 0000 sts Mess_IntegralRoll2,r245186 3260 9093 0000 sts (Mess_IntegralRoll2)+1,r255187 3264 A093 0000 sts (Mess_IntegralRoll2)+2,r265188 3268 B093 0000 sts (Mess_IntegralRoll2)+3,r275189 326c 8091 0000 lds r24,EE_Parameter+665190 3270 8823 tst r245191 3272 01F0 breq .L3385192 3274 8091 0000 lds r24,GierGyroFehler5193 3278 9091 0000 lds r25,(GierGyroFehler)+15194 327c 8138 cpi r24,1295195 327e 9105 cpc r25,__zero_reg__5196 3280 04F0 brlt .L3395197 3282 8091 0000 lds r24,AdNeutralGier5198 3286 9091 0000 lds r25,(AdNeutralGier)+15199 328a 0196 adiw r24,15200 328c 9093 0000 sts (AdNeutralGier)+1,r255201 3290 8093 0000 sts AdNeutralGier,r245202 .L339:5203 3294 8091 0000 lds r24,GierGyroFehler5204 3298 9091 0000 lds r25,(GierGyroFehler)+15205 329c 8058 subi r24,lo8(-128)5206 329e 9F4F sbci r25,hi8(-128)5207 32a0 04F4 brge .L3385208 32a2 8091 0000 lds r24,AdNeutralGier5209 32a6 9091 0000 lds r25,(AdNeutralGier)+15210 32aa 0197 sbiw r24,15211 32ac 9093 0000 sts (AdNeutralGier)+1,r255212 32b0 8093 0000 sts AdNeutralGier,r245213 .L338:5214 32b4 1092 0000 sts (GierGyroFehler)+1,__zero_reg__5215 32b8 1092 0000 sts GierGyroFehler,__zero_reg__5216 32bc 81E0 ldi r24,lo8(1)5217 32be 90E0 ldi r25,hi8(1)5218 32c0 9093 0000 sts (cnt.3066)+1,r255219 32c4 8093 0000 sts cnt.3066,r245220 32c8 8091 0000 lds r24,IntegralFehlerNick.30455221 32cc 9091 0000 lds r25,(IntegralFehlerNick.3045)+15222 32d0 A091 0000 lds r26,(IntegralFehlerNick.3045)+25223 32d4 B091 0000 lds r27,(IntegralFehlerNick.3045)+35224 32d8 B7FF sbrs r27,75225 32da 00C0 rjmp .L3415226 32dc B095 com r275227 32de A095 com r265228 32e0 9095 com r255229 32e2 8195 neg r245230 32e4 9F4F sbci r25,lo8(-1)5231 32e6 AF4F sbci r26,lo8(-1)5232 32e8 BF4F sbci r27,lo8(-1)5233 .L341:5234 32ea 8150 subi r24,lo8(513)5235 32ec 9240 sbci r25,hi8(513)5236 32ee A040 sbci r26,hlo8(513)5237 32f0 B040 sbci r27,hhi8(513)5238 32f2 04F0 brlt .L3405239 32f4 84E0 ldi r24,lo8(4)5240 32f6 90E0 ldi r25,hi8(4)5241 32f8 9093 0000 sts (cnt.3066)+1,r255242 32fc 8093 0000 sts cnt.3066,r245243 .L340:5244 3300 8091 0000 lds r24,MittelIntegralNick_Alt.30715245 3304 9091 0000 lds r25,(MittelIntegralNick_Alt.3071)+15246 3308 A091 0000 lds r26,(MittelIntegralNick_Alt.3071)+25247 330c B091 0000 lds r27,(MittelIntegralNick_Alt.3071)+35248 3310 2091 0000 lds r18,MittelIntegralNick5249 3314 3091 0000 lds r19,(MittelIntegralNick)+15250 3318 4091 0000 lds r20,(MittelIntegralNick)+25251 331c 5091 0000 lds r21,(MittelIntegralNick)+35252 3320 821B sub r24,r185253 3322 930B sbc r25,r195254 3324 A40B sbc r26,r205255 3326 B50B sbc r27,r215256 3328 815E subi r24,lo8(-(19999))5257 332a 914B sbci r25,hi8(-(19999))5258 332c AF4F sbci r26,hlo8(-(19999))5259 332e BF4F sbci r27,hhi8(-(19999))5260 3330 8F53 subi r24,lo8(39999)5261 3332 9C49 sbci r25,hi8(39999)5262 3334 A040 sbci r26,hlo8(39999)5263 3336 B040 sbci r27,hhi8(39999)5264 3338 00F0 brlo .L3425265 333a 8091 0000 lds r24,FromNaviCtrl_Value+15266 333e 8931 cpi r24,lo8(25)5267 3340 04F4 brge .+25268 3342 00C0 rjmp .L3435269 .L342:5270 3344 E090 0000 lds r14,IntegralFehlerNick.30455271 3348 F090 0000 lds r15,(IntegralFehlerNick.3045)+15272 334c 0091 0000 lds r16,(IntegralFehlerNick.3045)+25273 3350 1091 0000 lds r17,(IntegralFehlerNick.3045)+35274 3354 61E0 ldi r22,lo8(4097)5275 3356 E616 cp r14,r225276 3358 60E1 ldi r22,hi8(4097)5277 335a F606 cpc r15,r225278 335c 60E0 ldi r22,hlo8(4097)5279 335e 0607 cpc r16,r225280 3360 60E0 ldi r22,hhi8(4097)5281 3362 1607 cpc r17,r225282 3364 04F4 brge .+25283 3366 00C0 rjmp .L3445284 3368 8091 0000 lds r24,last_n_p.30675285 336c 8823 tst r245286 336e 01F4 brne .+25287 3370 00C0 rjmp .L3455288 3372 A801 movw r20,r165289 3374 9701 movw r18,r145290 3376 F9E0 ldi r31,95291 3378 5595 1: asr r215292 337a 4795 ror r205293 337c 3795 ror r195294 337e 2795 ror r185295 3380 FA95 dec r315296 3382 01F4 brne 1b5297 3384 8091 0000 lds r24,cnt.30665298 3388 9091 0000 lds r25,(cnt.3066)+15299 338c 820F add r24,r185300 338e 931F adc r25,r195301 3390 9093 0000 sts (cnt.3066)+1,r255302 3394 8093 0000 sts cnt.3066,r245303 3398 C801 movw r24,r165304 339a B701 movw r22,r145305 339c 28E0 ldi r18,lo8(8)5306 339e 30E0 ldi r19,hi8(8)5307 33a0 40E0 ldi r20,hlo8(8)5308 33a2 50E0 ldi r21,hhi8(8)5309 33a4 0E94 0000 call __divmodsi45310 33a8 C901 movw r24,r185311 33aa DA01 movw r26,r205312 33ac 8093 0000 sts ausgleichNick.3053,r245313 33b0 9093 0000 sts (ausgleichNick.3053)+1,r255314 33b4 A093 0000 sts (ausgleichNick.3053)+2,r265315 33b8 B093 0000 sts (ausgleichNick.3053)+3,r275316 33bc 8958 subi r24,lo8(5001)5317 33be 9341 sbci r25,hi8(5001)5318 33c0 A040 sbci r26,hlo8(5001)5319 33c2 B040 sbci r27,hhi8(5001)5320 33c4 04F0 brlt .L3465321 33c6 88E8 ldi r24,lo8(5000)5322 33c8 93E1 ldi r25,hi8(5000)5323 33ca A0E0 ldi r26,hlo8(5000)5324 33cc B0E0 ldi r27,hhi8(5000)5325 33ce 8093 0000 sts ausgleichNick.3053,r245326 33d2 9093 0000 sts (ausgleichNick.3053)+1,r255327 33d6 A093 0000 sts (ausgleichNick.3053)+2,r265328 33da B093 0000 sts (ausgleichNick.3053)+3,r275329 .L346:5330 33de 6091 0000 lds r22,ausgleichNick.30535331 33e2 7091 0000 lds r23,(ausgleichNick.3053)+15332 33e6 8091 0000 lds r24,(ausgleichNick.3053)+25333 33ea 9091 0000 lds r25,(ausgleichNick.3053)+35334 33ee 20E0 ldi r18,lo8(256)5335 33f0 31E0 ldi r19,hi8(256)5336 33f2 40E0 ldi r20,hlo8(256)5337 33f4 50E0 ldi r21,hhi8(256)5338 33f6 0E94 0000 call __divmodsi45339 33fa 8091 0000 lds r24,LageKorrekturNick5340 33fe 9091 0000 lds r25,(LageKorrekturNick)+15341 3402 820F add r24,r185342 3404 931F adc r25,r195343 3406 9093 0000 sts (LageKorrekturNick)+1,r255344 340a 8093 0000 sts LageKorrekturNick,r245345 340e 00C0 rjmp .L3475346 .L345:5347 3410 81E0 ldi r24,lo8(1)5348 3412 8093 0000 sts last_n_p.3067,r245349 3416 00C0 rjmp .L3475350 .L344:5351 3418 1092 0000 sts last_n_p.3067,__zero_reg__5352 .L347:5353 341c 4091 0000 lds r20,IntegralFehlerNick.30455354 3420 5091 0000 lds r21,(IntegralFehlerNick.3045)+15355 3424 6091 0000 lds r22,(IntegralFehlerNick.3045)+25356 3428 7091 0000 lds r23,(IntegralFehlerNick.3045)+35357 342c 4030 cpi r20,lo8(-4096)5358 342e 80EF ldi r24,hi8(-4096)5359 3430 5807 cpc r21,r245360 3432 8FEF ldi r24,hlo8(-4096)5361 3434 6807 cpc r22,r245362 3436 8FEF ldi r24,hhi8(-4096)5363 3438 7807 cpc r23,r245364 343a 04F0 brlt .+25365 343c 00C0 rjmp .L3485366 343e 8091 0000 lds r24,last_n_n.30685367 3442 8823 tst r245368 3444 01F4 brne .+25369 3446 00C0 rjmp .L3495370 3448 8827 clr r245371 344a 9927 clr r255372 344c DC01 movw r26,r245373 344e 841B sub r24,r205374 3450 950B sbc r25,r215375 3452 A60B sbc r26,r225376 3454 B70B sbc r27,r235377 3456 E9E0 ldi r30,95378 3458 B595 1: asr r275379 345a A795 ror r265380 345c 9795 ror r255381 345e 8795 ror r245382 3460 EA95 dec r305383 3462 01F4 brne 1b5384 3464 2091 0000 lds r18,cnt.30665385 3468 3091 0000 lds r19,(cnt.3066)+15386 346c 280F add r18,r245387 346e 391F adc r19,r255388 3470 3093 0000 sts (cnt.3066)+1,r195389 3474 2093 0000 sts cnt.3066,r185390 3478 CB01 movw r24,r225391 347a BA01 movw r22,r205392 347c 28E0 ldi r18,lo8(8)5393 347e 30E0 ldi r19,hi8(8)5394 3480 40E0 ldi r20,hlo8(8)5395 3482 50E0 ldi r21,hhi8(8)5396 3484 0E94 0000 call __divmodsi45397 3488 C901 movw r24,r185398 348a DA01 movw r26,r205399 348c 8093 0000 sts ausgleichNick.3053,r245400 3490 9093 0000 sts (ausgleichNick.3053)+1,r255401 3494 A093 0000 sts (ausgleichNick.3053)+2,r265402 3498 B093 0000 sts (ausgleichNick.3053)+3,r275403 349c 8857 subi r24,lo8(-5000)5404 349e 9C4E sbci r25,hi8(-5000)5405 34a0 AF4F sbci r26,hlo8(-5000)5406 34a2 BF4F sbci r27,hhi8(-5000)5407 34a4 04F4 brge .L3505408 34a6 88E7 ldi r24,lo8(-5000)5409 34a8 9CEE ldi r25,hi8(-5000)5410 34aa AFEF ldi r26,hlo8(-5000)5411 34ac BFEF ldi r27,hhi8(-5000)5412 34ae 8093 0000 sts ausgleichNick.3053,r245413 34b2 9093 0000 sts (ausgleichNick.3053)+1,r255414 34b6 A093 0000 sts (ausgleichNick.3053)+2,r265415 34ba B093 0000 sts (ausgleichNick.3053)+3,r275416 .L350:5417 34be 6091 0000 lds r22,ausgleichNick.30535418 34c2 7091 0000 lds r23,(ausgleichNick.3053)+15419 34c6 8091 0000 lds r24,(ausgleichNick.3053)+25420 34ca 9091 0000 lds r25,(ausgleichNick.3053)+35421 34ce 20E0 ldi r18,lo8(256)5422 34d0 31E0 ldi r19,hi8(256)5423 34d2 40E0 ldi r20,hlo8(256)5424 34d4 50E0 ldi r21,hhi8(256)5425 34d6 0E94 0000 call __divmodsi45426 34da 8091 0000 lds r24,LageKorrekturNick5427 34de 9091 0000 lds r25,(LageKorrekturNick)+15428 34e2 820F add r24,r185429 34e4 931F adc r25,r195430 34e6 9093 0000 sts (LageKorrekturNick)+1,r255431 34ea 8093 0000 sts LageKorrekturNick,r245432 34ee 00C0 rjmp .L3515433 .L349:5434 34f0 81E0 ldi r24,lo8(1)5435 34f2 8093 0000 sts last_n_n.3068,r245436 34f6 00C0 rjmp .L3515437 .L348:5438 34f8 1092 0000 sts last_n_n.3068,__zero_reg__5439 34fc 00C0 rjmp .L3515440 .L343:5441 34fe 1092 0000 sts (cnt.3066)+1,__zero_reg__5442 3502 1092 0000 sts cnt.3066,__zero_reg__5443 3506 88EE ldi r24,lo8(1000)5444 3508 93E0 ldi r25,hi8(1000)5445 350a 9093 0000 sts (KompassSignalSchlecht)+1,r255446 350e 8093 0000 sts KompassSignalSchlecht,r245447 .L351:5448 3512 8091 0000 lds r24,EE_Parameter+665449 3516 282F mov r18,r245450 3518 30E0 ldi r19,lo8(0)5451 351a 8091 0000 lds r24,cnt.30665452 351e 9091 0000 lds r25,(cnt.3066)+15453 3522 2817 cp r18,r245454 3524 3907 cpc r19,r255455 3526 04F4 brge .L3525456 3528 3093 0000 sts (cnt.3066)+1,r195457 352c 2093 0000 sts cnt.3066,r185458 .L352:5459 3530 8091 0000 lds r24,FromNaviCtrl_Value+15460 3534 8823 tst r245461 3536 01F0 breq .L3535462 3538 282F mov r18,r245463 353a 3327 clr r195464 353c 27FD sbrc r18,75465 353e 3095 com r195466 3540 8091 0000 lds r24,cnt.30665467 3544 9091 0000 lds r25,(cnt.3066)+15468 3548 2817 cp r18,r245469 354a 3907 cpc r19,r255470 354c 04F4 brge .L3535471 354e 3093 0000 sts (cnt.3066)+1,r195472 3552 2093 0000 sts cnt.3066,r185473 .L353:5474 3556 8091 0000 lds r24,IntegralFehlerNick.30455475 355a 9091 0000 lds r25,(IntegralFehlerNick.3045)+15476 355e A091 0000 lds r26,(IntegralFehlerNick.3045)+25477 3562 B091 0000 lds r27,(IntegralFehlerNick.3045)+35478 3566 8138 cpi r24,lo8(129)5479 3568 9105 cpc r25,__zero_reg__5480 356a A105 cpc r26,__zero_reg__5481 356c B105 cpc r27,__zero_reg__5482 356e 04F0 brlt .L3545483 3570 8091 0000 lds r24,AdNeutralNick5484 3574 9091 0000 lds r25,(AdNeutralNick)+15485 3578 2091 0000 lds r18,cnt.30665486 357c 3091 0000 lds r19,(cnt.3066)+15487 3580 820F add r24,r185488 3582 931F adc r25,r195489 3584 9093 0000 sts (AdNeutralNick)+1,r255490 3588 8093 0000 sts AdNeutralNick,r245491 .L354:5492 358c 8091 0000 lds r24,IntegralFehlerNick.30455493 3590 9091 0000 lds r25,(IntegralFehlerNick.3045)+15494 3594 A091 0000 lds r26,(IntegralFehlerNick.3045)+25495 3598 B091 0000 lds r27,(IntegralFehlerNick.3045)+35496 359c 8058 subi r24,lo8(-128)5497 359e 9F4F sbci r25,hi8(-128)5498 35a0 AF4F sbci r26,hlo8(-128)5499 35a2 BF4F sbci r27,hhi8(-128)5500 35a4 04F4 brge .L3555501 35a6 8091 0000 lds r24,AdNeutralNick5502 35aa 9091 0000 lds r25,(AdNeutralNick)+15503 35ae 2091 0000 lds r18,cnt.30665504 35b2 3091 0000 lds r19,(cnt.3066)+15505 35b6 821B sub r24,r185506 35b8 930B sbc r25,r195507 35ba 9093 0000 sts (AdNeutralNick)+1,r255508 35be 8093 0000 sts AdNeutralNick,r245509 .L355:5510 35c2 81E0 ldi r24,lo8(1)5511 35c4 90E0 ldi r25,hi8(1)5512 35c6 9093 0000 sts (cnt.3066)+1,r255513 35ca 8093 0000 sts cnt.3066,r245514 35ce 8091 0000 lds r24,IntegralFehlerRoll.30465515 35d2 9091 0000 lds r25,(IntegralFehlerRoll.3046)+15516 35d6 A091 0000 lds r26,(IntegralFehlerRoll.3046)+25517 35da B091 0000 lds r27,(IntegralFehlerRoll.3046)+35518 35de B7FF sbrs r27,75519 35e0 00C0 rjmp .L3575520 35e2 B095 com r275521 35e4 A095 com r265522 35e6 9095 com r255523 35e8 8195 neg r245524 35ea 9F4F sbci r25,lo8(-1)5525 35ec AF4F sbci r26,lo8(-1)5526 35ee BF4F sbci r27,lo8(-1)5527 .L357:5528 35f0 8150 subi r24,lo8(513)5529 35f2 9240 sbci r25,hi8(513)5530 35f4 A040 sbci r26,hlo8(513)5531 35f6 B040 sbci r27,hhi8(513)5532 35f8 04F0 brlt .L3565533 35fa 84E0 ldi r24,lo8(4)5534 35fc 90E0 ldi r25,hi8(4)5535 35fe 9093 0000 sts (cnt.3066)+1,r255536 3602 8093 0000 sts cnt.3066,r245537 .L356:5538 3606 8091 0000 lds r24,MittelIntegralRoll_Alt.30725539 360a 9091 0000 lds r25,(MittelIntegralRoll_Alt.3072)+15540 360e A091 0000 lds r26,(MittelIntegralRoll_Alt.3072)+25541 3612 B091 0000 lds r27,(MittelIntegralRoll_Alt.3072)+35542 3616 2091 0000 lds r18,MittelIntegralRoll5543 361a 3091 0000 lds r19,(MittelIntegralRoll)+15544 361e 4091 0000 lds r20,(MittelIntegralRoll)+25545 3622 5091 0000 lds r21,(MittelIntegralRoll)+35546 3626 821B sub r24,r185547 3628 930B sbc r25,r195548 362a A40B sbc r26,r205549 362c B50B sbc r27,r215550 362e 815E subi r24,lo8(-(19999))5551 3630 914B sbci r25,hi8(-(19999))5552 3632 AF4F sbci r26,hlo8(-(19999))5553 3634 BF4F sbci r27,hhi8(-(19999))5554 3636 8F53 subi r24,lo8(39999)5555 3638 9C49 sbci r25,hi8(39999)5556 363a A040 sbci r26,hlo8(39999)5557 363c B040 sbci r27,hhi8(39999)5558 363e 00F0 brlo .L3585559 3640 8091 0000 lds r24,FromNaviCtrl_Value+15560 3644 8931 cpi r24,lo8(25)5561 3646 04F4 brge .+25562 3648 00C0 rjmp .L3595563 .L358:5564 364a E090 0000 lds r14,IntegralFehlerRoll.30465565 364e F090 0000 lds r15,(IntegralFehlerRoll.3046)+15566 3652 0091 0000 lds r16,(IntegralFehlerRoll.3046)+25567 3656 1091 0000 lds r17,(IntegralFehlerRoll.3046)+35568 365a 41E0 ldi r20,lo8(4097)5569 365c E416 cp r14,r205570 365e 40E1 ldi r20,hi8(4097)5571 3660 F406 cpc r15,r205572 3662 40E0 ldi r20,hlo8(4097)5573 3664 0407 cpc r16,r205574 3666 40E0 ldi r20,hhi8(4097)5575 3668 1407 cpc r17,r205576 366a 04F4 brge .+25577 366c 00C0 rjmp .L3605578 366e 8091 0000 lds r24,last_r_p.30695579 3672 8823 tst r245580 3674 01F4 brne .+25581 3676 00C0 rjmp .L3615582 3678 A801 movw r20,r165583 367a 9701 movw r18,r145584 367c 69E0 ldi r22,95585 367e 5595 1: asr r215586 3680 4795 ror r205587 3682 3795 ror r195588 3684 2795 ror r185589 3686 6A95 dec r225590 3688 01F4 brne 1b5591 368a 8091 0000 lds r24,cnt.30665592 368e 9091 0000 lds r25,(cnt.3066)+15593 3692 820F add r24,r185594 3694 931F adc r25,r195595 3696 9093 0000 sts (cnt.3066)+1,r255596 369a 8093 0000 sts cnt.3066,r245597 369e C801 movw r24,r165598 36a0 B701 movw r22,r145599 36a2 28E0 ldi r18,lo8(8)5600 36a4 30E0 ldi r19,hi8(8)5601 36a6 40E0 ldi r20,hlo8(8)5602 36a8 50E0 ldi r21,hhi8(8)5603 36aa 0E94 0000 call __divmodsi45604 36ae C901 movw r24,r185605 36b0 DA01 movw r26,r205606 36b2 8093 0000 sts ausgleichRoll.3054,r245607 36b6 9093 0000 sts (ausgleichRoll.3054)+1,r255608 36ba A093 0000 sts (ausgleichRoll.3054)+2,r265609 36be B093 0000 sts (ausgleichRoll.3054)+3,r275610 36c2 8958 subi r24,lo8(5001)5611 36c4 9341 sbci r25,hi8(5001)5612 36c6 A040 sbci r26,hlo8(5001)5613 36c8 B040 sbci r27,hhi8(5001)5614 36ca 04F0 brlt .L3625615 36cc 88E8 ldi r24,lo8(5000)5616 36ce 93E1 ldi r25,hi8(5000)5617 36d0 A0E0 ldi r26,hlo8(5000)5618 36d2 B0E0 ldi r27,hhi8(5000)5619 36d4 8093 0000 sts ausgleichRoll.3054,r245620 36d8 9093 0000 sts (ausgleichRoll.3054)+1,r255621 36dc A093 0000 sts (ausgleichRoll.3054)+2,r265622 36e0 B093 0000 sts (ausgleichRoll.3054)+3,r275623 .L362:5624 36e4 6091 0000 lds r22,ausgleichRoll.30545625 36e8 7091 0000 lds r23,(ausgleichRoll.3054)+15626 36ec 8091 0000 lds r24,(ausgleichRoll.3054)+25627 36f0 9091 0000 lds r25,(ausgleichRoll.3054)+35628 36f4 20E0 ldi r18,lo8(256)5629 36f6 31E0 ldi r19,hi8(256)5630 36f8 40E0 ldi r20,hlo8(256)5631 36fa 50E0 ldi r21,hhi8(256)5632 36fc 0E94 0000 call __divmodsi45633 3700 8091 0000 lds r24,LageKorrekturRoll5634 3704 9091 0000 lds r25,(LageKorrekturRoll)+15635 3708 820F add r24,r185636 370a 931F adc r25,r195637 370c 9093 0000 sts (LageKorrekturRoll)+1,r255638 3710 8093 0000 sts LageKorrekturRoll,r245639 3714 00C0 rjmp .L3635640 .L361:5641 3716 81E0 ldi r24,lo8(1)5642 3718 8093 0000 sts last_r_p.3069,r245643 371c 00C0 rjmp .L3635644 .L360:5645 371e 1092 0000 sts last_r_p.3069,__zero_reg__5646 .L363:5647 3722 4091 0000 lds r20,IntegralFehlerRoll.30465648 3726 5091 0000 lds r21,(IntegralFehlerRoll.3046)+15649 372a 6091 0000 lds r22,(IntegralFehlerRoll.3046)+25650 372e 7091 0000 lds r23,(IntegralFehlerRoll.3046)+35651 3732 4030 cpi r20,lo8(-4096)5652 3734 80EF ldi r24,hi8(-4096)5653 3736 5807 cpc r21,r245654 3738 8FEF ldi r24,hlo8(-4096)5655 373a 6807 cpc r22,r245656 373c 8FEF ldi r24,hhi8(-4096)5657 373e 7807 cpc r23,r245658 3740 04F0 brlt .+25659 3742 00C0 rjmp .L3645660 3744 8091 0000 lds r24,last_r_n.30705661 3748 8823 tst r245662 374a 01F4 brne .+25663 374c 00C0 rjmp .L3655664 374e 8827 clr r245665 3750 9927 clr r255666 3752 DC01 movw r26,r245667 3754 841B sub r24,r205668 3756 950B sbc r25,r215669 3758 A60B sbc r26,r225670 375a B70B sbc r27,r235671 375c 29E0 ldi r18,95672 375e B595 1: asr r275673 3760 A795 ror r265674 3762 9795 ror r255675 3764 8795 ror r245676 3766 2A95 dec r185677 3768 01F4 brne 1b5678 376a 2091 0000 lds r18,cnt.30665679 376e 3091 0000 lds r19,(cnt.3066)+15680 3772 280F add r18,r245681 3774 391F adc r19,r255682 3776 3093 0000 sts (cnt.3066)+1,r195683 377a 2093 0000 sts cnt.3066,r185684 377e CB01 movw r24,r225685 3780 BA01 movw r22,r205686 3782 28E0 ldi r18,lo8(8)5687 3784 30E0 ldi r19,hi8(8)5688 3786 40E0 ldi r20,hlo8(8)5689 3788 50E0 ldi r21,hhi8(8)5690 378a 0E94 0000 call __divmodsi45691 378e C901 movw r24,r185692 3790 DA01 movw r26,r205693 3792 8093 0000 sts ausgleichRoll.3054,r245694 3796 9093 0000 sts (ausgleichRoll.3054)+1,r255695 379a A093 0000 sts (ausgleichRoll.3054)+2,r265696 379e B093 0000 sts (ausgleichRoll.3054)+3,r275697 37a2 8857 subi r24,lo8(-5000)5698 37a4 9C4E sbci r25,hi8(-5000)5699 37a6 AF4F sbci r26,hlo8(-5000)5700 37a8 BF4F sbci r27,hhi8(-5000)5701 37aa 04F4 brge .L3665702 37ac 88E7 ldi r24,lo8(-5000)5703 37ae 9CEE ldi r25,hi8(-5000)5704 37b0 AFEF ldi r26,hlo8(-5000)5705 37b2 BFEF ldi r27,hhi8(-5000)5706 37b4 8093 0000 sts ausgleichRoll.3054,r245707 37b8 9093 0000 sts (ausgleichRoll.3054)+1,r255708 37bc A093 0000 sts (ausgleichRoll.3054)+2,r265709 37c0 B093 0000 sts (ausgleichRoll.3054)+3,r275710 .L366:5711 37c4 6091 0000 lds r22,ausgleichRoll.30545712 37c8 7091 0000 lds r23,(ausgleichRoll.3054)+15713 37cc 8091 0000 lds r24,(ausgleichRoll.3054)+25714 37d0 9091 0000 lds r25,(ausgleichRoll.3054)+35715 37d4 20E0 ldi r18,lo8(256)5716 37d6 31E0 ldi r19,hi8(256)5717 37d8 40E0 ldi r20,hlo8(256)5718 37da 50E0 ldi r21,hhi8(256)5719 37dc 0E94 0000 call __divmodsi45720 37e0 8091 0000 lds r24,LageKorrekturRoll5721 37e4 9091 0000 lds r25,(LageKorrekturRoll)+15722 37e8 820F add r24,r185723 37ea 931F adc r25,r195724 37ec 9093 0000 sts (LageKorrekturRoll)+1,r255725 37f0 8093 0000 sts LageKorrekturRoll,r245726 37f4 00C0 rjmp .L3675727 .L365:5728 37f6 81E0 ldi r24,lo8(1)5729 37f8 8093 0000 sts last_r_n.3070,r245730 37fc 00C0 rjmp .L3675731 .L364:5732 37fe 1092 0000 sts last_r_n.3070,__zero_reg__5733 3802 00C0 rjmp .L3675734 .L359:5735 3804 1092 0000 sts (cnt.3066)+1,__zero_reg__5736 3808 1092 0000 sts cnt.3066,__zero_reg__5737 380c 88EE ldi r24,lo8(1000)5738 380e 93E0 ldi r25,hi8(1000)5739 3810 9093 0000 sts (KompassSignalSchlecht)+1,r255740 3814 8093 0000 sts KompassSignalSchlecht,r245741 .L367:5742 3818 8091 0000 lds r24,EE_Parameter+665743 381c 282F mov r18,r245744 381e 30E0 ldi r19,lo8(0)5745 3820 8091 0000 lds r24,cnt.30665746 3824 9091 0000 lds r25,(cnt.3066)+15747 3828 2817 cp r18,r245748 382a 3907 cpc r19,r255749 382c 04F4 brge .L3685750 382e 3093 0000 sts (cnt.3066)+1,r195751 3832 2093 0000 sts cnt.3066,r185752 .L368:5753 3836 8091 0000 lds r24,FromNaviCtrl_Value+15754 383a 8823 tst r245755 383c 01F0 breq .L3695756 383e 282F mov r18,r245757 3840 3327 clr r195758 3842 27FD sbrc r18,75759 3844 3095 com r195760 3846 8091 0000 lds r24,cnt.30665761 384a 9091 0000 lds r25,(cnt.3066)+15762 384e 2817 cp r18,r245763 3850 3907 cpc r19,r255764 3852 04F4 brge .L3695765 3854 3093 0000 sts (cnt.3066)+1,r195766 3858 2093 0000 sts cnt.3066,r185767 .L369:5768 385c 8091 0000 lds r24,IntegralFehlerRoll.30465769 3860 9091 0000 lds r25,(IntegralFehlerRoll.3046)+15770 3864 A091 0000 lds r26,(IntegralFehlerRoll.3046)+25771 3868 B091 0000 lds r27,(IntegralFehlerRoll.3046)+35772 386c 8138 cpi r24,lo8(129)5773 386e 9105 cpc r25,__zero_reg__5774 3870 A105 cpc r26,__zero_reg__5775 3872 B105 cpc r27,__zero_reg__5776 3874 04F0 brlt .L3705777 3876 8091 0000 lds r24,AdNeutralRoll5778 387a 9091 0000 lds r25,(AdNeutralRoll)+15779 387e 2091 0000 lds r18,cnt.30665780 3882 3091 0000 lds r19,(cnt.3066)+15781 3886 820F add r24,r185782 3888 931F adc r25,r195783 388a 9093 0000 sts (AdNeutralRoll)+1,r255784 388e 8093 0000 sts AdNeutralRoll,r245785 .L370:5786 3892 8091 0000 lds r24,IntegralFehlerRoll.30465787 3896 9091 0000 lds r25,(IntegralFehlerRoll.3046)+15788 389a A091 0000 lds r26,(IntegralFehlerRoll.3046)+25789 389e B091 0000 lds r27,(IntegralFehlerRoll.3046)+35790 38a2 8058 subi r24,lo8(-128)5791 38a4 9F4F sbci r25,hi8(-128)5792 38a6 AF4F sbci r26,hlo8(-128)5793 38a8 BF4F sbci r27,hhi8(-128)5794 38aa 04F4 brge .L3715795 38ac 8091 0000 lds r24,AdNeutralRoll5796 38b0 9091 0000 lds r25,(AdNeutralRoll)+15797 38b4 2091 0000 lds r18,cnt.30665798 38b8 3091 0000 lds r19,(cnt.3066)+15799 38bc 821B sub r24,r185800 38be 930B sbc r25,r195801 38c0 9093 0000 sts (AdNeutralRoll)+1,r255802 38c4 8093 0000 sts AdNeutralRoll,r245803 38c8 00C0 rjmp .L3715804 .L334:5805 38ca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5806 38ce 1092 0000 sts LageKorrekturRoll,__zero_reg__5807 38d2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5808 38d6 1092 0000 sts LageKorrekturNick,__zero_reg__5809 38da 1092 0000 sts TrichterFlug,__zero_reg__5810 .L371:5811 38de 8091 0000 lds r24,IntegralFaktor5812 38e2 8823 tst r245813 38e4 01F4 brne .L3725814 38e6 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5815 38ea 1092 0000 sts LageKorrekturRoll,__zero_reg__5816 38ee 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5817 38f2 1092 0000 sts LageKorrekturNick,__zero_reg__5818 .L372:5819 38f6 8091 0000 lds r24,MittelIntegralNick5820 38fa 9091 0000 lds r25,(MittelIntegralNick)+15821 38fe A091 0000 lds r26,(MittelIntegralNick)+25822 3902 B091 0000 lds r27,(MittelIntegralNick)+35823 3906 8093 0000 sts MittelIntegralNick_Alt.3071,r245824 390a 9093 0000 sts (MittelIntegralNick_Alt.3071)+1,r255825 390e A093 0000 sts (MittelIntegralNick_Alt.3071)+2,r265826 3912 B093 0000 sts (MittelIntegralNick_Alt.3071)+3,r275827 3916 8091 0000 lds r24,MittelIntegralRoll5828 391a 9091 0000 lds r25,(MittelIntegralRoll)+15829 391e A091 0000 lds r26,(MittelIntegralRoll)+25830 3922 B091 0000 lds r27,(MittelIntegralRoll)+35831 3926 8093 0000 sts MittelIntegralRoll_Alt.3072,r245832 392a 9093 0000 sts (MittelIntegralRoll_Alt.3072)+1,r255833 392e A093 0000 sts (MittelIntegralRoll_Alt.3072)+2,r265834 3932 B093 0000 sts (MittelIntegralRoll_Alt.3072)+3,r275835 3936 1092 0000 sts IntegralAccNick,__zero_reg__5836 393a 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5837 393e 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5838 3942 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5839 3946 1092 0000 sts IntegralAccRoll,__zero_reg__5840 394a 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5841 394e 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5842 3952 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5843 3956 1092 0000 sts IntegralAccZ,__zero_reg__5844 395a 1092 0000 sts (IntegralAccZ)+1,__zero_reg__5845 395e 1092 0000 sts (IntegralAccZ)+2,__zero_reg__5846 3962 1092 0000 sts (IntegralAccZ)+3,__zero_reg__5847 3966 1092 0000 sts MittelIntegralNick,__zero_reg__5848 396a 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5849 396e 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5850 3972 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5851 3976 1092 0000 sts MittelIntegralRoll,__zero_reg__5852 397a 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5853 397e 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5854 3982 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5855 3986 1092 0000 sts MittelIntegralNick2,__zero_reg__5856 398a 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5857 398e 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5858 3992 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5859 3996 1092 0000 sts MittelIntegralRoll2,__zero_reg__5860 399a 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5861 399e 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5862 39a2 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5863 39a6 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5864 39aa 1092 0000 sts ZaehlMessungen,__zero_reg__5865 .L333:5866 39ae 8091 0000 lds r24,StickGier5867 39b2 9091 0000 lds r25,(StickGier)+15868 39b6 97FF sbrs r25,75869 39b8 00C0 rjmp .L3745870 39ba 9095 com r255871 39bc 8195 neg r245872 39be 9F4F sbci r25,lo8(-1)5873 .L374:5874 39c0 4097 sbiw r24,165875 39c2 04F0 brlt .L3735876 39c4 88EE ldi r24,lo8(1000)5877 39c6 93E0 ldi r25,hi8(1000)5878 39c8 9093 0000 sts (KompassSignalSchlecht)+1,r255879 39cc 8093 0000 sts KompassSignalSchlecht,r245880 39d0 8091 0000 lds r24,EE_Parameter+135881 39d4 84FD sbrc r24,45882 39d6 00C0 rjmp .L3735883 39d8 81E0 ldi r24,lo8(1)5884 39da 8093 0000 sts NeueKompassRichtungMerken.3052,r245885 .L373:5886 39de D090 0000 lds r13,EE_Parameter+255887 39e2 E090 0000 lds r14,StickGier5888 39e6 F090 0000 lds r15,(StickGier)+15889 39ea B701 movw r22,r145890 39ec 8827 clr r245891 39ee 77FD sbrc r23,75892 39f0 8095 com r245893 39f2 982F mov r25,r245894 39f4 2D2D mov r18,r135895 39f6 30E0 ldi r19,lo8(0)5896 39f8 40E0 ldi r20,lo8(0)5897 39fa 50E0 ldi r21,hi8(0)5898 39fc 0E94 0000 call __mulsi35899 3a00 F701 movw r30,r145900 3a02 F7FE sbrs r15,75901 3a04 00C0 rjmp .L3755902 3a06 EE27 clr r305903 3a08 FF27 clr r315904 3a0a EE19 sub r30,r145905 3a0c FF09 sbc r31,r155906 .L375:5907 3a0e 9F01 movw r18,r305908 3a10 4427 clr r205909 3a12 37FD sbrc r19,75910 3a14 4095 com r205911 3a16 542F mov r21,r205912 3a18 0E94 0000 call __mulsi35913 3a1c 20E0 ldi r18,lo8(512)5914 3a1e 32E0 ldi r19,hi8(512)5915 3a20 40E0 ldi r20,hlo8(512)5916 3a22 50E0 ldi r21,hhi8(512)5917 3a24 0E94 0000 call __divmodsi45918 3a28 8901 movw r16,r185919 3a2a 9A01 movw r18,r205920 3a2c 8D2D mov r24,r135921 3a2e 90E0 ldi r25,lo8(0)5922 3a30 AC01 movw r20,r245923 3a32 4E9D mul r20,r145924 3a34 C001 movw r24,r05925 3a36 4F9D mul r20,r155926 3a38 900D add r25,r05927 3a3a 5E9D mul r21,r145928 3a3c 900D add r25,r05929 3a3e 1124 clr r15930 3a40 64E0 ldi r22,lo8(4)5931 3a42 70E0 ldi r23,hi8(4)5932 3a44 0E94 0000 call __divmodhi45933 3a48 600F add r22,r165934 3a4a 711F adc r23,r175935 3a4c 8827 clr r245936 3a4e 77FD sbrc r23,75937 3a50 8095 com r245938 3a52 982F mov r25,r245939 3a54 6093 0000 sts sollGier.3042,r225940 3a58 7093 0000 sts (sollGier.3042)+1,r235941 3a5c 8093 0000 sts (sollGier.3042)+2,r245942 3a60 9093 0000 sts (sollGier.3042)+3,r255943 3a64 2091 0000 lds r18,Mess_Integral_Gier5944 3a68 3091 0000 lds r19,(Mess_Integral_Gier)+15945 3a6c 4091 0000 lds r20,(Mess_Integral_Gier)+25946 3a70 5091 0000 lds r21,(Mess_Integral_Gier)+35947 3a74 261B sub r18,r225948 3a76 370B sbc r19,r235949 3a78 480B sbc r20,r245950 3a7a 590B sbc r21,r255951 3a7c 2093 0000 sts Mess_Integral_Gier,r185952 3a80 3093 0000 sts (Mess_Integral_Gier)+1,r195953 3a84 4093 0000 sts (Mess_Integral_Gier)+2,r205954 3a88 5093 0000 sts (Mess_Integral_Gier)+3,r215955 3a8c 2155 subi r18,lo8(50001)5956 3a8e 334C sbci r19,hi8(50001)5957 3a90 4040 sbci r20,hlo8(50001)5958 3a92 5040 sbci r21,hhi8(50001)5959 3a94 04F0 brlt .L3765960 3a96 80E5 ldi r24,lo8(50000)5961 3a98 93EC ldi r25,hi8(50000)5962 3a9a A0E0 ldi r26,hlo8(50000)5963 3a9c B0E0 ldi r27,hhi8(50000)5964 3a9e 8093 0000 sts Mess_Integral_Gier,r245965 3aa2 9093 0000 sts (Mess_Integral_Gier)+1,r255966 3aa6 A093 0000 sts (Mess_Integral_Gier)+2,r265967 3aaa B093 0000 sts (Mess_Integral_Gier)+3,r275968 .L376:5969 3aae 8091 0000 lds r24,Mess_Integral_Gier5970 3ab2 9091 0000 lds r25,(Mess_Integral_Gier)+15971 3ab6 A091 0000 lds r26,(Mess_Integral_Gier)+25972 3aba B091 0000 lds r27,(Mess_Integral_Gier)+35973 3abe 805B subi r24,lo8(-50000)5974 3ac0 9C43 sbci r25,hi8(-50000)5975 3ac2 AF4F sbci r26,hlo8(-50000)5976 3ac4 BF4F sbci r27,hhi8(-50000)5977 3ac6 04F4 brge .L3775978 3ac8 80EB ldi r24,lo8(-50000)5979 3aca 9CE3 ldi r25,hi8(-50000)5980 3acc AFEF ldi r26,hlo8(-50000)5981 3ace BFEF ldi r27,hhi8(-50000)5982 3ad0 8093 0000 sts Mess_Integral_Gier,r245983 3ad4 9093 0000 sts (Mess_Integral_Gier)+1,r255984 3ad8 A093 0000 sts (Mess_Integral_Gier)+2,r265985 3adc B093 0000 sts (Mess_Integral_Gier)+3,r275986 .L377:5987 3ae0 C090 0000 lds r12,KompassValue5988 3ae4 D090 0000 lds r13,(KompassValue)+15989 3ae8 C114 cp r12,__zero_reg__5990 3aea D104 cpc r13,__zero_reg__5991 3aec 01F4 brne .+25992 3aee 00C0 rjmp .L3785993 3af0 8091 0000 lds r24,EE_Parameter+135994 3af4 83FF sbrs r24,35995 3af6 00C0 rjmp .L3785996 3af8 6091 0000 lds r22,IntegralNick5997 3afc 7091 0000 lds r23,(IntegralNick)+15998 3b00 8091 0000 lds r24,(IntegralNick)+25999 3b04 9091 0000 lds r25,(IntegralNick)+36000 3b08 20E0 ldi r18,lo8(512)6001 3b0a 32E0 ldi r19,hi8(512)6002 3b0c 40E0 ldi r20,hlo8(512)6003 3b0e 50E0 ldi r21,hhi8(512)6004 3b10 0E94 0000 call __divmodsi46005 3b14 8901 movw r16,r186006 3b16 37FF sbrs r19,76007 3b18 00C0 rjmp .L3796008 3b1a 1095 com r176009 3b1c 0195 neg r166010 3b1e 1F4F sbci r17,lo8(-1)6011 .L379:6012 3b20 6091 0000 lds r22,IntegralRoll6013 3b24 7091 0000 lds r23,(IntegralRoll)+16014 3b28 8091 0000 lds r24,(IntegralRoll)+26015 3b2c 9091 0000 lds r25,(IntegralRoll)+36016 3b30 20E0 ldi r18,lo8(512)6017 3b32 32E0 ldi r19,hi8(512)6018 3b34 40E0 ldi r20,hlo8(512)6019 3b36 50E0 ldi r21,hhi8(512)6020 3b38 0E94 0000 call __divmodsi46021 3b3c 3901 movw r6,r186022 3b3e 37FF sbrs r19,76023 3b40 00C0 rjmp .L3806024 3b42 7094 com r76025 3b44 6194 neg r66026 3b46 7108 sbc r7,__zero_reg__6027 3b48 7394 inc r76028 .L380:6029 3b4a 6016 cp r6,r166030 3b4c 7106 cpc r7,r176031 3b4e 04F4 brge .L3816032 3b50 3801 movw r6,r166033 .L381:6034 3b52 8CE1 ldi r24,lo8(540)6035 3b54 92E0 ldi r25,hi8(540)6036 3b56 C80E add r12,r246037 3b58 D91E adc r13,r256038 3b5a 7601 movw r14,r126039 3b5c 0027 clr r166040 3b5e F7FC sbrc r15,76041 3b60 0095 com r166042 3b62 102F mov r17,r166043 3b64 6091 0000 lds r22,ErsatzKompass6044 3b68 7091 0000 lds r23,(ErsatzKompass)+16045 3b6c 8091 0000 lds r24,(ErsatzKompass)+26046 3b70 9091 0000 lds r25,(ErsatzKompass)+36047 3b74 A090 0000 lds r10,GIER_GRAD_FAKTOR6048 3b78 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+16049 3b7c C090 0000 lds r12,(GIER_GRAD_FAKTOR)+26050 3b80 D090 0000 lds r13,(GIER_GRAD_FAKTOR)+36051 3b84 A601 movw r20,r126052 3b86 9501 movw r18,r106053 3b88 0E94 0000 call __divmodsi46054 3b8c E21A sub r14,r186055 3b8e F30A sbc r15,r196056 3b90 040B sbc r16,r206057 3b92 150B sbc r17,r216058 3b94 C801 movw r24,r166059 3b96 B701 movw r22,r146060 3b98 28E6 ldi r18,lo8(360)6061 3b9a 31E0 ldi r19,hi8(360)6062 3b9c 40E0 ldi r20,hlo8(360)6063 3b9e 50E0 ldi r21,hhi8(360)6064 3ba0 0E94 0000 call __divmodsi46065 3ba4 8B01 movw r16,r226066 3ba6 045B subi r16,lo8(-(-180))6067 3ba8 1040 sbci r17,hi8(-(-180))6068 3baa 8091 0000 lds r24,KompassSignalSchlecht6069 3bae 9091 0000 lds r25,(KompassSignalSchlecht)+16070 3bb2 892B or r24,r256071 3bb4 01F4 brne .L3826072 3bb6 99E1 ldi r25,lo8(25)6073 3bb8 6916 cp r6,r256074 3bba 7104 cpc r7,__zero_reg__6075 3bbc 04F4 brge .L3826076 3bbe 8091 0000 lds r24,GierGyroFehler6077 3bc2 9091 0000 lds r25,(GierGyroFehler)+16078 3bc6 800F add r24,r166079 3bc8 911F adc r25,r176080 3bca 9093 0000 sts (GierGyroFehler)+1,r256081 3bce 8093 0000 sts GierGyroFehler,r246082 3bd2 8091 0000 lds r24,NeueKompassRichtungMerken.30526083 3bd6 8823 tst r246084 3bd8 01F0 breq .L3826085 3bda 6091 0000 lds r22,KompassValue6086 3bde 7091 0000 lds r23,(KompassValue)+16087 3be2 8827 clr r246088 3be4 77FD sbrc r23,76089 3be6 8095 com r246090 3be8 982F mov r25,r246091 3bea A601 movw r20,r126092 3bec 9501 movw r18,r106093 3bee 0E94 0000 call __mulsi36094 3bf2 6093 0000 sts ErsatzKompass,r226095 3bf6 7093 0000 sts (ErsatzKompass)+1,r236096 3bfa 8093 0000 sts (ErsatzKompass)+2,r246097 3bfe 9093 0000 sts (ErsatzKompass)+3,r256098 3c02 0E94 0000 call __divmodsi46099 3c06 3093 0000 sts (KompassStartwert)+1,r196100 3c0a 2093 0000 sts KompassStartwert,r186101 3c0e 1092 0000 sts NeueKompassRichtungMerken.3052,__zero_reg__6102 .L382:6103 3c12 B301 movw r22,r66104 3c14 83E0 ldi r24,36105 3c16 7595 1: asr r236106 3c18 6795 ror r226107 3c1a 8A95 dec r246108 3c1c 01F4 brne 1b6109 3c1e 6E5F subi r22,lo8(-(2))6110 3c20 7F4F sbci r23,hi8(-(2))6111 3c22 C801 movw r24,r166112 3c24 04E0 ldi r16,46113 3c26 880F 1: lsl r246114 3c28 991F rol r256115 3c2a 0A95 dec r166116 3c2c 01F4 brne 1b6117 3c2e 0E94 0000 call __divmodhi46118 3c32 4B01 movw r8,r226119 3c34 AA24 clr r106120 3c36 97FC sbrc r9,76121 3c38 A094 com r106122 3c3a BA2C mov r11,r106123 3c3c 8091 0000 lds r24,ErsatzKompass6124 3c40 9091 0000 lds r25,(ErsatzKompass)+16125 3c44 A091 0000 lds r26,(ErsatzKompass)+26126 3c48 B091 0000 lds r27,(ErsatzKompass)+36127 3c4c 880E add r8,r246128 3c4e 991E adc r9,r256129 3c50 AA1E adc r10,r266130 3c52 BB1E adc r11,r276131 3c54 8092 0000 sts ErsatzKompass,r86132 3c58 9092 0000 sts (ErsatzKompass)+1,r96133 3c5c A092 0000 sts (ErsatzKompass)+2,r106134 3c60 B092 0000 sts (ErsatzKompass)+3,r116135 3c64 8091 0000 lds r24,Parameter_KompassWirkung6136 3c68 482E mov r4,r246137 3c6a 5524 clr r56138 3c6c 649C mul r6,r46139 3c6e C001 movw r24,r06140 3c70 659C mul r6,r56141 3c72 900D add r25,r06142 3c74 749C mul r7,r46143 3c76 900D add r25,r06144 3c78 1124 clr r16145 3c7a 60E2 ldi r22,lo8(32)6146 3c7c 70E0 ldi r23,hi8(32)6147 3c7e 0E94 0000 call __divmodhi46148 3c82 3201 movw r6,r46149 3c84 661A sub r6,r226150 3c86 770A sbc r7,r236151 3c88 77FC sbrc r7,76152 3c8a 00C0 rjmp .L3836153 3c8c 8091 0000 lds r24,KompassSignalSchlecht6154 3c90 9091 0000 lds r25,(KompassSignalSchlecht)+16155 3c94 892B or r24,r256156 3c96 01F0 breq .+26157 3c98 00C0 rjmp .L3846158 3c9a 8091 0000 lds r24,MaxStickRoll6159 3c9e 9091 0000 lds r25,(MaxStickRoll)+16160 3ca2 2091 0000 lds r18,MaxStickNick6161 3ca6 3091 0000 lds r19,(MaxStickNick)+16162 3caa 820F add r24,r186163 3cac 931F adc r25,r196164 3cae 68E0 ldi r22,lo8(8)6165 3cb0 70E0 ldi r23,hi8(8)6166 3cb2 0E94 0000 call __divmodhi46167 3cb6 6B01 movw r12,r226168 3cb8 A0E4 ldi r26,lo8(64)6169 3cba B0E0 ldi r27,hi8(64)6170 3cbc CA0E add r12,r266171 3cbe DB1E adc r13,r276172 3cc0 8091 0000 lds r24,KompassStartwert6173 3cc4 9091 0000 lds r25,(KompassStartwert)+16174 3cc8 AA27 clr r266175 3cca 97FD sbrc r25,76176 3ccc A095 com r266177 3cce BA2F mov r27,r266178 3cd0 1CE1 ldi r17,lo8(540)6179 3cd2 E12E mov r14,r176180 3cd4 12E0 ldi r17,hi8(540)6181 3cd6 F12E mov r15,r176182 3cd8 012D mov r16,__zero_reg__6183 3cda 112D mov r17,__zero_reg__6184 3cdc E81A sub r14,r246185 3cde F90A sbc r15,r256186 3ce0 0A0B sbc r16,r266187 3ce2 1B0B sbc r17,r276188 3ce4 2091 0000 lds r18,GIER_GRAD_FAKTOR6189 3ce8 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+16190 3cec 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+26191 3cf0 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+36192 3cf4 C501 movw r24,r106193 3cf6 B401 movw r22,r86194 3cf8 0E94 0000 call __divmodsi46195 3cfc E20E add r14,r186196 3cfe F31E adc r15,r196197 3d00 041F adc r16,r206198 3d02 151F adc r17,r216199 3d04 C801 movw r24,r166200 3d06 B701 movw r22,r146201 3d08 28E6 ldi r18,lo8(360)6202 3d0a 31E0 ldi r19,hi8(360)6203 3d0c 40E0 ldi r20,hlo8(360)6204 3d0e 50E0 ldi r21,hhi8(360)6205 3d10 0E94 0000 call __divmodsi46206 3d14 645B subi r22,lo8(-(-180))6207 3d16 7040 sbci r23,hi8(-(-180))6208 3d18 669D mul r22,r66209 3d1a C001 movw r24,r06210 3d1c 679D mul r22,r76211 3d1e 900D add r25,r06212 3d20 769D mul r23,r66213 3d22 900D add r25,r06214 3d24 1124 clr r16215 3d26 B601 movw r22,r126216 3d28 0E94 0000 call __divmodhi46217 3d2c C201 movw r24,r46218 3d2e 880F lsl r246219 3d30 991F rol r256220 3d32 840D add r24,r46221 3d34 951D adc r25,r56222 3d36 8617 cp r24,r226223 3d38 9707 cpc r25,r236224 3d3a 04F4 brge .L3856225 3d3c BC01 movw r22,r246226 3d3e 00C0 rjmp .L3866227 .L385:6228 3d40 4427 clr r206229 3d42 5527 clr r216230 3d44 481B sub r20,r246231 3d46 590B sbc r21,r256232 3d48 6417 cp r22,r206233 3d4a 7507 cpc r23,r216234 3d4c 04F4 brge .L3866235 3d4e BA01 movw r22,r206236 .L386:6237 3d50 9B01 movw r18,r226238 3d52 4427 clr r206239 3d54 37FD sbrc r19,76240 3d56 4095 com r206241 3d58 542F mov r21,r206242 3d5a 8091 0000 lds r24,Mess_Integral_Gier6243 3d5e 9091 0000 lds r25,(Mess_Integral_Gier)+16244 3d62 A091 0000 lds r26,(Mess_Integral_Gier)+26245 3d66 B091 0000 lds r27,(Mess_Integral_Gier)+36246 3d6a 820F add r24,r186247 3d6c 931F adc r25,r196248 3d6e A41F adc r26,r206249 3d70 B51F adc r27,r216250 3d72 8093 0000 sts Mess_Integral_Gier,r246251 3d76 9093 0000 sts (Mess_Integral_Gier)+1,r256252 3d7a A093 0000 sts (Mess_Integral_Gier)+2,r266253 3d7e B093 0000 sts (Mess_Integral_Gier)+3,r276254 .L384:6255 3d82 8091 0000 lds r24,KompassSignalSchlecht6256 3d86 9091 0000 lds r25,(KompassSignalSchlecht)+16257 3d8a 0097 sbiw r24,06258 3d8c 01F0 breq .L3786259 3d8e 0197 sbiw r24,16260 3d90 00C0 rjmp .L5326261 .L383:6262 3d92 84EF ldi r24,lo8(500)6263 3d94 91E0 ldi r25,hi8(500)6264 .L532:6265 3d96 9093 0000 sts (KompassSignalSchlecht)+1,r256266 3d9a 8093 0000 sts KompassSignalSchlecht,r246267 .L378:6268 3d9e 8091 0000 lds r24,TrichterFlug6269 3da2 8823 tst r246270 3da4 01F0 breq .L3886271 3da6 1092 0000 sts SummeRoll,__zero_reg__6272 3daa 1092 0000 sts (SummeRoll)+1,__zero_reg__6273 3dae 1092 0000 sts (SummeRoll)+2,__zero_reg__6274 3db2 1092 0000 sts (SummeRoll)+3,__zero_reg__6275 3db6 1092 0000 sts SummeNick,__zero_reg__6276 3dba 1092 0000 sts (SummeNick)+1,__zero_reg__6277 3dbe 1092 0000 sts (SummeNick)+2,__zero_reg__6278 3dc2 1092 0000 sts (SummeNick)+3,__zero_reg__6279 .L388:6280 3dc6 8091 0000 lds r24,Looping_Nick6281 3dca 8823 tst r246282 3dcc 01F0 breq .L3896283 3dce 1DA2 std Y+37,__zero_reg__6284 3dd0 1CA2 std Y+36,__zero_reg__6285 3dd2 00C0 rjmp .L3906286 .L389:6287 3dd4 6091 0000 lds r22,IntegralFaktor6288 3dd8 70E0 ldi r23,lo8(0)6289 3dda 80E0 ldi r24,lo8(0)6290 3ddc 90E0 ldi r25,hi8(0)6291 3dde 2091 0000 lds r18,IntegralNick6292 3de2 3091 0000 lds r19,(IntegralNick)+16293 3de6 4091 0000 lds r20,(IntegralNick)+26294 3dea 5091 0000 lds r21,(IntegralNick)+36295 3dee 0E94 0000 call __mulsi36296 3df2 28EF ldi r18,lo8(11000)6297 3df4 3AE2 ldi r19,hi8(11000)6298 3df6 40E0 ldi r20,hlo8(11000)6299 3df8 50E0 ldi r21,hhi8(11000)6300 3dfa 0E94 0000 call __divmodsi46301 3dfe 3DA3 std Y+37,r196302 3e00 2CA3 std Y+36,r186303 .L390:6304 3e02 8091 0000 lds r24,Looping_Roll6305 3e06 8823 tst r246306 3e08 01F0 breq .L3916307 3e0a 1BA2 std Y+35,__zero_reg__6308 3e0c 1AA2 std Y+34,__zero_reg__6309 3e0e 00C0 rjmp .L3926310 .L391:6311 3e10 6091 0000 lds r22,IntegralFaktor6312 3e14 70E0 ldi r23,lo8(0)6313 3e16 80E0 ldi r24,lo8(0)6314 3e18 90E0 ldi r25,hi8(0)6315 3e1a 2091 0000 lds r18,IntegralRoll6316 3e1e 3091 0000 lds r19,(IntegralRoll)+16317 3e22 4091 0000 lds r20,(IntegralRoll)+26318 3e26 5091 0000 lds r21,(IntegralRoll)+36319 3e2a 0E94 0000 call __mulsi36320 3e2e 28EF ldi r18,lo8(11000)6321 3e30 3AE2 ldi r19,hi8(11000)6322 3e32 40E0 ldi r20,hlo8(11000)6323 3e34 50E0 ldi r21,hhi8(11000)6324 3e36 0E94 0000 call __divmodsi46325 3e3a 3BA3 std Y+35,r196326 3e3c 2AA3 std Y+34,r186327 .L392:6328 3e3e 8091 0000 lds r24,TrimNick6329 3e42 9091 0000 lds r25,(TrimNick)+16330 3e46 893C cpi r24,2016331 3e48 9105 cpc r25,__zero_reg__6332 3e4a 04F0 brlt .L3936333 3e4c 88EC ldi r24,lo8(200)6334 3e4e 90E0 ldi r25,hi8(200)6335 3e50 00C0 rjmp .L5336336 .L393:6337 3e52 8853 subi r24,lo8(-200)6338 3e54 9F4F sbci r25,hi8(-200)6339 3e56 04F4 brge .L3946340 3e58 88E3 ldi r24,lo8(-200)6341 3e5a 9FEF ldi r25,hi8(-200)6342 .L533:6343 3e5c 9093 0000 sts (TrimNick)+1,r256344 3e60 8093 0000 sts TrimNick,r246345 .L394:6346 3e64 8091 0000 lds r24,TrimRoll6347 3e68 9091 0000 lds r25,(TrimRoll)+16348 3e6c 893C cpi r24,2016349 3e6e 9105 cpc r25,__zero_reg__6350 3e70 04F0 brlt .L3956351 3e72 88EC ldi r24,lo8(200)6352 3e74 90E0 ldi r25,hi8(200)6353 3e76 00C0 rjmp .L5346354 .L395:6355 3e78 8853 subi r24,lo8(-200)6356 3e7a 9F4F sbci r25,hi8(-200)6357 3e7c 04F4 brge .L3966358 3e7e 88E3 ldi r24,lo8(-200)6359 3e80 9FEF ldi r25,hi8(-200)6360 .L534:6361 3e82 9093 0000 sts (TrimRoll)+1,r256362 3e86 8093 0000 sts TrimRoll,r246363 .L396:6364 3e8a E090 0000 lds r14,TrimNick6365 3e8e F090 0000 lds r15,(TrimNick)+16366 3e92 0027 clr r166367 3e94 F7FC sbrc r15,76368 3e96 0095 com r166369 3e98 102F mov r17,r166370 3e9a A7E0 ldi r26,76371 3e9c EE0C 1: lsl r146372 3e9e FF1C rol r156373 3ea0 001F rol r166374 3ea2 111F rol r176375 3ea4 AA95 dec r266376 3ea6 01F4 brne 1b6377 3ea8 A090 0000 lds r10,GyroFaktor6378 3eac BB24 clr r116379 3eae CC24 clr r126380 3eb0 DD24 clr r136381 3eb2 2091 0000 lds r18,MesswertNick6382 3eb6 3091 0000 lds r19,(MesswertNick)+16383 3eba 4427 clr r206384 3ebc 37FD sbrc r19,76385 3ebe 4095 com r206386 3ec0 542F mov r21,r206387 3ec2 C601 movw r24,r126388 3ec4 B501 movw r22,r106389 3ec6 0E94 0000 call __mulsi36390 3eca E60E add r14,r226391 3ecc F71E adc r15,r236392 3ece 081F adc r16,r246393 3ed0 191F adc r17,r256394 3ed2 C801 movw r24,r166395 3ed4 B701 movw r22,r146396 3ed6 20E4 ldi r18,lo8(64)6397 3ed8 30E0 ldi r19,hi8(64)6398 3eda 40E0 ldi r20,hlo8(64)6399 3edc 50E0 ldi r21,hhi8(64)6400 3ede 0E94 0000 call __divmodsi46401 3ee2 8CA0 ldd r8,Y+366402 3ee4 9DA0 ldd r9,Y+376403 3ee6 820E add r8,r186404 3ee8 931E adc r9,r196405 3eea 9092 0000 sts (MesswertNick)+1,r96406 3eee 8092 0000 sts MesswertNick,r86407 3ef2 E090 0000 lds r14,TrimRoll6408 3ef6 F090 0000 lds r15,(TrimRoll)+16409 3efa 0027 clr r166410 3efc F7FC sbrc r15,76411 3efe 0095 com r166412 3f00 102F mov r17,r166413 3f02 F7E0 ldi r31,76414 3f04 EE0C 1: lsl r146415 3f06 FF1C rol r156416 3f08 001F rol r166417 3f0a 111F rol r176418 3f0c FA95 dec r316419 3f0e 01F4 brne 1b6420 3f10 2091 0000 lds r18,MesswertRoll6421 3f14 3091 0000 lds r19,(MesswertRoll)+16422 3f18 4427 clr r206423 3f1a 37FD sbrc r19,76424 3f1c 4095 com r206425 3f1e 542F mov r21,r206426 3f20 C601 movw r24,r126427 3f22 B501 movw r22,r106428 3f24 0E94 0000 call __mulsi36429 3f28 E60E add r14,r226430 3f2a F71E adc r15,r236431 3f2c 081F adc r16,r246432 3f2e 191F adc r17,r256433 3f30 C801 movw r24,r166434 3f32 B701 movw r22,r146435 3f34 20E4 ldi r18,lo8(64)6436 3f36 30E0 ldi r19,hi8(64)6437 3f38 40E0 ldi r20,hlo8(64)6438 3f3a 50E0 ldi r21,hhi8(64)6439 3f3c 0E94 0000 call __divmodsi46440 3f40 8AA1 ldd r24,Y+346441 3f42 9BA1 ldd r25,Y+356442 3f44 820F add r24,r186443 3f46 931F adc r25,r196444 3f48 9093 0000 sts (MesswertRoll)+1,r256445 3f4c 8093 0000 sts MesswertRoll,r246446 3f50 6091 0000 lds r22,MesswertGier6447 3f54 7091 0000 lds r23,(MesswertGier)+16448 3f58 660F lsl r226449 3f5a 771F rol r236450 3f5c 8827 clr r246451 3f5e 77FD sbrc r23,76452 3f60 8095 com r246453 3f62 982F mov r25,r246454 3f64 2091 0000 lds r18,GyroFaktorGier6455 3f68 30E0 ldi r19,lo8(0)6456 3f6a 40E0 ldi r20,lo8(0)6457 3f6c 50E0 ldi r21,hi8(0)6458 3f6e 0E94 0000 call __mulsi36459 3f72 20E4 ldi r18,lo8(64)6460 3f74 30E0 ldi r19,hi8(64)6461 3f76 40E0 ldi r20,hlo8(64)6462 3f78 50E0 ldi r21,hhi8(64)6463 3f7a 0E94 0000 call __divmodsi46464 3f7e 7901 movw r14,r186465 3f80 8A01 movw r16,r206466 3f82 6091 0000 lds r22,IntegralFaktorGier6467 3f86 70E0 ldi r23,lo8(0)6468 3f88 80E0 ldi r24,lo8(0)6469 3f8a 90E0 ldi r25,hi8(0)6470 3f8c 2091 0000 lds r18,Integral_Gier6471 3f90 3091 0000 lds r19,(Integral_Gier)+16472 3f94 4091 0000 lds r20,(Integral_Gier)+26473 3f98 5091 0000 lds r21,(Integral_Gier)+36474 3f9c 0E94 0000 call __mulsi36475 3fa0 20EF ldi r18,lo8(22000)6476 3fa2 35E5 ldi r19,hi8(22000)6477 3fa4 40E0 ldi r20,hlo8(22000)6478 3fa6 50E0 ldi r21,hhi8(22000)6479 3fa8 0E94 0000 call __divmodsi46480 3fac E20E add r14,r186481 3fae F31E adc r15,r196482 3fb0 F092 0000 sts (MesswertGier)+1,r156483 3fb4 E092 0000 sts MesswertGier,r146484 3fb8 F1E0 ldi r31,lo8(4097)6485 3fba 8F16 cp r8,r316486 3fbc F0E1 ldi r31,hi8(4097)6487 3fbe 9F06 cpc r9,r316488 3fc0 04F0 brlt .L3976489 3fc2 80E0 ldi r24,lo8(4096)6490 3fc4 90E1 ldi r25,hi8(4096)6491 3fc6 9093 0000 sts (MesswertNick)+1,r256492 3fca 8093 0000 sts MesswertNick,r246493 .L397:6494 3fce 8091 0000 lds r24,MesswertNick6495 3fd2 9091 0000 lds r25,(MesswertNick)+16496 3fd6 8050 subi r24,lo8(-4096)6497 3fd8 904F sbci r25,hi8(-4096)6498 3fda 04F4 brge .L3986499 3fdc 80E0 ldi r24,lo8(-4096)6500 3fde 90EF ldi r25,hi8(-4096)6501 3fe0 9093 0000 sts (MesswertNick)+1,r256502 3fe4 8093 0000 sts MesswertNick,r246503 .L398:6504 3fe8 8091 0000 lds r24,MesswertRoll6505 3fec 9091 0000 lds r25,(MesswertRoll)+16506 3ff0 8150 subi r24,lo8(4097)6507 3ff2 9041 sbci r25,hi8(4097)6508 3ff4 04F0 brlt .L3996509 3ff6 80E0 ldi r24,lo8(4096)6510 3ff8 90E1 ldi r25,hi8(4096)6511 3ffa 9093 0000 sts (MesswertRoll)+1,r256512 3ffe 8093 0000 sts MesswertRoll,r246513 .L399:6514 4002 8091 0000 lds r24,MesswertRoll6515 4006 9091 0000 lds r25,(MesswertRoll)+16516 400a 8050 subi r24,lo8(-4096)6517 400c 904F sbci r25,hi8(-4096)6518 400e 04F4 brge .L4006519 4010 80E0 ldi r24,lo8(-4096)6520 4012 90EF ldi r25,hi8(-4096)6521 4014 9093 0000 sts (MesswertRoll)+1,r256522 4018 8093 0000 sts MesswertRoll,r246523 .L400:6524 401c 8091 0000 lds r24,MesswertGier6525 4020 9091 0000 lds r25,(MesswertGier)+16526 4024 8150 subi r24,lo8(4097)6527 4026 9041 sbci r25,hi8(4097)6528 4028 04F0 brlt .L4016529 402a 80E0 ldi r24,lo8(4096)6530 402c 90E1 ldi r25,hi8(4096)6531 402e 9093 0000 sts (MesswertGier)+1,r256532 4032 8093 0000 sts MesswertGier,r246533 .L401:6534 4036 8091 0000 lds r24,MesswertGier6535 403a 9091 0000 lds r25,(MesswertGier)+16536 403e 8050 subi r24,lo8(-4096)6537 4040 904F sbci r25,hi8(-4096)6538 4042 04F4 brge .L4026539 4044 80E0 ldi r24,lo8(-4096)6540 4046 90EF ldi r25,hi8(-4096)6541 4048 9093 0000 sts (MesswertGier)+1,r256542 404c 8093 0000 sts MesswertGier,r246543 .L402:6544 4050 2091 0000 lds r18,UBat6545 4054 3091 0000 lds r19,(UBat)+16546 4058 8091 0000 lds r24,BattLowVoltageWarning6547 405c 482F mov r20,r246548 405e 50E0 ldi r21,lo8(0)6549 4060 4217 cp r20,r186550 4062 5307 cpc r21,r196551 4064 04F4 brge .L4036552 4066 6091 0000 lds r22,UBat6553 406a 7091 0000 lds r23,(UBat)+16554 406e AEA1 ldd r26,Y+386555 4070 BFA1 ldd r27,Y+396556 4072 A49F mul r26,r206557 4074 C001 movw r24,r06558 4076 A59F mul r26,r216559 4078 900D add r25,r06560 407a B49F mul r27,r206561 407c 900D add r25,r06562 407e 1124 clr r16563 4080 0E94 0000 call __udivmodhi46564 4084 7FA3 std Y+39,r236565 4086 6EA3 std Y+38,r226566 .L403:6567 4088 4EA0 ldd r4,Y+386568 408a 5FA0 ldd r5,Y+396569 408c 440C lsl r46570 408e 551C rol r56571 4090 440C lsl r46572 4092 551C rol r56573 4094 8091 0000 lds r24,EE_Parameter+136574 4098 80FF sbrs r24,06575 409a 00C0 rjmp .L4046576 409c 8091 0000 lds r24,Looping_Roll6577 40a0 8823 tst r246578 40a2 01F0 breq .+26579 40a4 00C0 rjmp .L4046580 40a6 8091 0000 lds r24,Looping_Nick6581 40aa 8823 tst r246582 40ac 01F0 breq .+26583 40ae 00C0 rjmp .L4046584 40b0 8091 0000 lds r24,HoverGas6585 40b4 9091 0000 lds r25,(HoverGas)+16586 40b8 9093 0000 sts (DebugOut+44)+1,r256587 40bc 8093 0000 sts DebugOut+44,r246588 40c0 2091 0000 lds r18,BaroExpandActive6589 40c4 3091 0000 lds r19,(BaroExpandActive)+16590 40c8 2115 cp r18,__zero_reg__6591 40ca 3105 cpc r19,__zero_reg__6592 40cc 01F0 breq .+26593 40ce 00C0 rjmp .L4056594 40d0 8091 0000 lds r24,MessLuftdruck6595 40d4 9091 0000 lds r25,(MessLuftdruck)+16596 40d8 8959 subi r24,lo8(921)6597 40da 9340 sbci r25,hi8(921)6598 40dc 00F0 brlo .L4066599 40de 87B5 in r24,71-326600 40e0 853F cpi r24,lo8(-11)6601 40e2 00F4 brsh .L4076602 40e4 8091 0000 lds r24,ExpandBaro6603 40e8 8150 subi r24,lo8(-(-1))6604 40ea 00C0 rjmp .L5356605 .L407:6606 40ec 81E0 ldi r24,lo8(1)6607 40ee 8093 0000 sts BaroAtLowerLimit.3089,r246608 40f2 00C0 rjmp .L4086609 .L406:6610 40f4 8091 0000 lds r24,MessLuftdruck6611 40f8 9091 0000 lds r25,(MessLuftdruck)+16612 40fc 8436 cpi r24,1006613 40fe 9105 cpc r25,__zero_reg__6614 4100 00F4 brsh .L4096615 4102 87B5 in r24,71-326616 4104 8B30 cpi r24,lo8(11)6617 4106 00F0 brlo .L4106618 4108 8091 0000 lds r24,ExpandBaro6619 410c 8F5F subi r24,lo8(-(1))6620 .L535:6621 410e 8093 0000 sts ExpandBaro,r246622 4112 26EF ldi r18,lo8(-10)6623 4114 8202 muls r24,r186624 4116 C001 movw r24,r06625 4118 1124 clr r16626 411a 2091 0000 lds r18,DruckOffsetSetting6627 411e 280F add r18,r246628 4120 27BD out 71-32,r186629 4122 8CE2 ldi r24,lo8(300)6630 4124 91E0 ldi r25,hi8(300)6631 4126 9093 0000 sts (beeptime)+1,r256632 412a 8093 0000 sts beeptime,r246633 412e 8EE5 ldi r24,lo8(350)6634 4130 91E0 ldi r25,hi8(350)6635 4132 9093 0000 sts (BaroExpandActive)+1,r256636 4136 8093 0000 sts BaroExpandActive,r246637 413a 00C0 rjmp .L4086638 .L410:6639 413c 81E0 ldi r24,lo8(1)6640 413e 8093 0000 sts BaroAtUpperLimit.3088,r246641 4142 00C0 rjmp .L4086642 .L409:6643 4144 1092 0000 sts BaroAtUpperLimit.3088,__zero_reg__6644 4148 1092 0000 sts BaroAtLowerLimit.3089,__zero_reg__6645 414c 00C0 rjmp .L4086646 .L405:6647 414e 8091 0000 lds r24,HoehenWert6648 4152 9091 0000 lds r25,(HoehenWert)+16649 4156 A091 0000 lds r26,(HoehenWert)+26650 415a B091 0000 lds r27,(HoehenWert)+36651 415e 44E0 ldi r20,46652 4160 880F 1: lsl r246653 4162 991F rol r256654 4164 AA1F rol r266655 4166 BB1F rol r276656 4168 4A95 dec r206657 416a 01F4 brne 1b6658 416c 8093 0000 sts SummenHoehe,r246659 4170 9093 0000 sts (SummenHoehe)+1,r256660 4174 A093 0000 sts (SummenHoehe)+2,r266661 4178 B093 0000 sts (SummenHoehe)+3,r276662 417c 1092 0000 sts (VarioMeter)+1,__zero_reg__6663 4180 1092 0000 sts VarioMeter,__zero_reg__6664 4184 2150 subi r18,lo8(-(-1))6665 4186 3040 sbci r19,hi8(-(-1))6666 4188 3093 0000 sts (BaroExpandActive)+1,r196667 418c 2093 0000 sts BaroExpandActive,r186668 .L408:6669 4190 8091 0000 lds r24,EE_Parameter+136670 4194 9091 0000 lds r25,Parameter_MaxHoehe6671 4198 81FF sbrs r24,16672 419a 00C0 rjmp .L4116673 419c 9233 cpi r25,lo8(50)6674 419e 00F4 brsh .L4126675 41a0 8091 0000 lds r24,delay.30876676 41a4 8150 subi r24,lo8(-(-1))6677 41a6 8093 0000 sts delay.3087,r246678 41aa 8F5F subi r24,lo8(-(1))6679 41ac 01F4 brne .L4136680 41ae 1092 0000 sts HoehenReglerAktiv,__zero_reg__6681 41b2 8091 0000 lds r24,HoehenWert6682 41b6 9091 0000 lds r25,(HoehenWert)+16683 41ba A091 0000 lds r26,(HoehenWert)+26684 41be B091 0000 lds r27,(HoehenWert)+36685 41c2 8093 0000 sts SollHoehe,r246686 41c6 9093 0000 sts (SollHoehe)+1,r256687 41ca A093 0000 sts (SollHoehe)+2,r266688 41ce B093 0000 sts (SollHoehe)+3,r276689 41d2 81E0 ldi r24,lo8(1)6690 41d4 00C0 rjmp .L5366691 .L412:6692 41d6 81E0 ldi r24,lo8(1)6693 41d8 8093 0000 sts HoehenReglerAktiv,r246694 41dc 88EC ldi r24,lo8(-56)6695 .L536:6696 41de 8093 0000 sts delay.3087,r246697 41e2 00C0 rjmp .L4136698 .L411:6699 41e4 2091 0000 lds r18,ExternHoehenValue6700 41e8 3091 0000 lds r19,(ExternHoehenValue)+16701 41ec 290F add r18,r256702 41ee 311D adc r19,__zero_reg__6703 41f0 8091 0000 lds r24,EE_Parameter+186704 41f4 90E0 ldi r25,lo8(0)6705 41f6 FC01 movw r30,r246706 41f8 2E9F mul r18,r306707 41fa C001 movw r24,r06708 41fc 2F9F mul r18,r316709 41fe 900D add r25,r06710 4200 3E9F mul r19,r306711 4202 900D add r25,r06712 4204 1124 clr r16713 4206 AA27 clr r266714 4208 97FD sbrc r25,76715 420a A095 com r266716 420c BA2F mov r27,r266717 420e 8093 0000 sts SollHoehe,r246718 4212 9093 0000 sts (SollHoehe)+1,r256719 4216 A093 0000 sts (SollHoehe)+2,r266720 421a B093 0000 sts (SollHoehe)+3,r276721 421e 81E0 ldi r24,lo8(1)6722 4220 8093 0000 sts HoehenReglerAktiv,r246723 .L413:6724 4224 E090 0000 lds r14,GIER_GRAD_FAKTOR6725 4228 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+16726 422c 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+26727 4230 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+36728 4234 6091 0000 lds r22,IntegralNick6729 4238 7091 0000 lds r23,(IntegralNick)+16730 423c 8091 0000 lds r24,(IntegralNick)+26731 4240 9091 0000 lds r25,(IntegralNick)+36732 4244 A801 movw r20,r166733 4246 9701 movw r18,r146734 4248 0E94 0000 call __divmodsi46735 424c 5901 movw r10,r186736 424e 6A01 movw r12,r206737 4250 6091 0000 lds r22,IntegralRoll6738 4254 7091 0000 lds r23,(IntegralRoll)+16739 4258 8091 0000 lds r24,(IntegralRoll)+26740 425c 9091 0000 lds r25,(IntegralRoll)+36741 4260 A801 movw r20,r166742 4262 9701 movw r18,r146743 4264 0E94 0000 call __divmodsi46744 4268 C501 movw r24,r106745 426a B901 movw r22,r186746 426c 0E94 0000 call ihypot6747 4270 8C33 cpi r24,606748 4272 9105 cpc r25,__zero_reg__6749 4274 04F0 brlt .L4146750 4276 8CE3 ldi r24,lo8(60)6751 4278 90E0 ldi r25,hi8(60)6752 .L414:6753 427a 0E94 0000 call c_cos_81926754 427e 99A3 std Y+33,r256755 4280 88A3 std Y+32,r246756 4282 80E2 ldi r24,lo8(32)6757 4284 8093 0000 sts VarioCharacter,r246758 4288 8091 0000 lds r24,HoehenReglerAktiv6759 428c 8823 tst r246760 428e 01F4 brne .+26761 4290 00C0 rjmp .L4156762 4292 8091 0000 lds r24,FCFlags6763 4296 84FD sbrc r24,46764 4298 00C0 rjmp .L4156765 429a 8091 0000 lds r24,EE_Parameter+996766 429e 80FD sbrc r24,06767 42a0 00C0 rjmp .L4166768 42a2 8091 0000 lds r24,EE_Parameter+136769 42a6 81FD sbrc r24,16770 42a8 00C0 rjmp .L4176771 .L416:6772 42aa 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__6773 42ae 1092 0000 sts HeightTrimming.3081,__zero_reg__6774 42b2 1201 movw r2,r46775 42b4 00C0 rjmp .L4186776 .L417:6777 42b6 8091 0000 lds r24,FCFlags6778 42ba 81FF sbrs r24,16779 42bc 00C0 rjmp .L4196780 42be 4091 0000 lds r20,StickGas6781 42c2 5091 0000 lds r21,(StickGas)+16782 42c6 2091 0000 lds r18,StickGasHover.30836783 42ca 3091 0000 lds r19,(StickGasHover.3083)+16784 42ce C901 movw r24,r186785 42d0 0F96 adiw r24,156786 42d2 8417 cp r24,r206787 42d4 9507 cpc r25,r216788 42d6 04F4 brge .L4206789 42d8 8091 0000 lds r24,BaroAtUpperLimit.30886790 42dc 8823 tst r246791 42de 01F4 brne .L4206792 42e0 8091 0000 lds r24,HeightTrimmingFlag.30916793 42e4 81FF sbrs r24,16794 42e6 00C0 rjmp .L4216795 42e8 8D7F andi r24,lo8(-3)6796 42ea 8093 0000 sts HeightTrimmingFlag.3091,r246797 42ee 8091 0000 lds r24,HoehenWert6798 42f2 9091 0000 lds r25,(HoehenWert)+16799 42f6 A091 0000 lds r26,(HoehenWert)+26800 42fa B091 0000 lds r27,(HoehenWert)+36801 42fe 8093 0000 sts SollHoehe,r246802 4302 9093 0000 sts (SollHoehe)+1,r256803 4306 A093 0000 sts (SollHoehe)+2,r266804 430a B093 0000 sts (SollHoehe)+3,r276805 .L421:6806 430e 8091 0000 lds r24,HeightTrimmingFlag.30916807 4312 8160 ori r24,lo8(1)6808 4314 8093 0000 sts HeightTrimmingFlag.3091,r246809 4318 2091 0000 lds r18,StickGas6810 431c 3091 0000 lds r19,(StickGas)+16811 4320 2F50 subi r18,lo8(-(-15))6812 4322 3040 sbci r19,hi8(-(-15))6813 4324 8091 0000 lds r24,StickGasHover.30836814 4328 9091 0000 lds r25,(StickGasHover.3083)+16815 432c 281B sub r18,r246816 432e 390B sbc r19,r256817 4330 37FF sbrs r19,76818 4332 00C0 rjmp .L4226819 4334 3095 com r196820 4336 2195 neg r186821 4338 3F4F sbci r19,lo8(-1)6822 .L422:6823 433a 8091 0000 lds r24,HeightTrimming.30816824 433e 9091 0000 lds r25,(HeightTrimming.3081)+16825 4342 820F add r24,r186826 4344 931F adc r25,r196827 4346 9093 0000 sts (HeightTrimming.3081)+1,r256828 434a 8093 0000 sts HeightTrimming.3081,r246829 434e 8BE2 ldi r24,lo8(43)6830 4350 00C0 rjmp .L5376831 .L420:6832 4352 2F50 subi r18,lo8(-(-15))6833 4354 3040 sbci r19,hi8(-(-15))6834 4356 4217 cp r20,r186835 4358 5307 cpc r21,r196836 435a 04F4 brge .L4246837 435c 8091 0000 lds r24,BaroAtLowerLimit.30896838 4360 8823 tst r246839 4362 01F4 brne .L4246840 4364 8091 0000 lds r24,HeightTrimmingFlag.30916841 4368 80FF sbrs r24,06842 436a 00C0 rjmp .L4256843 436c 8E7F andi r24,lo8(-2)6844 436e 8093 0000 sts HeightTrimmingFlag.3091,r246845 4372 8091 0000 lds r24,HoehenWert6846 4376 9091 0000 lds r25,(HoehenWert)+16847 437a A091 0000 lds r26,(HoehenWert)+26848 437e B091 0000 lds r27,(HoehenWert)+36849 4382 8093 0000 sts SollHoehe,r246850 4386 9093 0000 sts (SollHoehe)+1,r256851 438a A093 0000 sts (SollHoehe)+2,r266852 438e B093 0000 sts (SollHoehe)+3,r276853 .L425:6854 4392 8091 0000 lds r24,HeightTrimmingFlag.30916855 4396 8260 ori r24,lo8(2)6856 4398 8093 0000 sts HeightTrimmingFlag.3091,r246857 439c 2091 0000 lds r18,StickGas6858 43a0 3091 0000 lds r19,(StickGas)+16859 43a4 215F subi r18,lo8(-(15))6860 43a6 3F4F sbci r19,hi8(-(15))6861 43a8 8091 0000 lds r24,StickGasHover.30836862 43ac 9091 0000 lds r25,(StickGasHover.3083)+16863 43b0 281B sub r18,r246864 43b2 390B sbc r19,r256865 43b4 37FF sbrs r19,76866 43b6 00C0 rjmp .L4266867 43b8 3095 com r196868 43ba 2195 neg r186869 43bc 3F4F sbci r19,lo8(-1)6870 .L426:6871 43be 8091 0000 lds r24,HeightTrimming.30816872 43c2 9091 0000 lds r25,(HeightTrimming.3081)+16873 43c6 821B sub r24,r186874 43c8 930B sbc r25,r196875 43ca 9093 0000 sts (HeightTrimming.3081)+1,r256876 43ce 8093 0000 sts HeightTrimming.3081,r246877 43d2 8DE2 ldi r24,lo8(45)6878 43d4 00C0 rjmp .L5376879 .L424:6880 43d6 2091 0000 lds r18,HeightTrimmingFlag.30916881 43da 822F mov r24,r186882 43dc 90E0 ldi r25,lo8(0)6883 43de 8370 andi r24,lo8(3)6884 43e0 9070 andi r25,hi8(3)6885 43e2 892B or r24,r256886 43e4 01F0 breq .L4276887 43e6 2C7F andi r18,lo8(-4)6888 43e8 2093 0000 sts HeightTrimmingFlag.3091,r186889 43ec 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__6890 43f0 1092 0000 sts HeightTrimming.3081,__zero_reg__6891 43f4 8091 0000 lds r24,HoehenWert6892 43f8 9091 0000 lds r25,(HoehenWert)+16893 43fc A091 0000 lds r26,(HoehenWert)+26894 4400 B091 0000 lds r27,(HoehenWert)+36895 4404 8093 0000 sts SollHoehe,r246896 4408 9093 0000 sts (SollHoehe)+1,r256897 440c A093 0000 sts (SollHoehe)+2,r266898 4410 B093 0000 sts (SollHoehe)+3,r276899 4414 8091 0000 lds r24,EE_Parameter+996900 4418 81FF sbrs r24,16901 441a 00C0 rjmp .L4286902 441c 84EF ldi r24,lo8(500)6903 441e 91E0 ldi r25,hi8(500)6904 4420 9093 0000 sts (beeptime)+1,r256905 4424 8093 0000 sts beeptime,r246906 .L428:6907 4428 8091 0000 lds r24,StartTrigger6908 442c 8823 tst r246909 442e 01F4 brne .L4276910 4430 8091 0000 lds r24,HoehenWert6911 4434 9091 0000 lds r25,(HoehenWert)+16912 4438 A091 0000 lds r26,(HoehenWert)+26913 443c B091 0000 lds r27,(HoehenWert)+36914 4440 C397 sbiw r24,516915 4442 A105 cpc r26,__zero_reg__6916 4444 B105 cpc r27,__zero_reg__6917 4446 04F0 brlt .L4276918 4448 81E0 ldi r24,lo8(1)6919 444a 8093 0000 sts StartTrigger,r246920 .L427:6921 444e 8DE3 ldi r24,lo8(61)6922 .L537:6923 4450 8093 0000 sts VarioCharacter,r246924 4454 2091 0000 lds r18,HeightTrimming.30816925 4458 3091 0000 lds r19,(HeightTrimming.3081)+16926 445c C901 movw r24,r186927 445e 37FF sbrs r19,76928 4460 00C0 rjmp .L4306929 4462 8827 clr r246930 4464 9927 clr r256931 4466 821B sub r24,r186932 4468 930B sbc r25,r196933 .L430:6934 446a 8150 subi r24,lo8(513)6935 446c 9240 sbci r25,hi8(513)6936 446e 04F4 brge .+26937 4470 00C0 rjmp .L4296938 4472 8091 0000 lds r24,EE_Parameter+186939 4476 90E0 ldi r25,lo8(0)6940 4478 AC01 movw r20,r246941 447a 429F mul r20,r186942 447c C001 movw r24,r06943 447e 439F mul r20,r196944 4480 900D add r25,r06945 4482 529F mul r21,r186946 4484 900D add r25,r06947 4486 1124 clr r16948 4488 60E0 ldi r22,lo8(1280)6949 448a 75E0 ldi r23,hi8(1280)6950 448c 0E94 0000 call __divmodhi46951 4490 8827 clr r246952 4492 77FD sbrc r23,76953 4494 8095 com r246954 4496 982F mov r25,r246955 4498 E090 0000 lds r14,SollHoehe6956 449c F090 0000 lds r15,(SollHoehe)+16957 44a0 0091 0000 lds r16,(SollHoehe)+26958 44a4 1091 0000 lds r17,(SollHoehe)+36959 44a8 E60E add r14,r226960 44aa F71E adc r15,r236961 44ac 081F adc r16,r246962 44ae 191F adc r17,r256963 44b0 E092 0000 sts SollHoehe,r146964 44b4 F092 0000 sts (SollHoehe)+1,r156965 44b8 0093 0000 sts (SollHoehe)+2,r166966 44bc 1093 0000 sts (SollHoehe)+3,r176967 44c0 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__6968 44c4 1092 0000 sts HeightTrimming.3081,__zero_reg__6969 44c8 2091 0000 lds r18,HoehenWert6970 44cc 3091 0000 lds r19,(HoehenWert)+16971 44d0 4091 0000 lds r20,(HoehenWert)+26972 44d4 5091 0000 lds r21,(HoehenWert)+36973 44d8 DA01 movw r26,r206974 44da C901 movw r24,r186975 44dc 8F5F subi r24,lo8(-(-1023))6976 44de 9340 sbci r25,hi8(-(-1023))6977 44e0 A040 sbci r26,hlo8(-(-1023))6978 44e2 B040 sbci r27,hhi8(-(-1023))6979 44e4 E816 cp r14,r246980 44e6 F906 cpc r15,r256981 44e8 0A07 cpc r16,r266982 44ea 1B07 cpc r17,r276983 44ec 04F4 brge .L4316984 44ee 2050 subi r18,lo8(-(-1024))6985 44f0 3440 sbci r19,hi8(-(-1024))6986 44f2 4040 sbci r20,hlo8(-(-1024))6987 44f4 5040 sbci r21,hhi8(-(-1024))6988 44f6 00C0 rjmp .L5386989 .L431:6990 44f8 DA01 movw r26,r206991 44fa C901 movw r24,r186992 44fc 8150 subi r24,lo8(-(1023))6993 44fe 9C4F sbci r25,hi8(-(1023))6994 4500 AF4F sbci r26,hlo8(-(1023))6995 4502 BF4F sbci r27,hhi8(-(1023))6996 4504 8E15 cp r24,r146997 4506 9F05 cpc r25,r156998 4508 A007 cpc r26,r166999 450a B107 cpc r27,r177000 450c 04F4 brge .L4327001 450e 2050 subi r18,lo8(-(1024))7002 4510 3C4F sbci r19,hi8(-(1024))7003 4512 4F4F sbci r20,hlo8(-(1024))7004 4514 5F4F sbci r21,hhi8(-(1024))7005 .L538:7006 4516 2093 0000 sts SollHoehe,r187007 451a 3093 0000 sts (SollHoehe)+1,r197008 451e 4093 0000 sts (SollHoehe)+2,r207009 4522 5093 0000 sts (SollHoehe)+3,r217010 .L432:7011 4526 8091 0000 lds r24,EE_Parameter+997012 452a 81FF sbrs r24,17013 452c 00C0 rjmp .L4337014 452e 84E6 ldi r24,lo8(100)7015 4530 90E0 ldi r25,hi8(100)7016 4532 9093 0000 sts (beeptime)+1,r257017 4536 8093 0000 sts beeptime,r247018 .L433:7019 453a 8091 0000 lds r24,EE_Parameter+227020 453e 8823 tst r247021 4540 01F4 brne .L4297022 4542 8091 0000 lds r24,HoverGas7023 4546 9091 0000 lds r25,(HoverGas)+17024 454a 64E0 ldi r22,lo8(4)7025 454c 70E0 ldi r23,hi8(4)7026 454e 0E94 0000 call __divmodhi47027 4552 CB01 movw r24,r227028 4554 7093 0000 sts (StickGasHover.3083)+1,r237029 4558 6093 0000 sts StickGasHover.3083,r227030 455c 2091 0000 lds r18,UBat7031 4560 3091 0000 lds r19,(UBat)+17032 4564 6091 0000 lds r22,BattLowVoltageWarning7033 4568 DC01 movw r26,r247034 456a A29F mul r26,r187035 456c C001 movw r24,r07036 456e A39F mul r26,r197037 4570 900D add r25,r07038 4572 B29F mul r27,r187039 4574 900D add r25,r07040 4576 1124 clr r17041 4578 70E0 ldi r23,lo8(0)7042 457a 0E94 0000 call __divmodhi47043 457e 7093 0000 sts (StickGasHover.3083)+1,r237044 4582 6093 0000 sts StickGasHover.3083,r227045 4586 6634 cpi r22,707046 4588 7105 cpc r23,__zero_reg__7047 458a 04F4 brge .L4347048 458c 86E4 ldi r24,lo8(70)7049 458e 90E0 ldi r25,hi8(70)7050 4590 00C0 rjmp .L5397051 .L434:7052 4592 6739 cpi r22,1517053 4594 7105 cpc r23,__zero_reg__7054 4596 04F0 brlt .L4297055 4598 86E9 ldi r24,lo8(150)7056 459a 90E0 ldi r25,hi8(150)7057 .L539:7058 459c 9093 0000 sts (StickGasHover.3083)+1,r257059 45a0 8093 0000 sts StickGasHover.3083,r247060 .L429:7061 45a4 8091 0000 lds r24,BaroExpandActive7062 45a8 9091 0000 lds r25,(BaroExpandActive)+17063 45ac 892B or r24,r257064 45ae 01F0 breq .L4357065 45b0 8091 0000 lds r24,HoehenWert7066 45b4 9091 0000 lds r25,(HoehenWert)+17067 45b8 A091 0000 lds r26,(HoehenWert)+27068 45bc B091 0000 lds r27,(HoehenWert)+37069 45c0 8093 0000 sts SollHoehe,r247070 45c4 9093 0000 sts (SollHoehe)+1,r257071 45c8 A093 0000 sts (SollHoehe)+2,r267072 45cc B093 0000 sts (SollHoehe)+3,r277073 45d0 00C0 rjmp .L4357074 .L419:7075 45d2 8091 0000 lds r24,HoehenWert7076 45d6 9091 0000 lds r25,(HoehenWert)+17077 45da A091 0000 lds r26,(HoehenWert)+27078 45de B091 0000 lds r27,(HoehenWert)+37079 45e2 8059 subi r24,lo8(-(-400))7080 45e4 9140 sbci r25,hi8(-(-400))7081 45e6 A040 sbci r26,hlo8(-(-400))7082 45e8 B040 sbci r27,hhi8(-(-400))7083 45ea 8093 0000 sts SollHoehe,r247084 45ee 9093 0000 sts (SollHoehe)+1,r257085 45f2 A093 0000 sts (SollHoehe)+2,r267086 45f6 B093 0000 sts (SollHoehe)+3,r277087 45fa 8091 0000 lds r24,EE_Parameter+227088 45fe 8823 tst r247089 4600 01F0 breq .L4367090 4602 8093 0000 sts StickGasHover.3083,r247091 4606 1092 0000 sts StickGasHover.3083+1,__zero_reg__7092 460a 00C0 rjmp .L4377093 .L436:7094 460c 88E7 ldi r24,lo8(120)7095 460e 90E0 ldi r25,hi8(120)7096 4610 9093 0000 sts (StickGasHover.3083)+1,r257097 4614 8093 0000 sts StickGasHover.3083,r247098 .L437:7099 4618 5092 0000 sts (HoverGas)+1,r57100 461c 4092 0000 sts HoverGas,r47101 .L435:7102 4620 2090 0000 lds r2,HoverGas7103 4624 3090 0000 lds r3,(HoverGas)+17104 .L418:7105 4628 E090 0000 lds r14,HoehenWert7106 462c F090 0000 lds r15,(HoehenWert)+17107 4630 0091 0000 lds r16,(HoehenWert)+27108 4634 1091 0000 lds r17,(HoehenWert)+37109 4638 2091 0000 lds r18,SollHoehe7110 463c 3091 0000 lds r19,(SollHoehe)+17111 4640 4091 0000 lds r20,(SollHoehe)+27112 4644 5091 0000 lds r21,(SollHoehe)+37113 4648 2E15 cp r18,r147114 464a 3F05 cpc r19,r157115 464c 4007 cpc r20,r167116 464e 5107 cpc r21,r177117 4650 04F0 brlt .L4387118 4652 8091 0000 lds r24,EE_Parameter+997119 4656 80FD sbrc r24,07120 4658 00C0 rjmp .L4397121 .L438:7122 465a 8091 0000 lds r24,BaroExpandActive7123 465e 9091 0000 lds r25,(BaroExpandActive)+17124 4662 892B or r24,r257125 4664 01F0 breq .L4407126 4666 2090 0000 lds r2,HoverGas7127 466a 3090 0000 lds r3,(HoverGas)+17128 466e AA24 clr r107129 4670 BB24 clr r117130 4672 CC24 clr r127131 4674 DD24 clr r137132 4676 00C0 rjmp .L4417133 .L440:7134 4678 D801 movw r26,r167135 467a C701 movw r24,r147136 467c 821B sub r24,r187137 467e 930B sbc r25,r197138 4680 A40B sbc r26,r207139 4682 B50B sbc r27,r217140 4684 8093 0000 sts tmp_long.3043,r247141 4688 9093 0000 sts (tmp_long.3043)+1,r257142 468c A093 0000 sts (tmp_long.3043)+2,r267143 4690 B093 0000 sts (tmp_long.3043)+3,r277144 4694 8230 cpi r24,lo8(-32766)7145 4696 E0E8 ldi r30,hi8(-32766)7146 4698 9E07 cpc r25,r307147 469a EFEF ldi r30,hlo8(-32766)7148 469c AE07 cpc r26,r307149 469e EFEF ldi r30,hhi8(-32766)7150 46a0 BE07 cpc r27,r307151 46a2 04F4 brge .L4427152 46a4 81E0 ldi r24,lo8(-32767)7153 46a6 90E8 ldi r25,hi8(-32767)7154 46a8 AFEF ldi r26,hlo8(-32767)7155 46aa BFEF ldi r27,hhi8(-32767)7156 46ac 00C0 rjmp .L5407157 .L442:7158 46ae 8F5F subi r24,lo8(32767)7159 46b0 9F47 sbci r25,hi8(32767)7160 46b2 A040 sbci r26,hlo8(32767)7161 46b4 B040 sbci r27,hhi8(32767)7162 46b6 04F0 brlt .L4437163 46b8 8FEF ldi r24,lo8(32767)7164 46ba 9FE7 ldi r25,hi8(32767)7165 46bc A0E0 ldi r26,hlo8(32767)7166 46be B0E0 ldi r27,hhi8(32767)7167 .L540:7168 46c0 8093 0000 sts tmp_long.3043,r247169 46c4 9093 0000 sts (tmp_long.3043)+1,r257170 46c8 A093 0000 sts (tmp_long.3043)+2,r267171 46cc B093 0000 sts (tmp_long.3043)+3,r277172 .L443:7173 46d0 E090 0000 lds r14,tmp_long.30437174 46d4 F090 0000 lds r15,(tmp_long.3043)+17175 46d8 0091 0000 lds r16,(tmp_long.3043)+27176 46dc 1091 0000 lds r17,(tmp_long.3043)+37177 46e0 6091 0000 lds r22,Parameter_Hoehe_P7178 46e4 70E0 ldi r23,lo8(0)7179 46e6 80E0 ldi r24,lo8(0)7180 46e8 90E0 ldi r25,hi8(0)7181 46ea A801 movw r20,r167182 46ec 9701 movw r18,r147183 46ee 0E94 0000 call __mulsi37184 46f2 20E2 ldi r18,lo8(32)7185 46f4 30E0 ldi r19,hi8(32)7186 46f6 40E0 ldi r20,hlo8(32)7187 46f8 50E0 ldi r21,hhi8(32)7188 46fa 0E94 0000 call __divmodsi47189 46fe C901 movw r24,r187190 4700 DA01 movw r26,r207191 4702 8093 0000 sts tmp_long.3043,r247192 4706 9093 0000 sts (tmp_long.3043)+1,r257193 470a A093 0000 sts (tmp_long.3043)+2,r267194 470e B093 0000 sts (tmp_long.3043)+3,r277195 4712 8530 cpi r24,lo8(-507)7196 4714 2EEF ldi r18,hi8(-507)7197 4716 9207 cpc r25,r187198 4718 2FEF ldi r18,hlo8(-507)7199 471a A207 cpc r26,r187200 471c 2FEF ldi r18,hhi8(-507)7201 471e B207 cpc r27,r187202 4720 04F4 brge .L4447203 4722 84E0 ldi r24,lo8(-508)7204 4724 9EEF ldi r25,hi8(-508)7205 4726 AFEF ldi r26,hlo8(-508)7206 4728 BFEF ldi r27,hhi8(-508)7207 472a 00C0 rjmp .L5417208 .L444:7209 472c 8050 subi r24,lo8(1024)7210 472e 9440 sbci r25,hi8(1024)7211 4730 A040 sbci r26,hlo8(1024)7212 4732 B040 sbci r27,hhi8(1024)7213 4734 04F0 brlt .L4457214 4736 80E0 ldi r24,lo8(1024)7215 4738 94E0 ldi r25,hi8(1024)7216 473a A0E0 ldi r26,hlo8(1024)7217 473c B0E0 ldi r27,hhi8(1024)7218 .L541:7219 473e 8093 0000 sts tmp_long.3043,r247220 4742 9093 0000 sts (tmp_long.3043)+1,r257221 4746 A093 0000 sts (tmp_long.3043)+2,r267222 474a B093 0000 sts (tmp_long.3043)+3,r277223 .L445:7224 474e 6090 0000 lds r6,tmp_long.30437225 4752 7090 0000 lds r7,(tmp_long.3043)+17226 4756 8090 0000 lds r8,(tmp_long.3043)+27227 475a 9090 0000 lds r9,(tmp_long.3043)+37228 475e 8091 0000 lds r24,VarioMeter7229 4762 9091 0000 lds r25,(VarioMeter)+17230 4766 68E0 ldi r22,lo8(8)7231 4768 70E0 ldi r23,hi8(8)7232 476a 0E94 0000 call __divmodhi47233 476e 9B01 movw r18,r227234 4770 4FEF ldi r20,hi8(-126)7235 4772 6238 cpi r22,lo8(-126)7236 4774 7407 cpc r23,r207237 4776 04F4 brge .L4467238 4778 21E8 ldi r18,lo8(-127)7239 477a 3FEF ldi r19,hi8(-127)7240 477c 00C0 rjmp .L4477241 .L446:7242 477e 6038 cpi r22,1287243 4780 7105 cpc r23,__zero_reg__7244 4782 04F0 brlt .L4477245 4784 20E8 ldi r18,lo8(128)7246 4786 30E0 ldi r19,hi8(128)7247 .L447:7248 4788 B901 movw r22,r187249 478a 8827 clr r247250 478c 77FD sbrc r23,77251 478e 8095 com r247252 4790 982F mov r25,r247253 4792 2091 0000 lds r18,Parameter_Luftdruck_D7254 4796 30E0 ldi r19,lo8(0)7255 4798 40E0 ldi r20,lo8(0)7256 479a 50E0 ldi r21,hi8(0)7257 479c 0E94 0000 call __mulsi37258 47a0 24E0 ldi r18,lo8(4)7259 47a2 30E0 ldi r19,hi8(4)7260 47a4 40E0 ldi r20,hlo8(4)7261 47a6 50E0 ldi r21,hhi8(4)7262 47a8 0E94 0000 call __divmodsi47263 47ac 5FEF ldi r21,hi8(-255)7264 47ae 2130 cpi r18,lo8(-255)7265 47b0 3507 cpc r19,r217266 47b2 04F4 brge .L4487267 47b4 20E0 ldi r18,lo8(-256)7268 47b6 3FEF ldi r19,hi8(-256)7269 47b8 00C0 rjmp .L4497270 .L448:7271 47ba 2F3F cpi r18,2557272 47bc 3105 cpc r19,__zero_reg__7273 47be 01F0 breq .L4497274 47c0 04F0 brlt .L4497275 47c2 20E0 ldi r18,lo8(256)7276 47c4 31E0 ldi r19,hi8(256)7277 .L449:7278 47c6 8091 0000 lds r24,HeightTrimmingFlag.30917279 47ca 8823 tst r247280 47cc 01F0 breq .L4507281 47ce C901 movw r24,r187282 47d0 64E0 ldi r22,lo8(4)7283 47d2 70E0 ldi r23,hi8(4)7284 47d4 00C0 rjmp .L5427285 .L450:7286 47d6 8091 0000 lds r24,EE_Parameter+997287 47da 80FF sbrs r24,07288 47dc 00C0 rjmp .L4517289 47de C901 movw r24,r187290 47e0 68E0 ldi r22,lo8(8)7291 47e2 70E0 ldi r23,hi8(8)7292 .L542:7293 47e4 0E94 0000 call __divmodhi47294 47e8 9B01 movw r18,r227295 .L451:7296 47ea 5701 movw r10,r147297 47ec 6301 movw r12,r67298 47ee C20E add r12,r187299 47f0 D31E adc r13,r197300 .L441:7301 47f2 E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung7302 47f6 EE20 tst r147303 47f8 01F4 brne .+27304 47fa 00C0 rjmp .L4527305 47fc 6091 0000 lds r22,Mess_Integral_Hoch7306 4800 7091 0000 lds r23,(Mess_Integral_Hoch)+17307 4804 8091 0000 lds r24,(Mess_Integral_Hoch)+27308 4808 9091 0000 lds r25,(Mess_Integral_Hoch)+37309 480c FF24 clr r157310 480e 00E0 ldi r16,lo8(0)7311 4810 10E0 ldi r17,hi8(0)7312 4812 20E8 ldi r18,lo8(128)7313 4814 30E0 ldi r19,hi8(128)7314 4816 40E0 ldi r20,hlo8(128)7315 4818 50E0 ldi r21,hhi8(128)7316 481a 0E94 0000 call __divmodsi47317 481e C801 movw r24,r167318 4820 B701 movw r22,r147319 4822 0E94 0000 call __mulsi37320 4826 20E2 ldi r18,lo8(32)7321 4828 30E0 ldi r19,hi8(32)7322 482a 40E0 ldi r20,hlo8(32)7323 482c 50E0 ldi r21,hhi8(32)7324 482e 0E94 0000 call __divmodsi47325 4832 C901 movw r24,r187326 4834 DA01 movw r26,r207327 4836 8093 0000 sts tmp_long.3043,r247328 483a 9093 0000 sts (tmp_long.3043)+1,r257329 483e A093 0000 sts (tmp_long.3043)+2,r267330 4842 B093 0000 sts (tmp_long.3043)+3,r277331 4846 8138 cpi r24,lo8(-127)7332 4848 6FEF ldi r22,hi8(-127)7333 484a 9607 cpc r25,r227334 484c 6FEF ldi r22,hlo8(-127)7335 484e A607 cpc r26,r227336 4850 6FEF ldi r22,hhi8(-127)7337 4852 B607 cpc r27,r227338 4854 04F4 brge .L4537339 4856 80E8 ldi r24,lo8(-128)7340 4858 9FEF ldi r25,hi8(-128)7341 485a AFEF ldi r26,hlo8(-128)7342 485c BFEF ldi r27,hhi8(-128)7343 485e 00C0 rjmp .L5437344 .L453:7345 4860 8F3F cpi r24,lo8(255)7346 4862 9105 cpc r25,__zero_reg__7347 4864 A105 cpc r26,__zero_reg__7348 4866 B105 cpc r27,__zero_reg__7349 4868 01F0 breq .L4547350 486a 04F0 brlt .L4547351 486c 80E0 ldi r24,lo8(256)7352 486e 91E0 ldi r25,hi8(256)7353 4870 A0E0 ldi r26,hlo8(256)7354 4872 B0E0 ldi r27,hhi8(256)7355 .L543:7356 4874 8093 0000 sts tmp_long.3043,r247357 4878 9093 0000 sts (tmp_long.3043)+1,r257358 487c A093 0000 sts (tmp_long.3043)+2,r267359 4880 B093 0000 sts (tmp_long.3043)+3,r277360 .L454:7361 4884 8091 0000 lds r24,tmp_long.30437362 4888 9091 0000 lds r25,(tmp_long.3043)+17363 488c C80E add r12,r247364 488e D91E adc r13,r257365 .L452:7366 4890 2091 0000 lds r18,FromNaviCtrl_Value+47367 4894 3327 clr r197368 4896 27FD sbrc r18,77369 4898 3095 com r197370 489a 8091 0000 lds r24,Parameter_Hoehe_GPS_Z7371 489e 90E0 ldi r25,lo8(0)7372 48a0 DC01 movw r26,r247373 48a2 2A9F mul r18,r267374 48a4 C001 movw r24,r07375 48a6 2B9F mul r18,r277376 48a8 900D add r25,r07377 48aa 3A9F mul r19,r267378 48ac 900D add r25,r07379 48ae 1124 clr r17380 48b0 60E8 ldi r22,lo8(128)7381 48b2 70E0 ldi r23,hi8(128)7382 48b4 0E94 0000 call __divmodhi47383 48b8 CB01 movw r24,r227384 48ba BFEF ldi r27,hi8(-127)7385 48bc 6138 cpi r22,lo8(-127)7386 48be 7B07 cpc r23,r277387 48c0 04F4 brge .L4557388 48c2 80E8 ldi r24,lo8(-128)7389 48c4 9FEF ldi r25,hi8(-128)7390 .L455:7391 48c6 0091 0000 lds r16,HoverGas7392 48ca 1091 0000 lds r17,(HoverGas)+17393 48ce C80E add r12,r247394 48d0 D91E adc r13,r257395 48d2 B601 movw r22,r127396 48d4 8827 clr r247397 48d6 77FD sbrc r23,77398 48d8 8095 com r247399 48da 982F mov r25,r247400 48dc 9801 movw r18,r167401 48de 4427 clr r207402 48e0 37FD sbrc r19,77403 48e2 4095 com r207404 48e4 542F mov r21,r207405 48e6 0E94 0000 call __mulsi37406 48ea 20E0 ldi r18,lo8(512)7407 48ec 32E0 ldi r19,hi8(512)7408 48ee 40E0 ldi r20,hlo8(512)7409 48f0 50E0 ldi r21,hhi8(512)7410 48f2 0E94 0000 call __divmodsi47411 48f6 F101 movw r30,r27412 48f8 E21B sub r30,r187413 48fa F30B sbc r31,r197414 48fc 8091 0000 lds r24,HeightTrimming.30817415 4900 9091 0000 lds r25,(HeightTrimming.3081)+17416 4904 892B or r24,r257417 4906 01F0 breq .+27418 4908 00C0 rjmp .L4567419 490a 1016 cp __zero_reg__,r167420 490c 1106 cpc __zero_reg__,r177421 490e 04F0 brlt .+27422 4910 00C0 rjmp .L4567423 4912 C501 movw r24,r107424 4914 B7FE sbrs r11,77425 4916 00C0 rjmp .L4577426 4918 8827 clr r247427 491a 9927 clr r257428 491c 8A19 sub r24,r107429 491e 9B09 sbc r25,r117430 .L457:7431 4920 8D33 cpi r24,617432 4922 9105 cpc r25,__zero_reg__7433 4924 00F4 brsh .L4587434 4926 2091 0000 lds r18,HoverGasMin.30847435 492a 3091 0000 lds r19,(HoverGasMin.3084)+17436 492e 2E17 cp r18,r307437 4930 3F07 cpc r19,r317438 4932 04F0 brlt .+27439 4934 00C0 rjmp .L4597440 4936 00C0 rjmp .L4637441 .L458:7442 4938 AC01 movw r20,r247443 493a 4C53 subi r20,lo8(-(-60))7444 493c 5040 sbci r21,hi8(-(-60))7445 493e 85E0 ldi r24,57446 4940 5695 1: lsr r217447 4942 4795 ror r207448 4944 8A95 dec r247449 4946 01F4 brne 1b7450 4948 4031 cpi r20,167451 494a 5105 cpc r21,__zero_reg__7452 494c 00F0 brlo .L4617453 494e 4FE0 ldi r20,lo8(15)7454 4950 50E0 ldi r21,hi8(15)7455 .L461:7456 4952 2091 0000 lds r18,HoverGasMin.30847457 4956 3091 0000 lds r19,(HoverGasMin.3084)+17458 495a 1A14 cp __zero_reg__,r107459 495c 1B04 cpc __zero_reg__,r117460 495e 04F4 brge .L4627461 4960 80E1 ldi r24,lo8(16)7462 4962 90E0 ldi r25,hi8(16)7463 4964 841B sub r24,r207464 4966 950B sbc r25,r217465 4968 829F mul r24,r187466 496a B001 movw r22,r07467 496c 839F mul r24,r197468 496e 700D add r23,r07469 4970 929F mul r25,r187470 4972 700D add r23,r07471 4974 1124 clr r17472 4976 04E0 ldi r16,47473 4978 7695 1: lsr r237474 497a 6795 ror r227475 497c 0A95 dec r167476 497e 01F4 brne 1b7477 4980 6E17 cp r22,r307478 4982 7F07 cpc r23,r317479 4984 00F4 brsh .L5457480 .L463:7481 4986 8091 0000 lds r24,HoverGasMax.30857482 498a 9091 0000 lds r25,(HoverGasMax.3085)+17483 498e 9F01 movw r18,r307484 4990 8E17 cp r24,r307485 4992 9F07 cpc r25,r317486 4994 04F4 brge .L4597487 4996 9C01 movw r18,r247488 4998 00C0 rjmp .L4597489 .L462:7490 499a 8091 0000 lds r24,HoverGasMax.30857491 499e 9091 0000 lds r25,(HoverGasMax.3085)+17492 49a2 2E17 cp r18,r307493 49a4 3F07 cpc r19,r317494 49a6 04F4 brge .L4597495 49a8 405F subi r20,lo8(-(16))7496 49aa 5F4F sbci r21,hi8(-(16))7497 49ac 489F mul r20,r247498 49ae B001 movw r22,r07499 49b0 499F mul r20,r257500 49b2 700D add r23,r07501 49b4 589F mul r21,r247502 49b6 700D add r23,r07503 49b8 1124 clr r17504 49ba 14E0 ldi r17,47505 49bc 7695 1: lsr r237506 49be 6795 ror r227507 49c0 1A95 dec r177508 49c2 01F4 brne 1b7509 49c4 E617 cp r30,r227510 49c6 F707 cpc r31,r237511 49c8 00F0 brlo .L4567512 .L545:7513 49ca 9B01 movw r18,r227514 49cc 00C0 rjmp .L4597515 .L456:7516 49ce 9F01 movw r18,r307517 .L459:7518 49d0 B901 movw r22,r187519 49d2 8827 clr r247520 49d4 77FD sbrc r23,77521 49d6 8095 com r247522 49d8 982F mov r25,r247523 49da BDE0 ldi r27,137524 49dc 660F 1: lsl r227525 49de 771F rol r237526 49e0 881F rol r247527 49e2 991F rol r257528 49e4 BA95 dec r277529 49e6 01F4 brne 1b7530 49e8 E8A1 ldd r30,Y+327531 49ea F9A1 ldd r31,Y+337532 49ec 9F01 movw r18,r307533 49ee 4427 clr r207534 49f0 37FD sbrc r19,77535 49f2 4095 com r207536 49f4 542F mov r21,r207537 49f6 0E94 0000 call __divmodsi47538 49fa 7901 movw r14,r187539 49fc 8A01 movw r16,r207540 49fe E092 0000 sts tmp_long2.3044,r147541 4a02 F092 0000 sts (tmp_long2.3044)+1,r157542 4a06 0093 0000 sts (tmp_long2.3044)+2,r167543 4a0a 1093 0000 sts (tmp_long2.3044)+3,r177544 4a0e 2091 0000 lds r18,FilterHCGas.30827545 4a12 3091 0000 lds r19,(FilterHCGas.3082)+17546 4a16 C901 movw r24,r187547 4a18 880F lsl r247548 4a1a 991F rol r257549 4a1c 820F add r24,r187550 4a1e 931F adc r25,r197551 4a20 8E0D add r24,r147552 4a22 9F1D adc r25,r157553 4a24 64E0 ldi r22,lo8(4)7554 4a26 70E0 ldi r23,hi8(4)7555 4a28 0E94 0000 call __divmodhi47556 4a2c 7093 0000 sts (FilterHCGas.3082)+1,r237557 4a30 6093 0000 sts FilterHCGas.3082,r227558 4a34 8091 0000 lds r24,EE_Parameter+147559 4a38 90E0 ldi r25,lo8(0)7560 4a3a 880F lsl r247561 4a3c 991F rol r257562 4a3e 880F lsl r247563 4a40 991F rol r257564 4a42 8617 cp r24,r227565 4a44 9707 cpc r25,r237566 4a46 04F4 brge .L5467567 .L465:7568 4a48 8091 0000 lds r24,MAX_GAS7569 4a4c 90E0 ldi r25,lo8(0)7570 4a4e 4497 sbiw r24,207571 4a50 880F lsl r247572 4a52 991F rol r257573 4a54 880F lsl r247574 4a56 991F rol r257575 4a58 6817 cp r22,r247576 4a5a 7907 cpc r23,r257577 4a5c 04F0 brlt .L4667578 .L546:7579 4a5e 9093 0000 sts (FilterHCGas.3082)+1,r257580 4a62 8093 0000 sts FilterHCGas.3082,r247581 .L466:7582 4a66 8091 0000 lds r24,EE_Parameter+997583 4a6a 2091 0000 lds r18,FilterHCGas.30827584 4a6e 3091 0000 lds r19,(FilterHCGas.3082)+17585 4a72 80FF sbrs r24,07586 4a74 00C0 rjmp .L4677587 4a76 2415 cp r18,r47588 4a78 3505 cpc r19,r57589 4a7a 04F0 brlt .L4687590 4a7c 5092 0000 sts (FilterHCGas.3082)+1,r57591 4a80 4092 0000 sts FilterHCGas.3082,r47592 .L468:7593 4a84 4090 0000 lds r4,FilterHCGas.30827594 4a88 5090 0000 lds r5,(FilterHCGas.3082)+17595 4a8c 00C0 rjmp .L4397596 .L467:7597 4a8e 8091 0000 lds r24,HoverGas7598 4a92 9091 0000 lds r25,(HoverGas)+17599 4a96 A201 movw r20,r47600 4a98 481B sub r20,r247601 4a9a 590B sbc r21,r257602 4a9c CA01 movw r24,r207603 4a9e 64E0 ldi r22,lo8(4)7604 4aa0 70E0 ldi r23,hi8(4)7605 4aa2 0E94 0000 call __divmodhi47606 4aa6 2B01 movw r4,r227607 4aa8 420E add r4,r187608 4aaa 531E adc r5,r197609 4aac 00C0 rjmp .L4397610 .L415:7611 4aae 8091 0000 lds r24,EE_Parameter+227612 4ab2 8823 tst r247613 4ab4 01F4 brne .L4697614 4ab6 8091 0000 lds r24,HoverGas7615 4aba 9091 0000 lds r25,(HoverGas)+17616 4abe 64E0 ldi r22,lo8(4)7617 4ac0 70E0 ldi r23,hi8(4)7618 4ac2 0E94 0000 call __divmodhi47619 4ac6 CB01 movw r24,r227620 4ac8 7093 0000 sts (StickGasHover.3083)+1,r237621 4acc 6093 0000 sts StickGasHover.3083,r227622 4ad0 2091 0000 lds r18,UBat7623 4ad4 3091 0000 lds r19,(UBat)+17624 4ad8 6091 0000 lds r22,BattLowVoltageWarning7625 4adc DC01 movw r26,r247626 4ade A29F mul r26,r187627 4ae0 C001 movw r24,r07628 4ae2 A39F mul r26,r197629 4ae4 900D add r25,r07630 4ae6 B29F mul r27,r187631 4ae8 900D add r25,r07632 4aea 1124 clr r17633 4aec 70E0 ldi r23,lo8(0)7634 4aee 0E94 0000 call __divmodhi47635 4af2 7093 0000 sts (StickGasHover.3083)+1,r237636 4af6 6093 0000 sts StickGasHover.3083,r227637 4afa 00C0 rjmp .L4707638 .L469:7639 4afc 8093 0000 sts StickGasHover.3083,r247640 4b00 1092 0000 sts StickGasHover.3083+1,__zero_reg__7641 .L470:7642 4b04 8091 0000 lds r24,StickGasHover.30837643 4b08 9091 0000 lds r25,(StickGasHover.3083)+17644 4b0c 8734 cpi r24,717645 4b0e 9105 cpc r25,__zero_reg__7646 4b10 04F4 brge .L4717647 4b12 86E4 ldi r24,lo8(70)7648 4b14 90E0 ldi r25,hi8(70)7649 4b16 00C0 rjmp .L5477650 .L471:7651 4b18 8639 cpi r24,1507652 4b1a 9105 cpc r25,__zero_reg__7653 4b1c 04F0 brlt .L4727654 4b1e 86E9 ldi r24,lo8(150)7655 4b20 90E0 ldi r25,hi8(150)7656 .L547:7657 4b22 9093 0000 sts (StickGasHover.3083)+1,r257658 4b26 8093 0000 sts StickGasHover.3083,r247659 .L472:7660 4b2a 5092 0000 sts (FilterHCGas.3082)+1,r57661 4b2e 4092 0000 sts FilterHCGas.3082,r47662 .L439:7663 4b32 8091 0000 lds r24,FCFlags7664 4b36 81FF sbrs r24,17665 4b38 00C0 rjmp .L4737666 4b3a 8091 0000 lds r24,HoverGasFilter.30867667 4b3e 9091 0000 lds r25,(HoverGasFilter.3086)+17668 4b42 A091 0000 lds r26,(HoverGasFilter.3086)+27669 4b46 B091 0000 lds r27,(HoverGasFilter.3086)+37670 4b4a 0097 sbiw r24,07671 4b4c A105 cpc r26,__zero_reg__7672 4b4e B105 cpc r27,__zero_reg__7673 4b50 01F0 breq .L4747674 4b52 8091 0000 lds r24,StartTrigger7675 4b56 8130 cpi r24,lo8(1)7676 4b58 01F4 brne .L4757677 .L474:7678 4b5a C201 movw r24,r47679 4b5c AA27 clr r267680 4b5e 97FD sbrc r25,77681 4b60 A095 com r267682 4b62 BA2F mov r27,r267683 4b64 7EE0 ldi r23,147684 4b66 880F 1: lsl r247685 4b68 991F rol r257686 4b6a AA1F rol r267687 4b6c BB1F rol r277688 4b6e 7A95 dec r237689 4b70 01F4 brne 1b7690 4b72 8093 0000 sts HoverGasFilter.3086,r247691 4b76 9093 0000 sts (HoverGasFilter.3086)+1,r257692 4b7a A093 0000 sts (HoverGasFilter.3086)+2,r267693 4b7e B093 0000 sts (HoverGasFilter.3086)+3,r277694 .L475:7695 4b82 8091 0000 lds r24,StartTrigger7696 4b86 8130 cpi r24,lo8(1)7697 4b88 01F4 brne .L4767698 4b8a 82E0 ldi r24,lo8(2)7699 4b8c 8093 0000 sts StartTrigger,r247700 .L476:7701 4b90 B201 movw r22,r47702 4b92 8827 clr r247703 4b94 77FD sbrc r23,77704 4b96 8095 com r247705 4b98 982F mov r25,r247706 4b9a E8A1 ldd r30,Y+327707 4b9c F9A1 ldd r31,Y+337708 4b9e 9F01 movw r18,r307709 4ba0 4427 clr r207710 4ba2 37FD sbrc r19,77711 4ba4 4095 com r207712 4ba6 542F mov r21,r207713 4ba8 0E94 0000 call __mulsi37714 4bac 20E0 ldi r18,lo8(8192)7715 4bae 30E2 ldi r19,hi8(8192)7716 4bb0 40E0 ldi r20,hlo8(8192)7717 4bb2 50E0 ldi r21,hhi8(8192)7718 4bb4 0E94 0000 call __divmodsi47719 4bb8 7901 movw r14,r187720 4bba 8A01 movw r16,r207721 4bbc 2093 0000 sts tmp_long2.3044,r187722 4bc0 3093 0000 sts (tmp_long2.3044)+1,r197723 4bc4 4093 0000 sts (tmp_long2.3044)+2,r207724 4bc8 5093 0000 sts (tmp_long2.3044)+3,r217725 4bcc 8091 0000 lds r24,modell_fliegt7726 4bd0 9091 0000 lds r25,(modell_fliegt)+17727 4bd4 805A subi r24,lo8(4000)7728 4bd6 9F40 sbci r25,hi8(4000)7729 4bd8 00F4 brsh .L4777730 4bda 8091 0000 lds r24,HoverGasFilter.30867731 4bde 9091 0000 lds r25,(HoverGasFilter.3086)+17732 4be2 A091 0000 lds r26,(HoverGasFilter.3086)+27733 4be6 B091 0000 lds r27,(HoverGasFilter.3086)+37734 4bea 9C01 movw r18,r247735 4bec AD01 movw r20,r267736 4bee 6AE0 ldi r22,107737 4bf0 5695 1: lsr r217738 4bf2 4795 ror r207739 4bf4 3795 ror r197740 4bf6 2795 ror r187741 4bf8 6A95 dec r227742 4bfa 01F4 brne 1b7743 4bfc 821B sub r24,r187744 4bfe 930B sbc r25,r197745 4c00 A40B sbc r26,r207746 4c02 B50B sbc r27,r217747 4c04 F4E0 ldi r31,47748 4c06 EE0C 1: lsl r147749 4c08 FF1C rol r157750 4c0a 001F rol r167751 4c0c 111F rol r177752 4c0e FA95 dec r317753 4c10 01F4 brne 1b7754 4c12 8E0D add r24,r147755 4c14 9F1D adc r25,r157756 4c16 A01F adc r26,r167757 4c18 B11F adc r27,r177758 4c1a 8093 0000 sts HoverGasFilter.3086,r247759 4c1e 9093 0000 sts (HoverGasFilter.3086)+1,r257760 4c22 A093 0000 sts (HoverGasFilter.3086)+2,r267761 4c26 B093 0000 sts (HoverGasFilter.3086)+3,r277762 .L477:7763 4c2a 8091 0000 lds r24,modell_fliegt7764 4c2e 9091 0000 lds r25,(modell_fliegt)+17765 4c32 8054 subi r24,lo8(8000)7766 4c34 9F41 sbci r25,hi8(8000)7767 4c36 00F4 brsh .L4787768 4c38 8091 0000 lds r24,HoverGasFilter.30867769 4c3c 9091 0000 lds r25,(HoverGasFilter.3086)+17770 4c40 A091 0000 lds r26,(HoverGasFilter.3086)+27771 4c44 B091 0000 lds r27,(HoverGasFilter.3086)+37772 4c48 9C01 movw r18,r247773 4c4a AD01 movw r20,r267774 4c4c ECE0 ldi r30,127775 4c4e 5695 1: lsr r217776 4c50 4795 ror r207777 4c52 3795 ror r197778 4c54 2795 ror r187779 4c56 EA95 dec r307780 4c58 01F4 brne 1b7781 4c5a 821B sub r24,r187782 4c5c 930B sbc r25,r197783 4c5e A40B sbc r26,r207784 4c60 B50B sbc r27,r217785 4c62 2091 0000 lds r18,tmp_long2.30447786 4c66 3091 0000 lds r19,(tmp_long2.3044)+17787 4c6a 4091 0000 lds r20,(tmp_long2.3044)+27788 4c6e 5091 0000 lds r21,(tmp_long2.3044)+37789 4c72 72E0 ldi r23,27790 4c74 220F 1: lsl r187791 4c76 331F rol r197792 4c78 441F rol r207793 4c7a 551F rol r217794 4c7c 7A95 dec r237795 4c7e 01F4 brne 1b7796 4c80 280F add r18,r247797 4c82 391F adc r19,r257798 4c84 4A1F adc r20,r267799 4c86 5B1F adc r21,r277800 4c88 2093 0000 sts HoverGasFilter.3086,r187801 4c8c 3093 0000 sts (HoverGasFilter.3086)+1,r197802 4c90 4093 0000 sts (HoverGasFilter.3086)+2,r207803 4c94 5093 0000 sts (HoverGasFilter.3086)+3,r217804 4c98 00C0 rjmp .L4797805 .L478:7806 4c9a 8091 0000 lds r24,VarioMeter7807 4c9e 9091 0000 lds r25,(VarioMeter)+17808 4ca2 97FF sbrs r25,77809 4ca4 00C0 rjmp .L4807810 4ca6 9095 com r257811 4ca8 8195 neg r247812 4caa 9F4F sbci r25,lo8(-1)7813 .L480:7814 4cac 8436 cpi r24,1007815 4cae 9105 cpc r25,__zero_reg__7816 4cb0 04F4 brge .L4797817 4cb2 8091 0000 lds r24,HoverGasFilter.30867818 4cb6 9091 0000 lds r25,(HoverGasFilter.3086)+17819 4cba A091 0000 lds r26,(HoverGasFilter.3086)+27820 4cbe B091 0000 lds r27,(HoverGasFilter.3086)+37821 4cc2 9C01 movw r18,r247822 4cc4 AD01 movw r20,r267823 4cc6 6EE0 ldi r22,147824 4cc8 5695 1: lsr r217825 4cca 4795 ror r207826 4ccc 3795 ror r197827 4cce 2795 ror r187828 4cd0 6A95 dec r227829 4cd2 01F4 brne 1b7830 4cd4 821B sub r24,r187831 4cd6 930B sbc r25,r197832 4cd8 A40B sbc r26,r207833 4cda B50B sbc r27,r217834 4cdc 2091 0000 lds r18,tmp_long2.30447835 4ce0 3091 0000 lds r19,(tmp_long2.3044)+17836 4ce4 4091 0000 lds r20,(tmp_long2.3044)+27837 4ce8 5091 0000 lds r21,(tmp_long2.3044)+37838 4cec 820F add r24,r187839 4cee 931F adc r25,r197840 4cf0 A41F adc r26,r207841 4cf2 B51F adc r27,r217842 4cf4 8093 0000 sts HoverGasFilter.3086,r247843 4cf8 9093 0000 sts (HoverGasFilter.3086)+1,r257844 4cfc A093 0000 sts (HoverGasFilter.3086)+2,r267845 4d00 B093 0000 sts (HoverGasFilter.3086)+3,r277846 .L479:7847 4d04 8091 0000 lds r24,HoverGasFilter.30867848 4d08 9091 0000 lds r25,(HoverGasFilter.3086)+17849 4d0c A091 0000 lds r26,(HoverGasFilter.3086)+27850 4d10 B091 0000 lds r27,(HoverGasFilter.3086)+37851 4d14 2EE0 ldi r18,147852 4d16 B695 1: lsr r277853 4d18 A795 ror r267854 4d1a 9795 ror r257855 4d1c 8795 ror r247856 4d1e 2A95 dec r187857 4d20 01F4 brne 1b7858 4d22 FC01 movw r30,r247859 4d24 9093 0000 sts (HoverGas)+1,r257860 4d28 8093 0000 sts HoverGas,r247861 4d2c 6091 0000 lds r22,EE_Parameter+207862 4d30 6623 tst r227863 4d32 01F0 breq .L4817864 4d34 70E0 ldi r23,lo8(0)7865 4d36 0E94 0000 call __divmodhi47866 4d3a CB01 movw r24,r227867 4d3c 9F01 movw r18,r307868 4d3e 261B sub r18,r227869 4d40 370B sbc r19,r237870 4d42 3093 0000 sts (HoverGasMin.3084)+1,r197871 4d46 2093 0000 sts HoverGasMin.3084,r187872 4d4a 8E0F add r24,r307873 4d4c 9F1F adc r25,r317874 4d4e 00C0 rjmp .L5487875 .L481:7876 4d50 1092 0000 sts (HoverGasMin.3084)+1,__zero_reg__7877 4d54 1092 0000 sts HoverGasMin.3084,__zero_reg__7878 4d58 8FEF ldi r24,lo8(1023)7879 4d5a 93E0 ldi r25,hi8(1023)7880 .L548:7881 4d5c 9093 0000 sts (HoverGasMax.3085)+1,r257882 4d60 8093 0000 sts HoverGasMax.3085,r247883 4d64 00C0 rjmp .L4047884 .L473:7885 4d66 1092 0000 sts StartTrigger,__zero_reg__7886 4d6a 1092 0000 sts HoverGasFilter.3086,__zero_reg__7887 4d6e 1092 0000 sts (HoverGasFilter.3086)+1,__zero_reg__7888 4d72 1092 0000 sts (HoverGasFilter.3086)+2,__zero_reg__7889 4d76 1092 0000 sts (HoverGasFilter.3086)+3,__zero_reg__7890 4d7a 1092 0000 sts (HoverGas)+1,__zero_reg__7891 4d7e 1092 0000 sts HoverGas,__zero_reg__7892 .L404:7893 4d82 8091 0000 lds r24,MIN_GAS7894 4d86 282F mov r18,r247895 4d88 30E0 ldi r19,lo8(0)7896 4d8a 265F subi r18,lo8(-(10))7897 4d8c 3F4F sbci r19,hi8(-(10))7898 4d8e 220F lsl r187899 4d90 331F rol r197900 4d92 220F lsl r187901 4d94 331F rol r197902 4d96 B201 movw r22,r47903 4d98 4216 cp r4,r187904 4d9a 5306 cpc r5,r197905 4d9c 04F4 brge .L4827906 4d9e B901 movw r22,r187907 .L482:7908 4da0 8091 0000 lds r24,MAX_GAS7909 4da4 282F mov r18,r247910 4da6 30E0 ldi r19,lo8(0)7911 4da8 2451 subi r18,lo8(-(-20))7912 4daa 3040 sbci r19,hi8(-(-20))7913 4dac 220F lsl r187914 4dae 331F rol r197915 4db0 220F lsl r187916 4db2 331F rol r197917 4db4 7B01 movw r14,r227918 4db6 2617 cp r18,r227919 4db8 3707 cpc r19,r237920 4dba 04F4 brge .L4837921 4dbc 7901 movw r14,r187922 .L483:7923 4dbe 8091 0000 lds r24,MissingMotor7924 4dc2 8823 tst r247925 4dc4 01F4 brne .L4847926 4dc6 8091 0000 lds r24,Capacity+67927 4dca 8F3F cpi r24,lo8(-1)7928 4dcc 01F0 breq .L4857929 .L484:7930 4dce 8091 0000 lds r24,modell_fliegt7931 4dd2 9091 0000 lds r25,(modell_fliegt)+17932 4dd6 0297 sbiw r24,27933 4dd8 C097 sbiw r24,487934 4dda 00F4 brsh .L4857935 4ddc 1E14 cp __zero_reg__,r147936 4dde 1F04 cpc __zero_reg__,r157937 4de0 04F4 brge .L4857938 4de2 81E0 ldi r24,lo8(1)7939 4de4 90E0 ldi r25,hi8(1)7940 4de6 9093 0000 sts (modell_fliegt)+1,r257941 4dea 8093 0000 sts modell_fliegt,r247942 4dee 8091 0000 lds r24,MIN_GAS7943 4df2 E82E mov r14,r247944 4df4 FF24 clr r157945 4df6 4AE0 ldi r20,lo8(10)7946 4df8 50E0 ldi r21,hi8(10)7947 4dfa E40E add r14,r207948 4dfc F51E adc r15,r217949 4dfe EE0C lsl r147950 4e00 FF1C rol r157951 4e02 EE0C lsl r147952 4e04 FF1C rol r157953 .L485:7954 4e06 F092 0000 sts (DebugOut+16)+1,r157955 4e0a E092 0000 sts DebugOut+16,r147956 4e0e 6091 0000 lds r22,sollGier.30427957 4e12 7091 0000 lds r23,(sollGier.3042)+17958 4e16 8091 0000 lds r24,(sollGier.3042)+27959 4e1a 9091 0000 lds r25,(sollGier.3042)+37960 4e1e 2CEF ldi r18,lo8(-4)7961 4e20 3FEF ldi r19,hi8(-4)7962 4e22 4FEF ldi r20,hlo8(-4)7963 4e24 5FEF ldi r21,hhi8(-4)7964 4e26 0E94 0000 call __mulsi37965 4e2a 8091 0000 lds r24,MesswertGier7966 4e2e 9091 0000 lds r25,(MesswertGier)+17967 4e32 860F add r24,r227968 4e34 971F adc r25,r237969 4e36 51EA ldi r21,lo8(161)7970 4e38 E516 cp r14,r217971 4e3a F104 cpc r15,__zero_reg__7972 4e3c 04F0 brlt .L4867973 4e3e 9701 movw r18,r147974 4e40 3595 asr r197975 4e42 2795 ror r187976 4e44 8217 cp r24,r187977 4e46 9307 cpc r25,r197978 4e48 04F4 brge .L4877979 4e4a 9C01 movw r18,r247980 .L487:7981 4e4c C701 movw r24,r147982 4e4e 62E0 ldi r22,lo8(2)7983 4e50 70E0 ldi r23,hi8(2)7984 4e52 0E94 0000 call __divmodhi47985 4e56 7095 com r237986 4e58 6195 neg r227987 4e5a 7F4F sbci r23,lo8(-1)7988 4e5c 2617 cp r18,r227989 4e5e 3707 cpc r19,r237990 4e60 04F4 brge .L4897991 4e62 9B01 movw r18,r227992 4e64 00C0 rjmp .L4897993 .L486:7994 4e66 6FEF ldi r22,hi8(-80)7995 4e68 803B cpi r24,lo8(-80)7996 4e6a 9607 cpc r25,r227997 4e6c 04F4 brge .L4907998 4e6e 80EB ldi r24,lo8(-80)7999 4e70 9FEF ldi r25,hi8(-80)8000 .L490:8001 4e72 9C01 movw r18,r248002 4e74 8135 cpi r24,818003 4e76 9105 cpc r25,__zero_reg__8004 4e78 04F0 brlt .L4898005 4e7a 20E5 ldi r18,lo8(80)8006 4e7c 30E0 ldi r19,hi8(80)8007 .L489:8008 4e7e 8091 0000 lds r24,MAX_GAS8009 4e82 90E0 ldi r25,lo8(0)8010 4e84 880F lsl r248011 4e86 991F rol r258012 4e88 880F lsl r248013 4e8a 991F rol r258014 4e8c AC01 movw r20,r248015 4e8e 4E19 sub r20,r148016 4e90 5F09 sbc r21,r158017 4e92 4217 cp r20,r188018 4e94 5307 cpc r21,r198019 4e96 04F4 brge .L4928020 4e98 9A01 movw r18,r208021 .L492:8022 4e9a D701 movw r26,r148023 4e9c A81B sub r26,r248024 4e9e B90B sbc r27,r258025 4ea0 4901 movw r8,r188026 4ea2 2A17 cp r18,r268027 4ea4 3B07 cpc r19,r278028 4ea6 04F4 brge .L4938029 4ea8 4D01 movw r8,r268030 .L493:8031 4eaa 6091 0000 lds r22,MesswertNick8032 4eae 7091 0000 lds r23,(MesswertNick)+18033 4eb2 E091 0000 lds r30,StickNick8034 4eb6 F091 0000 lds r31,(StickNick)+18035 4eba 6E1B sub r22,r308036 4ebc 7F0B sbc r23,r318037 4ebe 7093 0000 sts (DiffNick)+1,r238038 4ec2 6093 0000 sts DiffNick,r228039 4ec6 8091 0000 lds r24,IntegralFaktor8040 4eca 2091 0000 lds r18,SummeNick8041 4ece 3091 0000 lds r19,(SummeNick)+18042 4ed2 4091 0000 lds r20,(SummeNick)+28043 4ed6 5091 0000 lds r21,(SummeNick)+38044 4eda 8823 tst r248045 4edc 01F0 breq .L4948046 4ede 6CA1 ldd r22,Y+368047 4ee0 7DA1 ldd r23,Y+378048 4ee2 6E1B sub r22,r308049 4ee4 7F0B sbc r23,r318050 .L494:8051 4ee6 CB01 movw r24,r228052 4ee8 AA27 clr r268053 4eea 97FD sbrc r25,78054 4eec A095 com r268055 4eee BA2F mov r27,r268056 4ef0 280F add r18,r248057 4ef2 391F adc r19,r258058 4ef4 4A1F adc r20,r268059 4ef6 5B1F adc r21,r278060 4ef8 2093 0000 sts SummeNick,r188061 4efc 3093 0000 sts (SummeNick)+1,r198062 4f00 4093 0000 sts (SummeNick)+2,r208063 4f04 5093 0000 sts (SummeNick)+3,r218064 4f08 8091 0000 lds r24,SummeNick8065 4f0c 9091 0000 lds r25,(SummeNick)+18066 4f10 A091 0000 lds r26,(SummeNick)+28067 4f14 B091 0000 lds r27,(SummeNick)+38068 4f18 8150 subi r24,lo8(64001)8069 4f1a 9A4F sbci r25,hi8(64001)8070 4f1c A040 sbci r26,hlo8(64001)8071 4f1e B040 sbci r27,hhi8(64001)8072 4f20 04F0 brlt .L4968073 4f22 80E0 ldi r24,lo8(64000)8074 4f24 9AEF ldi r25,hi8(64000)8075 4f26 A0E0 ldi r26,hlo8(64000)8076 4f28 B0E0 ldi r27,hhi8(64000)8077 4f2a 8093 0000 sts SummeNick,r248078 4f2e 9093 0000 sts (SummeNick)+1,r258079 4f32 A093 0000 sts (SummeNick)+2,r268080 4f36 B093 0000 sts (SummeNick)+3,r278081 .L496:8082 4f3a 8091 0000 lds r24,SummeNick8083 4f3e 9091 0000 lds r25,(SummeNick)+18084 4f42 A091 0000 lds r26,(SummeNick)+28085 4f46 B091 0000 lds r27,(SummeNick)+38086 4f4a 8050 subi r24,lo8(-64000)8087 4f4c 9640 sbci r25,hi8(-64000)8088 4f4e AF4F sbci r26,hlo8(-64000)8089 4f50 BF4F sbci r27,hhi8(-64000)8090 4f52 04F4 brge .L4978091 4f54 80E0 ldi r24,lo8(-64000)8092 4f56 96E0 ldi r25,hi8(-64000)8093 4f58 AFEF ldi r26,hlo8(-64000)8094 4f5a BFEF ldi r27,hhi8(-64000)8095 4f5c 8093 0000 sts SummeNick,r248096 4f60 9093 0000 sts (SummeNick)+1,r258097 4f64 A093 0000 sts (SummeNick)+2,r268098 4f68 B093 0000 sts (SummeNick)+3,r278099 .L497:8100 4f6c 8091 0000 lds r24,EE_Parameter+358101 4f70 90E0 ldi r25,lo8(0)8102 4f72 2091 0000 lds r18,DiffNick8103 4f76 3091 0000 lds r19,(DiffNick)+18104 4f7a AC01 movw r20,r248105 4f7c 429F mul r20,r188106 4f7e C001 movw r24,r08107 4f80 439F mul r20,r198108 4f82 900D add r25,r08109 4f84 529F mul r21,r188110 4f86 900D add r25,r08111 4f88 1124 clr r18112 4f8a 68E0 ldi r22,lo8(8)8113 4f8c 70E0 ldi r23,hi8(8)8114 4f8e 0E94 0000 call __divmodhi48115 4f92 8B01 movw r16,r228116 4f94 2091 0000 lds r18,Ki8117 4f98 3091 0000 lds r19,(Ki)+18118 4f9c 4427 clr r208119 4f9e 37FD sbrc r19,78120 4fa0 4095 com r208121 4fa2 542F mov r21,r208122 4fa4 6091 0000 lds r22,SummeNick8123 4fa8 7091 0000 lds r23,(SummeNick)+18124 4fac 8091 0000 lds r24,(SummeNick)+28125 4fb0 9091 0000 lds r25,(SummeNick)+38126 4fb4 0E94 0000 call __divmodsi48127 4fb8 020F add r16,r188128 4fba 131F adc r17,r198129 4fbc C401 movw r24,r88130 4fbe 97FE sbrs r9,78131 4fc0 00C0 rjmp .L4988132 4fc2 8827 clr r248133 4fc4 9927 clr r258134 4fc6 8819 sub r24,r88135 4fc8 9909 sbc r25,r98136 .L498:8137 4fca 9595 asr r258138 4fcc 8795 ror r248139 4fce 8E0D add r24,r148140 4fd0 9F1D adc r25,r158141 4fd2 5C01 movw r10,r248142 4fd4 CC24 clr r128143 4fd6 B7FC sbrc r11,78144 4fd8 C094 com r128145 4fda DC2C mov r13,r128146 4fdc 2091 0000 lds r18,Parameter_DynamicStability8147 4fe0 30E0 ldi r19,lo8(0)8148 4fe2 40E0 ldi r20,lo8(0)8149 4fe4 50E0 ldi r21,hi8(0)8150 4fe6 C601 movw r24,r128151 4fe8 B501 movw r22,r108152 4fea 0E94 0000 call __mulsi38153 4fee 20E4 ldi r18,lo8(64)8154 4ff0 30E0 ldi r19,hi8(64)8155 4ff2 40E0 ldi r20,hlo8(64)8156 4ff4 50E0 ldi r21,hhi8(64)8157 4ff6 0E94 0000 call __divmodsi48158 4ffa C901 movw r24,r188159 4ffc 0217 cp r16,r188160 4ffe 1307 cpc r17,r198161 5000 04F4 brge .L4998162 5002 9801 movw r18,r168163 .L499:8164 5004 2224 clr r28165 5006 3324 clr r38166 5008 281A sub r2,r248167 500a 390A sbc r3,r258168 500c 2216 cp r2,r188169 500e 3306 cpc r3,r198170 5010 04F4 brge .L5008171 5012 1901 movw r2,r188172 .L500:8173 5014 6091 0000 lds r22,MesswertRoll8174 5018 7091 0000 lds r23,(MesswertRoll)+18175 501c E091 0000 lds r30,StickRoll8176 5020 F091 0000 lds r31,(StickRoll)+18177 5024 6E1B sub r22,r308178 5026 7F0B sbc r23,r318179 5028 7093 0000 sts (DiffRoll)+1,r238180 502c 6093 0000 sts DiffRoll,r228181 5030 8091 0000 lds r24,IntegralFaktor8182 5034 2091 0000 lds r18,SummeRoll8183 5038 3091 0000 lds r19,(SummeRoll)+18184 503c 4091 0000 lds r20,(SummeRoll)+28185 5040 5091 0000 lds r21,(SummeRoll)+38186 5044 8823 tst r248187 5046 01F0 breq .L5018188 5048 6AA1 ldd r22,Y+348189 504a 7BA1 ldd r23,Y+358190 504c 6E1B sub r22,r308191 504e 7F0B sbc r23,r318192 .L501:8193 5050 CB01 movw r24,r228194 5052 AA27 clr r268195 5054 97FD sbrc r25,78196 5056 A095 com r268197 5058 BA2F mov r27,r268198 505a 280F add r18,r248199 505c 391F adc r19,r258200 505e 4A1F adc r20,r268201 5060 5B1F adc r21,r278202 5062 2093 0000 sts SummeRoll,r188203 5066 3093 0000 sts (SummeRoll)+1,r198204 506a 4093 0000 sts (SummeRoll)+2,r208205 506e 5093 0000 sts (SummeRoll)+3,r218206 5072 8091 0000 lds r24,SummeRoll8207 5076 9091 0000 lds r25,(SummeRoll)+18208 507a A091 0000 lds r26,(SummeRoll)+28209 507e B091 0000 lds r27,(SummeRoll)+38210 5082 8150 subi r24,lo8(64001)8211 5084 9A4F sbci r25,hi8(64001)8212 5086 A040 sbci r26,hlo8(64001)8213 5088 B040 sbci r27,hhi8(64001)8214 508a 04F0 brlt .L5038215 508c 80E0 ldi r24,lo8(64000)8216 508e 9AEF ldi r25,hi8(64000)8217 5090 A0E0 ldi r26,hlo8(64000)8218 5092 B0E0 ldi r27,hhi8(64000)8219 5094 8093 0000 sts SummeRoll,r248220 5098 9093 0000 sts (SummeRoll)+1,r258221 509c A093 0000 sts (SummeRoll)+2,r268222 50a0 B093 0000 sts (SummeRoll)+3,r278223 .L503:8224 50a4 8091 0000 lds r24,SummeRoll8225 50a8 9091 0000 lds r25,(SummeRoll)+18226 50ac A091 0000 lds r26,(SummeRoll)+28227 50b0 B091 0000 lds r27,(SummeRoll)+38228 50b4 8050 subi r24,lo8(-64000)8229 50b6 9640 sbci r25,hi8(-64000)8230 50b8 AF4F sbci r26,hlo8(-64000)8231 50ba BF4F sbci r27,hhi8(-64000)8232 50bc 04F4 brge .L5048233 50be 80E0 ldi r24,lo8(-64000)8234 50c0 96E0 ldi r25,hi8(-64000)8235 50c2 AFEF ldi r26,hlo8(-64000)8236 50c4 BFEF ldi r27,hhi8(-64000)8237 50c6 8093 0000 sts SummeRoll,r248238 50ca 9093 0000 sts (SummeRoll)+1,r258239 50ce A093 0000 sts (SummeRoll)+2,r268240 50d2 B093 0000 sts (SummeRoll)+3,r278241 .L504:8242 50d6 8091 0000 lds r24,EE_Parameter+358243 50da 90E0 ldi r25,lo8(0)8244 50dc 2091 0000 lds r18,DiffRoll8245 50e0 3091 0000 lds r19,(DiffRoll)+18246 50e4 AC01 movw r20,r248247 50e6 429F mul r20,r188248 50e8 C001 movw r24,r08249 50ea 439F mul r20,r198250 50ec 900D add r25,r08251 50ee 529F mul r21,r188252 50f0 900D add r25,r08253 50f2 1124 clr r18254 50f4 68E0 ldi r22,lo8(8)8255 50f6 70E0 ldi r23,hi8(8)8256 50f8 0E94 0000 call __divmodhi48257 50fc 8B01 movw r16,r228258 50fe 2091 0000 lds r18,Ki8259 5102 3091 0000 lds r19,(Ki)+18260 5106 4427 clr r208261 5108 37FD sbrc r19,78262 510a 4095 com r208263 510c 542F mov r21,r208264 510e 6091 0000 lds r22,SummeRoll8265 5112 7091 0000 lds r23,(SummeRoll)+18266 5116 8091 0000 lds r24,(SummeRoll)+28267 511a 9091 0000 lds r25,(SummeRoll)+38268 511e 0E94 0000 call __divmodsi48269 5122 020F add r16,r188270 5124 131F adc r17,r198271 5126 2091 0000 lds r18,Parameter_DynamicStability8272 512a 30E0 ldi r19,lo8(0)8273 512c 40E0 ldi r20,lo8(0)8274 512e 50E0 ldi r21,hi8(0)8275 5130 C601 movw r24,r128276 5132 B501 movw r22,r108277 5134 0E94 0000 call __mulsi38278 5138 20E4 ldi r18,lo8(64)8279 513a 30E0 ldi r19,hi8(64)8280 513c 40E0 ldi r20,hlo8(64)8281 513e 50E0 ldi r21,hhi8(64)8282 5140 0E94 0000 call __divmodsi48283 5144 A901 movw r20,r188284 5146 622F mov r22,r188285 5148 232F mov r18,r198286 514a 0417 cp r16,r208287 514c 1507 cpc r17,r218288 514e 04F4 brge .L5058289 5150 C801 movw r24,r168290 5152 602F mov r22,r168291 5154 292F mov r18,r258292 .L505:8293 5156 EE27 clr r308294 5158 FF27 clr r318295 515a E41B sub r30,r208296 515c F50B sbc r31,r218297 515e 862F mov r24,r228298 5160 922F mov r25,r188299 5162 3C01 movw r6,r248300 5164 6E16 cp r6,r308301 5166 7F06 cpc r7,r318302 5168 04F4 brge .L5068303 516a 3F01 movw r6,r308304 .L506:8305 516c F0E0 ldi r31,lo8(Mixer+13)8306 516e CF2E mov r12,r318307 5170 F0E0 ldi r31,hi8(Mixer+13)8308 5172 DF2E mov r13,r318309 5174 E0E0 ldi r30,lo8(Motor+1)8310 5176 AE2E mov r10,r308311 5178 E0E0 ldi r30,hi8(Motor+1)8312 517a BE2E mov r11,r308313 517c 70E0 ldi r23,lo8(tmp_motorwert)8314 517e 472E mov r4,r238315 5180 70E0 ldi r23,hi8(tmp_motorwert)8316 5182 572E mov r5,r238317 5184 B401 movw r22,r88318 5186 8827 clr r248319 5188 77FD sbrc r23,78320 518a 8095 com r248321 518c 982F mov r25,r248322 518e 6EAB std Y+54,r228323 5190 7FAB std Y+55,r238324 5192 88AF std Y+56,r248325 5194 99AF std Y+57,r258326 5196 C301 movw r24,r68327 5198 AA27 clr r268328 519a 97FD sbrc r25,78329 519c A095 com r268330 519e BA2F mov r27,r268331 51a0 8AAF std Y+58,r248332 51a2 9BAF std Y+59,r258333 51a4 ACAF std Y+60,r268334 51a6 BDAF std Y+61,r278335 51a8 9101 movw r18,r28336 51aa 4427 clr r208337 51ac 37FD sbrc r19,78338 51ae 4095 com r208339 51b0 542F mov r21,r208340 51b2 2296 adiw r28,62-608341 51b4 2CAF std Y+60,r188342 51b6 3DAF std Y+61,r198343 51b8 4EAF std Y+62,r208344 51ba 5FAF std Y+63,r218345 51bc 2297 sbiw r28,62-608346 51be A701 movw r20,r148347 51c0 6627 clr r228348 51c2 57FD sbrc r21,78349 51c4 6095 com r228350 51c6 762F mov r23,r228351 51c8 2696 adiw r28,66-608352 51ca 4CAF std Y+60,r208353 51cc 5DAF std Y+61,r218354 51ce 6EAF std Y+62,r228355 51d0 7FAF std Y+63,r238356 51d2 2697 sbiw r28,66-608357 .L525:8358 51d4 D601 movw r26,r128359 51d6 2C91 ld r18,X8360 51d8 1216 cp __zero_reg__,r188361 51da 04F0 brlt .+28362 51dc 00C0 rjmp .L5078363 51de 2034 cpi r18,lo8(64)8364 51e0 01F4 brne .L5088365 51e2 8701 movw r16,r148366 51e4 00C0 rjmp .L5098367 .L508:8368 51e6 3327 clr r198369 51e8 27FD sbrc r18,78370 51ea 3095 com r198371 51ec 432F mov r20,r198372 51ee 532F mov r21,r198373 51f0 2696 adiw r28,66-608374 51f2 6CAD ldd r22,Y+608375 51f4 7DAD ldd r23,Y+618376 51f6 8EAD ldd r24,Y+628377 51f8 9FAD ldd r25,Y+638378 51fa 2697 sbiw r28,66-608379 51fc 0E94 0000 call __mulsi38380 5200 20E4 ldi r18,lo8(64)8381 5202 30E0 ldi r19,hi8(64)8382 5204 40E0 ldi r20,hlo8(64)8383 5206 50E0 ldi r21,hhi8(64)8384 5208 0E94 0000 call __divmodsi48385 520c 8901 movw r16,r188386 .L509:8387 520e F601 movw r30,r128388 5210 2181 ldd r18,Z+18389 5212 2034 cpi r18,lo8(64)8390 5214 01F4 brne .L5108391 5216 020D add r16,r28392 5218 131D adc r17,r38393 521a 00C0 rjmp .L5118394 .L510:8395 521c 203C cpi r18,lo8(-64)8396 521e 01F4 brne .L5128397 5220 0219 sub r16,r28398 5222 1309 sbc r17,r38399 5224 00C0 rjmp .L5118400 .L512:8401 5226 3327 clr r198402 5228 27FD sbrc r18,78403 522a 3095 com r198404 522c 432F mov r20,r198405 522e 532F mov r21,r198406 5230 2296 adiw r28,62-608407 5232 6CAD ldd r22,Y+608408 5234 7DAD ldd r23,Y+618409 5236 8EAD ldd r24,Y+628410 5238 9FAD ldd r25,Y+638411 523a 2297 sbiw r28,62-608412 523c 0E94 0000 call __mulsi38413 5240 20E4 ldi r18,lo8(64)8414 5242 30E0 ldi r19,hi8(64)8415 5244 40E0 ldi r20,hlo8(64)8416 5246 50E0 ldi r21,hhi8(64)8417 5248 0E94 0000 call __divmodsi48418 524c 020F add r16,r188419 524e 131F adc r17,r198420 .L511:8421 5250 D601 movw r26,r128422 5252 1296 adiw r26,28423 5254 2C91 ld r18,X8424 5256 2034 cpi r18,lo8(64)8425 5258 01F4 brne .L5138426 525a 060D add r16,r68427 525c 171D adc r17,r78428 525e 00C0 rjmp .L5148429 .L513:8430 5260 203C cpi r18,lo8(-64)8431 5262 01F4 brne .L5158432 5264 0619 sub r16,r68433 5266 1709 sbc r17,r78434 5268 00C0 rjmp .L5148435 .L515:8436 526a 3327 clr r198437 526c 27FD sbrc r18,78438 526e 3095 com r198439 5270 432F mov r20,r198440 5272 532F mov r21,r198441 5274 6AAD ldd r22,Y+588442 5276 7BAD ldd r23,Y+598443 5278 8CAD ldd r24,Y+608444 527a 9DAD ldd r25,Y+618445 527c 0E94 0000 call __mulsi38446 5280 20E4 ldi r18,lo8(64)8447 5282 30E0 ldi r19,hi8(64)8448 5284 40E0 ldi r20,hlo8(64)8449 5286 50E0 ldi r21,hhi8(64)8450 5288 0E94 0000 call __divmodsi48451 528c 020F add r16,r188452 528e 131F adc r17,r198453 .L514:8454 5290 F601 movw r30,r128455 5292 2381 ldd r18,Z+38456 5294 2034 cpi r18,lo8(64)8457 5296 01F4 brne .L5168458 5298 9801 movw r18,r168459 529a 280D add r18,r88460 529c 391D adc r19,r98461 529e 00C0 rjmp .L5178462 .L516:8463 52a0 203C cpi r18,lo8(-64)8464 52a2 01F4 brne .L5188465 52a4 9801 movw r18,r168466 52a6 2819 sub r18,r88467 52a8 3909 sbc r19,r98468 52aa 00C0 rjmp .L5178469 .L518:8470 52ac 3327 clr r198471 52ae 27FD sbrc r18,78472 52b0 3095 com r198473 52b2 432F mov r20,r198474 52b4 532F mov r21,r198475 52b6 6EA9 ldd r22,Y+548476 52b8 7FA9 ldd r23,Y+558477 52ba 88AD ldd r24,Y+568478 52bc 99AD ldd r25,Y+578479 52be 0E94 0000 call __mulsi38480 52c2 20E4 ldi r18,lo8(64)8481 52c4 30E0 ldi r19,hi8(64)8482 52c6 40E0 ldi r20,hlo8(64)8483 52c8 50E0 ldi r21,hhi8(64)8484 52ca 0E94 0000 call __divmodsi48485 52ce 200F add r18,r168486 52d0 311F adc r19,r178487 .L517:8488 52d2 D201 movw r26,r48489 52d4 8D91 ld r24,X+8490 52d6 9C91 ld r25,X8491 52d8 8217 cp r24,r188492 52da 9307 cpc r25,r198493 52dc 04F4 brge .L5198494 52de 820F add r24,r188495 52e0 931F adc r25,r198496 52e2 62E0 ldi r22,lo8(2)8497 52e4 70E0 ldi r23,hi8(2)8498 52e6 0E94 0000 call __divmodhi48499 52ea 9B01 movw r18,r228500 52ec 00C0 rjmp .L5208501 .L519:8502 52ee 6091 0000 lds r22,Parameter_UserParam78503 52f2 6230 cpi r22,lo8(2)8504 52f4 00F4 brsh .L5218505 52f6 220F lsl r188506 52f8 331F rol r198507 52fa 281B sub r18,r248508 52fc 390B sbc r19,r258509 52fe 00C0 rjmp .L5208510 .L521:8511 5300 821B sub r24,r188512 5302 930B sbc r25,r198513 5304 70E0 ldi r23,lo8(0)8514 5306 0E94 0000 call __divmodhi48515 530a 260F add r18,r228516 530c 371F adc r19,r238517 .L520:8518 530e 8091 0000 lds r24,MIN_GAS8519 5312 E82F mov r30,r248520 5314 F0E0 ldi r31,lo8(0)8521 5316 EE0F lsl r308522 5318 FF1F rol r318523 531a EE0F lsl r308524 531c FF1F rol r318525 531e E217 cp r30,r188526 5320 F307 cpc r31,r198527 5322 04F4 brge .L5228528 5324 8091 0000 lds r24,MAX_GAS8529 5328 682F mov r22,r248530 532a 70E0 ldi r23,lo8(0)8531 532c 660F lsl r228532 532e 771F rol r238533 5330 660F lsl r228534 5332 771F rol r238535 5334 F901 movw r30,r188536 5336 6217 cp r22,r188537 5338 7307 cpc r23,r198538 533a 04F4 brge .L5228539 533c FB01 movw r30,r228540 .L522:8541 533e CF01 movw r24,r308542 5340 64E0 ldi r22,lo8(4)8543 5342 70E0 ldi r23,hi8(4)8544 5344 0E94 0000 call __divmodhi48545 5348 D501 movw r26,r108546 534a 6C93 st X,r228547 534c CF01 movw r24,r308548 534e 64E0 ldi r22,lo8(4)8549 5350 70E0 ldi r23,hi8(4)8550 5352 0E94 0000 call __divmodhi48551 5356 880F lsl r248552 5358 D501 movw r26,r108553 535a 1196 adiw r26,18554 535c 8C93 st X,r248555 535e D201 movw r26,r48556 5360 ED93 st X+,r308557 5362 FC93 st X,r318558 5364 00C0 rjmp .L5248559 .L507:8560 5366 F501 movw r30,r108561 5368 1082 st Z,__zero_reg__8562 536a 1182 std Z+1,__zero_reg__8563 .L524:8564 536c 24E0 ldi r18,lo8(4)8565 536e 30E0 ldi r19,hi8(4)8566 5370 C20E add r12,r188567 5372 D31E adc r13,r198568 5374 48E0 ldi r20,lo8(8)8569 5376 50E0 ldi r21,hi8(8)8570 5378 A40E add r10,r208571 537a B51E adc r11,r218572 537c 62E0 ldi r22,lo8(2)8573 537e 70E0 ldi r23,hi8(2)8574 5380 460E add r4,r228575 5382 571E adc r5,r238576 5384 70E0 ldi r23,lo8(Mixer+61)8577 5386 C716 cp r12,r238578 5388 70E0 ldi r23,hi8(Mixer+61)8579 538a D706 cpc r13,r238580 538c 01F0 breq .+28581 538e 00C0 rjmp .L5258582 /* epilogue start */8583 5390 CB5B subi r28,lo8(-(69))8584 5392 DF4F sbci r29,hi8(-(69))8585 5394 E2E1 ldi r30, lo8(18)8586 5396 0C94 0000 jmp __epilogue_restores__ + ((18 - 18) * 2)8588 .global BaroExpandActive8589 .global BaroExpandActive8590 .section .bss8593 BaroExpandActive:8594 0000 0000 .skip 2,08595 .global AdNeutralNick8596 .global AdNeutralNick8599 AdNeutralNick:8600 0002 0000 .skip 2,08601 .global AdNeutralRoll8602 .global AdNeutralRoll8605 AdNeutralRoll:8606 0004 0000 .skip 2,08607 .global AdNeutralGier8608 .global AdNeutralGier8611 AdNeutralGier:8612 0006 0000 .skip 2,08613 .global StartNeutralRoll8614 .global StartNeutralRoll8617 StartNeutralRoll:8618 0008 0000 .skip 2,08619 .global StartNeutralNick8620 .global StartNeutralNick8623 StartNeutralNick:8624 000a 0000 .skip 2,08625 .global NeutralAccX8626 .global NeutralAccX8629 NeutralAccX:8630 000c 0000 .skip 2,08631 .global NeutralAccY8632 .global NeutralAccY8635 NeutralAccY:8636 000e 0000 .skip 2,08637 .global NaviCntAcc8638 .global NaviCntAcc8641 NaviCntAcc:8642 0010 0000 .skip 2,08643 .global NeutralAccZ8644 .global NeutralAccZ8647 NeutralAccZ:8648 0012 0000 .skip 2,08649 .global ControlHeading8650 .global ControlHeading8653 ControlHeading:8654 0014 00 .skip 1,08655 .global IntegralNick8656 .global IntegralNick8659 IntegralNick:8660 0015 0000 0000 .skip 4,08661 .global IntegralNick28662 .global IntegralNick28665 IntegralNick2:8666 0019 0000 0000 .skip 4,08667 .global IntegralRoll8668 .global IntegralRoll8671 IntegralRoll:8672 001d 0000 0000 .skip 4,08673 .global IntegralRoll28674 .global IntegralRoll28677 IntegralRoll2:8678 0021 0000 0000 .skip 4,08679 .global IntegralAccNick8680 .global IntegralAccNick8683 IntegralAccNick:8684 0025 0000 0000 .skip 4,08685 .global IntegralAccRoll8686 .global IntegralAccRoll8689 IntegralAccRoll:8690 0029 0000 0000 .skip 4,08691 .global IntegralAccZ8692 .global IntegralAccZ8695 IntegralAccZ:8696 002d 0000 0000 .skip 4,08697 .global Integral_Gier8698 .global Integral_Gier8701 Integral_Gier:8702 0031 0000 0000 .skip 4,08703 .global Mess_IntegralNick8704 .global Mess_IntegralNick8707 Mess_IntegralNick:8708 0035 0000 0000 .skip 4,08709 .global Mess_IntegralNick28710 .global Mess_IntegralNick28713 Mess_IntegralNick2:8714 0039 0000 0000 .skip 4,08715 .global Mess_IntegralRoll8716 .global Mess_IntegralRoll8719 Mess_IntegralRoll:8720 003d 0000 0000 .skip 4,08721 .global Mess_IntegralRoll28722 .global Mess_IntegralRoll28725 Mess_IntegralRoll2:8726 0041 0000 0000 .skip 4,08727 .global Mess_Integral_Gier8728 .global Mess_Integral_Gier8731 Mess_Integral_Gier:8732 0045 0000 0000 .skip 4,08733 .global Mess_Integral_Gier28734 .global Mess_Integral_Gier28737 Mess_Integral_Gier2:8738 0049 0000 0000 .skip 4,08739 .global SummeNick8740 .global SummeNick8743 SummeNick:8744 004d 0000 0000 .skip 4,08745 .global SummeRoll8746 .global SummeRoll8749 SummeRoll:8750 0051 0000 0000 .skip 4,08751 .global Mess_Integral_Hoch8752 .global Mess_Integral_Hoch8755 Mess_Integral_Hoch:8756 0055 0000 0000 .skip 4,08757 .global KompassValue8758 .global KompassValue8761 KompassValue:8762 0059 0000 .skip 2,08763 .global KompassStartwert8764 .global KompassStartwert8767 KompassStartwert:8768 005b 0000 .skip 2,08769 .global KompassRichtung8770 .global KompassRichtung8773 KompassRichtung:8774 005d 0000 .skip 2,08775 .global KompassSignalSchlecht8776 .data8779 KompassSignalSchlecht:8780 0000 F401 .word 5008781 .global HoehenReglerAktiv8782 .global HoehenReglerAktiv8783 .section .bss8786 HoehenReglerAktiv:8787 005f 00 .skip 1,08788 .global TrichterFlug8789 .global TrichterFlug8792 TrichterFlug:8793 0060 00 .skip 1,08794 .global Umschlag180Nick8795 .data8798 Umschlag180Nick:8799 0002 90 .byte -1128800 0003 D0 .byte -488801 0004 03 .byte 38802 0005 00 .byte 08803 .global Umschlag180Roll8806 Umschlag180Roll:8807 0006 90 .byte -1128808 0007 D0 .byte -488809 0008 03 .byte 38810 0009 00 .byte 08811 .global GierGyroFehler8812 .global GierGyroFehler8813 .section .bss8816 GierGyroFehler:8817 0061 0000 .skip 2,08818 .global Poti8819 .global Poti8822 Poti:8823 0063 0000 0000 .skip 9,08823 0000 00008823 008824 .global SenderOkay8825 .global SenderOkay8828 SenderOkay:8829 006c 00 .skip 1,08830 .global StickNick8831 .global StickNick8834 StickNick:8835 006d 0000 .skip 2,08836 .global StickRoll8837 .global StickRoll8840 StickRoll:8841 006f 0000 .skip 2,08842 .global StickGier8843 .global StickGier8846 StickGier:8847 0071 0000 .skip 2,08848 .global StickGas8849 .global StickGas8852 StickGas:8853 0073 0000 .skip 2,08854 .global MotorenEin8855 .global MotorenEin8858 MotorenEin:8859 0075 00 .skip 1,08860 .global StartTrigger8861 .global StartTrigger8864 StartTrigger:8865 0076 00 .skip 1,08866 .global HoehenWert8867 .global HoehenWert8870 HoehenWert:8871 0077 0000 0000 .skip 4,08872 .global SollHoehe8873 .global SollHoehe8876 SollHoehe:8877 007b 0000 0000 .skip 4,08878 .global LageKorrekturRoll8879 .global LageKorrekturRoll8882 LageKorrekturRoll:8883 007f 0000 .skip 2,08884 .global LageKorrekturNick8885 .global LageKorrekturNick8888 LageKorrekturNick:8889 0081 0000 .skip 2,08890 .global HoverGas8891 .global HoverGas8894 HoverGas:8895 0083 0000 .skip 2,08896 .global Ki8897 .data8900 Ki:8901 000a 3801 .word 3128902 .global Looping_Nick8903 .global Looping_Nick8904 .section .bss8907 Looping_Nick:8908 0085 00 .skip 1,08909 .global Looping_Roll8910 .global Looping_Roll8913 Looping_Roll:8914 0086 00 .skip 1,08915 .global Looping_Links8916 .global Looping_Links8919 Looping_Links:8920 0087 00 .skip 1,08921 .global Looping_Rechts8922 .global Looping_Rechts8925 Looping_Rechts:8926 0088 00 .skip 1,08927 .global Looping_Unten8928 .global Looping_Unten8931 Looping_Unten:8932 0089 00 .skip 1,08933 .global Looping_Oben8934 .global Looping_Oben8937 Looping_Oben:8938 008a 00 .skip 1,08939 .global Parameter_Luftdruck_D8940 .data8943 Parameter_Luftdruck_D:8944 000c 30 .byte 488945 .global Parameter_MaxHoehe8948 Parameter_MaxHoehe:8949 000d FB .byte -58950 .global Parameter_Hoehe_P8953 Parameter_Hoehe_P:8954 000e 10 .byte 168955 .global Parameter_Hoehe_ACC_Wirkung8958 Parameter_Hoehe_ACC_Wirkung:8959 000f 3A .byte 588960 .global Parameter_KompassWirkung8963 Parameter_KompassWirkung:8964 0010 40 .byte 648965 .global Parameter_Hoehe_GPS_Z8968 Parameter_Hoehe_GPS_Z:8969 0011 40 .byte 648970 .global Parameter_Gyro_D8973 Parameter_Gyro_D:8974 0012 08 .byte 88975 .global Parameter_Gyro_P8978 Parameter_Gyro_P:8979 0013 96 .byte -1068980 .global Parameter_Gyro_I8983 Parameter_Gyro_I:8984 0014 96 .byte -1068985 .global Parameter_Gyro_Gier_P8988 Parameter_Gyro_Gier_P:8989 0015 96 .byte -1068990 .global Parameter_Gyro_Gier_I8993 Parameter_Gyro_Gier_I:8994 0016 96 .byte -1068995 .global Parameter_Gier_P8998 Parameter_Gier_P:8999 0017 02 .byte 29000 .global Parameter_I_Faktor9003 Parameter_I_Faktor:9004 0018 0A .byte 109005 .global Parameter_UserParam19006 .global Parameter_UserParam19007 .section .bss9010 Parameter_UserParam1:9011 008b 00 .skip 1,09012 .global Parameter_UserParam29013 .global Parameter_UserParam29016 Parameter_UserParam2:9017 008c 00 .skip 1,09018 .global Parameter_UserParam39019 .global Parameter_UserParam39022 Parameter_UserParam3:9023 008d 00 .skip 1,09024 .global Parameter_UserParam49025 .global Parameter_UserParam49028 Parameter_UserParam4:9029 008e 00 .skip 1,09030 .global Parameter_UserParam59031 .global Parameter_UserParam59034 Parameter_UserParam5:9035 008f 00 .skip 1,09036 .global Parameter_UserParam69037 .global Parameter_UserParam69040 Parameter_UserParam6:9041 0090 00 .skip 1,09042 .global Parameter_UserParam79043 .global Parameter_UserParam79046 Parameter_UserParam7:9047 0091 00 .skip 1,09048 .global Parameter_UserParam89049 .global Parameter_UserParam89052 Parameter_UserParam8:9053 0092 00 .skip 1,09054 .global Parameter_ServoNickControl9055 .data9058 Parameter_ServoNickControl:9059 0019 64 .byte 1009060 .global Parameter_ServoRollControl9063 Parameter_ServoRollControl:9064 001a 64 .byte 1009065 .global Parameter_LoopGasLimit9068 Parameter_LoopGasLimit:9069 001b 46 .byte 709070 .global Parameter_AchsKopplung19073 Parameter_AchsKopplung1:9074 001c 5A .byte 909075 .global Parameter_AchsKopplung29078 Parameter_AchsKopplung2:9079 001d 41 .byte 659080 .global Parameter_CouplingYawCorrection9083 Parameter_CouplingYawCorrection:9084 001e 40 .byte 649085 .global Parameter_DynamicStability9088 Parameter_DynamicStability:9089 001f 64 .byte 1009090 .global CareFree9091 .global CareFree9092 .section .bss9095 CareFree:9096 0093 00 .skip 1,09097 .global ExternStickNick9098 .global ExternStickNick9101 ExternStickNick:9102 0094 0000 .skip 2,09103 .global ExternStickRoll9104 .global ExternStickRoll9107 ExternStickRoll:9108 0096 0000 .skip 2,09109 .global ExternStickGier9110 .global ExternStickGier9113 ExternStickGier:9114 0098 0000 .skip 2,09115 .global ExternHoehenValue9116 .data9119 ExternHoehenValue:9120 0020 ECFF .word -209121 .global MaxStickNick9122 .global MaxStickNick9123 .section .bss9126 MaxStickNick:9127 009a 0000 .skip 2,09128 .global MaxStickRoll9129 .global MaxStickRoll9132 MaxStickRoll:9133 009c 0000 .skip 2,09134 .global modell_fliegt9135 .global modell_fliegt9138 modell_fliegt:9139 009e 0000 .skip 2,09140 .global FCFlags9141 .global FCFlags9144 FCFlags:9145 00a0 00 .skip 1,09146 .global GIER_GRAD_FAKTOR9147 .data9150 GIER_GRAD_FAKTOR:9151 0022 0B .byte 119152 0023 05 .byte 59153 0024 00 .byte 09154 0025 00 .byte 09155 .global VarioCharacter9158 VarioCharacter:9159 0026 20 .byte 329160 .lcomm HeightTrimmingFlag.3091,19161 .lcomm BaroAtLowerLimit.3089,19162 .lcomm BaroAtUpperLimit.3088,19165 delay.3087:9166 0027 64 .byte 1009167 .lcomm HoverGasFilter.3086,49170 HoverGasMax.3085:9171 0028 FF03 .word 10239172 .lcomm HoverGasMin.3084,29175 StickGasHover.3083:9176 002a 7800 .word 1209177 .lcomm FilterHCGas.3082,29178 .lcomm HeightTrimming.3081,29179 .lcomm MittelIntegralRoll_Alt.3072,49180 .lcomm MittelIntegralNick_Alt.3071,49181 .lcomm last_r_n.3070,19182 .lcomm last_r_p.3069,19183 .lcomm last_n_n.3068,19184 .lcomm last_n_p.3067,19185 .lcomm cnt.3066,29186 .lcomm stick_roll.3060,29187 .lcomm stick_nick.3059,29188 .lcomm ausgleichRoll.3054,49189 .lcomm ausgleichNick.3053,49190 .lcomm NeueKompassRichtungMerken.3052,19191 .lcomm calibration_done.3051,19192 .lcomm delay_ausschalten.3050,19193 .lcomm delay_einschalten.3049,19194 .lcomm delay_neutral.3048,19195 .lcomm RcLostTimer.3047,29196 .lcomm IntegralFehlerRoll.3046,49197 .lcomm IntegralFehlerNick.3045,49198 .lcomm tmp_long2.3044,49199 .lcomm tmp_long.3043,49200 .lcomm sollGier.3042,49203 C.354.3251:9204 002c 00 .byte 09205 002d 02 .byte 29206 002e 04 .byte 49207 002f 06 .byte 69208 0030 07 .byte 79209 0031 08 .byte 89210 0032 08 .byte 89211 0033 08 .byte 89212 0034 07 .byte 79213 0035 06 .byte 69214 0036 04 .byte 49215 0037 02 .byte 29216 0038 00 .byte 09217 0039 FE .byte -29218 003a FC .byte -49219 003b FA .byte -69220 003c F9 .byte -79221 003d F8 .byte -89222 003e F8 .byte -89223 003f F8 .byte -89224 0040 F9 .byte -79225 0041 FA .byte -69226 0042 FC .byte -49227 0043 FE .byte -29228 0044 00 .byte 09229 0045 02 .byte 29230 0046 04 .byte 49231 0047 06 .byte 69232 0048 07 .byte 79233 0049 08 .byte 89234 004a 08 .byte 89235 .lcomm d2Nick.2607,29236 .lcomm d2Roll.2606,29237 .lcomm oldRoll.2605,29238 .lcomm oldNick.2604,29239 .lcomm tmpl4.2603,49240 .lcomm tmpl3.2602,49241 .lcomm tmpl2.2601,49242 .lcomm tmpl.2600,49243 .section .progmem.data,"a",@progbits9246 __c.2485:9247 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"9247 4320 6E6F9247 7420 63619247 6C69 62729247 6174 65649248 .comm TrimNick,2,19249 .comm TrimRoll,2,19250 .comm ErsatzKompass,4,19251 .comm ErsatzKompassInGrad,2,19252 .comm MesswertNick,2,19253 .comm MesswertRoll,2,19254 .comm MesswertGier,2,19255 .comm Mittelwert_AccNick,2,19256 .comm Mittelwert_AccRoll,2,19257 .comm NaviAccNick,2,19258 .comm NaviAccRoll,2,19259 .comm h,1,19260 .comm m,1,19261 .comm s,1,19262 .comm DiffNick,2,19263 .comm DiffRoll,2,19264 .comm Parameter_Servo3,1,19265 .comm Parameter_Servo4,1,19266 .comm Parameter_Servo5,1,19267 .comm Parameter_J16Bitmask,1,19268 .comm Parameter_J16Timing,1,19269 .comm Parameter_J17Bitmask,1,19270 .comm Parameter_J17Timing,1,19271 .comm MesswertGierBias,2,19272 .comm RohMesswertNick,2,19273 .comm RohMesswertRoll,2,19274 .comm MittelIntegralNick,4,19275 .comm MittelIntegralRoll,4,19276 .comm MittelIntegralNick2,4,19277 .comm MittelIntegralRoll2,4,19278 .comm MAX_GAS,1,19279 .comm MIN_GAS,1,19280 .comm GyroFaktor,1,19281 .comm GyroFaktorGier,1,19282 .comm IntegralFaktor,1,19283 .comm IntegralFaktorGier,1,19284 .comm Parameter_NaviGpsModeControl,1,19285 .comm Parameter_NaviGpsGain,1,19286 .comm Parameter_NaviGpsP,1,19287 .comm Parameter_NaviGpsI,1,19288 .comm Parameter_NaviGpsD,1,19289 .comm Parameter_NaviGpsACC,1,19290 .comm Parameter_NaviOperatingRadius,1,19291 .comm Parameter_NaviWindCorrection,1,19292 .comm Parameter_NaviSpeedCompensation,1,19293 .comm Parameter_ExternalControl,1,19294 .comm KopplungsteilNickRoll,2,19295 .comm KopplungsteilRollNick,2,19296 .comm tmp_motorwert,24,19297 .global __do_copy_data9298 .global __do_clear_bssDEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2 *ABS*:0000003f __SREG__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:3 *ABS*:0000003e __SP_H__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:4 *ABS*:0000003d __SP_L__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:5 *ABS*:00000034 __CCP__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:6 *ABS*:00000000 __tmp_reg__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:7 *ABS*:00000001 __zero_reg__C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:11 .text:00000000 CopyDebugValuesC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8659 .bss:00000015 IntegralNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8671 .bss:0000001d IntegralRoll*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8611 .bss:00000006 AdNeutralGierC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8870 .bss:00000077 HoehenWertC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8761 .bss:00000059 KompassValueC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8828 .bss:0000006c SenderOkay*COM*:00000004 ErsatzKompassC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9150 .data:00000022 GIER_GRAD_FAKTORC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:167 .text:000001ea Mittelwert*COM*:00000002 MesswertGier*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8683 .bss:00000025 IntegralAccNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8689 .bss:00000029 IntegralAccRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8641 .bss:00000010 NaviCntAccC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8647 .bss:00000012 NeutralAccZC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8695 .bss:0000002d IntegralAccZC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8719 .bss:0000003d Mess_IntegralRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8707 .bss:00000035 Mess_IntegralNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8731 .bss:00000045 Mess_Integral_GierC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8907 .bss:00000085 Looping_NickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8913 .bss:00000086 Looping_RollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9078 .data:0000001d Parameter_AchsKopplung2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9239 .bss:000000ef tmpl3.2602*COM*:00000002 KopplungsteilNickRoll*COM*:00000002 KopplungsteilRollNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9238 .bss:000000eb tmpl4.2603C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9083 .data:0000001e Parameter_CouplingYawCorrectionC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9073 .data:0000001c Parameter_AchsKopplung1C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9241 .bss:000000f7 tmpl.2600C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9240 .bss:000000f3 tmpl2.2601C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8792 .bss:00000060 TrichterFlug*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8725 .bss:00000041 Mess_IntegralRoll2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8882 .bss:0000007f LageKorrekturRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8806 .data:00000006 Umschlag180RollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8713 .bss:00000039 Mess_IntegralNick2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8888 .bss:00000081 LageKorrekturNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8798 .data:00000002 Umschlag180NickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8701 .bss:00000031 Integral_GierC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8665 .bss:00000019 IntegralNick2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8677 .bss:00000021 IntegralRoll2*COM*:00000002 MesswertNick*COM*:00000002 MesswertRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8973 .data:00000012 Parameter_Gyro_DC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9237 .bss:000000e9 oldNick.2604C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9200 .bss:000000e3 d2Nick.2607C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9236 .bss:000000e7 oldRoll.2605C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9235 .bss:000000e5 d2Roll.2606C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8822 .bss:00000063 PotiC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:1586 .text:00001016 SendMotorDataC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8858 .bss:00000075 MotorenEinC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9144 .bss:000000a0 FCFlagsC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:1637 .text:00001082 ParameterZuordnungC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8943 .data:0000000c Parameter_Luftdruck_DC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8953 .data:0000000e Parameter_Hoehe_PC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8978 .data:00000013 Parameter_Gyro_P*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_Servo3*COM*:00000001 Parameter_Servo4*COM*:00000001 Parameter_Servo5C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8948 .data:0000000d Parameter_MaxHoeheC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8958 .data:0000000f Parameter_Hoehe_ACC_WirkungC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8968 .data:00000011 Parameter_Hoehe_GPS_ZC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8963 .data:00000010 Parameter_KompassWirkungC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8983 .data:00000014 Parameter_Gyro_IC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8988 .data:00000015 Parameter_Gyro_Gier_PC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8993 .data:00000016 Parameter_Gyro_Gier_IC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9003 .data:00000018 Parameter_I_FaktorC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9010 .bss:0000008b Parameter_UserParam1C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9016 .bss:0000008c Parameter_UserParam2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9022 .bss:0000008d Parameter_UserParam3C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9028 .bss:0000008e Parameter_UserParam4C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9034 .bss:0000008f Parameter_UserParam5C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9040 .bss:00000090 Parameter_UserParam6C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9046 .bss:00000091 Parameter_UserParam7C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9052 .bss:00000092 Parameter_UserParam8C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9058 .data:00000019 Parameter_ServoNickControlC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9063 .data:0000001a Parameter_ServoRollControlC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9068 .data:0000001b Parameter_LoopGasLimitC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9088 .data:0000001f Parameter_DynamicStability*COM*:00000001 Parameter_ExternalControlC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8900 .data:0000000a Ki*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9095 .bss:00000093 CareFreeC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2212 .text:00001524 CalibrierMittelwertC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2339 .text:0000164a SetNeutralC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8629 .bss:0000000c NeutralAccXC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8635 .bss:0000000e NeutralAccYC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8599 .bss:00000002 AdNeutralNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8605 .bss:00000004 AdNeutralRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8617 .bss:00000008 StartNeutralRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8623 .bss:0000000a StartNeutralNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9246 .progmem.data:00000000 __c.2485C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8755 .bss:00000055 Mess_Integral_HochC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8767 .bss:0000005b KompassStartwertC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9119 .data:00000020 ExternHoehenValueC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8816 .bss:00000061 GierGyroFehlerC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2827 .text:00001b8c PiepC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2869 .text:00001bd6 MotorReglerC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8852 .bss:00000073 StickGasC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9194 .bss:000000cd RcLostTimer.3047C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9138 .bss:0000009e modell_fliegtC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8743 .bss:0000004d SummeNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8749 .bss:00000051 SummeRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9199 .bss:000000df sollGier.3042C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9189 .bss:000000c8 NeueKompassRichtungMerken.3052C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9193 .bss:000000cc delay_neutral.3048C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9190 .bss:000000c9 calibration_done.3051C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9192 .bss:000000cb delay_einschalten.3049C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8737 .bss:00000049 Mess_Integral_Gier2C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8653 .bss:00000014 ControlHeadingC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9191 .bss:000000ca delay_ausschalten.3050C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9186 .bss:000000be stick_nick.3059C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9185 .bss:000000bc stick_roll.3060C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9203 .data:0000002c C.354.3251C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8834 .bss:0000006d StickNickC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8840 .bss:0000006f StickRollC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8846 .bss:00000071 StickGier*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 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ausgleichRoll.3054C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9198 .bss:000000db tmp_long.3043C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9197 .bss:000000d7 tmp_long2.3044C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9184 .bss:000000ba cnt.3066C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9179 .bss:000000b2 MittelIntegralNick_Alt.3071C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9183 .bss:000000b9 last_n_p.3067C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9182 .bss:000000b8 last_n_n.3068C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8779 .data:00000000 KompassSignalSchlechtC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9178 .bss:000000ae MittelIntegralRoll_Alt.3072C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9181 .bss:000000b7 last_r_p.3069C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9180 .bss:000000b6 last_r_n.3070C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8894 .bss:00000083 HoverGasC:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8593 .bss:00000000 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