Subversion Repositories FlightCtrl

   1                            .file   "main.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __CCP__  = 0x34
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .text
   9                    .global LipoDetection
  11                    LipoDetection:
  12 0000 1F93                  push r17
  13 0002 CF93                  push r28
  14 0004 DF93                  push r29
  15                    /* prologue: function */
  16                    /* frame size = 0 */
  17 0006 182F                  mov r17,r24
  18 0008 8823                  tst r24
  19 000a 01F0                  breq .L2
  20 000c 00D0                  rcall .
  21 000e 00D0                  rcall .
  22 0010 80E0                  ldi r24,lo8(gs(uart_putchar))
  23 0012 90E0                  ldi r25,hi8(gs(uart_putchar))
  24 0014 ADB7                  in r26,__SP_L__
  25 0016 BEB7                  in r27,__SP_H__
  26 0018 1296                  adiw r26,1+1
  27 001a 9C93                  st X,r25
  28 001c 8E93                  st -X,r24
  29 001e 1197                  sbiw r26,1
  30 0020 80E0                  ldi r24,lo8(__c.2236)
  31 0022 90E0                  ldi r25,hi8(__c.2236)
  32 0024 1496                  adiw r26,3+1
  33 0026 9C93                  st X,r25
  34 0028 8E93                  st -X,r24
  35 002a 1397                  sbiw r26,3
  36 002c E091 0000             lds r30,_printf_P
  37 0030 F091 0000             lds r31,(_printf_P)+1
  38 0034 0995                  icall
  39 0036 0F90                  pop __tmp_reg__
  40 0038 0F90                  pop __tmp_reg__
  41 003a 0F90                  pop __tmp_reg__
  42 003c 0F90                  pop __tmp_reg__
  43                    .L2:
  44 003e 8091 0000             lds r24,EE_Parameter+36
  45 0042 8233                  cpi r24,lo8(50)
  46 0044 00F0                  brlo .+2
  47 0046 00C0                  rjmp .L3
  48 0048 84EF                  ldi r24,lo8(500)
  49 004a 91E0                  ldi r25,hi8(500)
  50 004c 0E94 0000             call SetDelay
  51 0050 EC01                  movw r28,r24
  52 0052 1123                  tst r17
  53 0054 01F0                  breq .L4
  54                    .L11:
  55 0056 CE01                  movw r24,r28
  56 0058 0E94 0000             call CheckDelay
  57 005c 8823                  tst r24
  58 005e 01F0                  breq .L11
  59                    .L4:
  60 0060 C2E0                  ldi r28,lo8(2)
  61 0062 D0E0                  ldi r29,hi8(2)
  62 0064 26E5                  ldi r18,lo8(86)
  63 0066 30E0                  ldi r19,hi8(86)
  64                    .L7:
  65 0068 8091 0000             lds r24,UBat
  66 006c 9091 0000             lds r25,(UBat)+1
  67 0070 8217                  cp r24,r18
  68 0072 9307                  cpc r25,r19
  69 0074 00F0                  brlo .L6
  70 0076 2196                  adiw r28,1
  71 0078 255D                  subi r18,lo8(-(43))
  72 007a 3F4F                  sbci r19,hi8(-(43))
  73 007c C730                  cpi r28,7
  74 007e D105                  cpc r29,__zero_reg__
  75 0080 01F4                  brne .L7
  76                    .L6:
  77 0082 8091 0000             lds r24,EE_Parameter+36
  78 0086 90E0                  ldi r25,lo8(0)
  79 0088 FC01                  movw r30,r24
  80 008a CE9F                  mul r28,r30
  81 008c C001                  movw r24,r0
  82 008e CF9F                  mul r28,r31
  83 0090 900D                  add r25,r0
  84 0092 DE9F                  mul r29,r30
  85 0094 900D                  add r25,r0
  86 0096 1124                  clr r1
  87 0098 8093 0000             sts BattLowVoltageWarning,r24
  88 009c 1123                  tst r17
  89 009e 01F4                  brne .+2
  90 00a0 00C0                  rjmp .L10
  91 00a2 8C2F                  mov r24,r28
  92 00a4 68EC                  ldi r22,lo8(200)
  93 00a6 70E0                  ldi r23,hi8(200)
  94 00a8 0E94 0000             call Piep
  95 00ac 00D0                  rcall .
  96 00ae 00D0                  rcall .
  97 00b0 00D0                  rcall .
  98 00b2 EDB7                  in r30,__SP_L__
  99 00b4 FEB7                  in r31,__SP_H__
 100 00b6 3196                  adiw r30,1
 101 00b8 80E0                  ldi r24,lo8(gs(uart_putchar))
 102 00ba 90E0                  ldi r25,hi8(gs(uart_putchar))
 103 00bc ADB7                  in r26,__SP_L__
 104 00be BEB7                  in r27,__SP_H__
 105 00c0 1296                  adiw r26,1+1
 106 00c2 9C93                  st X,r25
 107 00c4 8E93                  st -X,r24
 108 00c6 1197                  sbiw r26,1
 109 00c8 80E0                  ldi r24,lo8(__c.2244)
 110 00ca 90E0                  ldi r25,hi8(__c.2244)
 111 00cc 9383                  std Z+3,r25
 112 00ce 8283                  std Z+2,r24
 113 00d0 D583                  std Z+5,r29
 114 00d2 C483                  std Z+4,r28
 115 00d4 E091 0000             lds r30,_printf_P
 116 00d8 F091 0000             lds r31,(_printf_P)+1
 117 00dc 0995                  icall
 118 00de EDB7                  in r30,__SP_L__
 119 00e0 FEB7                  in r31,__SP_H__
 120 00e2 3696                  adiw r30,6
 121 00e4 EDBF                  out __SP_L__,r30
 122 00e6 00C0                  rjmp .L9
 123                    .L3:
 124 00e8 8093 0000             sts BattLowVoltageWarning,r24
 125 00ec 1123                  tst r17
 126 00ee 01F0                  breq .L10
 127                    .L9:
 128 00f0 2091 0000             lds r18,BattLowVoltageWarning
 129 00f4 8DB7                  in r24,__SP_L__
 130 00f6 9EB7                  in r25,__SP_H__
 131 00f8 0897                  sbiw r24,8
 132 00fa 8DBF                  out __SP_L__,r24
 133 00fc EDB7                  in r30,__SP_L__
 134 00fe FEB7                  in r31,__SP_H__
 135 0100 3196                  adiw r30,1
 136 0102 80E0                  ldi r24,lo8(gs(uart_putchar))
 137 0104 90E0                  ldi r25,hi8(gs(uart_putchar))
 138 0106 ADB7                  in r26,__SP_L__
 139 0108 BEB7                  in r27,__SP_H__
 140 010a 1296                  adiw r26,1+1
 141 010c 9C93                  st X,r25
 142 010e 8E93                  st -X,r24
 143 0110 1197                  sbiw r26,1
 144 0112 80E0                  ldi r24,lo8(__c.2246)
 145 0114 90E0                  ldi r25,hi8(__c.2246)
 146 0116 9383                  std Z+3,r25
 147 0118 8283                  std Z+2,r24
 148 011a 822F                  mov r24,r18
 149 011c 6AE0                  ldi r22,lo8(10)
 150 011e 0E94 0000             call __udivmodqi4
 151 0122 8483                  std Z+4,r24
 152 0124 1582                  std Z+5,__zero_reg__
 153 0126 822F                  mov r24,r18
 154 0128 0E94 0000             call __udivmodqi4
 155 012c 9683                  std Z+6,r25
 156 012e 1782                  std Z+7,__zero_reg__
 157 0130 E091 0000             lds r30,_printf_P
 158 0134 F091 0000             lds r31,(_printf_P)+1
 159 0138 0995                  icall
 160 013a EDB7                  in r30,__SP_L__
 161 013c FEB7                  in r31,__SP_H__
 162 013e 3896                  adiw r30,8
 163 0140 EDBF                  out __SP_L__,r30
 164                    .L10:
 165                    /* epilogue start */
 166 0142 DF91                  pop r29
 167 0144 CF91                  pop r28
 168 0146 1F91                  pop r17
 169 0148 0895                  ret
 171                    .global CalMk3Mag
 173                    CalMk3Mag:
 174                    /* prologue: function */
 175                    /* frame size = 0 */
 176 014a 8091 0000             lds r24,EE_Parameter+1
 177 014e A82F                  mov r26,r24
 178 0150 B0E0                  ldi r27,lo8(0)
 179 0152 FD01                  movw r30,r26
 180 0154 EE0F                  lsl r30
 181 0156 FF1F                  rol r31
 182 0158 E050                  subi r30,lo8(-(PPM_in))
 183 015a F040                  sbci r31,hi8(-(PPM_in))
 184 015c 8081                  ld r24,Z
 185 015e 9181                  ldd r25,Z+1
 186 0160 8D5E                  subi r24,lo8(-19)
 187 0162 9F4F                  sbci r25,hi8(-19)
 188 0164 04F0                  brlt .L15
 189 0166 1092 0000             sts stick.2222,__zero_reg__
 190                    .L15:
 191 016a AA0F                  lsl r26
 192 016c BB1F                  rol r27
 193 016e A050                  subi r26,lo8(-(PPM_in))
 194 0170 B040                  sbci r27,hi8(-(PPM_in))
 195 0172 8D91                  ld r24,X+
 196 0174 9C91                  ld r25,X
 197 0176 8A5B                  subi r24,lo8(-70)
 198 0178 9F4F                  sbci r25,hi8(-70)
 199 017a 04F4                  brge .L16
 200 017c 8091 0000             lds r24,stick.2222
 201 0180 8823                  tst r24
 202 0182 01F4                  brne .L16
 203 0184 81E0                  ldi r24,lo8(1)
 204 0186 8093 0000             sts stick.2222,r24
 205 018a 8091 0000             lds r24,WinkelOut+6
 206 018e 8F5F                  subi r24,lo8(-(1))
 207 0190 8093 0000             sts WinkelOut+6,r24
 208 0194 8530                  cpi r24,lo8(5)
 209 0196 00F0                  brlo .L17
 210 0198 88EE                  ldi r24,lo8(1000)
 211 019a 93E0                  ldi r25,hi8(1000)
 212 019c 9093 0000             sts (beeptime)+1,r25
 213 01a0 8093 0000             sts beeptime,r24
 214 01a4 00C0                  rjmp .L16
 215                    .L17:
 216 01a6 66E9                  ldi r22,lo8(150)
 217 01a8 70E0                  ldi r23,hi8(150)
 218 01aa 0E94 0000             call Piep
 219                    .L16:
 220 01ae 8091 0000             lds r24,WinkelOut+6
 221 01b2 8093 0000             sts DebugOut+40,r24
 222 01b6 1092 0000             sts DebugOut+41,__zero_reg__
 223                    /* epilogue start */
 224 01ba 0895                  ret
 226                    .global main
 228                    main:
 229 01bc A0E0                  ldi r26,lo8(0)
 230 01be B0E0                  ldi r27,hi8(0)
 231 01c0 E0E0                  ldi r30,lo8(gs(1f))
 232 01c2 F0E0                  ldi r31,hi8(gs(1f))
 233 01c4 0C94 0000             jmp __prologue_saves__+((18 - 18) * 2)
 234                    1:
 235                    /* prologue: function */
 236                    /* frame size = 0 */
 237 01c8 14B8                  out 36-32,__zero_reg__
 238 01ca 15B8                  out 37-32,__zero_reg__
 239 01cc 189B                  sbis 35-32,0
 240 01ce 00C0                  rjmp .L20
 241 01d0 199B                  sbis 35-32,1
 242 01d2 00C0                  rjmp .L21
 243 01d4 8DE0                  ldi r24,lo8(13)
 244 01d6 00C0                  rjmp .L97
 245                    .L21:
 246 01d8 8BE0                  ldi r24,lo8(11)
 247 01da 00C0                  rjmp .L97
 248                    .L20:
 249 01dc 199B                  sbis 35-32,1
 250 01de 00C0                  rjmp .L23
 251 01e0 84E1                  ldi r24,lo8(20)
 252 01e2 00C0                  rjmp .L97
 253                    .L23:
 254 01e4 8AE0                  ldi r24,lo8(10)
 255                    .L97:
 256 01e6 8093 0000             sts PlatinenVersion,r24
 257 01ea 81E8                  ldi r24,lo8(-127)
 258 01ec 87B9                  out 39-32,r24
 259 01ee 3E9A                  sbi 39-32,6
 260 01f0 8FEF                  ldi r24,lo8(-1)
 261 01f2 88B9                  out 40-32,r24
 262 01f4 8BE1                  ldi r24,lo8(27)
 263 01f6 84B9                  out 36-32,r24
 264 01f8 81E0                  ldi r24,lo8(1)
 265 01fa 85B9                  out 37-32,r24
 266 01fc 8EE3                  ldi r24,lo8(62)
 267 01fe 8AB9                  out 42-32,r24
 268 0200 87E4                  ldi r24,lo8(71)
 269 0202 8BB9                  out 43-32,r24
 270 0204 469A                  sbi 40-32,6
 271 0206 84B7                  in r24,84-32
 272 0208 877F                  andi r24,lo8(-9)
 273 020a 84BF                  out 84-32,r24
 274 020c 8091 6000             lds r24,96
 275 0210 8861                  ori r24,lo8(24)
 276 0212 8093 6000             sts 96,r24
 277 0216 1092 6000             sts 96,__zero_reg__
 278 021a 84EC                  ldi r24,lo8(2500)
 279 021c 99E0                  ldi r25,hi8(2500)
 280 021e 9093 0000             sts (beeptime)+1,r25
 281 0222 8093 0000             sts beeptime,r24
 282 0226 1092 0000             sts (StickGier)+1,__zero_reg__
 283 022a 1092 0000             sts StickGier,__zero_reg__
 284 022e 1092 0000             sts (PPM_in+4)+1,__zero_reg__
 285 0232 1092 0000             sts PPM_in+4,__zero_reg__
 286 0236 1092 0000             sts (StickRoll)+1,__zero_reg__
 287 023a 1092 0000             sts StickRoll,__zero_reg__
 288 023e 1092 0000             sts (StickNick)+1,__zero_reg__
 289 0242 1092 0000             sts StickNick,__zero_reg__
 290 0246 8091 0000             lds r24,PlatinenVersion
 291 024a 8431                  cpi r24,lo8(20)
 292 024c 00F0                  brlo .L24
 293 024e 84EC                  ldi r24,lo8(1220)
 294 0250 94E0                  ldi r25,hi8(1220)
 295 0252 A0E0                  ldi r26,hlo8(1220)
 296 0254 B0E0                  ldi r27,hhi8(1220)
 297 0256 00C0                  rjmp .L98
 298                    .L24:
 299 0258 8BE0                  ldi r24,lo8(1291)
 300 025a 95E0                  ldi r25,hi8(1291)
 301 025c A0E0                  ldi r26,hlo8(1291)
 302 025e B0E0                  ldi r27,hhi8(1291)
 303                    .L98:
 304 0260 8093 0000             sts GIER_GRAD_FAKTOR,r24
 305 0264 9093 0000             sts (GIER_GRAD_FAKTOR)+1,r25
 306 0268 A093 0000             sts (GIER_GRAD_FAKTOR)+2,r26
 307 026c B093 0000             sts (GIER_GRAD_FAKTOR)+3,r27
 308 0270 8091 0000             lds r24,PlatinenVersion
 309 0274 8A30                  cpi r24,lo8(10)
 310 0276 01F0                  breq .L26
 311 0278 8431                  cpi r24,lo8(20)
 312 027a 00F0                  brlo .L27
 313                    .L26:
 314 027c 2898                  cbi 37-32,0
 315 027e 00C0                  rjmp .L28
 316                    .L27:
 317 0280 289A                  sbi 37-32,0
 318                    .L28:
 319 0282 0E94 0000             call Timer_Init
 320 0286 0E94 0000             call TIMER2_Init
 321 028a 0E94 0000             call UART_Init
 322 028e 0E94 0000             call rc_sum_init
 323 0292 0E94 0000             call ADC_Init
 324 0296 0E94 0000             call I2C_Init
 325 029a 0E94 0000             call SPI_MasterInit
 326 029e 0E94 0000             call Capacity_Init
 327 02a2 0E94 0000             call LIBFC_Init
 328 02a6 8091 0000             lds r24,PlatinenVersion
 329 02aa 8C30                  cpi r24,lo8(12)
 330 02ac 00F4                  brsh .L29
 331 02ae 299A                  sbi 37-32,1
 332 02b0 00C0                  rjmp .L30
 333                    .L29:
 334 02b2 2998                  cbi 37-32,1
 335                    .L30:
 336                    /* #APP */
 337                     ;  164 "main.c" 1
 338 02b4 7894                  sei
 339                     ;  0 "" 2
 340                    /* #NOAPP */
 341 02b6 0E94 0000             call ParamSet_Init
 342 02ba 8091 0000             lds r24,BLFlags
 343 02be 8260                  ori r24,lo8(2)
 344 02c0 8093 0000             sts BLFlags,r24
 345 02c4 1092 0000             sts motor_read,__zero_reg__
 346 02c8 0E94 0000             call SendMotorData
 347 02cc 84EF                  ldi r24,lo8(500)
 348 02ce 91E0                  ldi r25,hi8(500)
 349 02d0 0E94 0000             call SetDelay
 350 02d4 8C01                  movw r16,r24
 351                    .L32:
 352 02d6 8091 0000             lds r24,BLFlags
 353 02da 80FD                  sbrc r24,0
 354 02dc 00C0                  rjmp .L31
 355 02de C801                  movw r24,r16
 356 02e0 0E94 0000             call CheckDelay
 357 02e4 8823                  tst r24
 358 02e6 01F0                  breq .L32
 359                    .L31:
 360 02e8 00D0                  rcall .
 361 02ea 00D0                  rcall .
 362 02ec 00E0                  ldi r16,lo8(gs(uart_putchar))
 363 02ee 10E0                  ldi r17,hi8(gs(uart_putchar))
 364 02f0 ADB7                  in r26,__SP_L__
 365 02f2 BEB7                  in r27,__SP_H__
 366 02f4 1296                  adiw r26,1+1
 367 02f6 1C93                  st X,r17
 368 02f8 0E93                  st -X,r16
 369 02fa 1197                  sbiw r26,1
 370 02fc 80E0                  ldi r24,lo8(__c.2277)
 371 02fe 90E0                  ldi r25,hi8(__c.2277)
 372 0300 1496                  adiw r26,3+1
 373 0302 9C93                  st X,r25
 374 0304 8E93                  st -X,r24
 375 0306 1397                  sbiw r26,3
 376 0308 E091 0000             lds r30,_printf_P
 377 030c F091 0000             lds r31,(_printf_P)+1
 378 0310 0995                  icall
 379 0312 0F90                  pop __tmp_reg__
 380 0314 0F90                  pop __tmp_reg__
 381 0316 0F90                  pop __tmp_reg__
 382 0318 0F90                  pop __tmp_reg__
 383 031a 80EA                  ldi r24,lo8(4000)
 384 031c 9FE0                  ldi r25,hi8(4000)
 385 031e 0E94 0000             call SetDelay
 386 0322 4C01                  movw r8,r24
 387 0324 B0E0                  ldi r27,lo8(Motor+3)
 388 0326 CB2E                  mov r12,r27
 389 0328 B0E0                  ldi r27,hi8(Motor+3)
 390 032a DB2E                  mov r13,r27
 391 032c A0E0                  ldi r26,lo8(Mixer+13)
 392 032e 6A2E                  mov r6,r26
 393 0330 A0E0                  ldi r26,hi8(Mixer+13)
 394 0332 7A2E                  mov r7,r26
 395 0334 7601                  movw r14,r12
 396 0336 5301                  movw r10,r6
 397 0338 C1E0                  ldi r28,lo8(1)
 398 033a D0E0                  ldi r29,hi8(1)
 399 033c 2801                  movw r4,r16
 400 033e 00E0                  ldi r16,lo8(__c.2288)
 401 0340 10E0                  ldi r17,hi8(__c.2288)
 402                    .L40:
 403 0342 0E94 0000             call SendMotorData
 404                    .L34:
 405 0346 8091 0000             lds r24,BLFlags
 406 034a 80FD                  sbrc r24,0
 407 034c 00C0                  rjmp .L33
 408 034e C401                  movw r24,r8
 409 0350 0E94 0000             call CheckDelay
 410 0354 8823                  tst r24
 411 0356 01F0                  breq .L34
 412                    .L33:
 413 0358 F501                  movw r30,r10
 414 035a 8081                  ld r24,Z
 415 035c 1816                  cp __zero_reg__,r24
 416 035e 04F0                  brlt .L95
 417 0360 00C0                  rjmp .L36
 418                    .L38:
 419 0362 0E94 0000             call SendMotorData
 420                    .L37:
 421 0366 8091 0000             lds r24,BLFlags
 422 036a 80FD                  sbrc r24,0
 423 036c 00C0                  rjmp .L95
 424 036e C401                  movw r24,r8
 425 0370 0E94 0000             call CheckDelay
 426 0374 8823                  tst r24
 427 0376 01F0                  breq .L37
 428                    .L95:
 429 0378 C401                  movw r24,r8
 430 037a 0E94 0000             call CheckDelay
 431 037e 8823                  tst r24
 432 0380 01F4                  brne .L36
 433 0382 D701                  movw r26,r14
 434 0384 8C91                  ld r24,X
 435 0386 87FF                  sbrs r24,7
 436 0388 00C0                  rjmp .L38
 437                    .L36:
 438 038a F701                  movw r30,r14
 439 038c 8081                  ld r24,Z
 440 038e 87FF                  sbrs r24,7
 441 0390 00C0                  rjmp .L39
 442 0392 00D0                  rcall .
 443 0394 00D0                  rcall .
 444 0396 00D0                  rcall .
 445 0398 EDB7                  in r30,__SP_L__
 446 039a FEB7                  in r31,__SP_H__
 447 039c 3196                  adiw r30,1
 448 039e ADB7                  in r26,__SP_L__
 449 03a0 BEB7                  in r27,__SP_H__
 450 03a2 1196                  adiw r26,1
 451 03a4 4C92                  st X,r4
 452 03a6 1197                  sbiw r26,1
 453 03a8 1296                  adiw r26,2
 454 03aa 5C92                  st X,r5
 455 03ac 1383                  std Z+3,r17
 456 03ae 0283                  std Z+2,r16
 457 03b0 D583                  std Z+5,r29
 458 03b2 C483                  std Z+4,r28
 459 03b4 E091 0000             lds r30,_printf_P
 460 03b8 F091 0000             lds r31,(_printf_P)+1
 461 03bc 0995                  icall
 462 03be 8091 0000             lds r24,FoundMotors
 463 03c2 8F5F                  subi r24,lo8(-(1))
 464 03c4 8093 0000             sts FoundMotors,r24
 465 03c8 EDB7                  in r30,__SP_L__
 466 03ca FEB7                  in r31,__SP_H__
 467 03cc 3696                  adiw r30,6
 468 03ce EDBF                  out __SP_L__,r30
 469                    .L39:
 470 03d0 2196                  adiw r28,1
 471 03d2 88E0                  ldi r24,lo8(8)
 472 03d4 90E0                  ldi r25,hi8(8)
 473 03d6 E80E                  add r14,r24
 474 03d8 F91E                  adc r15,r25
 475 03da A4E0                  ldi r26,lo8(4)
 476 03dc B0E0                  ldi r27,hi8(4)
 477 03de AA0E                  add r10,r26
 478 03e0 BB1E                  adc r11,r27
 479 03e2 CD30                  cpi r28,13
 480 03e4 D105                  cpc r29,__zero_reg__
 481 03e6 01F0                  breq .+2
 482 03e8 00C0                  rjmp .L40
 483 03ea 01E0                  ldi r16,lo8(1)
 484 03ec 10E0                  ldi r17,hi8(1)
 485 03ee F0E0                  ldi r31,lo8(gs(uart_putchar))
 486 03f0 EF2E                  mov r14,r31
 487 03f2 F0E0                  ldi r31,hi8(gs(uart_putchar))
 488 03f4 FF2E                  mov r15,r31
 489 03f6 C0E0                  ldi r28,lo8(__c.2293)
 490 03f8 D0E0                  ldi r29,hi8(__c.2293)
 491 03fa E2E0                  ldi r30,lo8(2)
 492 03fc BE2E                  mov r11,r30
 493                    .L42:
 494 03fe F601                  movw r30,r12
 495 0400 8081                  ld r24,Z
 496 0402 87FD                  sbrc r24,7
 497 0404 00C0                  rjmp .L41
 498 0406 D301                  movw r26,r6
 499 0408 8C91                  ld r24,X
 500 040a 1816                  cp __zero_reg__,r24
 501 040c 04F4                  brge .L41
 502 040e 00D0                  rcall .
 503 0410 00D0                  rcall .
 504 0412 00D0                  rcall .
 505 0414 EDB7                  in r30,__SP_L__
 506 0416 FEB7                  in r31,__SP_H__
 507 0418 3196                  adiw r30,1
 508 041a ADB7                  in r26,__SP_L__
 509 041c BEB7                  in r27,__SP_H__
 510 041e 1296                  adiw r26,1+1
 511 0420 FC92                  st X,r15
 512 0422 EE92                  st -X,r14
 513 0424 1197                  sbiw r26,1
 514 0426 D383                  std Z+3,r29
 515 0428 C283                  std Z+2,r28
 516 042a 1583                  std Z+5,r17
 517 042c 0483                  std Z+4,r16
 518 042e E091 0000             lds r30,_printf_P
 519 0432 F091 0000             lds r31,(_printf_P)+1
 520 0436 0995                  icall
 521 0438 B092 0000             sts ServoActive,r11
 522 043c EDB7                  in r30,__SP_L__
 523 043e FEB7                  in r31,__SP_H__
 524 0440 3696                  adiw r30,6
 525 0442 EDBF                  out __SP_L__,r30
 526                    .L41:
 527 0444 D601                  movw r26,r12
 528 0446 8C91                  ld r24,X
 529 0448 8078                  andi r24,lo8(-128)
 530 044a 8C93                  st X,r24
 531 044c 0F5F                  subi r16,lo8(-(1))
 532 044e 1F4F                  sbci r17,hi8(-(1))
 533 0450 E8E0                  ldi r30,lo8(8)
 534 0452 F0E0                  ldi r31,hi8(8)
 535 0454 CE0E                  add r12,r30
 536 0456 DF1E                  adc r13,r31
 537 0458 84E0                  ldi r24,lo8(4)
 538 045a 90E0                  ldi r25,hi8(4)
 539 045c 680E                  add r6,r24
 540 045e 791E                  adc r7,r25
 541 0460 0D30                  cpi r16,13
 542 0462 1105                  cpc r17,__zero_reg__
 543 0464 01F4                  brne .L42
 544 0466 00D0                  rcall .
 545 0468 00D0                  rcall .
 546 046a 80E0                  ldi r24,lo8(gs(uart_putchar))
 547 046c 90E0                  ldi r25,hi8(gs(uart_putchar))
 548 046e ADB7                  in r26,__SP_L__
 549 0470 BEB7                  in r27,__SP_H__
 550 0472 1296                  adiw r26,1+1
 551 0474 9C93                  st X,r25
 552 0476 8E93                  st -X,r24
 553 0478 1197                  sbiw r26,1
 554 047a 80E0                  ldi r24,lo8(__c.2298)
 555 047c 90E0                  ldi r25,hi8(__c.2298)
 556 047e 1496                  adiw r26,3+1
 557 0480 9C93                  st X,r25
 558 0482 8E93                  st -X,r24
 559 0484 1397                  sbiw r26,3
 560 0486 E091 0000             lds r30,_printf_P
 561 048a F091 0000             lds r31,(_printf_P)+1
 562 048e 0995                  icall
 563 0490 0F90                  pop __tmp_reg__
 564 0492 0F90                  pop __tmp_reg__
 565 0494 0F90                  pop __tmp_reg__
 566 0496 0F90                  pop __tmp_reg__
 567 0498 9091 0000             lds r25,RequiredMotors
 568 049c 8091 0000             lds r24,FoundMotors
 569 04a0 9817                  cp r25,r24
 570 04a2 00F4                  brsh .L43
 571 04a4 8091 0000             lds r24,VersionInfo+6
 572 04a8 8061                  ori r24,lo8(16)
 573 04aa 8093 0000             sts VersionInfo+6,r24
 574                    .L43:
 575 04ae 00D0                  rcall .
 576 04b0 00D0                  rcall .
 577 04b2 80E0                  ldi r24,lo8(gs(uart_putchar))
 578 04b4 90E0                  ldi r25,hi8(gs(uart_putchar))
 579 04b6 EDB7                  in r30,__SP_L__
 580 04b8 FEB7                  in r31,__SP_H__
 581 04ba 9283                  std Z+2,r25
 582 04bc 8183                  std Z+1,r24
 583 04be 80E0                  ldi r24,lo8(__c.2300)
 584 04c0 90E0                  ldi r25,hi8(__c.2300)
 585 04c2 9483                  std Z+4,r25
 586 04c4 8383                  std Z+3,r24
 587 04c6 E091 0000             lds r30,_printf_P
 588 04ca F091 0000             lds r31,(_printf_P)+1
 589 04ce 0995                  icall
 590 04d0 0F90                  pop __tmp_reg__
 591 04d2 0F90                  pop __tmp_reg__
 592 04d4 0F90                  pop __tmp_reg__
 593 04d6 0F90                  pop __tmp_reg__
 594 04d8 88EE                  ldi r24,lo8(1000)
 595 04da 93E0                  ldi r25,hi8(1000)
 596 04dc 0E94 0000             call SetDelay
 597 04e0 8C01                  movw r16,r24
 598 04e2 0E94 0000             call SucheLuftruckOffset
 599                    .L44:
 600 04e6 C801                  movw r24,r16
 601 04e8 0E94 0000             call CheckDelay
 602 04ec 8823                  tst r24
 603 04ee 01F0                  breq .L44
 604 04f0 00D0                  rcall .
 605 04f2 00D0                  rcall .
 606 04f4 80E0                  ldi r24,lo8(gs(uart_putchar))
 607 04f6 90E0                  ldi r25,hi8(gs(uart_putchar))
 608 04f8 ADB7                  in r26,__SP_L__
 609 04fa BEB7                  in r27,__SP_H__
 610 04fc 1296                  adiw r26,1+1
 611 04fe 9C93                  st X,r25
 612 0500 8E93                  st -X,r24
 613 0502 1197                  sbiw r26,1
 614 0504 80E0                  ldi r24,lo8(__c.2305)
 615 0506 90E0                  ldi r25,hi8(__c.2305)
 616 0508 1496                  adiw r26,3+1
 617 050a 9C93                  st X,r25
 618 050c 8E93                  st -X,r24
 619 050e 1397                  sbiw r26,3
 620 0510 E091 0000             lds r30,_printf_P
 621 0514 F091 0000             lds r31,(_printf_P)+1
 622 0518 0995                  icall
 623 051a 0F90                  pop __tmp_reg__
 624 051c 0F90                  pop __tmp_reg__
 625 051e 0F90                  pop __tmp_reg__
 626 0520 0F90                  pop __tmp_reg__
 627 0522 80E0                  ldi r24,lo8(0)
 628 0524 0E94 0000             call SetNeutral
 629 0528 8091 0000             lds r24,PlatinenVersion
 630 052c 8A30                  cpi r24,lo8(10)
 631 052e 01F0                  breq .L45
 632 0530 8431                  cpi r24,lo8(20)
 633 0532 00F0                  brlo .L46
 634                    .L45:
 635 0534 2898                  cbi 37-32,0
 636 0536 00C0                  rjmp .L47
 637                    .L46:
 638 0538 289A                  sbi 37-32,0
 639                    .L47:
 640 053a 80ED                  ldi r24,lo8(2000)
 641 053c 97E0                  ldi r25,hi8(2000)
 642 053e 9093 0000             sts (beeptime)+1,r25
 643 0542 8093 0000             sts beeptime,r24
 644 0546 85E5                  ldi r24,lo8(85)
 645 0548 8093 0000             sts ExternControl,r24
 646 054c 8EE0                  ldi r24,lo8(14)
 647 054e 90E0                  ldi r25,hi8(14)
 648 0550 0E94 0000             call GetParamByte
 649 0554 182F                  mov r17,r24
 650 0556 8FE0                  ldi r24,lo8(15)
 651 0558 90E0                  ldi r25,hi8(15)
 652 055a 0E94 0000             call GetParamByte
 653 055e 312F                  mov r19,r17
 654 0560 20E0                  ldi r18,lo8(0)
 655 0562 280F                  add r18,r24
 656 0564 311D                  adc r19,__zero_reg__
 657 0566 3093 0000             sts (FlugMinuten)+1,r19
 658 056a 2093 0000             sts FlugMinuten,r18
 659 056e 8AE0                  ldi r24,lo8(10)
 660 0570 90E0                  ldi r25,hi8(10)
 661 0572 0E94 0000             call GetParamByte
 662 0576 182F                  mov r17,r24
 663 0578 8BE0                  ldi r24,lo8(11)
 664 057a 90E0                  ldi r25,hi8(11)
 665 057c 0E94 0000             call GetParamByte
 666 0580 312F                  mov r19,r17
 667 0582 20E0                  ldi r18,lo8(0)
 668 0584 280F                  add r18,r24
 669 0586 311D                  adc r19,__zero_reg__
 670 0588 3093 0000             sts (FlugMinutenGesamt)+1,r19
 671 058c 2093 0000             sts FlugMinutenGesamt,r18
 672 0590 2F5F                  subi r18,lo8(-1)
 673 0592 3F4F                  sbci r19,hi8(-1)
 674 0594 01F0                  breq .L48
 675 0596 8091 0000             lds r24,FlugMinuten
 676 059a 9091 0000             lds r25,(FlugMinuten)+1
 677 059e 8F5F                  subi r24,lo8(-1)
 678 05a0 9F4F                  sbci r25,hi8(-1)
 679 05a2 01F4                  brne .L49
 680                    .L48:
 681 05a4 1092 0000             sts (FlugMinuten)+1,__zero_reg__
 682 05a8 1092 0000             sts FlugMinuten,__zero_reg__
 683 05ac 1092 0000             sts (FlugMinutenGesamt)+1,__zero_reg__
 684 05b0 1092 0000             sts FlugMinutenGesamt,__zero_reg__
 685                    .L49:
 686 05b4 8DB7                  in r24,__SP_L__
 687 05b6 9EB7                  in r25,__SP_H__
 688 05b8 0897                  sbiw r24,8
 689 05ba 8DBF                  out __SP_L__,r24
 690 05bc EDB7                  in r30,__SP_L__
 691 05be FEB7                  in r31,__SP_H__
 692 05c0 3196                  adiw r30,1
 693 05c2 00E0                  ldi r16,lo8(gs(uart_putchar))
 694 05c4 10E0                  ldi r17,hi8(gs(uart_putchar))
 695 05c6 ADB7                  in r26,__SP_L__
 696 05c8 BEB7                  in r27,__SP_H__
 697 05ca 1296                  adiw r26,1+1
 698 05cc 1C93                  st X,r17
 699 05ce 0E93                  st -X,r16
 700 05d0 1197                  sbiw r26,1
 701 05d2 80E0                  ldi r24,lo8(__c.2307)
 702 05d4 90E0                  ldi r25,hi8(__c.2307)
 703 05d6 9383                  std Z+3,r25
 704 05d8 8283                  std Z+2,r24
 705 05da 8091 0000             lds r24,FlugMinuten
 706 05de 9091 0000             lds r25,(FlugMinuten)+1
 707 05e2 9583                  std Z+5,r25
 708 05e4 8483                  std Z+4,r24
 709 05e6 8091 0000             lds r24,FlugMinutenGesamt
 710 05ea 9091 0000             lds r25,(FlugMinutenGesamt)+1
 711 05ee 9783                  std Z+7,r25
 712 05f0 8683                  std Z+6,r24
 713 05f2 E091 0000             lds r30,_printf_P
 714 05f6 F091 0000             lds r31,(_printf_P)+1
 715 05fa 0995                  icall
 716 05fc 0F90                  pop __tmp_reg__
 717 05fe 0F90                  pop __tmp_reg__
 718 0600 0F90                  pop __tmp_reg__
 719 0602 0F90                  pop __tmp_reg__
 720 0604 EDB7                  in r30,__SP_L__
 721 0606 FEB7                  in r31,__SP_H__
 722 0608 1283                  std Z+2,r17
 723 060a 0183                  std Z+1,r16
 724 060c 80E0                  ldi r24,lo8(__c.2309)
 725 060e 90E0                  ldi r25,hi8(__c.2309)
 726 0610 9483                  std Z+4,r25
 727 0612 8383                  std Z+3,r24
 728 0614 E091 0000             lds r30,_printf_P
 729 0618 F091 0000             lds r31,(_printf_P)+1
 730 061c 0995                  icall
 731 061e 8091 0000             lds r24,EE_Parameter+13
 732 0622 0F90                  pop __tmp_reg__
 733 0624 0F90                  pop __tmp_reg__
 734 0626 0F90                  pop __tmp_reg__
 735 0628 0F90                  pop __tmp_reg__
 736 062a 82FF                  sbrs r24,2
 737 062c 00C0                  rjmp .L50
 738 062e 00D0                  rcall .
 739 0630 00D0                  rcall .
 740 0632 ADB7                  in r26,__SP_L__
 741 0634 BEB7                  in r27,__SP_H__
 742 0636 1296                  adiw r26,1+1
 743 0638 1C93                  st X,r17
 744 063a 0E93                  st -X,r16
 745 063c 1197                  sbiw r26,1
 746 063e 80E0                  ldi r24,lo8(__c.2311)
 747 0640 90E0                  ldi r25,hi8(__c.2311)
 748 0642 1496                  adiw r26,3+1
 749 0644 9C93                  st X,r25
 750 0646 8E93                  st -X,r24
 751 0648 1397                  sbiw r26,3
 752 064a 00C0                  rjmp .L99
 753                    .L50:
 754 064c 00D0                  rcall .
 755 064e 00D0                  rcall .
 756 0650 EDB7                  in r30,__SP_L__
 757 0652 FEB7                  in r31,__SP_H__
 758 0654 1283                  std Z+2,r17
 759 0656 0183                  std Z+1,r16
 760 0658 80E0                  ldi r24,lo8(__c.2313)
 761 065a 90E0                  ldi r25,hi8(__c.2313)
 762 065c 9483                  std Z+4,r25
 763 065e 8383                  std Z+3,r24
 764                    .L99:
 765 0660 E091 0000             lds r30,_printf_P
 766 0664 F091 0000             lds r31,(_printf_P)+1
 767 0668 0995                  icall
 768 066a 0F90                  pop __tmp_reg__
 769 066c 0F90                  pop __tmp_reg__
 770 066e 0F90                  pop __tmp_reg__
 771 0670 0F90                  pop __tmp_reg__
 772 0672 0E94 0000             call LcdClear
 773 0676 88E8                  ldi r24,lo8(5000)
 774 0678 93E1                  ldi r25,hi8(5000)
 775 067a 9093 0000             sts (I2CTimeout)+1,r25
 776 067e 8093 0000             sts I2CTimeout,r24
 777 0682 81E0                  ldi r24,lo8(1)
 778 0684 8093 0000             sts WinkelOut+7,r24
 779 0688 0E94 0000             call LipoDetection
 780 068c 8091 0000             lds r24,EE_Parameter+39
 781 0690 0E94 0000             call LIBFC_ReceiverInit
 782 0694 00D0                  rcall .
 783 0696 00D0                  rcall .
 784 0698 80E0                  ldi r24,lo8(gs(uart_putchar))
 785 069a 90E0                  ldi r25,hi8(gs(uart_putchar))
 786 069c ADB7                  in r26,__SP_L__
 787 069e BEB7                  in r27,__SP_H__
 788 06a0 1296                  adiw r26,1+1
 789 06a2 9C93                  st X,r25
 790 06a4 8E93                  st -X,r24
 791 06a6 1197                  sbiw r26,1
 792 06a8 80E0                  ldi r24,lo8(__c.2315)
 793 06aa 90E0                  ldi r25,hi8(__c.2315)
 794 06ac 1496                  adiw r26,3+1
 795 06ae 9C93                  st X,r25
 796 06b0 8E93                  st -X,r24
 797 06b2 1397                  sbiw r26,3
 798 06b4 E091 0000             lds r30,_printf_P
 799 06b8 F091 0000             lds r31,(_printf_P)+1
 800 06bc 0995                  icall
 801 06be 0F90                  pop __tmp_reg__
 802 06c0 0F90                  pop __tmp_reg__
 803 06c2 0F90                  pop __tmp_reg__
 804 06c4 0F90                  pop __tmp_reg__
 805 06c6 80ED                  ldi r24,lo8(2000)
 806 06c8 97E0                  ldi r25,hi8(2000)
 807 06ca 0E94 0000             call SetDelay
 808 06ce 8C01                  movw r16,r24
 809 06d0 8AEF                  ldi r24,lo8(250)
 810 06d2 90E0                  ldi r25,hi8(250)
 811 06d4 0E94 0000             call SetDelay
 812 06d8 7C01                  movw r14,r24
 813 06da 83E0                  ldi r24,lo8(3)
 814 06dc 8093 0000             sts DebugOut,r24
 815 06e0 C0E0                  ldi r28,lo8(0)
 816 06e2 D0E0                  ldi r29,hi8(0)
 817 06e4 78E9                  ldi r23,lo8(15000)
 818 06e6 C72E                  mov r12,r23
 819 06e8 7AE3                  ldi r23,hi8(15000)
 820 06ea D72E                  mov r13,r23
 821 06ec 412C                  mov r4,__zero_reg__
 822 06ee 68EA                  ldi r22,hi8(-22528)
 823 06f0 562E                  mov r5,r22
 824 06f2 212C                  mov r2,__zero_reg__
 825 06f4 5CE0                  ldi r21,hi8(3072)
 826 06f6 352E                  mov r3,r21
 827 06f8 40E1                  ldi r20,lo8(10000)
 828 06fa A42E                  mov r10,r20
 829 06fc 47E2                  ldi r20,hi8(10000)
 830 06fe B42E                  mov r11,r20
 831 0700 30E8                  ldi r19,lo8(128)
 832 0702 832E                  mov r8,r19
 833 0704 912C                  mov r9,__zero_reg__
 834 0706 25E0                  ldi r18,lo8(5)
 835 0708 622E                  mov r6,r18
 836 070a 712C                  mov r7,__zero_reg__
 837                    .L96:
 838 070c C701                  movw r24,r14
 839 070e 0E94 0000             call CheckDelay
 840 0712 8823                  tst r24
 841 0714 01F0                  breq .L52
 842 0716 84E6                  ldi r24,lo8(100)
 843 0718 90E0                  ldi r25,hi8(100)
 844 071a 0E94 0000             call SetDelay
 845 071e 7C01                  movw r14,r24
 846 0720 0E94 0000             call LIBFC_Polling
 847                    .L52:
 848 0724 8091 0000             lds r24,UpdateMotor
 849 0728 8823                  tst r24
 850 072a 01F4                  brne .+2
 851 072c 00C0                  rjmp .L53
 852 072e 8091 0000             lds r24,AdReady
 853 0732 8823                  tst r24
 854 0734 01F4                  brne .+2
 855 0736 00C0                  rjmp .L53
 856 0738 1092 0000             sts UpdateMotor,__zero_reg__
 857 073c 8091 0000             lds r24,WinkelOut+6
 858 0740 8823                  tst r24
 859 0742 01F0                  breq .L54
 860 0744 0E94 0000             call CalMk3Mag
 861 0748 00C0                  rjmp .L55
 862                    .L54:
 863 074a 0E94 0000             call MotorRegler
 864                    .L55:
 865 074e 0E94 0000             call SendMotorData
 866 0752 8091 0000             lds r24,PlatinenVersion
 867 0756 8A30                  cpi r24,lo8(10)
 868 0758 01F0                  breq .L56
 869 075a 8431                  cpi r24,lo8(20)
 870 075c 00F0                  brlo .L57
 871                    .L56:
 872 075e 2898                  cbi 37-32,0
 873 0760 00C0                  rjmp .L58
 874                    .L57:
 875 0762 289A                  sbi 37-32,0
 876                    .L58:
 877 0764 8091 0000             lds r24,SenderOkay
 878 0768 8823                  tst r24
 879 076a 01F0                  breq .L59
 880 076c 8091 0000             lds r24,SenderOkay
 881 0770 8150                  subi r24,lo8(-(-1))
 882 0772 8093 0000             sts SenderOkay,r24
 883 0776 8091 0000             lds r24,VersionInfo+6
 884 077a 877F                  andi r24,lo8(-9)
 885 077c 00C0                  rjmp .L100
 886                    .L59:
 887 077e 8091 6F00             lds r24,111
 888 0782 8062                  ori r24,lo8(32)
 889 0784 8093 6F00             sts 111,r24
 890 0788 1092 0000             sts (PPM_in)+1,__zero_reg__
 891 078c 1092 0000             sts PPM_in,__zero_reg__
 892 0790 8091 0000             lds r24,VersionInfo+6
 893 0794 8860                  ori r24,lo8(8)
 894                    .L100:
 895 0796 8093 0000             sts VersionInfo+6,r24
 896 079a 8091 0000             lds r24,I2CTimeout
 897 079e 9091 0000             lds r25,(I2CTimeout)+1
 898 07a2 0197                  sbiw r24,1
 899 07a4 9093 0000             sts (I2CTimeout)+1,r25
 900 07a8 8093 0000             sts I2CTimeout,r24
 901 07ac 8091 0000             lds r24,I2CTimeout
 902 07b0 9091 0000             lds r25,(I2CTimeout)+1
 903 07b4 892B                  or r24,r25
 904 07b6 01F0                  breq .L61
 905 07b8 8091 0000             lds r24,MissingMotor
 906 07bc 8823                  tst r24
 907 07be 01F0                  breq .L62
 908                    .L61:
 909 07c0 8091 0000             lds r24,I2CTimeout
 910 07c4 9091 0000             lds r25,(I2CTimeout)+1
 911 07c8 892B                  or r24,r25
 912 07ca 01F4                  brne .L63
 913 07cc 0E94 0000             call I2C_Reset
 914 07d0 7092 0000             sts (I2CTimeout)+1,r7
 915 07d4 6092 0000             sts I2CTimeout,r6
 916 07d8 8091 0000             lds r24,DebugOut+58
 917 07dc 9091 0000             lds r25,(DebugOut+58)+1
 918 07e0 0196                  adiw r24,1
 919 07e2 9093 0000             sts (DebugOut+58)+1,r25
 920 07e6 8093 0000             sts DebugOut+58,r24
 921 07ea 8091 0000             lds r24,FCFlags
 922 07ee 8068                  ori r24,lo8(-128)
 923 07f0 8093 0000             sts FCFlags,r24
 924 07f4 8091 0000             lds r24,VersionInfo+6
 925 07f8 8160                  ori r24,lo8(1)
 926 07fa 8093 0000             sts VersionInfo+6,r24
 927 07fe 8091 0000             lds r24,DebugOut+1
 928 0802 8260                  ori r24,lo8(2)
 929 0804 8093 0000             sts DebugOut+1,r24
 930                    .L63:
 931 0808 8091 0000             lds r24,BeepMuster
 932 080c 9091 0000             lds r25,(BeepMuster)+1
 933 0810 8F5F                  subi r24,lo8(-1)
 934 0812 9F4F                  sbci r25,hi8(-1)
 935 0814 01F4                  brne .L64
 936 0816 8091 0000             lds r24,MotorenEin
 937 081a 8823                  tst r24
 938 081c 01F0                  breq .L64
 939 081e B092 0000             sts (beeptime)+1,r11
 940 0822 A092 0000             sts beeptime,r10
 941 0826 9092 0000             sts (BeepMuster)+1,r9
 942 082a 8092 0000             sts BeepMuster,r8
 943 082e 00C0                  rjmp .L64
 944                    .L62:
 945 0830 8091 0000             lds r24,PlatinenVersion
 946 0834 8A30                  cpi r24,lo8(10)
 947 0836 01F0                  breq .L65
 948 0838 8431                  cpi r24,lo8(20)
 949 083a 00F0                  brlo .L66
 950                    .L65:
 951 083c 2898                  cbi 37-32,0
 952 083e 00C0                  rjmp .L67
 953                    .L66:
 954 0840 289A                  sbi 37-32,0
 955                    .L67:
 956 0842 8091 0000             lds r24,beeptime
 957 0846 9091 0000             lds r25,(beeptime)+1
 958 084a 892B                  or r24,r25
 959 084c 01F4                  brne .L64
 960 084e 8091 0000             lds r24,FCFlags
 961 0852 8F77                  andi r24,lo8(127)
 962 0854 8093 0000             sts FCFlags,r24
 963                    .L64:
 964 0858 8091 0000             lds r24,UpdateMotor
 965 085c 8823                  tst r24
 966 085e 01F0                  breq .+2
 967 0860 00C0                  rjmp .L53
 968 0862 0E94 0000             call DatenUebertragung
 969 0866 0E94 0000             call BearbeiteRxDaten
 970 086a C801                  movw r24,r16
 971 086c 0E94 0000             call CheckDelay
 972 0870 8823                  tst r24
 973 0872 01F4                  brne .+2
 974 0874 00C0                  rjmp .L68
 975 0876 8091 0000             lds r24,MissingMotor
 976 087a 8823                  tst r24
 977 087c 01F0                  breq .L69
 978 087e 8091 0000             lds r24,VersionInfo+6
 979 0882 8260                  ori r24,lo8(2)
 980 0884 8093 0000             sts VersionInfo+6,r24
 981 0888 8091 0000             lds r24,DebugOut+1
 982 088c 8260                  ori r24,lo8(2)
 983 088e 00C0                  rjmp .L101
 984                    .L69:
 985 0890 8091 0000             lds r24,VersionInfo+6
 986 0894 8D7F                  andi r24,lo8(-3)
 987 0896 8093 0000             sts VersionInfo+6,r24
 988 089a 8091 0000             lds r24,I2CTimeout
 989 089e 9091 0000             lds r25,(I2CTimeout)+1
 990 08a2 0797                  sbiw r24,7
 991 08a4 00F0                  brlo .L70
 992 08a6 8091 0000             lds r24,DebugOut+1
 993 08aa 8D7F                  andi r24,lo8(-3)
 994                    .L101:
 995 08ac 8093 0000             sts DebugOut+1,r24
 996                    .L70:
 997 08b0 8091 0000             lds r24,I2CTimeout
 998 08b4 9091 0000             lds r25,(I2CTimeout)+1
 999 08b8 0797                  sbiw r24,7
 1000 08ba 00F0                 brlo .L71
 1001 08bc 8091 0000            lds r24,VersionInfo+6
 1002 08c0 8E7F                 andi r24,lo8(-2)
 1003 08c2 8093 0000            sts VersionInfo+6,r24
 1004                   .L71:
 1005 08c6 8091 0000            lds r24,PcZugriff
 1006 08ca 8823                 tst r24
 1007 08cc 01F0                 breq .L72
 1008 08ce 8150                 subi r24,lo8(-(-1))
 1009 08d0 8093 0000            sts PcZugriff,r24
 1010 08d4 00C0                 rjmp .L73
 1011                   .L72:
 1012 08d6 1092 0000            sts ExternControl+10,__zero_reg__
 1013 08da 1092 0000            sts (ExternStickNick)+1,__zero_reg__
 1014 08de 1092 0000            sts ExternStickNick,__zero_reg__
 1015 08e2 1092 0000            sts (ExternStickRoll)+1,__zero_reg__
 1016 08e6 1092 0000            sts ExternStickRoll,__zero_reg__
 1017 08ea 1092 0000            sts (ExternStickGier)+1,__zero_reg__
 1018 08ee 1092 0000            sts ExternStickGier,__zero_reg__
 1019 08f2 8091 0000            lds r24,BeepMuster
 1020 08f6 9091 0000            lds r25,(BeepMuster)+1
 1021 08fa 8F5F                 subi r24,lo8(-1)
 1022 08fc 9F4F                 sbci r25,hi8(-1)
 1023 08fe 01F4                 brne .L73
 1024 0900 8091 0000            lds r24,SenderOkay
 1025 0904 8823                 tst r24
 1026 0906 01F4                 brne .L73
 1027 0908 D092 0000            sts (beeptime)+1,r13
 1028 090c C092 0000            sts beeptime,r12
 1029 0910 3092 0000            sts (BeepMuster)+1,r3
 1030 0914 2092 0000            sts BeepMuster,r2
 1031                   .L73:
 1032 0918 8091 0000            lds r24,NaviDataOkay
 1033 091c 893C                 cpi r24,lo8(-55)
 1034 091e 00F0                 brlo .L74
 1035 0920 8150                 subi r24,lo8(-(-1))
 1036 0922 8093 0000            sts NaviDataOkay,r24
 1037 0926 8091 0000            lds r24,FCFlags
 1038 092a 8F7B                 andi r24,lo8(-65)
 1039 092c 8093 0000            sts FCFlags,r24
 1040 0930 8091 0000            lds r24,VersionInfo+6
 1041 0934 8B7F                 andi r24,lo8(-5)
 1042 0936 8093 0000            sts VersionInfo+6,r24
 1043 093a 00C0                 rjmp .L75
 1044                   .L74:
 1045 093c 8091 0000            lds r24,NC_Version+3
 1046 0940 8823                 tst r24
 1047 0942 01F0                 breq .L76
 1048 0944 8091 0000            lds r24,FCFlags
 1049 0948 8064                 ori r24,lo8(64)
 1050 094a 8093 0000            sts FCFlags,r24
 1051 094e 8091 0000            lds r24,VersionInfo+6
 1052 0952 8460                 ori r24,lo8(4)
 1053 0954 8093 0000            sts VersionInfo+6,r24
 1054 0958 8091 0000            lds r24,BeepMuster
 1055 095c 9091 0000            lds r25,(BeepMuster)+1
 1056 0960 8F5F                 subi r24,lo8(-1)
 1057 0962 9F4F                 sbci r25,hi8(-1)
 1058 0964 01F4                 brne .L76
 1059 0966 8091 0000            lds r24,MotorenEin
 1060 096a 8823                 tst r24
 1061 096c 01F0                 breq .L76
 1062 096e D092 0000            sts (beeptime)+1,r13
 1063 0972 C092 0000            sts beeptime,r12
 1064 0976 5092 0000            sts (BeepMuster)+1,r5
 1065 097a 4092 0000            sts BeepMuster,r4
 1066                   .L76:
 1067 097e 1092 0000            sts (GPS_Nick)+1,__zero_reg__
 1068 0982 1092 0000            sts GPS_Nick,__zero_reg__
 1069 0986 1092 0000            sts (GPS_Roll)+1,__zero_reg__
 1070 098a 1092 0000            sts GPS_Roll,__zero_reg__
 1071 098e 8FEF                 ldi r24,lo8(-1)
 1072 0990 9FEF                 ldi r25,hi8(-1)
 1073 0992 9093 0000            sts (FromNaviCtrl+7)+1,r25
 1074 0996 8093 0000            sts FromNaviCtrl+7,r24
 1075 099a 1092 0000            sts NaviDataOkay,__zero_reg__
 1076                   .L75:
 1077 099e 2091 0000            lds r18,UBat
 1078 09a2 3091 0000            lds r19,(UBat)+1
 1079 09a6 8091 0000            lds r24,BattLowVoltageWarning
 1080 09aa 90E0                 ldi r25,lo8(0)
 1081 09ac 2817                 cp r18,r24
 1082 09ae 3907                 cpc r19,r25
 1083 09b0 04F4                 brge .L77
 1084 09b2 8091 0000            lds r24,FCFlags
 1085 09b6 8062                 ori r24,lo8(32)
 1086 09b8 8093 0000            sts FCFlags,r24
 1087 09bc 8091 0000            lds r24,BeepMuster
 1088 09c0 9091 0000            lds r25,(BeepMuster)+1
 1089 09c4 8F5F                 subi r24,lo8(-1)
 1090 09c6 9F4F                 sbci r25,hi8(-1)
 1091 09c8 01F4                 brne .L78
 1092 09ca E0E7                 ldi r30,lo8(6000)
 1093 09cc F7E1                 ldi r31,hi8(6000)
 1094 09ce F093 0000            sts (beeptime)+1,r31
 1095 09d2 E093 0000            sts beeptime,r30
 1096 09d6 80E0                 ldi r24,lo8(768)
 1097 09d8 93E0                 ldi r25,hi8(768)
 1098 09da 9093 0000            sts (BeepMuster)+1,r25
 1099 09de 8093 0000            sts BeepMuster,r24
 1100 09e2 00C0                 rjmp .L78
 1101                   .L77:
 1102 09e4 8091 0000            lds r24,beeptime
 1103 09e8 9091 0000            lds r25,(beeptime)+1
 1104 09ec 892B                 or r24,r25
 1105 09ee 01F4                 brne .L78
 1106 09f0 8091 0000            lds r24,FCFlags
 1107 09f4 8F7D                 andi r24,lo8(-33)
 1108 09f6 8093 0000            sts FCFlags,r24
 1109                   .L78:
 1110 09fa 0E94 0000            call SPI_StartTransmitPacket
 1111 09fe 94E0                 ldi r25,lo8(4)
 1112 0a00 9093 0000            sts SendSPI,r25
 1113 0a04 8091 0000            lds r24,MotorenEin
 1114 0a08 8823                 tst r24
 1115 0a0a 01F4                 brne .L79
 1116 0a0c CAEA                 ldi r28,lo8(1450)
 1117 0a0e D5E0                 ldi r29,hi8(1450)
 1118 0a10 00C0                 rjmp .L80
 1119                   .L79:
 1120 0a12 8091 0000            lds r24,second.2317
 1121 0a16 8F5F                 subi r24,lo8(-(1))
 1122 0a18 8093 0000            sts second.2317,r24
 1123 0a1c 8133                 cpi r24,lo8(49)
 1124 0a1e 01F4                 brne .L80
 1125 0a20 1092 0000            sts second.2317,__zero_reg__
 1126 0a24 8091 0000            lds r24,FlugSekunden
 1127 0a28 9091 0000            lds r25,(FlugSekunden)+1
 1128 0a2c 0196                 adiw r24,1
 1129 0a2e 9093 0000            sts (FlugSekunden)+1,r25
 1130 0a32 8093 0000            sts FlugSekunden,r24
 1131                   .L80:
 1132 0a36 2196                 adiw r28,1
 1133 0a38 ABE0                 ldi r26,hi8(2930)
 1134 0a3a C237                 cpi r28,lo8(2930)
 1135 0a3c DA07                 cpc r29,r26
 1136 0a3e 01F0                 breq .L81
 1137 0a40 0C5E                 subi r16,lo8(-(20))
 1138 0a42 1F4F                 sbci r17,hi8(-(20))
 1139 0a44 00C0                 rjmp .L68
 1140                   .L81:
 1141 0a46 8091 0000            lds r24,FlugMinuten
 1142 0a4a 9091 0000            lds r25,(FlugMinuten)+1
 1143 0a4e 0196                 adiw r24,1
 1144 0a50 9093 0000            sts (FlugMinuten)+1,r25
 1145 0a54 8093 0000            sts FlugMinuten,r24
 1146 0a58 8091 0000            lds r24,FlugMinutenGesamt
 1147 0a5c 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1148 0a60 0196                 adiw r24,1
 1149 0a62 9093 0000            sts (FlugMinutenGesamt)+1,r25
 1150 0a66 8093 0000            sts FlugMinutenGesamt,r24
 1151 0a6a 6091 0000            lds r22,FlugMinuten+1
 1152 0a6e 8EE0                 ldi r24,lo8(14)
 1153 0a70 90E0                 ldi r25,hi8(14)
 1154 0a72 0E94 0000            call SetParamByte
 1155 0a76 8FE0                 ldi r24,lo8(15)
 1156 0a78 90E0                 ldi r25,hi8(15)
 1157 0a7a 6091 0000            lds r22,FlugMinuten
 1158 0a7e 0E94 0000            call SetParamByte
 1159 0a82 6091 0000            lds r22,FlugMinutenGesamt+1
 1160 0a86 8AE0                 ldi r24,lo8(10)
 1161 0a88 90E0                 ldi r25,hi8(10)
 1162 0a8a 0E94 0000            call SetParamByte
 1163 0a8e 8BE0                 ldi r24,lo8(11)
 1164 0a90 90E0                 ldi r25,hi8(11)
 1165 0a92 6091 0000            lds r22,FlugMinutenGesamt
 1166 0a96 0E94 0000            call SetParamByte
 1167 0a9a 84E1                 ldi r24,lo8(20)
 1168 0a9c 90E0                 ldi r25,hi8(20)
 1169 0a9e 0E94 0000            call SetDelay
 1170 0aa2 8C01                 movw r16,r24
 1171 0aa4 C0E0                 ldi r28,lo8(0)
 1172 0aa6 D0E0                 ldi r29,hi8(0)
 1173                   .L68:
 1174 0aa8 0E94 0000            call LED_Update
 1175 0aac 0E94 0000            call Capacity_Update
 1176                   .L53:
 1177 0ab0 8091 0000            lds r24,SendSPI
 1178 0ab4 8823                 tst r24
 1179 0ab6 01F0                 breq .+2
 1180 0ab8 00C0                 rjmp .L96
 1181 0aba 0E94 0000            call SPI_TransmitByte
 1182 0abe 00C0                 rjmp .L96
 1184                   .global PlatinenVersion
 1185                           .data
 1188                   PlatinenVersion:
 1189 0000 0A                   .byte   10
 1190                   .global SendVersionToNavi
 1193                   SendVersionToNavi:
 1194 0001 01                   .byte   1
 1195                   .global BattLowVoltageWarning
 1198                   BattLowVoltageWarning:
 1199 0002 5E                   .byte   94
 1200                   .global FlugMinuten
 1201                   .global FlugMinuten
 1202                           .section .bss
 1205                   FlugMinuten:
 1206 0000 0000                 .skip 2,0
 1207                   .global FlugMinutenGesamt
 1208                   .global FlugMinutenGesamt
 1211                   FlugMinutenGesamt:
 1212 0002 0000                 .skip 2,0
 1213                   .global FlugSekunden
 1214                   .global FlugSekunden
 1217                   FlugSekunden:
 1218 0004 0000                 .skip 2,0
 1219                   .global FoundMotors
 1220                   .global FoundMotors
 1223                   FoundMotors:
 1224 0006 00                   .skip 1,0
 1225                           .lcomm second.2317,1
 1226                           .section        .progmem.data,"a",@progbits
 1229                   __c.2315:
 1230 0000 0A0D 3D3D            .string "\n\r===================================\n\r"
 1230      3D3D 3D3D 
 1230      3D3D 3D3D 
 1230      3D3D 3D3D 
 1230      3D3D 3D3D 
 1233                   __c.2313:
 1234 0028 4E6F 726D            .string "Normal (ACC-Mode)"
 1234      616C 2028 
 1234      4143 432D 
 1234      4D6F 6465 
 1234      2900 
 1237                   __c.2311:
 1238 003a 4865 6164            .string "HeadingHold"
 1238      696E 6748 
 1238      6F6C 6400 
 1241                   __c.2309:
 1242 0046 0A0D 436F            .string "\n\rControl: "
 1242      6E74 726F 
 1242      6C3A 2000 
 1245                   __c.2307:
 1246 0052 0A0D 466C            .string "\n\rFlight-time %u min  Total:%u min"
 1246      6967 6874 
 1246      2D74 696D 
 1246      6520 2575 
 1246      206D 696E 
 1249                   __c.2305:
 1250 0075 4F4B 0A0D            .string "OK\n\r"
 1250      00
 1253                   __c.2300:
 1254 007a 0A0D 4361            .string "\n\rCalibrating pressure sensor.."
 1254      6C69 6272 
 1254      6174 696E 
 1254      6720 7072 
 1254      6573 7375 
 1257                   __c.2298:
 1258 009a 0A0D 3D3D            .string "\n\r==================================="
 1258      3D3D 3D3D 
 1258      3D3D 3D3D 
 1258      3D3D 3D3D 
 1258      3D3D 3D3D 
 1261                   __c.2293:
 1262 00c0 0A0D 0A0D            .string "\n\r\n\r!! MISSING BL-CTRL: %d !!"
 1262      2121 204D 
 1262      4953 5349 
 1262      4E47 2042 
 1262      4C2D 4354 
 1265                   __c.2288:
 1266 00de 2564 00              .string "%d"
 1269                   __c.2277:
 1270 00e1 0A0D 466F            .string "\n\rFound BL-Ctrl: "
 1270      756E 6420 
 1270      424C 2D43 
 1270      7472 6C3A 
 1270      2000 
 1273                   __c.2246:
 1274 00f3 204C 6F77            .string " Low warning level: %d.%d"
 1274      2077 6172 
 1274      6E69 6E67 
 1274      206C 6576 
 1274      656C 3A20 
 1277                   __c.2244:
 1278 010d 2025 6420            .string " %d Cells "
 1278      4365 6C6C 
 1278      7320 00
 1281                   __c.2236:
 1282 0118 0A0D 4261            .string "\n\rBatt:"
 1282      7474 3A00 
 1283                           .data
 1286                   stick.2222:
 1287 0003 01                   .byte   1
 1288                           .comm _printf_P,2,1
 1289                   .global __do_copy_data
 1290                   .global __do_clear_bss
DEFINED SYMBOLS
                            *ABS*:00000000 main.c
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:2      *ABS*:0000003f __SREG__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:3      *ABS*:0000003e __SP_H__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:4      *ABS*:0000003d __SP_L__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:5      *ABS*:00000034 __CCP__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:6      *ABS*:00000000 __tmp_reg__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:7      *ABS*:00000001 __zero_reg__
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:11     .text:00000000 LipoDetection
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1281   .progmem.data:00000118 __c.2236
                            *COM*:00000002 _printf_P
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1198   .data:00000002 BattLowVoltageWarning
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1277   .progmem.data:0000010d __c.2244
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1273   .progmem.data:000000f3 __c.2246
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:173    .text:0000014a CalMk3Mag
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1286   .data:00000003 stick.2222
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:228    .text:000001bc main
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1188   .data:00000000 PlatinenVersion
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1269   .progmem.data:000000e1 __c.2277
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1265   .progmem.data:000000de __c.2288
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1223   .bss:00000006 FoundMotors
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1261   .progmem.data:000000c0 __c.2293
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1257   .progmem.data:0000009a __c.2298
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1253   .progmem.data:0000007a __c.2300
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1249   .progmem.data:00000075 __c.2305
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1205   .bss:00000000 FlugMinuten
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1211   .bss:00000002 FlugMinutenGesamt
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1245   .progmem.data:00000052 __c.2307
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1241   .progmem.data:00000046 __c.2309
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1237   .progmem.data:0000003a __c.2311
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1233   .progmem.data:00000028 __c.2313
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1229   .progmem.data:00000000 __c.2315
                             .bss:00000007 second.2317
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1217   .bss:00000004 FlugSekunden
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccWNlXkL.s:1193   .data:00000001 SendVersionToNavi

UNDEFINED SYMBOLS
uart_putchar
EE_Parameter
SetDelay
CheckDelay
UBat
Piep
__udivmodqi4
PPM_in
WinkelOut
beeptime
DebugOut
__prologue_saves__
StickGier
StickRoll
StickNick
GIER_GRAD_FAKTOR
Timer_Init
TIMER2_Init
UART_Init
rc_sum_init
ADC_Init
I2C_Init
SPI_MasterInit
Capacity_Init
LIBFC_Init
ParamSet_Init
BLFlags
motor_read
SendMotorData
Motor
Mixer
ServoActive
RequiredMotors
VersionInfo
SucheLuftruckOffset
SetNeutral
ExternControl
GetParamByte
LcdClear
I2CTimeout
LIBFC_ReceiverInit
LIBFC_Polling
UpdateMotor
AdReady
MotorRegler
SenderOkay
MissingMotor
I2C_Reset
FCFlags
BeepMuster
MotorenEin
DatenUebertragung
BearbeiteRxDaten
PcZugriff
ExternStickNick
ExternStickRoll
ExternStickGier
NaviDataOkay
NC_Version
GPS_Nick
GPS_Roll
FromNaviCtrl
SPI_StartTransmitPacket
SendSPI
SetParamByte
LED_Update
Capacity_Update
SPI_TransmitByte
__do_copy_data
__do_clear_bss