Subversion Repositories FlightCtrl

   1                            .file   "main.c"
   2                            .arch atmega1284p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global JetiBeep
  11                    .global JetiBeep
  12                            .section .bss
  15                    JetiBeep:
  16 0000 00                    .skip 1,0
  17                    .global FoundMotors
  18                    .global FoundMotors
  21                    FoundMotors:
  22 0001 00                    .skip 1,0
  23                    .global FlugSekunden
  24                    .global FlugSekunden
  27                    FlugSekunden:
  28 0002 0000                  .skip 2,0
  29                    .global FlugMinutenGesamt
  30                    .global FlugMinutenGesamt
  33                    FlugMinutenGesamt:
  34 0004 0000                  .skip 2,0
  35                    .global FlugMinuten
  36                    .global FlugMinuten
  39                    FlugMinuten:
  40 0006 0000                  .skip 2,0
  41                    .global BattLowVoltageWarning
  42                            .data
  45                    BattLowVoltageWarning:
  46 0000 5E                    .byte   94
  47                    .global SendVersionToNavi
  50                    SendVersionToNavi:
  51 0001 01                    .byte   1
  52                    .global PlatinenVersion
  55                    PlatinenVersion:
  56 0002 0A                    .byte   10
  57                    .global DisableRcOffBeeping
  58                    .global DisableRcOffBeeping
  59                            .section .bss
  62                    DisableRcOffBeeping:
  63 0008 00                    .skip 1,0
  64                            .data
  67                    stick.16:
  68 0003 01                    .byte   1
  69                            .text
  70                    .global CalMk3Mag
  72                    CalMk3Mag:
  73                    /* prologue: frame size=0 */
  74                    /* prologue end (size=0) */
  75 0000 8091 0000             lds r24,EE_Parameter+1
  76 0004 E82F                  mov r30,r24
  77 0006 FF27                  clr r31
  78 0008 EE0F                  add r30,r30
  79 000a FF1F                  adc r31,r31
  80 000c E050                  subi r30,lo8(-(PPM_in))
  81 000e F040                  sbci r31,hi8(-(PPM_in))
  82 0010 8081                  ld r24,Z
  83 0012 9181                  ldd r25,Z+1
  84 0014 8D5E                  subi r24,lo8(-19)
  85 0016 9F4F                  sbci r25,hi8(-19)
  86 0018 04F0                  brlt .L2
  87 001a 1092 0000             sts stick.16,__zero_reg__
  88                    .L2:
  89 001e 8081                  ld r24,Z
  90 0020 9181                  ldd r25,Z+1
  91 0022 8A5B                  subi r24,lo8(-70)
  92 0024 9F4F                  sbci r25,hi8(-70)
  93 0026 04F4                  brge .L3
  94 0028 8091 0000             lds r24,stick.16
  95 002c 8823                  tst r24
  96 002e 01F4                  brne .L3
  97 0030 81E0                  ldi r24,lo8(1)
  98 0032 8093 0000             sts stick.16,r24
  99 0036 8091 0000             lds r24,WinkelOut+6
 100 003a 8F5F                  subi r24,lo8(-(1))
 101 003c 8093 0000             sts WinkelOut+6,r24
 102 0040 8530                  cpi r24,lo8(5)
 103 0042 00F0                  brlo .L4
 104 0044 88EE                  ldi r24,lo8(1000)
 105 0046 93E0                  ldi r25,hi8(1000)
 106 0048 9093 0000             sts (beeptime)+1,r25
 107 004c 8093 0000             sts beeptime,r24
 108 0050 00C0                  rjmp .L3
 109                    .L4:
 110 0052 66E9                  ldi r22,lo8(150)
 111 0054 70E0                  ldi r23,hi8(150)
 112 0056 0E94 0000             call Piep
 113                    .L3:
 114 005a 8091 0000             lds r24,WinkelOut+6
 115 005e 9927                  clr r25
 116 0060 9093 0000             sts (DebugOut+40)+1,r25
 117 0064 8093 0000             sts DebugOut+40,r24
 118                    /* epilogue: frame size=0 */
 119 0068 0895                  ret
 120                    /* epilogue end (size=1) */
 121                    /* function CalMk3Mag size 55 (54) */
 123                            .section        .progmem.data,"a",@progbits
 126                    __c.13:
 127 0000 0A0D 4261             .string "\n\rBatt:"
 127      7474 3A00 
 130                    __c.14:
 131 0008 2025 6420             .string " %d Cells "
 131      4365 6C6C 
 131      7320 00
 134                    __c.15:
 135 0013 4C6F 7720             .string "Low Batt level: %d.%d"
 135      4261 7474 
 135      206C 6576 
 135      656C 3A20 
 135      2564 2E25 
 136                            .text
 137                    .global LipoDetection
 139                    LipoDetection:
 140                    /* prologue: frame size=0 */
 141 006a 1F93                  push r17
 142 006c CF93                  push r28
 143 006e DF93                  push r29
 144                    /* prologue end (size=3) */
 145 0070 182F                  mov r17,r24
 146 0072 8823                  tst r24
 147 0074 01F0                  breq .L7
 148 0076 80E0                  ldi r24,lo8(__c.13)
 149 0078 90E0                  ldi r25,hi8(__c.13)
 150 007a 9F93                  push r25
 151 007c 8F93                  push r24
 152 007e 80E0                  ldi r24,lo8(pm(uart_putchar))
 153 0080 90E0                  ldi r25,hi8(pm(uart_putchar))
 154 0082 9F93                  push r25
 155 0084 8F93                  push r24
 156 0086 E091 0000             lds r30,_printf_P
 157 008a F091 0000             lds r31,(_printf_P)+1
 158 008e 0995                  icall
 159 0090 0F90                  pop __tmp_reg__
 160 0092 0F90                  pop __tmp_reg__
 161 0094 0F90                  pop __tmp_reg__
 162 0096 0F90                  pop __tmp_reg__
 163                    .L7:
 164 0098 8091 0000             lds r24,EE_Parameter+36
 165 009c 8233                  cpi r24,lo8(50)
 166 009e 00F0                  brlo .+2
 167 00a0 00C0                  rjmp .L8
 168 00a2 84EF                  ldi r24,lo8(500)
 169 00a4 91E0                  ldi r25,hi8(500)
 170 00a6 0E94 0000             call SetDelay
 171 00aa EC01                  movw r28,r24
 172 00ac 1123                  tst r17
 173 00ae 01F0                  breq .L9
 174                    .L10:
 175 00b0 CE01                  movw r24,r28
 176 00b2 0E94 0000             call CheckDelay
 177 00b6 8823                  tst r24
 178 00b8 01F0                  breq .L10
 179                    .L9:
 180 00ba C2E0                  ldi r28,lo8(2)
 181 00bc D0E0                  ldi r29,hi8(2)
 182 00be 26E5                  ldi r18,lo8(86)
 183 00c0 30E0                  ldi r19,hi8(86)
 184                    .L17:
 185 00c2 8091 0000             lds r24,UBat
 186 00c6 9091 0000             lds r25,(UBat)+1
 187 00ca 8217                  cp r24,r18
 188 00cc 9307                  cpc r25,r19
 189 00ce 00F0                  brlo .L14
 190 00d0 2196                  adiw r28,1
 191 00d2 255D                  subi r18,lo8(-(43))
 192 00d4 3F4F                  sbci r19,hi8(-(43))
 193 00d6 C730                  cpi r28,7
 194 00d8 D105                  cpc r29,__zero_reg__
 195 00da 00F0                  brlo .L17
 196                    .L14:
 197 00dc 8091 0000             lds r24,EE_Parameter+36
 198 00e0 9927                  clr r25
 199 00e2 C89F                  mul r28,r24
 200 00e4 9001                  movw r18,r0
 201 00e6 C99F                  mul r28,r25
 202 00e8 300D                  add r19,r0
 203 00ea D89F                  mul r29,r24
 204 00ec 300D                  add r19,r0
 205 00ee 1124                  clr r1
 206 00f0 2093 0000             sts BattLowVoltageWarning,r18
 207 00f4 1123                  tst r17
 208 00f6 01F0                  breq .L19
 209 00f8 68EC                  ldi r22,lo8(200)
 210 00fa 70E0                  ldi r23,hi8(200)
 211 00fc 8C2F                  mov r24,r28
 212 00fe 0E94 0000             call Piep
 213 0102 DF93                  push r29
 214 0104 CF93                  push r28
 215 0106 80E0                  ldi r24,lo8(__c.14)
 216 0108 90E0                  ldi r25,hi8(__c.14)
 217 010a 9F93                  push r25
 218 010c 8F93                  push r24
 219 010e 80E0                  ldi r24,lo8(pm(uart_putchar))
 220 0110 90E0                  ldi r25,hi8(pm(uart_putchar))
 221 0112 9F93                  push r25
 222 0114 8F93                  push r24
 223 0116 E091 0000             lds r30,_printf_P
 224 011a F091 0000             lds r31,(_printf_P)+1
 225 011e 0995                  icall
 226 0120 8DB7                  in r24,__SP_L__
 227 0122 9EB7                  in r25,__SP_H__
 228 0124 0696                  adiw r24,6
 229 0126 8DBF                  out __SP_L__,r24
 230 0128 00C0                  rjmp .L19
 231                    .L8:
 232 012a 8093 0000             sts BattLowVoltageWarning,r24
 233                    .L19:
 234 012e 1123                  tst r17
 235 0130 01F0                  breq .L6
 236 0132 8091 0000             lds r24,BattLowVoltageWarning
 237 0136 6AE0                  ldi r22,lo8(10)
 238 0138 0E94 0000             call __udivmodqi4
 239 013c 892F                  mov r24,r25
 240 013e 9927                  clr r25
 241 0140 9F93                  push r25
 242 0142 8F93                  push r24
 243 0144 8091 0000             lds r24,BattLowVoltageWarning
 244 0148 0E94 0000             call __udivmodqi4
 245 014c 9927                  clr r25
 246 014e 9F93                  push r25
 247 0150 8F93                  push r24
 248 0152 80E0                  ldi r24,lo8(__c.15)
 249 0154 90E0                  ldi r25,hi8(__c.15)
 250 0156 9F93                  push r25
 251 0158 8F93                  push r24
 252 015a 80E0                  ldi r24,lo8(pm(uart_putchar))
 253 015c 90E0                  ldi r25,hi8(pm(uart_putchar))
 254 015e 9F93                  push r25
 255 0160 8F93                  push r24
 256 0162 E091 0000             lds r30,_printf_P
 257 0166 F091 0000             lds r31,(_printf_P)+1
 258 016a 0995                  icall
 259 016c 2DB7                  in r18,__SP_L__
 260 016e 3EB7                  in r19,__SP_H__
 261 0170 285F                  subi r18,lo8(-(8))
 262 0172 3F4F                  sbci r19,hi8(-(8))
 263 0174 2DBF                  out __SP_L__,r18
 264                    .L6:
 265                    /* epilogue: frame size=0 */
 266 0176 DF91                  pop r29
 267 0178 CF91                  pop r28
 268 017a 1F91                  pop r17
 269 017c 0895                  ret
 270                    /* epilogue end (size=4) */
 271                    /* function LipoDetection size 138 (131) */
 273                            .section        .progmem.data
 276                    __c.0:
 277 0029 0A0D 466F             .string "\n\rFound BL-Ctrl: "
 277      756E 6420 
 277      424C 2D43 
 277      7472 6C3A 
 277      2000 
 280                    __c.1:
 281 003b 2564 00               .string "%d"
 284                    __c.2:
 285 003e 0A0D 0A0D             .string "\n\r\n\r!!MISSING BL-CTRL: %d!!"
 285      2121 4D49 
 285      5353 494E 
 285      4720 424C 
 285      2D43 5452 
 288                    __c.3:
 289 005a 0A0D 3D00             .string "\n\r="
 292                    __c.4:
 293 005e 0A0D 4361             .string "\n\rCal. pressure sensor"
 293      6C2E 2070 
 293      7265 7373 
 293      7572 6520 
 293      7365 6E73 
 296                    __c.5:
 297 0075 4F4B 0A0D             .string "OK\n\r"
 297      00
 300                    __c.6:
 301 007a 0A0D 466C             .string "\n\rFlight-time %u min  Total:%u min"
 301      6967 6874 
 301      2D74 696D 
 301      6520 2575 
 301      206D 696E 
 304                    __c.7:
 305 009d 0A0D 436F             .string "\n\rControl: "
 305      6E74 726F 
 305      6C3A 2000 
 308                    __c.8:
 309 00a9 4865 6164             .string "HeadingHold"
 309      696E 6748 
 309      6F6C 6400 
 312                    __c.9:
 313 00b5 4E6F 726D             .string "Normal (ACC-Mode)"
 313      616C 2028 
 313      4143 432D 
 313      4D6F 6465 
 313      2900 
 316                    __c.10:
 317 00c7 0A0D 3D0A             .string "\n\r=\n\r"
 317      0D00 
 320                    __c.11:
 321 00cd 0A0D                  .ascii  "\n\r"
 322 00cf 4A45 5449             .string "JETI+ Version sponsored by Flyinghigh.ch, progammed by MartinW\n\r"
 322      2B20 5665 
 322      7273 696F 
 322      6E20 7370 
 322      6F6E 736F 
 323                            .lcomm second.12,1
 324                            .text
 325                    .global main
 327                    main:
 328                    /* prologue: frame size=0 */
 329 017e C0E0                  ldi r28,lo8(__stack - 0)
 330 0180 D0E0                  ldi r29,hi8(__stack - 0)
 331 0182 DEBF                  out __SP_H__,r29
 332 0184 CDBF                  out __SP_L__,r28
 333                    /* prologue end (size=4) */
 334 0186 8824                  clr r8
 335 0188 9924                  clr r9
 336 018a 14B8                  out 36-0x20,__zero_reg__
 337 018c 15B8                  out 37-0x20,__zero_reg__
 338 018e B7EE                  ldi r27,lo8(999)
 339 0190 EB2E                  mov r14,r27
 340 0192 B3E0                  ldi r27,hi8(999)
 341 0194 FB2E                  mov r15,r27
 342                    .L26:
 343 0196 8EEC                  ldi r24,lo8(-50)
 344 0198 9FEF                  ldi r25,hi8(-50)
 345 019a E80E                  add r14,r24
 346 019c F91E                  adc r15,r25
 347 019e F7FE                  sbrs r15,7
 348 01a0 00C0                  rjmp .L26
 349 01a2 85E1                  ldi r24,lo8(21)
 350 01a4 8093 0000             sts PlatinenVersion,r24
 351 01a8 81E8                  ldi r24,lo8(-127)
 352 01aa 87B9                  out 39-0x20,r24
 353 01ac 3E9A                  sbi 39-0x20,6
 354 01ae 8FEF                  ldi r24,lo8(-1)
 355 01b0 88B9                  out 40-0x20,r24
 356 01b2 8BE1                  ldi r24,lo8(27)
 357 01b4 84B9                  out 36-0x20,r24
 358 01b6 11E0                  ldi r17,lo8(1)
 359 01b8 15B9                  out 37-0x20,r17
 360 01ba 8EE3                  ldi r24,lo8(62)
 361 01bc 8AB9                  out 42-0x20,r24
 362 01be 87E4                  ldi r24,lo8(71)
 363 01c0 8BB9                  out 43-0x20,r24
 364 01c2 469A                  sbi 40-0x20,6
 365 01c4 84B7                  in r24,84-0x20
 366 01c6 877F                  andi r24,lo8(-9)
 367 01c8 84BF                  out 84-0x20,r24
 368 01ca 8091 6000             lds r24,96
 369 01ce 8861                  ori r24,lo8(24)
 370 01d0 8093 6000             sts 96,r24
 371 01d4 1092 6000             sts 96,__zero_reg__
 372 01d8 84EC                  ldi r24,lo8(2500)
 373 01da 99E0                  ldi r25,hi8(2500)
 374 01dc 9093 0000             sts (beeptime)+1,r25
 375 01e0 8093 0000             sts beeptime,r24
 376 01e4 1092 0000             sts (StickGier)+1,__zero_reg__
 377 01e8 1092 0000             sts StickGier,__zero_reg__
 378 01ec 1092 0000             sts (PPM_in+4)+1,__zero_reg__
 379 01f0 1092 0000             sts PPM_in+4,__zero_reg__
 380 01f4 1092 0000             sts (StickRoll)+1,__zero_reg__
 381 01f8 1092 0000             sts StickRoll,__zero_reg__
 382 01fc 1092 0000             sts (StickNick)+1,__zero_reg__
 383 0200 1092 0000             sts StickNick,__zero_reg__
 384 0204 84EC                  ldi r24,lo8(1220)
 385 0206 94E0                  ldi r25,hi8(1220)
 386 0208 A0E0                  ldi r26,hlo8(1220)
 387 020a B0E0                  ldi r27,hhi8(1220)
 388 020c 8093 0000             sts GIER_GRAD_FAKTOR,r24
 389 0210 9093 0000             sts (GIER_GRAD_FAKTOR)+1,r25
 390 0214 A093 0000             sts (GIER_GRAD_FAKTOR)+2,r26
 391 0218 B093 0000             sts (GIER_GRAD_FAKTOR)+3,r27
 392 021c 2898                  cbi 37-0x20,0
 393 021e 0E94 0000             call Timer_Init
 394 0222 0E94 0000             call TIMER2_Init
 395 0226 0E94 0000             call UART_Init
 396 022a 0E94 0000             call rc_sum_init
 397 022e 0E94 0000             call ADC_Init
 398 0232 812F                  mov r24,r17
 399 0234 0E94 0000             call I2C_Init
 400 0238 0E94 0000             call SPI_MasterInit
 401 023c 0E94 0000             call LIBFC_Init
 402 0240 8091 0000             lds r24,PlatinenVersion
 403 0244 8C30                  cpi r24,lo8(12)
 404 0246 00F4                  brsh .L32
 405 0248 299A                  sbi 37-0x20,1
 406 024a 00C0                  rjmp .L33
 407                    .L32:
 408 024c 2998                  cbi 37-0x20,1
 409                    .L33:
 410                    /* #APP */
 411 024e 7894                  sei
 412                    /* #NOAPP */
 413 0250 0E94 0000             call ParamSet_Init
 414 0254 0E94 0000             call Capacity_Init
 415 0258 8091 0000             lds r24,BLFlags
 416 025c 8260                  ori r24,lo8(2)
 417 025e 8093 0000             sts BLFlags,r24
 418 0262 1092 0000             sts motor_read,__zero_reg__
 419 0266 0E94 0000             call SendMotorData
 420 026a 84EF                  ldi r24,lo8(500)
 421 026c 91E0                  ldi r25,hi8(500)
 422 026e 0E94 0000             call SetDelay
 423 0272 7C01                  movw r14,r24
 424                    .L34:
 425 0274 8091 0000             lds r24,BLFlags
 426 0278 80FD                  sbrc r24,0
 427 027a 00C0                  rjmp .L35
 428 027c C701                  movw r24,r14
 429 027e 0E94 0000             call CheckDelay
 430 0282 8823                  tst r24
 431 0284 01F0                  breq .L34
 432                    .L35:
 433 0286 80E0                  ldi r24,lo8(__c.0)
 434 0288 90E0                  ldi r25,hi8(__c.0)
 435 028a 9F93                  push r25
 436 028c 8F93                  push r24
 437 028e A0E0                  ldi r26,lo8(pm(uart_putchar))
 438 0290 AA2E                  mov r10,r26
 439 0292 A0E0                  ldi r26,hi8(pm(uart_putchar))
 440 0294 BA2E                  mov r11,r26
 441 0296 BF92                  push r11
 442 0298 AF92                  push r10
 443 029a E091 0000             lds r30,_printf_P
 444 029e F091 0000             lds r31,(_printf_P)+1
 445 02a2 0995                  icall
 446 02a4 80EA                  ldi r24,lo8(4000)
 447 02a6 9FE0                  ldi r25,hi8(4000)
 448 02a8 0E94 0000             call SetDelay
 449 02ac 7C01                  movw r14,r24
 450 02ae 00E0                  ldi r16,lo8(0)
 451 02b0 10E0                  ldi r17,hi8(0)
 452 02b2 0F90                  pop __tmp_reg__
 453 02b4 0F90                  pop __tmp_reg__
 454 02b6 0F90                  pop __tmp_reg__
 455 02b8 0F90                  pop __tmp_reg__
 456 02ba C0E0                  ldi r28,lo8(Motor+3)
 457 02bc D0E0                  ldi r29,hi8(Motor+3)
 458 02be F0E0                  ldi r31,lo8(Mixer+13)
 459 02c0 CF2E                  mov r12,r31
 460 02c2 F0E0                  ldi r31,hi8(Mixer+13)
 461 02c4 DF2E                  mov r13,r31
 462                    .L51:
 463 02c6 0E94 0000             call SendMotorData
 464                    .L40:
 465 02ca 8091 0000             lds r24,BLFlags
 466 02ce 80FD                  sbrc r24,0
 467 02d0 00C0                  rjmp .L41
 468 02d2 C701                  movw r24,r14
 469 02d4 0E94 0000             call CheckDelay
 470 02d8 8823                  tst r24
 471 02da 01F0                  breq .L40
 472                    .L41:
 473 02dc F601                  movw r30,r12
 474 02de 8081                  ld r24,Z
 475 02e0 1816                  cp __zero_reg__,r24
 476 02e2 04F4                  brge .L43
 477 02e4 00C0                  rjmp .L230
 478                    .L49:
 479 02e6 0E94 0000             call SendMotorData
 480                    .L46:
 481 02ea 8091 0000             lds r24,BLFlags
 482 02ee 80FD                  sbrc r24,0
 483 02f0 00C0                  rjmp .L230
 484 02f2 C701                  movw r24,r14
 485 02f4 0E94 0000             call CheckDelay
 486 02f8 8823                  tst r24
 487 02fa 01F0                  breq .L46
 488                    .L230:
 489 02fc C701                  movw r24,r14
 490 02fe 0E94 0000             call CheckDelay
 491 0302 8823                  tst r24
 492 0304 01F4                  brne .L43
 493 0306 8881                  ld r24,Y
 494 0308 8823                  tst r24
 495 030a 04F4                  brge .L49
 496                    .L43:
 497 030c 8881                  ld r24,Y
 498 030e 87FF                  sbrs r24,7
 499 0310 00C0                  rjmp .L39
 500 0312 0F5F                  subi r16,lo8(-(1))
 501 0314 1F4F                  sbci r17,hi8(-(1))
 502 0316 1F93                  push r17
 503 0318 0F93                  push r16
 504 031a 0150                  subi r16,lo8(-(-1))
 505 031c 1040                  sbci r17,hi8(-(-1))
 506 031e 80E0                  ldi r24,lo8(__c.1)
 507 0320 90E0                  ldi r25,hi8(__c.1)
 508 0322 9F93                  push r25
 509 0324 8F93                  push r24
 510 0326 BF92                  push r11
 511 0328 AF92                  push r10
 512 032a E091 0000             lds r30,_printf_P
 513 032e F091 0000             lds r31,(_printf_P)+1
 514 0332 0995                  icall
 515 0334 8091 0000             lds r24,FoundMotors
 516 0338 8F5F                  subi r24,lo8(-(1))
 517 033a 8093 0000             sts FoundMotors,r24
 518 033e 8DB7                  in r24,__SP_L__
 519 0340 9EB7                  in r25,__SP_H__
 520 0342 0696                  adiw r24,6
 521 0344 8DBF                  out __SP_L__,r24
 522                    .L39:
 523 0346 0F5F                  subi r16,lo8(-(1))
 524 0348 1F4F                  sbci r17,hi8(-(1))
 525 034a E4E0                  ldi r30,lo8(4)
 526 034c F0E0                  ldi r31,hi8(4)
 527 034e CE0E                  add r12,r30
 528 0350 DF1E                  adc r13,r31
 529 0352 2896                  adiw r28,8
 530 0354 0C30                  cpi r16,12
 531 0356 1105                  cpc r17,__zero_reg__
 532 0358 00F4                  brsh .+2
 533 035a 00C0                  rjmp .L51
 534 035c 00E0                  ldi r16,lo8(0)
 535 035e 10E0                  ldi r17,hi8(0)
 536 0360 C0E0                  ldi r28,lo8(Motor)
 537 0362 D0E0                  ldi r29,hi8(Motor)
 538 0364 E0E0                  ldi r30,lo8(Mixer+13)
 539 0366 EE2E                  mov r14,r30
 540 0368 E0E0                  ldi r30,hi8(Mixer+13)
 541 036a FE2E                  mov r15,r30
 542                    .L56:
 543 036c 8B81                  ldd r24,Y+3
 544 036e 87FD                  sbrc r24,7
 545 0370 00C0                  rjmp .L55
 546 0372 F701                  movw r30,r14
 547 0374 8081                  ld r24,Z
 548 0376 1816                  cp __zero_reg__,r24
 549 0378 04F4                  brge .L55
 550 037a 0F5F                  subi r16,lo8(-(1))
 551 037c 1F4F                  sbci r17,hi8(-(1))
 552 037e 1F93                  push r17
 553 0380 0F93                  push r16
 554 0382 0150                  subi r16,lo8(-(-1))
 555 0384 1040                  sbci r17,hi8(-(-1))
 556 0386 80E0                  ldi r24,lo8(__c.2)
 557 0388 90E0                  ldi r25,hi8(__c.2)
 558 038a 9F93                  push r25
 559 038c 8F93                  push r24
 560 038e 80E0                  ldi r24,lo8(pm(uart_putchar))
 561 0390 90E0                  ldi r25,hi8(pm(uart_putchar))
 562 0392 9F93                  push r25
 563 0394 8F93                  push r24
 564 0396 E091 0000             lds r30,_printf_P
 565 039a F091 0000             lds r31,(_printf_P)+1
 566 039e 0995                  icall
 567 03a0 82E0                  ldi r24,lo8(2)
 568 03a2 8093 0000             sts ServoActive,r24
 569 03a6 8DB7                  in r24,__SP_L__
 570 03a8 9EB7                  in r25,__SP_H__
 571 03aa 0696                  adiw r24,6
 572 03ac 8DBF                  out __SP_L__,r24
 573                    .L55:
 574 03ae 8B81                  ldd r24,Y+3
 575 03b0 8078                  andi r24,lo8(-128)
 576 03b2 8B83                  std Y+3,r24
 577 03b4 0F5F                  subi r16,lo8(-(1))
 578 03b6 1F4F                  sbci r17,hi8(-(1))
 579 03b8 E4E0                  ldi r30,lo8(4)
 580 03ba F0E0                  ldi r31,hi8(4)
 581 03bc EE0E                  add r14,r30
 582 03be FF1E                  adc r15,r31
 583 03c0 2896                  adiw r28,8
 584 03c2 0C30                  cpi r16,12
 585 03c4 1105                  cpc r17,__zero_reg__
 586 03c6 00F0                  brlo .L56
 587 03c8 80E0                  ldi r24,lo8(__c.3)
 588 03ca 90E0                  ldi r25,hi8(__c.3)
 589 03cc 9F93                  push r25
 590 03ce 8F93                  push r24
 591 03d0 C0E0                  ldi r28,lo8(pm(uart_putchar))
 592 03d2 D0E0                  ldi r29,hi8(pm(uart_putchar))
 593 03d4 DF93                  push r29
 594 03d6 CF93                  push r28
 595 03d8 E091 0000             lds r30,_printf_P
 596 03dc F091 0000             lds r31,(_printf_P)+1
 597 03e0 0995                  icall
 598 03e2 9091 0000             lds r25,RequiredMotors
 599 03e6 8091 0000             lds r24,FoundMotors
 600 03ea 0F90                  pop __tmp_reg__
 601 03ec 0F90                  pop __tmp_reg__
 602 03ee 0F90                  pop __tmp_reg__
 603 03f0 0F90                  pop __tmp_reg__
 604 03f2 9817                  cp r25,r24
 605 03f4 00F4                  brsh .L57
 606 03f6 8091 0000             lds r24,VersionInfo+6
 607 03fa 8061                  ori r24,lo8(16)
 608 03fc 8093 0000             sts VersionInfo+6,r24
 609                    .L57:
 610 0400 80E0                  ldi r24,lo8(__c.4)
 611 0402 90E0                  ldi r25,hi8(__c.4)
 612 0404 9F93                  push r25
 613 0406 8F93                  push r24
 614 0408 DF93                  push r29
 615 040a CF93                  push r28
 616 040c E091 0000             lds r30,_printf_P
 617 0410 F091 0000             lds r31,(_printf_P)+1
 618 0414 0995                  icall
 619 0416 88EE                  ldi r24,lo8(1000)
 620 0418 93E0                  ldi r25,hi8(1000)
 621 041a 0E94 0000             call SetDelay
 622 041e 7C01                  movw r14,r24
 623 0420 0E94 0000             call SucheLuftruckOffset
 624 0424 0F90                  pop __tmp_reg__
 625 0426 0F90                  pop __tmp_reg__
 626 0428 0F90                  pop __tmp_reg__
 627 042a 0F90                  pop __tmp_reg__
 628                    .L58:
 629 042c C701                  movw r24,r14
 630 042e 0E94 0000             call CheckDelay
 631 0432 8823                  tst r24
 632 0434 01F0                  breq .L58
 633 0436 80E0                  ldi r24,lo8(__c.5)
 634 0438 90E0                  ldi r25,hi8(__c.5)
 635 043a 9F93                  push r25
 636 043c 8F93                  push r24
 637 043e DF93                  push r29
 638 0440 CF93                  push r28
 639 0442 E091 0000             lds r30,_printf_P
 640 0446 F091 0000             lds r31,(_printf_P)+1
 641 044a 0995                  icall
 642 044c 80E0                  ldi r24,lo8(0)
 643 044e 0E94 0000             call SetNeutral
 644 0452 8091 0000             lds r24,PlatinenVersion
 645 0456 0F90                  pop __tmp_reg__
 646 0458 0F90                  pop __tmp_reg__
 647 045a 0F90                  pop __tmp_reg__
 648 045c 0F90                  pop __tmp_reg__
 649 045e 8A30                  cpi r24,lo8(10)
 650 0460 01F0                  breq .L62
 651 0462 8431                  cpi r24,lo8(20)
 652 0464 00F0                  brlo .L61
 653                    .L62:
 654 0466 2898                  cbi 37-0x20,0
 655 0468 00C0                  rjmp .L63
 656                    .L61:
 657 046a 289A                  sbi 37-0x20,0
 658                    .L63:
 659 046c 80ED                  ldi r24,lo8(2000)
 660 046e 97E0                  ldi r25,hi8(2000)
 661 0470 9093 0000             sts (beeptime)+1,r25
 662 0474 8093 0000             sts beeptime,r24
 663 0478 85E5                  ldi r24,lo8(85)
 664 047a 8093 0000             sts ExternControl,r24
 665 047e 8EE0                  ldi r24,lo8(14)
 666 0480 90E0                  ldi r25,hi8(14)
 667 0482 0E94 0000             call GetParamByte
 668 0486 9927                  clr r25
 669 0488 182F                  mov r17,r24
 670 048a 0027                  clr r16
 671 048c 8FE0                  ldi r24,lo8(15)
 672 048e 90E0                  ldi r25,hi8(15)
 673 0490 0E94 0000             call GetParamByte
 674 0494 080F                  add r16,r24
 675 0496 111D                  adc r17,__zero_reg__
 676 0498 1093 0000             sts (FlugMinuten)+1,r17
 677 049c 0093 0000             sts FlugMinuten,r16
 678 04a0 8AE0                  ldi r24,lo8(10)
 679 04a2 90E0                  ldi r25,hi8(10)
 680 04a4 0E94 0000             call GetParamByte
 681 04a8 9927                  clr r25
 682 04aa 182F                  mov r17,r24
 683 04ac 0027                  clr r16
 684 04ae 8BE0                  ldi r24,lo8(11)
 685 04b0 90E0                  ldi r25,hi8(11)
 686 04b2 0E94 0000             call GetParamByte
 687 04b6 080F                  add r16,r24
 688 04b8 111D                  adc r17,__zero_reg__
 689 04ba 1093 0000             sts (FlugMinutenGesamt)+1,r17
 690 04be 0093 0000             sts FlugMinutenGesamt,r16
 691 04c2 0F5F                  subi r16,lo8(-1)
 692 04c4 1F4F                  sbci r17,hi8(-1)
 693 04c6 01F0                  breq .L65
 694 04c8 8091 0000             lds r24,FlugMinuten
 695 04cc 9091 0000             lds r25,(FlugMinuten)+1
 696 04d0 8F5F                  subi r24,lo8(-1)
 697 04d2 9F4F                  sbci r25,hi8(-1)
 698 04d4 01F4                  brne .L64
 699                    .L65:
 700 04d6 1092 0000             sts (FlugMinuten)+1,__zero_reg__
 701 04da 1092 0000             sts FlugMinuten,__zero_reg__
 702 04de 1092 0000             sts (FlugMinutenGesamt)+1,__zero_reg__
 703 04e2 1092 0000             sts FlugMinutenGesamt,__zero_reg__
 704                    .L64:
 705 04e6 8091 0000             lds r24,FlugMinutenGesamt
 706 04ea 9091 0000             lds r25,(FlugMinutenGesamt)+1
 707 04ee 9F93                  push r25
 708 04f0 8F93                  push r24
 709 04f2 8091 0000             lds r24,FlugMinuten
 710 04f6 9091 0000             lds r25,(FlugMinuten)+1
 711 04fa 9F93                  push r25
 712 04fc 8F93                  push r24
 713 04fe 80E0                  ldi r24,lo8(__c.6)
 714 0500 90E0                  ldi r25,hi8(__c.6)
 715 0502 9F93                  push r25
 716 0504 8F93                  push r24
 717 0506 DF93                  push r29
 718 0508 CF93                  push r28
 719 050a E091 0000             lds r30,_printf_P
 720 050e F091 0000             lds r31,(_printf_P)+1
 721 0512 0995                  icall
 722 0514 8DB7                  in r24,__SP_L__
 723 0516 9EB7                  in r25,__SP_H__
 724 0518 0896                  adiw r24,8
 725 051a 8DBF                  out __SP_L__,r24
 726 051c 80E0                  ldi r24,lo8(__c.7)
 727 051e 90E0                  ldi r25,hi8(__c.7)
 728 0520 9F93                  push r25
 729 0522 8F93                  push r24
 730 0524 DF93                  push r29
 731 0526 CF93                  push r28
 732 0528 E091 0000             lds r30,_printf_P
 733 052c F091 0000             lds r31,(_printf_P)+1
 734 0530 0995                  icall
 735 0532 8091 0000             lds r24,EE_Parameter+13
 736 0536 0F90                  pop __tmp_reg__
 737 0538 0F90                  pop __tmp_reg__
 738 053a 0F90                  pop __tmp_reg__
 739 053c 0F90                  pop __tmp_reg__
 740 053e E091 0000             lds r30,_printf_P
 741 0542 F091 0000             lds r31,(_printf_P)+1
 742 0546 82FF                  sbrs r24,2
 743 0548 00C0                  rjmp .L66
 744 054a 80E0                  ldi r24,lo8(__c.8)
 745 054c 90E0                  ldi r25,hi8(__c.8)
 746 054e 9F93                  push r25
 747 0550 8F93                  push r24
 748 0552 DF93                  push r29
 749 0554 CF93                  push r28
 750 0556 00C0                  rjmp .L228
 751                    .L66:
 752 0558 80E0                  ldi r24,lo8(__c.9)
 753 055a 90E0                  ldi r25,hi8(__c.9)
 754 055c 9F93                  push r25
 755 055e 8F93                  push r24
 756 0560 80E0                  ldi r24,lo8(pm(uart_putchar))
 757 0562 90E0                  ldi r25,hi8(pm(uart_putchar))
 758 0564 9F93                  push r25
 759 0566 8F93                  push r24
 760                    .L228:
 761 0568 0995                  icall
 762 056a 0F90                  pop __tmp_reg__
 763 056c 0F90                  pop __tmp_reg__
 764 056e 0F90                  pop __tmp_reg__
 765 0570 0F90                  pop __tmp_reg__
 766 0572 0E94 0000             call LcdClear
 767 0576 88E8                  ldi r24,lo8(5000)
 768 0578 93E1                  ldi r25,hi8(5000)
 769 057a 9093 0000             sts (I2CTimeout)+1,r25
 770 057e 8093 0000             sts I2CTimeout,r24
 771 0582 11E0                  ldi r17,lo8(1)
 772 0584 1093 0000             sts WinkelOut+7,r17
 773 0588 812F                  mov r24,r17
 774 058a 0E94 0000             call LipoDetection
 775 058e 8091 0000             lds r24,EE_Parameter+39
 776 0592 0E94 0000             call LIBFC_ReceiverInit
 777 0596 80E0                  ldi r24,lo8(__c.10)
 778 0598 90E0                  ldi r25,hi8(__c.10)
 779 059a 9F93                  push r25
 780 059c 8F93                  push r24
 781 059e DF93                  push r29
 782 05a0 CF93                  push r28
 783 05a2 E091 0000             lds r30,_printf_P
 784 05a6 F091 0000             lds r31,(_printf_P)+1
 785 05aa 0995                  icall
 786 05ac 80ED                  ldi r24,lo8(2000)
 787 05ae 97E0                  ldi r25,hi8(2000)
 788 05b0 0E94 0000             call SetDelay
 789 05b4 7C01                  movw r14,r24
 790 05b6 8AEF                  ldi r24,lo8(250)
 791 05b8 90E0                  ldi r25,hi8(250)
 792 05ba 0E94 0000             call SetDelay
 793 05be 83E0                  ldi r24,lo8(3)
 794 05c0 8093 0000             sts DebugOut,r24
 795 05c4 1092 0000             sts JetiBeep,__zero_reg__
 796 05c8 8091 0000             lds r24,EE_Parameter+106
 797 05cc 0F90                  pop __tmp_reg__
 798 05ce 0F90                  pop __tmp_reg__
 799 05d0 0F90                  pop __tmp_reg__
 800 05d2 0F90                  pop __tmp_reg__
 801 05d4 84FF                  sbrs r24,4
 802 05d6 00C0                  rjmp .L68
 803 05d8 1093 0000             sts DisableRcOffBeeping,r17
 804                    .L68:
 805 05dc 80E0                  ldi r24,lo8(__c.11)
 806 05de 90E0                  ldi r25,hi8(__c.11)
 807 05e0 9F93                  push r25
 808 05e2 8F93                  push r24
 809 05e4 80E0                  ldi r24,lo8(pm(uart_putchar))
 810 05e6 90E0                  ldi r25,hi8(pm(uart_putchar))
 811 05e8 9F93                  push r25
 812 05ea 8F93                  push r24
 813 05ec E091 0000             lds r30,_printf_P
 814 05f0 F091 0000             lds r31,(_printf_P)+1
 815 05f4 0995                  icall
 816 05f6 0F90                  pop __tmp_reg__
 817 05f8 0F90                  pop __tmp_reg__
 818 05fa 0F90                  pop __tmp_reg__
 819 05fc 0F90                  pop __tmp_reg__
 820                    .L231:
 821 05fe 8091 0000             lds r24,ReceiverUpdateModeActive
 822 0602 8823                  tst r24
 823 0604 01F0                  breq .L71
 824                    .L72:
 825 0606 4798                  cbi 40-0x20,7
 826 0608 00C0                  rjmp .L72
 827                    .L71:
 828 060a 8091 0000             lds r24,UpdateMotor
 829 060e 8823                  tst r24
 830 0610 01F4                  brne .+2
 831 0612 00C0                  rjmp .L74
 832 0614 8091 0000             lds r24,AdReady
 833 0618 8823                  tst r24
 834 061a 01F4                  brne .+2
 835 061c 00C0                  rjmp .L74
 836 061e 1092 0000             sts UpdateMotor,__zero_reg__
 837 0622 8091 0000             lds r24,WinkelOut+6
 838 0626 8823                  tst r24
 839 0628 01F0                  breq .L75
 840 062a 0E94 0000             call CalMk3Mag
 841 062e 00C0                  rjmp .L76
 842                    .L75:
 843 0630 0E94 0000             call MotorRegler
 844                    .L76:
 845 0634 0E94 0000             call SendMotorData
 846 0638 2091 0000             lds r18,PlatinenVersion
 847 063c 2A30                  cpi r18,lo8(10)
 848 063e 01F0                  breq .L78
 849 0640 2431                  cpi r18,lo8(20)
 850 0642 00F0                  brlo .L77
 851                    .L78:
 852 0644 2898                  cbi 37-0x20,0
 853 0646 00C0                  rjmp .L79
 854                    .L77:
 855 0648 289A                  sbi 37-0x20,0
 856                    .L79:
 857 064a 8091 0000             lds r24,SenderOkay
 858 064e 8823                  tst r24
 859 0650 01F0                  breq .L80
 860 0652 8091 0000             lds r24,SenderOkay
 861 0656 8150                  subi r24,lo8(-(-1))
 862 0658 8093 0000             sts SenderOkay,r24
 863 065c 00C0                  rjmp .L81
 864                    .L80:
 865 065e 8091 6F00             lds r24,111
 866 0662 8062                  ori r24,lo8(32)
 867 0664 8093 6F00             sts 111,r24
 868 0668 1092 0000             sts (PPM_in)+1,__zero_reg__
 869 066c 1092 0000             sts PPM_in,__zero_reg__
 870 0670 8091 0000             lds r24,VersionInfo+6
 871 0674 8860                  ori r24,lo8(8)
 872 0676 8093 0000             sts VersionInfo+6,r24
 873                    .L81:
 874 067a 8091 0000             lds r24,I2CTimeout
 875 067e 9091 0000             lds r25,(I2CTimeout)+1
 876 0682 0197                  sbiw r24,1
 877 0684 9093 0000             sts (I2CTimeout)+1,r25
 878 0688 8093 0000             sts I2CTimeout,r24
 879 068c 8091 0000             lds r24,I2CTimeout
 880 0690 9091 0000             lds r25,(I2CTimeout)+1
 881 0694 892B                  or r24,r25
 882 0696 01F0                  breq .L83
 883 0698 8091 0000             lds r24,MissingMotor
 884 069c 8823                  tst r24
 885 069e 01F0                  breq .L82
 886                    .L83:
 887 06a0 8091 0000             lds r24,I2CTimeout
 888 06a4 9091 0000             lds r25,(I2CTimeout)+1
 889 06a8 892B                  or r24,r25
 890 06aa 01F4                  brne .L84
 891 06ac 0E94 0000             call I2C_Reset
 892 06b0 85E0                  ldi r24,lo8(5)
 893 06b2 90E0                  ldi r25,hi8(5)
 894 06b4 9093 0000             sts (I2CTimeout)+1,r25
 895 06b8 8093 0000             sts I2CTimeout,r24
 896 06bc 8091 0000             lds r24,DebugOut+58
 897 06c0 9091 0000             lds r25,(DebugOut+58)+1
 898 06c4 0196                  adiw r24,1
 899 06c6 9093 0000             sts (DebugOut+58)+1,r25
 900 06ca 8093 0000             sts DebugOut+58,r24
 901 06ce 8091 0000             lds r24,VersionInfo+6
 902 06d2 8160                  ori r24,lo8(1)
 903 06d4 8093 0000             sts VersionInfo+6,r24
 904 06d8 8091 0000             lds r24,DebugOut+1
 905 06dc 8260                  ori r24,lo8(2)
 906 06de 8093 0000             sts DebugOut+1,r24
 907                    .L84:
 908 06e2 8091 0000             lds r24,BeepMuster
 909 06e6 9091 0000             lds r25,(BeepMuster)+1
 910 06ea 8F5F                  subi r24,lo8(-1)
 911 06ec 9F4F                  sbci r25,hi8(-1)
 912 06ee 01F4                  brne .L86
 913 06f0 8091 0000             lds r24,MotorenEin
 914 06f4 8823                  tst r24
 915 06f6 01F0                  breq .L86
 916 06f8 88EA                  ldi r24,lo8(25000)
 917 06fa 91E6                  ldi r25,hi8(25000)
 918 06fc 9093 0000             sts (beeptime)+1,r25
 919 0700 8093 0000             sts beeptime,r24
 920 0704 80E8                  ldi r24,lo8(128)
 921 0706 90E0                  ldi r25,hi8(128)
 922 0708 9093 0000             sts (BeepMuster)+1,r25
 923 070c 8093 0000             sts BeepMuster,r24
 924 0710 00C0                  rjmp .L86
 925                    .L82:
 926 0712 2A30                  cpi r18,lo8(10)
 927 0714 01F0                  breq .L88
 928 0716 2431                  cpi r18,lo8(20)
 929 0718 00F0                  brlo .L87
 930                    .L88:
 931 071a 2898                  cbi 37-0x20,0
 932 071c 00C0                  rjmp .L86
 933                    .L87:
 934 071e 289A                  sbi 37-0x20,0
 935                    .L86:
 936 0720 0E94 0000             call LIBFC_Polling
 937 0724 8091 0000             lds r24,UpdateMotor
 938 0728 8823                  tst r24
 939 072a 01F0                  breq .+2
 940 072c 00C0                  rjmp .L74
 941 072e 8091 0000             lds r24,CalculateServoSignals
 942 0732 8823                  tst r24
 943 0734 01F0                  breq .L91
 944 0736 0E94 0000             call CalculateServo
 945                    .L91:
 946 073a 0E94 0000             call DatenUebertragung
 947 073e 0E94 0000             call BearbeiteRxDaten
 948 0742 C701                  movw r24,r14
 949 0744 0E94 0000             call CheckDelay
 950 0748 8823                  tst r24
 951 074a 01F4                  brne .+2
 952 074c 00C0                  rjmp .L92
 953 074e 84E1                  ldi r24,lo8(20)
 954 0750 90E0                  ldi r25,hi8(20)
 955 0752 E80E                  add r14,r24
 956 0754 F91E                  adc r15,r25
 957 0756 8091 0000             lds r24,MissingMotor
 958 075a 8823                  tst r24
 959 075c 01F0                  breq .L93
 960 075e 8091 0000             lds r24,VersionInfo+6
 961 0762 8260                  ori r24,lo8(2)
 962 0764 8093 0000             sts VersionInfo+6,r24
 963 0768 8091 0000             lds r24,DebugOut+1
 964 076c 8260                  ori r24,lo8(2)
 965 076e 00C0                  rjmp .L229
 966                    .L93:
 967 0770 8091 0000             lds r24,beeptime
 968 0774 9091 0000             lds r25,(beeptime)+1
 969 0778 892B                  or r24,r25
 970 077a 01F4                  brne .L94
 971 077c 8091 0000             lds r24,I2CTimeout
 972 0780 9091 0000             lds r25,(I2CTimeout)+1
 973 0784 0797                  sbiw r24,7
 974 0786 00F0                  brlo .L94
 975 0788 8091 0000             lds r24,DebugOut+1
 976 078c 8D7F                  andi r24,lo8(-3)
 977                    .L229:
 978 078e 8093 0000             sts DebugOut+1,r24
 979                    .L94:
 980 0792 8091 0000             lds r24,SenderOkay
 981 0796 8823                  tst r24
 982 0798 01F0                  breq .L97
 983 079a 8091 0000             lds r24,DisableRcOffBeeping
 984 079e 8823                  tst r24
 985 07a0 01F0                  breq .L97
 986 07a2 1092 0000             sts DisableRcOffBeeping,__zero_reg__
 987 07a6 88E8                  ldi r24,lo8(5000)
 988 07a8 93E1                  ldi r25,hi8(5000)
 989 07aa 9093 0000             sts (beeptime)+1,r25
 990 07ae 8093 0000             sts beeptime,r24
 991                    .L97:
 992 07b2 8091 0000             lds r24,PcZugriff
 993 07b6 8823                  tst r24
 994 07b8 01F0                  breq .L98
 995 07ba 8150                  subi r24,lo8(-(-1))
 996 07bc 8093 0000             sts PcZugriff,r24
 997 07c0 00C0                  rjmp .L99
 998                    .L98:
 999 07c2 8093 0000             sts ExternControl+10,r24
 1000 07c6 1092 0000            sts (ExternStickNick)+1,__zero_reg__
 1001 07ca 1092 0000            sts ExternStickNick,__zero_reg__
 1002 07ce 1092 0000            sts (ExternStickRoll)+1,__zero_reg__
 1003 07d2 1092 0000            sts ExternStickRoll,__zero_reg__
 1004 07d6 1092 0000            sts (ExternStickGier)+1,__zero_reg__
 1005 07da 1092 0000            sts ExternStickGier,__zero_reg__
 1006 07de 8091 0000            lds r24,SenderOkay
 1007 07e2 8823                 tst r24
 1008 07e4 01F4                 brne .L99
 1009 07e6 8091 0000            lds r24,BeepMuster
 1010 07ea 9091 0000            lds r25,(BeepMuster)+1
 1011 07ee 8F5F                 subi r24,lo8(-1)
 1012 07f0 9F4F                 sbci r25,hi8(-1)
 1013 07f2 01F4                 brne .L99
 1014 07f4 2091 0000            lds r18,DisableRcOffBeeping
 1015 07f8 2230                 cpi r18,lo8(2)
 1016 07fa 01F0                 breq .L99
 1017 07fc 88E9                 ldi r24,lo8(15000)
 1018 07fe 9AE3                 ldi r25,hi8(15000)
 1019 0800 9093 0000            sts (beeptime)+1,r25
 1020 0804 8093 0000            sts beeptime,r24
 1021 0808 80E0                 ldi r24,lo8(3072)
 1022 080a 9CE0                 ldi r25,hi8(3072)
 1023 080c 9093 0000            sts (BeepMuster)+1,r25
 1024 0810 8093 0000            sts BeepMuster,r24
 1025 0814 2223                 tst r18
 1026 0816 01F0                 breq .L99
 1027 0818 82E0                 ldi r24,lo8(2)
 1028 081a 8093 0000            sts DisableRcOffBeeping,r24
 1029                   .L99:
 1030 081e 8091 0000            lds r24,NaviDataOkay
 1031 0822 893C                 cpi r24,lo8(-55)
 1032 0824 00F0                 brlo .L103
 1033 0826 8150                 subi r24,lo8(-(-1))
 1034 0828 8093 0000            sts NaviDataOkay,r24
 1035 082c 8091 0000            lds r24,VersionInfo+6
 1036 0830 8B7F                 andi r24,lo8(-5)
 1037 0832 8093 0000            sts VersionInfo+6,r24
 1038 0836 00C0                 rjmp .L104
 1039                   .L103:
 1040 0838 8091 0000            lds r24,NC_Version+3
 1041 083c 8823                 tst r24
 1042 083e 01F0                 breq .L105
 1043 0840 8091 0000            lds r24,VersionInfo+6
 1044 0844 8460                 ori r24,lo8(4)
 1045 0846 8093 0000            sts VersionInfo+6,r24
 1046 084a 89E0                 ldi r24,lo8(9)
 1047 084c 8093 0000            sts NC_ErrorCode,r24
 1048 0850 8091 0000            lds r24,BeepMuster
 1049 0854 9091 0000            lds r25,(BeepMuster)+1
 1050 0858 8F5F                 subi r24,lo8(-1)
 1051 085a 9F4F                 sbci r25,hi8(-1)
 1052 085c 01F4                 brne .L105
 1053 085e 8091 0000            lds r24,MotorenEin
 1054 0862 8823                 tst r24
 1055 0864 01F0                 breq .L105
 1056 0866 88E9                 ldi r24,lo8(15000)
 1057 0868 9AE3                 ldi r25,hi8(15000)
 1058 086a 9093 0000            sts (beeptime)+1,r25
 1059 086e 8093 0000            sts beeptime,r24
 1060 0872 80E0                 ldi r24,lo8(-22528)
 1061 0874 98EA                 ldi r25,hi8(-22528)
 1062 0876 9093 0000            sts (BeepMuster)+1,r25
 1063 087a 8093 0000            sts BeepMuster,r24
 1064                   .L105:
 1065 087e 1092 0000            sts (GPS_Nick)+1,__zero_reg__
 1066 0882 1092 0000            sts GPS_Nick,__zero_reg__
 1067 0886 1092 0000            sts (GPS_Roll)+1,__zero_reg__
 1068 088a 1092 0000            sts GPS_Roll,__zero_reg__
 1069 088e 1092 0000            sts GPS_Aid_StickMultiplikator,__zero_reg__
 1070 0892 1092 0000            sts GPSInfo,__zero_reg__
 1071 0896 1092 0000            sts (FromNaviCtrl+9)+1,__zero_reg__
 1072 089a 1092 0000            sts FromNaviCtrl+9,__zero_reg__
 1073 089e 1092 0000            sts (FromNaviCtrl+11)+1,__zero_reg__
 1074 08a2 1092 0000            sts FromNaviCtrl+11,__zero_reg__
 1075 08a6 8FEF                 ldi r24,lo8(-1)
 1076 08a8 9FEF                 ldi r25,hi8(-1)
 1077 08aa 9093 0000            sts (FromNaviCtrl+7)+1,r25
 1078 08ae 8093 0000            sts FromNaviCtrl+7,r24
 1079 08b2 1092 0000            sts NaviDataOkay,__zero_reg__
 1080                   .L104:
 1081 08b6 8091 0000            lds r24,BattLowVoltageWarning
 1082 08ba 282F                 mov r18,r24
 1083 08bc 3327                 clr r19
 1084 08be 8091 0000            lds r24,UBat
 1085 08c2 9091 0000            lds r25,(UBat)+1
 1086 08c6 8217                 cp r24,r18
 1087 08c8 9307                 cpc r25,r19
 1088 08ca 04F4                 brge .L107
 1089 08cc 8091 0000            lds r24,FC_StatusFlags
 1090 08d0 8062                 ori r24,lo8(32)
 1091 08d2 8093 0000            sts FC_StatusFlags,r24
 1092 08d6 8091 0000            lds r24,BeepMuster
 1093 08da 9091 0000            lds r25,(BeepMuster)+1
 1094 08de 8F5F                 subi r24,lo8(-1)
 1095 08e0 9F4F                 sbci r25,hi8(-1)
 1096 08e2 01F4                 brne .L109
 1097 08e4 80E7                 ldi r24,lo8(6000)
 1098 08e6 97E1                 ldi r25,hi8(6000)
 1099 08e8 9093 0000            sts (beeptime)+1,r25
 1100 08ec 8093 0000            sts beeptime,r24
 1101 08f0 80E0                 ldi r24,lo8(768)
 1102 08f2 93E0                 ldi r25,hi8(768)
 1103 08f4 9093 0000            sts (BeepMuster)+1,r25
 1104 08f8 8093 0000            sts BeepMuster,r24
 1105 08fc 00C0                 rjmp .L109
 1106                   .L107:
 1107 08fe 8091 0000            lds r24,beeptime
 1108 0902 9091 0000            lds r25,(beeptime)+1
 1109 0906 892B                 or r24,r25
 1110 0908 01F4                 brne .L109
 1111 090a 8091 0000            lds r24,FC_StatusFlags
 1112 090e 8F7D                 andi r24,lo8(-33)
 1113 0910 8093 0000            sts FC_StatusFlags,r24
 1114                   .L109:
 1115 0914 0E94 0000            call SPI_StartTransmitPacket
 1116 0918 84E0                 ldi r24,lo8(4)
 1117 091a 8093 0000            sts SendSPI,r24
 1118 091e 8091 0000            lds r24,FC_StatusFlags
 1119 0922 81FD                 sbrc r24,1
 1120 0924 00C0                 rjmp .L111
 1121 0926 5AEA                 ldi r21,lo8(1450)
 1122 0928 852E                 mov r8,r21
 1123 092a 55E0                 ldi r21,hi8(1450)
 1124 092c 952E                 mov r9,r21
 1125 092e 00C0                 rjmp .L112
 1126                   .L111:
 1127 0930 8091 0000            lds r24,second.12
 1128 0934 8F5F                 subi r24,lo8(-(1))
 1129 0936 8093 0000            sts second.12,r24
 1130 093a 8133                 cpi r24,lo8(49)
 1131 093c 01F4                 brne .L112
 1132 093e 1092 0000            sts second.12,__zero_reg__
 1133 0942 8091 0000            lds r24,FlugSekunden
 1134 0946 9091 0000            lds r25,(FlugSekunden)+1
 1135 094a 0196                 adiw r24,1
 1136 094c 9093 0000            sts (FlugSekunden)+1,r25
 1137 0950 8093 0000            sts FlugSekunden,r24
 1138                   .L112:
 1139 0954 0894                 sec
 1140 0956 811C                 adc r8,__zero_reg__
 1141 0958 911C                 adc r9,__zero_reg__
 1142 095a 82E7                 ldi r24,lo8(2930)
 1143 095c 8816                 cp r8,r24
 1144 095e 8BE0                 ldi r24,hi8(2930)
 1145 0960 9806                 cpc r9,r24
 1146 0962 01F0                 breq .+2
 1147 0964 00C0                 rjmp .L92
 1148 0966 8824                 clr r8
 1149 0968 9924                 clr r9
 1150 096a 2091 0000            lds r18,FlugMinuten
 1151 096e 3091 0000            lds r19,(FlugMinuten)+1
 1152 0972 2F5F                 subi r18,lo8(-(1))
 1153 0974 3F4F                 sbci r19,hi8(-(1))
 1154 0976 3093 0000            sts (FlugMinuten)+1,r19
 1155 097a 2093 0000            sts FlugMinuten,r18
 1156 097e 8091 0000            lds r24,FlugMinutenGesamt
 1157 0982 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1158 0986 0196                 adiw r24,1
 1159 0988 9093 0000            sts (FlugMinutenGesamt)+1,r25
 1160 098c 8093 0000            sts FlugMinutenGesamt,r24
 1161 0990 832F                 mov r24,r19
 1162 0992 9927                 clr r25
 1163 0994 682F                 mov r22,r24
 1164 0996 8EE0                 ldi r24,lo8(14)
 1165 0998 90E0                 ldi r25,hi8(14)
 1166 099a 0E94 0000            call SetParamByte
 1167 099e 8091 0000            lds r24,FlugMinuten
 1168 09a2 9091 0000            lds r25,(FlugMinuten)+1
 1169 09a6 9070                 andi r25,hi8(255)
 1170 09a8 682F                 mov r22,r24
 1171 09aa 8FE0                 ldi r24,lo8(15)
 1172 09ac 90E0                 ldi r25,hi8(15)
 1173 09ae 0E94 0000            call SetParamByte
 1174 09b2 8091 0000            lds r24,FlugMinutenGesamt
 1175 09b6 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1176 09ba 892F                 mov r24,r25
 1177 09bc 9927                 clr r25
 1178 09be 682F                 mov r22,r24
 1179 09c0 8AE0                 ldi r24,lo8(10)
 1180 09c2 90E0                 ldi r25,hi8(10)
 1181 09c4 0E94 0000            call SetParamByte
 1182 09c8 8091 0000            lds r24,FlugMinutenGesamt
 1183 09cc 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1184 09d0 9070                 andi r25,hi8(255)
 1185 09d2 682F                 mov r22,r24
 1186 09d4 8BE0                 ldi r24,lo8(11)
 1187 09d6 90E0                 ldi r25,hi8(11)
 1188 09d8 0E94 0000            call SetParamByte
 1189 09dc 84E1                 ldi r24,lo8(20)
 1190 09de 90E0                 ldi r25,hi8(20)
 1191 09e0 0E94 0000            call SetDelay
 1192 09e4 7C01                 movw r14,r24
 1193                   .L92:
 1194 09e6 0E94 0000            call LED_Update
 1195 09ea 0E94 0000            call Capacity_Update
 1196                   .L74:
 1197 09ee 8091 0000            lds r24,SendSPI
 1198 09f2 8823                 tst r24
 1199 09f4 01F0                 breq .+2
 1200 09f6 00C0                 rjmp .L231
 1201 09f8 0E94 0000            call SPI_TransmitByte
 1202 09fc 00C0                 rjmp .L231
 1203                   /* epilogue: frame size=0 */
 1204                   /* epilogue: noreturn */
 1205                   /* epilogue end (size=0) */
 1206                   /* function main size 1099 (1095) */
 1208                           .comm _printf_P,2,1
 1209                           .comm Motorsmax,8,1
 1210                           .comm MotorsTmax,2,1
 1211                   /* File "main.c": code 1292 = 0x050c (1280), prologues   7, epilogues   5 */
DEFINED SYMBOLS
                            *ABS*:00000000 main.c
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:3      *ABS*:0000003f __SREG__
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:4      *ABS*:0000003e __SP_H__
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:5      *ABS*:0000003d __SP_L__
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:15     .bss:00000000 JetiBeep
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:21     .bss:00000001 FoundMotors
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:27     .bss:00000002 FlugSekunden
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:33     .bss:00000004 FlugMinutenGesamt
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:39     .bss:00000006 FlugMinuten
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:45     .data:00000000 BattLowVoltageWarning
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:50     .data:00000001 SendVersionToNavi
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:55     .data:00000002 PlatinenVersion
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:62     .bss:00000008 DisableRcOffBeeping
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:67     .data:00000003 stick.16
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:72     .text:00000000 CalMk3Mag
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:126    .progmem.data:00000000 __c.13
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:130    .progmem.data:00000008 __c.14
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:134    .progmem.data:00000013 __c.15
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:139    .text:0000006a LipoDetection
                            *COM*:00000002 _printf_P
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:276    .progmem.data:00000029 __c.0
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:280    .progmem.data:0000003b __c.1
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:284    .progmem.data:0000003e __c.2
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:288    .progmem.data:0000005a __c.3
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:292    .progmem.data:0000005e __c.4
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:296    .progmem.data:00000075 __c.5
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:300    .progmem.data:0000007a __c.6
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:304    .progmem.data:0000009d __c.7
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:308    .progmem.data:000000a9 __c.8
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:312    .progmem.data:000000b5 __c.9
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:316    .progmem.data:000000c7 __c.10
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:320    .progmem.data:000000cd __c.11
                             .bss:00000009 second.12
C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:327    .text:0000017e main
                            *COM*:00000008 Motorsmax
                            *COM*:00000002 MotorsTmax

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