Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Blame | Last modification | View Log | RSS feed 

   1                            .file   "spi.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 MagVec
  11                    .global MagVec
  12                            .section .bss
  15                    MagVec:
  16 0000 0000 0000             .skip 6,0
  16      0000 
  17                    .global POI_KameraNick
  18                    .global POI_KameraNick
  21                    POI_KameraNick:
  22 0006 0000                  .skip 2,0
  23                    .global EarthMagneticInclinationTheoretic
  24                    .global EarthMagneticInclinationTheoretic
  27                    EarthMagneticInclinationTheoretic:
  28 0008 00                    .skip 1,0
  29                    .global EarthMagneticInclination
  30                    .global EarthMagneticInclination
  33                    EarthMagneticInclination:
  34 0009 00                    .skip 1,0
  35                    .global EarthMagneticField
  36                    .global EarthMagneticField
  39                    EarthMagneticField:
  40 000a 00                    .skip 1,0
  41                    .global NC_GPS_ModeCharacter
  42                            .data
  45                    NC_GPS_ModeCharacter:
  46 0000 20                    .byte   32
  47                    .global NC_ErrorCode
  48                    .global NC_ErrorCode
  49                            .section .bss
  52                    NC_ErrorCode:
  53 000b 00                    .skip 1,0
  54                    .global SPI_CommandCounter
  55                    .global SPI_CommandCounter
  58                    SPI_CommandCounter:
  59 000c 00                    .skip 1,0
  60                    .global SPI_CommandSequence
  61                            .data
  64                    SPI_CommandSequence:
  65 0001 0B                    .byte   11
  66 0002 0A                    .byte   10
  67 0003 0D                    .byte   13
  68 0004 0B                    .byte   11
  69 0005 0C                    .byte   12
  70 0006 0E                    .byte   14
  71 0007 0B                    .byte   11
  72 0008 0F                    .byte   15
  73 0009 10                    .byte   16
  74                    .global NaviDataOkay
  77                    NaviDataOkay:
  78 000a FA                    .byte   -6
  79                    .global FromNC_Rotate_S
  80                    .global FromNC_Rotate_S
  81                            .section .bss
  84                    FromNC_Rotate_S:
  85 000d 00                    .skip 1,0
  86                    .global FromNC_Rotate_C
  87                            .data
  90                    FromNC_Rotate_C:
  91 000b 20                    .byte   32
  92                            .text
  93                    .global SPI_MasterInit
  95                    SPI_MasterInit:
  96                    /* prologue: frame size=0 */
  97                    /* prologue end (size=0) */
  98 0000 84B1                  in r24,36-0x20
  99 0002 806A                  ori r24,lo8(-96)
 100 0004 84B9                  out 36-0x20,r24
 101 0006 3D9A                  sbi 39-0x20,5
 102 0008 82E5                  ldi r24,lo8(82)
 103 000a 8CBD                  out 76-0x20,r24
 104 000c 1DBC                  out 77-0x20,__zero_reg__
 105 000e 459A                  sbi 40-0x20,5
 106 0010 81E0                  ldi r24,lo8(1)
 107 0012 8093 0000             sts SPITransferCompleted,r24
 108 0016 8AEA                  ldi r24,lo8(-86)
 109 0018 8093 0000             sts ToNaviCtrl,r24
 110 001c 83E8                  ldi r24,lo8(-125)
 111 001e 8093 0000             sts ToNaviCtrl+1,r24
 112 0022 8AE0                  ldi r24,lo8(10)
 113 0024 8093 0000             sts ToNaviCtrl+2,r24
 114 0028 1092 0000             sts (ToNaviCtrl+3)+1,__zero_reg__
 115 002c 1092 0000             sts ToNaviCtrl+3,__zero_reg__
 116 0030 1092 0000             sts (ToNaviCtrl+5)+1,__zero_reg__
 117 0034 1092 0000             sts ToNaviCtrl+5,__zero_reg__
 118 0038 1092 0000             sts FromNaviCtrl_Value+3,__zero_reg__
 119 003c 1092 0000             sts SPI_RxDataValid,__zero_reg__
 120                    /* epilogue: frame size=0 */
 121 0040 0895                  ret
 122                    /* epilogue end (size=1) */
 123                    /* function SPI_MasterInit size 33 (32) */
 125                            .lcomm SPI_RXState.1,1
 126                            .lcomm rxchksum.2,1
 127                    .global SPI_TransmitByte
 129                    SPI_TransmitByte:
 130                    /* prologue: frame size=0 */
 131                    /* prologue end (size=0) */
 132 0042 3091 0000             lds r19,SPITransferCompleted
 133 0046 3323                  tst r19
 134 0048 01F0                  breq .+2
 135 004a 00C0                  rjmp .L2
 136 004c 0DB4                  in __tmp_reg__,77-0x20
 137 004e 07FE                  sbrs __tmp_reg__,7
 138 0050 00C0                  rjmp .L2
 139 0052 84E0                  ldi r24,lo8(4)
 140 0054 8093 0000             sts SendSPI,r24
 141 0058 459A                  sbi 40-0x20,5
 142 005a 2EB5                  in r18,78-0x20
 143 005c 8091 0000             lds r24,SPI_RXState.1
 144 0060 9927                  clr r25
 145 0062 8130                  cpi r24,1
 146 0064 9105                  cpc r25,__zero_reg__
 147 0066 01F0                  breq .L8
 148 0068 8230                  cpi r24,2
 149 006a 9105                  cpc r25,__zero_reg__
 150 006c 04F4                  brge .L16
 151 006e 892B                  or r24,r25
 152 0070 01F0                  breq .L6
 153 0072 00C0                  rjmp .L5
 154                    .L16:
 155 0074 0297                  sbiw r24,2
 156 0076 01F0                  breq .L11
 157 0078 00C0                  rjmp .L5
 158                    .L6:
 159 007a 3093 0000             sts SPI_RxBufferIndex,r19
 160 007e 2093 0000             sts rxchksum.2,r18
 161 0082 2138                  cpi r18,lo8(-127)
 162 0084 01F4                  brne .L5
 163 0086 81E0                  ldi r24,lo8(1)
 164 0088 00C0                  rjmp .L19
 165                    .L8:
 166 008a 2535                  cpi r18,lo8(85)
 167 008c 01F4                  brne .L9
 168 008e 8091 0000             lds r24,rxchksum.2
 169 0092 820F                  add r24,r18
 170 0094 8093 0000             sts rxchksum.2,r24
 171 0098 82E0                  ldi r24,lo8(2)
 172                    .L19:
 173 009a 8093 0000             sts SPI_RXState.1,r24
 174 009e 00C0                  rjmp .L5
 175                    .L9:
 176 00a0 3093 0000             sts SPI_RXState.1,r19
 177 00a4 00C0                  rjmp .L5
 178                    .L11:
 179 00a6 8091 0000             lds r24,SPI_RxBufferIndex
 180 00aa E82F                  mov r30,r24
 181 00ac FF27                  clr r31
 182 00ae E050                  subi r30,lo8(-(SPI_Buffer))
 183 00b0 F040                  sbci r31,hi8(-(SPI_Buffer))
 184 00b2 2083                  st Z,r18
 185 00b4 8F5F                  subi r24,lo8(-(1))
 186 00b6 8093 0000             sts SPI_RxBufferIndex,r24
 187 00ba 9091 0000             lds r25,rxchksum.2
 188 00be 8032                  cpi r24,lo8(32)
 189 00c0 00F0                  brlo .L12
 190 00c2 2917                  cp r18,r25
 191 00c4 01F4                  brne .L13
 192 00c6 80E2                  ldi r24,lo8(32)
 193 00c8 A0E0                  ldi r26,lo8(SPI_Buffer)
 194 00ca B0E0                  ldi r27,hi8(SPI_Buffer)
 195 00cc E0E0                  ldi r30,lo8(FromNaviCtrl)
 196 00ce F0E0                  ldi r31,hi8(FromNaviCtrl)
 197 00d0 0D90                  ld __tmp_reg__,X+
 198 00d2 0192                  st Z+,__tmp_reg__
 199 00d4 8A95                  dec r24
 200 00d6 01F4                  brne .-8
 201 00d8 81E0                  ldi r24,lo8(1)
 202 00da 8093 0000             sts SPI_RxDataValid,r24
 203 00de 00C0                  rjmp .L14
 204                    .L13:
 205 00e0 3093 0000             sts SPI_RxDataValid,r19
 206                    .L14:
 207 00e4 1092 0000             sts SPI_RXState.1,__zero_reg__
 208 00e8 00C0                  rjmp .L5
 209                    .L12:
 210 00ea 920F                  add r25,r18
 211 00ec 9093 0000             sts rxchksum.2,r25
 212                    .L5:
 213 00f0 2091 0000             lds r18,SPI_BufferIndex
 214 00f4 2232                  cpi r18,lo8(34)
 215 00f6 00F0                  brlo .+2
 216 00f8 00C0                  rjmp .L17
 217 00fa 4598                  cbi 40-0x20,5
 218                    /* #APP */
 219 00fc 0000                  nop
 220 00fe 0000                  nop
 221 0100 0000                  nop
 222 0102 0000                  nop
 223 0104 0000                  nop
 224 0106 0000                  nop
 225 0108 0000                  nop
 226 010a 0000                  nop
 227 010c 0000                  nop
 228 010e 0000                  nop
 229 0110 0000                  nop
 230 0112 0000                  nop
 231 0114 0000                  nop
 232 0116 0000                  nop
 233 0118 0000                  nop
 234 011a 0000                  nop
 235 011c 0000                  nop
 236 011e 0000                  nop
 237 0120 0000                  nop
 238 0122 0000                  nop
 239 0124 0000                  nop
 240 0126 0000                  nop
 241 0128 0000                  nop
 242 012a 0000                  nop
 243                    /* #NOAPP */
 244 012c E091 0000             lds r30,SPI_TX_Buffer
 245 0130 F091 0000             lds r31,(SPI_TX_Buffer)+1
 246 0134 E20F                  add r30,r18
 247 0136 F11D                  adc r31,__zero_reg__
 248 0138 8081                  ld r24,Z
 249 013a 8EBD                  out 78-0x20,r24
 250 013c 8091 0000             lds r24,ToNaviCtrl+33
 251 0140 9081                  ld r25,Z
 252 0142 890F                  add r24,r25
 253 0144 8093 0000             sts ToNaviCtrl+33,r24
 254 0148 00C0                  rjmp .L18
 255                    .L17:
 256 014a 81E0                  ldi r24,lo8(1)
 257 014c 8093 0000             sts SPITransferCompleted,r24
 258                    .L18:
 259 0150 2F5F                  subi r18,lo8(-(1))
 260 0152 2093 0000             sts SPI_BufferIndex,r18
 261                    .L2:
 262 0156 0895                  ret
 263                    /* epilogue: frame size=0 */
 264                    /* epilogue: noreturn */
 265                    /* epilogue end (size=0) */
 266                    /* function SPI_TransmitByte size 164 (164) */
 268                            .lcomm motorindex.0,1
 269                    .global UpdateSPI_Buffer
 271                    UpdateSPI_Buffer:
 272                    /* prologue: frame size=0 */
 273 0158 EF92                  push r14
 274 015a FF92                  push r15
 275 015c 0F93                  push r16
 276 015e 1F93                  push r17
 277                    /* prologue end (size=4) */
 278 0160 8091 0000             lds r24,EE_Parameter+28
 279 0164 9927                  clr r25
 280 0166 880F                  lsl r24
 281 0168 991F                  rol r25
 282 016a 880F                  lsl r24
 283 016c 991F                  rol r25
 284 016e 7C01                  movw r14,r24
 285 0170 0027                  clr r16
 286 0172 F7FC                  sbrc r15,7
 287 0174 0095                  com r16
 288 0176 102F                  mov r17,r16
 289 0178 8091 0000             lds r24,IntegralNick
 290 017c 9091 0000             lds r25,(IntegralNick)+1
 291 0180 A091 0000             lds r26,(IntegralNick)+2
 292 0184 B091 0000             lds r27,(IntegralNick)+3
 293 0188 BC01                  movw r22,r24
 294 018a CD01                  movw r24,r26
 295 018c A801                  movw r20,r16
 296 018e 9701                  movw r18,r14
 297 0190 0E94 0000             call __divmodsi4
 298 0194 3093 0000             sts (ToNaviCtrl+3)+1,r19
 299 0198 2093 0000             sts ToNaviCtrl+3,r18
 300 019c 8091 0000             lds r24,IntegralRoll
 301 01a0 9091 0000             lds r25,(IntegralRoll)+1
 302 01a4 A091 0000             lds r26,(IntegralRoll)+2
 303 01a8 B091 0000             lds r27,(IntegralRoll)+3
 304 01ac BC01                  movw r22,r24
 305 01ae CD01                  movw r24,r26
 306 01b0 A801                  movw r20,r16
 307 01b2 9701                  movw r18,r14
 308 01b4 0E94 0000             call __divmodsi4
 309 01b8 3093 0000             sts (ToNaviCtrl+5)+1,r19
 310 01bc 2093 0000             sts ToNaviCtrl+5,r18
 311 01c0 2091 0000             lds r18,ErsatzKompass
 312 01c4 3091 0000             lds r19,(ErsatzKompass)+1
 313 01c8 4091 0000             lds r20,(ErsatzKompass)+2
 314 01cc 5091 0000             lds r21,(ErsatzKompass)+3
 315 01d0 DA01                  movw r26,r20
 316 01d2 C901                  movw r24,r18
 317 01d4 63E0                  ldi r22,3
 318 01d6 880F          1:      lsl r24
 319 01d8 991F                  rol r25
 320 01da AA1F                  rol r26
 321 01dc BB1F                  rol r27
 322 01de 6A95                  dec r22
 323 01e0 01F4                  brne 1b
 324 01e2 820F                  add r24,r18
 325 01e4 931F                  adc r25,r19
 326 01e6 A41F                  adc r26,r20
 327 01e8 B51F                  adc r27,r21
 328 01ea 820F                  add r24,r18
 329 01ec 931F                  adc r25,r19
 330 01ee A41F                  adc r26,r20
 331 01f0 B51F                  adc r27,r21
 332 01f2 2091 0000             lds r18,GIER_GRAD_FAKTOR
 333 01f6 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 334 01fa 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 335 01fe 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 336 0202 BC01                  movw r22,r24
 337 0204 CD01                  movw r24,r26
 338 0206 0E94 0000             call __divmodsi4
 339 020a 3093 0000             sts (ToNaviCtrl+11)+1,r19
 340 020e 2093 0000             sts ToNaviCtrl+11,r18
 341 0212 8091 0000             lds r24,AdNeutralGier
 342 0216 9091 0000             lds r25,(AdNeutralGier)+1
 343 021a 2091 0000             lds r18,AdWertGier
 344 021e 3091 0000             lds r19,(AdWertGier)+1
 345 0222 821B                  sub r24,r18
 346 0224 930B                  sbc r25,r19
 347 0226 9093 0000             sts (ToNaviCtrl+17)+1,r25
 348 022a 8093 0000             sts ToNaviCtrl+17,r24
 349 022e E091 0000             lds r30,NaviCntAcc
 350 0232 F091 0000             lds r31,(NaviCntAcc)+1
 351 0236 8091 0000             lds r24,NaviAccNick
 352 023a 9091 0000             lds r25,(NaviAccNick)+1
 353 023e BF01                  movw r22,r30
 354 0240 0E94 0000             call __divmodhi4
 355 0244 9B01                  movw r18,r22
 356 0246 220F                  lsl r18
 357 0248 331F                  rol r19
 358 024a 220F                  lsl r18
 359 024c 331F                  rol r19
 360 024e 260F                  add r18,r22
 361 0250 371F                  adc r19,r23
 362 0252 260F                  add r18,r22
 363 0254 371F                  adc r19,r23
 364 0256 37FF                  sbrs r19,7
 365 0258 00C0                  rjmp .L21
 366 025a 2D5F                  subi r18,lo8(-(3))
 367 025c 3F4F                  sbci r19,hi8(-(3))
 368                    .L21:
 369 025e 3595                  asr r19
 370 0260 2795                  ror r18
 371 0262 3595                  asr r19
 372 0264 2795                  ror r18
 373 0266 3093 0000             sts (ToNaviCtrl+7)+1,r19
 374 026a 2093 0000             sts ToNaviCtrl+7,r18
 375 026e 8091 0000             lds r24,NaviAccRoll
 376 0272 9091 0000             lds r25,(NaviAccRoll)+1
 377 0276 BF01                  movw r22,r30
 378 0278 0E94 0000             call __divmodhi4
 379 027c 9B01                  movw r18,r22
 380 027e 220F                  lsl r18
 381 0280 331F                  rol r19
 382 0282 220F                  lsl r18
 383 0284 331F                  rol r19
 384 0286 260F                  add r18,r22
 385 0288 371F                  adc r19,r23
 386 028a 260F                  add r18,r22
 387 028c 371F                  adc r19,r23
 388 028e 37FF                  sbrs r19,7
 389 0290 00C0                  rjmp .L22
 390 0292 2D5F                  subi r18,lo8(-(3))
 391 0294 3F4F                  sbci r19,hi8(-(3))
 392                    .L22:
 393 0296 3595                  asr r19
 394 0298 2795                  ror r18
 395 029a 3595                  asr r19
 396 029c 2795                  ror r18
 397 029e 3093 0000             sts (ToNaviCtrl+9)+1,r19
 398 02a2 2093 0000             sts ToNaviCtrl+9,r18
 399 02a6 1092 0000             sts (NaviCntAcc)+1,__zero_reg__
 400 02aa 1092 0000             sts NaviCntAcc,__zero_reg__
 401 02ae 1092 0000             sts (NaviAccNick)+1,__zero_reg__
 402 02b2 1092 0000             sts NaviAccNick,__zero_reg__
 403 02b6 1092 0000             sts (NaviAccRoll)+1,__zero_reg__
 404 02ba 1092 0000             sts NaviAccRoll,__zero_reg__
 405 02be 8091 0000             lds r24,ToNaviCtrl+2
 406 02c2 9927                  clr r25
 407 02c4 8D30                  cpi r24,13
 408 02c6 9105                  cpc r25,__zero_reg__
 409 02c8 01F4                  brne .+2
 410 02ca 00C0                  rjmp .L26
 411 02cc 8E30                  cpi r24,14
 412 02ce 9105                  cpc r25,__zero_reg__
 413 02d0 04F4                  brge .L46
 414 02d2 8B30                  cpi r24,11
 415 02d4 9105                  cpc r25,__zero_reg__
 416 02d6 01F4                  brne .+2
 417 02d8 00C0                  rjmp .L27
 418 02da 8C30                  cpi r24,12
 419 02dc 9105                  cpc r25,__zero_reg__
 420 02de 04F0                  brlt .+2
 421 02e0 00C0                  rjmp .L40
 422 02e2 0A97                  sbiw r24,10
 423 02e4 01F0                  breq .L24
 424 02e6 00C0                  rjmp .L23
 425                    .L46:
 426 02e8 8F30                  cpi r24,15
 427 02ea 9105                  cpc r25,__zero_reg__
 428 02ec 01F4                  brne .+2
 429 02ee 00C0                  rjmp .L45
 430 02f0 8F30                  cpi r24,15
 431 02f2 9105                  cpc r25,__zero_reg__
 432 02f4 04F4                  brge .+2
 433 02f6 00C0                  rjmp .L44
 434 02f8 4097                  sbiw r24,16
 435 02fa 01F0                  breq .L25
 436 02fc 00C0                  rjmp .L23
 437                    .L24:
 438 02fe 8091 0000             lds r24,Parameter_UserParam1
 439 0302 8093 0000             sts ToNaviCtrl+21,r24
 440 0306 8091 0000             lds r24,Parameter_UserParam2
 441 030a 8093 0000             sts ToNaviCtrl+22,r24
 442 030e 8091 0000             lds r24,Parameter_UserParam3
 443 0312 8093 0000             sts ToNaviCtrl+23,r24
 444 0316 8091 0000             lds r24,Parameter_UserParam4
 445 031a 8093 0000             sts ToNaviCtrl+24,r24
 446 031e 8091 0000             lds r24,Parameter_UserParam5
 447 0322 8093 0000             sts ToNaviCtrl+25,r24
 448 0326 8091 0000             lds r24,Parameter_UserParam6
 449 032a 8093 0000             sts ToNaviCtrl+26,r24
 450 032e 8091 0000             lds r24,Parameter_UserParam7
 451 0332 8093 0000             sts ToNaviCtrl+27,r24
 452 0336 8091 0000             lds r24,Parameter_UserParam8
 453 033a 8093 0000             sts ToNaviCtrl+28,r24
 454 033e 8091 0000             lds r24,FC_StatusFlags
 455 0342 8093 0000             sts ToNaviCtrl+29,r24
 456 0346 8091 0000             lds r24,FC_StatusFlags
 457 034a 837F                  andi r24,lo8(-13)
 458 034c 8093 0000             sts FC_StatusFlags,r24
 459 0350 0E94 0000             call GetActiveParamSet
 460 0354 8093 0000             sts ToNaviCtrl+30,r24
 461 0358 8091 0000             lds r24,EE_Parameter+101
 462 035c 8093 0000             sts ToNaviCtrl+31,r24
 463 0360 8091 0000             lds r24,FC_StatusFlags2
 464 0364 00C0                  rjmp .L62
 465                    .L25:
 466 0366 8091 0000             lds r24,Capacity
 467 036a 9091 0000             lds r25,(Capacity)+1
 468 036e 9093 0000             sts (ToNaviCtrl+21)+1,r25
 469 0372 8093 0000             sts ToNaviCtrl+21,r24
 470 0376 8091 0000             lds r24,Capacity+4
 471 037a 9091 0000             lds r25,(Capacity+4)+1
 472 037e 9093 0000             sts (ToNaviCtrl+23)+1,r25
 473 0382 8093 0000             sts ToNaviCtrl+23,r24
 474 0386 8091 0000             lds r24,UBat
 475 038a 9091 0000             lds r25,(UBat)+1
 476 038e 8093 0000             sts ToNaviCtrl+25,r24
 477 0392 8091 0000             lds r24,BattLowVoltageWarning
 478 0396 8093 0000             sts ToNaviCtrl+26,r24
 479 039a 8091 0000             lds r24,VarioCharacter
 480 039e 8093 0000             sts ToNaviCtrl+27,r24
 481 03a2 8091 0000             lds r24,Parameter_GlobalConfig
 482 03a6 8093 0000             sts ToNaviCtrl+28,r24
 483 03aa 8091 0000             lds r24,Parameter_ExtraConfig
 484 03ae 8093 0000             sts ToNaviCtrl+29,r24
 485 03b2 9091 0000             lds r25,motorindex.0
 486 03b6 9093 0000             sts ToNaviCtrl+30,r25
 487 03ba E92F                  mov r30,r25
 488 03bc FF27                  clr r31
 489 03be A3E0                  ldi r26,3
 490 03c0 EE0F          1:      lsl r30
 491 03c2 FF1F                  rol r31
 492 03c4 AA95                  dec r26
 493 03c6 01F4                  brne 1b
 494 03c8 E050                  subi r30,lo8(-(Motor))
 495 03ca F040                  sbci r31,hi8(-(Motor))
 496 03cc 8781                  ldd r24,Z+7
 497 03ce 8093 0000             sts ToNaviCtrl+31,r24
 498 03d2 8581                  ldd r24,Z+5
 499 03d4 8093 0000             sts ToNaviCtrl+32,r24
 500 03d8 892F                  mov r24,r25
 501 03da 8F5F                  subi r24,lo8(-(1))
 502 03dc 6CE0                  ldi r22,lo8(12)
 503 03de 0E94 0000             call __udivmodqi4
 504 03e2 9093 0000             sts motorindex.0,r25
 505 03e6 00C0                  rjmp .L23
 506                    .L26:
 507 03e8 8091 0000             lds r24,EE_Parameter+80
 508 03ec 8093 0000             sts ToNaviCtrl+21,r24
 509 03f0 8091 0000             lds r24,EE_Parameter+81
 510 03f4 8093 0000             sts ToNaviCtrl+22,r24
 511 03f8 8091 0000             lds r24,EE_Parameter+82
 512 03fc 8093 0000             sts ToNaviCtrl+23,r24
 513 0400 8091 0000             lds r24,EE_Parameter+83
 514 0404 8093 0000             sts ToNaviCtrl+24,r24
 515 0408 8091 0000             lds r24,EE_Parameter+84
 516 040c 8093 0000             sts ToNaviCtrl+25,r24
 517 0410 8091 0000             lds r24,EE_Parameter+88
 518 0414 8093 0000             sts ToNaviCtrl+26,r24
 519 0418 8091 0000             lds r24,EE_Parameter+89
 520 041c 8093 0000             sts ToNaviCtrl+27,r24
 521 0420 8091 0000             lds r24,EE_Parameter+90
 522 0424 8093 0000             sts ToNaviCtrl+28,r24
 523 0428 8091 0000             lds r24,EE_Parameter+93
 524 042c 8093 0000             sts ToNaviCtrl+29,r24
 525 0430 8091 0000             lds r24,EE_Parameter+91
 526 0434 8093 0000             sts ToNaviCtrl+30,r24
 527 0438 8091 0000             lds r24,EE_Parameter+92
 528 043c 8093 0000             sts ToNaviCtrl+31,r24
 529 0440 8091 0000             lds r24,EE_Parameter+94
 530 0444 00C0                  rjmp .L62
 531                    .L27:
 532                    /* #APP */
 533 0446 F894                  cli
 534                    /* #NOAPP */
 535 0448 8091 0000             lds r24,EE_Parameter+3
 536 044c E82F                  mov r30,r24
 537 044e FF27                  clr r31
 538 0450 EE0F                  add r30,r30
 539 0452 FF1F                  adc r31,r31
 540 0454 E050                  subi r30,lo8(-(PPM_in))
 541 0456 F040                  sbci r31,hi8(-(PPM_in))
 542 0458 0190                  ld __tmp_reg__,Z+
 543 045a F081                  ld r31,Z
 544 045c E02D                  mov r30,__tmp_reg__
 545 045e E038                  cpi r30,128
 546 0460 F105                  cpc r31,__zero_reg__
 547 0462 04F0                  brlt .L28
 548 0464 EFE7                  ldi r30,lo8(127)
 549 0466 F0E0                  ldi r31,hi8(127)
 550 0468 00C0                  rjmp .L29
 551                    .L28:
 552 046a 2FEF                  ldi r18,hi8(-127)
 553 046c E138                  cpi r30,lo8(-127)
 554 046e F207                  cpc r31,r18
 555 0470 04F4                  brge .L29
 556 0472 E1E8                  ldi r30,lo8(-127)
 557 0474 FFEF                  ldi r31,hi8(-127)
 558                    .L29:
 559 0476 E093 0000             sts ToNaviCtrl+21,r30
 560 047a 8091 0000             lds r24,EE_Parameter+4
 561 047e E82F                  mov r30,r24
 562 0480 FF27                  clr r31
 563 0482 EE0F                  add r30,r30
 564 0484 FF1F                  adc r31,r31
 565 0486 E050                  subi r30,lo8(-(PPM_in))
 566 0488 F040                  sbci r31,hi8(-(PPM_in))
 567 048a 0190                  ld __tmp_reg__,Z+
 568 048c F081                  ld r31,Z
 569 048e E02D                  mov r30,__tmp_reg__
 570 0490 E038                  cpi r30,128
 571 0492 F105                  cpc r31,__zero_reg__
 572 0494 04F0                  brlt .L31
 573 0496 EFE7                  ldi r30,lo8(127)
 574 0498 F0E0                  ldi r31,hi8(127)
 575 049a 00C0                  rjmp .L32
 576                    .L31:
 577 049c 6FEF                  ldi r22,hi8(-127)
 578 049e E138                  cpi r30,lo8(-127)
 579 04a0 F607                  cpc r31,r22
 580 04a2 04F4                  brge .L32
 581 04a4 E1E8                  ldi r30,lo8(-127)
 582 04a6 FFEF                  ldi r31,hi8(-127)
 583                    .L32:
 584 04a8 E093 0000             sts ToNaviCtrl+22,r30
 585 04ac 8091 0000             lds r24,EE_Parameter+2
 586 04b0 E82F                  mov r30,r24
 587 04b2 FF27                  clr r31
 588 04b4 EE0F                  add r30,r30
 589 04b6 FF1F                  adc r31,r31
 590 04b8 E050                  subi r30,lo8(-(PPM_in))
 591 04ba F040                  sbci r31,hi8(-(PPM_in))
 592 04bc 0190                  ld __tmp_reg__,Z+
 593 04be F081                  ld r31,Z
 594 04c0 E02D                  mov r30,__tmp_reg__
 595 04c2 E038                  cpi r30,128
 596 04c4 F105                  cpc r31,__zero_reg__
 597 04c6 04F0                  brlt .L34
 598 04c8 EFE7                  ldi r30,lo8(127)
 599 04ca F0E0                  ldi r31,hi8(127)
 600 04cc 00C0                  rjmp .L35
 601                    .L34:
 602 04ce 8FEF                  ldi r24,hi8(-127)
 603 04d0 E138                  cpi r30,lo8(-127)
 604 04d2 F807                  cpc r31,r24
 605 04d4 04F4                  brge .L35
 606 04d6 E1E8                  ldi r30,lo8(-127)
 607 04d8 FFEF                  ldi r31,hi8(-127)
 608                    .L35:
 609 04da E093 0000             sts ToNaviCtrl+23,r30
 610 04de 8091 0000             lds r24,EE_Parameter+1
 611 04e2 E82F                  mov r30,r24
 612 04e4 FF27                  clr r31
 613 04e6 EE0F                  add r30,r30
 614 04e8 FF1F                  adc r31,r31
 615 04ea E050                  subi r30,lo8(-(PPM_in))
 616 04ec F040                  sbci r31,hi8(-(PPM_in))
 617 04ee 0190                  ld __tmp_reg__,Z+
 618 04f0 F081                  ld r31,Z
 619 04f2 E02D                  mov r30,__tmp_reg__
 620 04f4 E038                  cpi r30,128
 621 04f6 F105                  cpc r31,__zero_reg__
 622 04f8 04F0                  brlt .L37
 623 04fa EFE7                  ldi r30,lo8(127)
 624 04fc F0E0                  ldi r31,hi8(127)
 625 04fe 00C0                  rjmp .L38
 626                    .L37:
 627 0500 2FEF                  ldi r18,hi8(-127)
 628 0502 E138                  cpi r30,lo8(-127)
 629 0504 F207                  cpc r31,r18
 630 0506 04F4                  brge .L38
 631 0508 E1E8                  ldi r30,lo8(-127)
 632 050a FFEF                  ldi r31,hi8(-127)
 633                    .L38:
 634                    /* #APP */
 635 050c 7894                  sei
 636                    /* #NOAPP */
 637 050e E093 0000             sts ToNaviCtrl+24,r30
 638 0512 8091 0000             lds r24,Poti
 639 0516 8093 0000             sts ToNaviCtrl+25,r24
 640 051a 8091 0000             lds r24,Poti+1
 641 051e 8093 0000             sts ToNaviCtrl+26,r24
 642 0522 8091 0000             lds r24,Poti+2
 643 0526 8093 0000             sts ToNaviCtrl+27,r24
 644 052a 8091 0000             lds r24,Poti+3
 645 052e 8093 0000             sts ToNaviCtrl+28,r24
 646 0532 8091 0000             lds r24,Poti+4
 647 0536 8093 0000             sts ToNaviCtrl+29,r24
 648 053a 8091 0000             lds r24,Poti+5
 649 053e 8093 0000             sts ToNaviCtrl+30,r24
 650 0542 8091 0000             lds r24,Poti+6
 651 0546 8093 0000             sts ToNaviCtrl+31,r24
 652 054a 8091 0000             lds r24,Poti+7
 653 054e 00C0                  rjmp .L62
 654                    .L40:
 655 0550 8091 0000             lds r24,WinkelOut+6
 656 0554 8630                  cpi r24,lo8(6)
 657 0556 00F0                  brlo .L41
 658 0558 1092 0000             sts WinkelOut+6,__zero_reg__
 659 055c 85E0                  ldi r24,lo8(5)
 660                    .L41:
 661 055e 8093 0000             sts ToNaviCtrl+21,r24
 662 0562 8091 0000             lds r24,EE_Parameter+95
 663 0566 8093 0000             sts ToNaviCtrl+22,r24
 664 056a 8091 0000             lds r24,HoehenWert
 665 056e 9091 0000             lds r25,(HoehenWert)+1
 666 0572 A091 0000             lds r26,(HoehenWert)+2
 667 0576 B091 0000             lds r27,(HoehenWert)+3
 668 057a BC01                  movw r22,r24
 669 057c CD01                  movw r24,r26
 670 057e 25E0                  ldi r18,lo8(5)
 671 0580 30E0                  ldi r19,hi8(5)
 672 0582 40E0                  ldi r20,hlo8(5)
 673 0584 50E0                  ldi r21,hhi8(5)
 674 0586 0E94 0000             call __divmodsi4
 675 058a 3093 0000             sts (ToNaviCtrl+23)+1,r19
 676 058e 2093 0000             sts ToNaviCtrl+23,r18
 677 0592 8091 0000             lds r24,SollHoehe
 678 0596 9091 0000             lds r25,(SollHoehe)+1
 679 059a A091 0000             lds r26,(SollHoehe)+2
 680 059e B091 0000             lds r27,(SollHoehe)+3
 681 05a2 BC01                  movw r22,r24
 682 05a4 CD01                  movw r24,r26
 683 05a6 25E0                  ldi r18,lo8(5)
 684 05a8 30E0                  ldi r19,hi8(5)
 685 05aa 40E0                  ldi r20,hlo8(5)
 686 05ac 50E0                  ldi r21,hhi8(5)
 687 05ae 0E94 0000             call __divmodsi4
 688 05b2 3093 0000             sts (ToNaviCtrl+25)+1,r19
 689 05b6 2093 0000             sts ToNaviCtrl+25,r18
 690 05ba 8091 0000             lds r24,EE_Parameter+85
 691 05be 8093 0000             sts ToNaviCtrl+27,r24
 692 05c2 8091 0000             lds r24,EE_Parameter+86
 693 05c6 8093 0000             sts ToNaviCtrl+28,r24
 694 05ca 8091 0000             lds r24,EE_Parameter+87
 695 05ce 8093 0000             sts ToNaviCtrl+29,r24
 696 05d2 8091 0000             lds r24,SenderOkay
 697 05d6 8093 0000             sts ToNaviCtrl+30,r24
 698 05da 8091 0000             lds r24,PPM_in
 699 05de 9091 0000             lds r25,(PPM_in)+1
 700 05e2 8093 0000             sts ToNaviCtrl+31,r24
 701 05e6 8091 0000             lds r24,DebugOut+16
 702 05ea 9091 0000             lds r25,(DebugOut+16)+1
 703 05ee 97FD                  sbrc r25,7
 704 05f0 0396                  adiw r24,3
 705                    .L43:
 706 05f2 9595                  asr r25
 707 05f4 8795                  ror r24
 708 05f6 9595                  asr r25
 709 05f8 8795                  ror r24
 710 05fa 00C0                  rjmp .L62
 711                    .L44:
 712 05fc 1092 0000             sts ToNaviCtrl+21,__zero_reg__
 713 0600 86E5                  ldi r24,lo8(86)
 714 0602 8093 0000             sts ToNaviCtrl+22,r24
 715 0606 83E0                  ldi r24,lo8(3)
 716 0608 8093 0000             sts ToNaviCtrl+23,r24
 717 060c 8BE1                  ldi r24,lo8(27)
 718 060e 8093 0000             sts ToNaviCtrl+24,r24
 719 0612 8091 0000             lds r24,PlatinenVersion
 720 0616 8093 0000             sts ToNaviCtrl+25,r24
 721 061a 8091 0000             lds r24,VersionInfo+5
 722 061e 8093 0000             sts ToNaviCtrl+26,r24
 723 0622 8091 0000             lds r24,VersionInfo+6
 724 0626 8093 0000             sts ToNaviCtrl+27,r24
 725 062a 1092 0000             sts VersionInfo+5,__zero_reg__
 726 062e 8071                  andi r24,lo8(16)
 727 0630 8093 0000             sts VersionInfo+6,r24
 728 0634 8091 0000             lds r24,VersionInfo+7
 729 0638 8093 0000             sts ToNaviCtrl+28,r24
 730 063c 8091 0000             lds r24,VersionInfo+8
 731 0640 8093 0000             sts ToNaviCtrl+29,r24
 732 0644 8091 0000             lds r24,VersionInfo+9
 733 0648 8093 0000             sts ToNaviCtrl+30,r24
 734 064c 8091 0000             lds r24,EE_Parameter+97
 735 0650 8093 0000             sts ToNaviCtrl+31,r24
 736 0654 00C0                  rjmp .L23
 737                    .L45:
 738 0656 8091 0000             lds r24,EE_Parameter+53
 739 065a 8093 0000             sts ToNaviCtrl+21,r24
 740 065e 8091 0000             lds r24,EE_Parameter+105
 741 0662 8093 0000             sts ToNaviCtrl+22,r24
 742 0666 8091 0000             lds r24,Parameter_ServoNickControl
 743 066a 8093 0000             sts ToNaviCtrl+23,r24
 744 066e 8091 0000             lds r24,EE_Parameter+46
 745 0672 8093 0000             sts ToNaviCtrl+24,r24
 746 0676 8091 0000             lds r24,EE_Parameter+47
 747 067a 8093 0000             sts ToNaviCtrl+25,r24
 748 067e 8091 0000             lds r24,EE_Parameter+48
 749 0682 8093 0000             sts ToNaviCtrl+26,r24
 750 0686 8091 0000             lds r24,Parameter_ServoRollControl
 751 068a 8093 0000             sts ToNaviCtrl+27,r24
 752 068e 8091 0000             lds r24,EE_Parameter+50
 753 0692 8093 0000             sts ToNaviCtrl+28,r24
 754 0696 8091 0000             lds r24,EE_Parameter+51
 755 069a 8093 0000             sts ToNaviCtrl+29,r24
 756 069e 8091 0000             lds r24,EE_Parameter+52
 757 06a2 8093 0000             sts ToNaviCtrl+30,r24
 758 06a6 8091 0000             lds r24,Capacity+8
 759 06aa 8093 0000             sts ToNaviCtrl+31,r24
 760 06ae 8091 0000             lds r24,DebugOut+58
 761                    .L62:
 762 06b2 8093 0000             sts ToNaviCtrl+32,r24
 763                    .L23:
 764 06b6 8091 0000             lds r24,SPI_RxDataValid
 765 06ba 8823                  tst r24
 766 06bc 01F4                  brne .+2
 767 06be 00C0                  rjmp .L47
 768 06c0 8AEF                  ldi r24,lo8(-6)
 769 06c2 8093 0000             sts NaviDataOkay,r24
 770 06c6 81E0                  ldi r24,lo8(1)
 771 06c8 8093 0000             sts CalculateCompassTimer,r24
 772 06cc 4091 0000             lds r20,FromNaviCtrl+1
 773 06d0 5091 0000             lds r21,(FromNaviCtrl+1)+1
 774 06d4 CA01                  movw r24,r20
 775 06d6 8150                  subi r24,lo8(-(511))
 776 06d8 9E4F                  sbci r25,hi8(-(511))
 777 06da 8F5F                  subi r24,lo8(1023)
 778 06dc 9340                  sbci r25,hi8(1023)
 779 06de 00F4                  brsh .L48
 780 06e0 2091 0000             lds r18,FromNaviCtrl+3
 781 06e4 3091 0000             lds r19,(FromNaviCtrl+3)+1
 782 06e8 C901                  movw r24,r18
 783 06ea 8150                  subi r24,lo8(-(511))
 784 06ec 9E4F                  sbci r25,hi8(-(511))
 785 06ee 8F5F                  subi r24,lo8(1023)
 786 06f0 9340                  sbci r25,hi8(1023)
 787 06f2 00F4                  brsh .L48
 788 06f4 8091 0000             lds r24,EE_Parameter+13
 789 06f8 85FF                  sbrs r24,5
 790 06fa 00C0                  rjmp .L48
 791 06fc 5093 0000             sts (GPS_Nick)+1,r21
 792 0700 4093 0000             sts GPS_Nick,r20
 793 0704 3093 0000             sts (GPS_Roll)+1,r19
 794 0708 2093 0000             sts GPS_Roll,r18
 795                    .L48:
 796 070c 8091 0000             lds r24,FromNaviCtrl+7
 797 0710 9091 0000             lds r25,(FromNaviCtrl+7)+1
 798 0714 21E0                  ldi r18,hi8(361)
 799 0716 8936                  cpi r24,lo8(361)
 800 0718 9207                  cpc r25,r18
 801 071a 04F4                  brge .L49
 802 071c 9093 0000             sts (KompassValue)+1,r25
 803 0720 8093 0000             sts KompassValue,r24
 804                    .L49:
 805 0724 2091 0000             lds r18,FromNaviCtrl+17
 806 0728 3091 0000             lds r19,(FromNaviCtrl+17)+1
 807 072c 8091 0000             lds r24,beeptime
 808 0730 9091 0000             lds r25,(beeptime)+1
 809 0734 8217                  cp r24,r18
 810 0736 9307                  cpc r25,r19
 811 0738 00F4                  brsh .L50
 812 073a 3093 0000             sts (beeptime)+1,r19
 813 073e 2093 0000             sts beeptime,r18
 814                    .L50:
 815 0742 8091 0000             lds r24,FromNaviCtrl
 816 0746 9927                  clr r25
 817 0748 8836                  cpi r24,104
 818 074a 9105                  cpc r25,__zero_reg__
 819 074c 01F4                  brne .+2
 820 074e 00C0                  rjmp .L56
 821 0750 8936                  cpi r24,105
 822 0752 9105                  cpc r25,__zero_reg__
 823 0754 04F4                  brge .L60
 824 0756 8736                  cpi r24,103
 825 0758 9105                  cpc r25,__zero_reg__
 826 075a 01F0                  breq .L52
 827 075c 00C0                  rjmp .L20
 828                    .L60:
 829 075e 8936                  cpi r24,105
 830 0760 9105                  cpc r25,__zero_reg__
 831 0762 01F4                  brne .+2
 832 0764 00C0                  rjmp .L57
 833 0766 8B36                  cpi r24,107
 834 0768 9105                  cpc r25,__zero_reg__
 835 076a 01F4                  brne .+2
 836 076c 00C0                  rjmp .L58
 837 076e 00C0                  rjmp .L20
 838                    .L52:
 839 0770 8091 0000             lds r24,FromNaviCtrl+19
 840 0774 8093 0000             sts FromNaviCtrl_Value,r24
 841 0778 8091 0000             lds r24,FromNaviCtrl+20
 842 077c 8093 0000             sts FromNaviCtrl_Value+2,r24
 843 0780 8091 0000             lds r24,FromNaviCtrl+21
 844 0784 8093 0000             sts FromNaviCtrl_Value+1,r24
 845 0788 8091 0000             lds r24,FromNaviCtrl+22
 846 078c 8093 0000             sts KompassFusion,r24
 847 0790 8091 0000             lds r24,FromNaviCtrl+23
 848 0794 8093 0000             sts FromNaviCtrl_Value+4,r24
 849 0798 8091 0000             lds r24,FromNaviCtrl+24
 850 079c 8093 0000             sts FromNC_Rotate_C,r24
 851 07a0 8091 0000             lds r24,FromNaviCtrl+25
 852 07a4 8093 0000             sts FromNC_Rotate_S,r24
 853 07a8 8091 0000             lds r24,FromNaviCtrl+26
 854 07ac 8093 0000             sts GPS_Aid_StickMultiplikator,r24
 855 07b0 8091 0000             lds r24,CareFree
 856 07b4 8823                  tst r24
 857 07b6 01F0                  breq .L53
 858 07b8 2091 0000             lds r18,FromNaviCtrl+27
 859 07bc 3091 0000             lds r19,(FromNaviCtrl+27)+1
 860 07c0 37FD                  sbrc r19,7
 861 07c2 00C0                  rjmp .L53
 862 07c4 3093 0000             sts (KompassSollWert)+1,r19
 863 07c8 2093 0000             sts KompassSollWert,r18
 864 07cc 9091 0000             lds r25,EE_Parameter+55
 865 07d0 9923                  tst r25
 866 07d2 01F0                  breq .L53
 867 07d4 8FE0                  ldi r24,lo8(15)
 868 07d6 989F                  mul r25,r24
 869 07d8 C001                  movw r24,r0
 870 07da 1124                  clr r1
 871 07dc 281B                  sub r18,r24
 872 07de 390B                  sbc r19,r25
 873 07e0 C901                  movw r24,r18
 874 07e2 8859                  subi r24,lo8(-(360))
 875 07e4 9E4F                  sbci r25,hi8(-(360))
 876 07e6 68E6                  ldi r22,lo8(360)
 877 07e8 71E0                  ldi r23,hi8(360)
 878 07ea 0E94 0000             call __divmodhi4
 879 07ee 9093 0000             sts (KompassSollWert)+1,r25
 880 07f2 8093 0000             sts KompassSollWert,r24
 881                    .L53:
 882 07f6 2091 0000             lds r18,POI_KameraNick
 883 07fa 3091 0000             lds r19,(POI_KameraNick)+1
 884 07fe 8091 0000             lds r24,FromNaviCtrl+29
 885 0802 9091 0000             lds r25,(FromNaviCtrl+29)+1
 886 0806 280F                  add r18,r24
 887 0808 391F                  adc r19,r25
 888 080a 37FF                  sbrs r19,7
 889 080c 00C0                  rjmp .L55
 890 080e 2F5F                  subi r18,lo8(-(1))
 891 0810 3F4F                  sbci r19,hi8(-(1))
 892                    .L55:
 893 0812 3595                  asr r19
 894 0814 2795                  ror r18
 895 0816 3093 0000             sts (POI_KameraNick)+1,r19
 896 081a 2093 0000             sts POI_KameraNick,r18
 897 081e 00C0                  rjmp .L20
 898                    .L56:
 899 0820 8091 0000             lds r24,FromNaviCtrl+19
 900 0824 8093 0000             sts NC_Version,r24
 901 0828 8091 0000             lds r24,FromNaviCtrl+20
 902 082c 8093 0000             sts NC_Version+1,r24
 903 0830 8091 0000             lds r24,FromNaviCtrl+21
 904 0834 8093 0000             sts NC_Version+2,r24
 905 0838 8091 0000             lds r24,FromNaviCtrl+22
 906 083c 8093 0000             sts NC_Version+3,r24
 907 0840 8091 0000             lds r24,FromNaviCtrl+23
 908 0844 8093 0000             sts NC_Version+4,r24
 909 0848 8091 0000             lds r24,DebugOut
 910 084c 9091 0000             lds r25,FromNaviCtrl+24
 911 0850 892B                  or r24,r25
 912 0852 8093 0000             sts DebugOut,r24
 913 0856 9091 0000             lds r25,DebugOut+1
 914 085a 9370                  andi r25,lo8(3)
 915 085c 8091 0000             lds r24,FromNaviCtrl+25
 916 0860 8C70                  andi r24,lo8(12)
 917 0862 982B                  or r25,r24
 918 0864 9093 0000             sts DebugOut+1,r25
 919 0868 8091 0000             lds r24,FromNaviCtrl+26
 920 086c 8093 0000             sts NC_ErrorCode,r24
 921 0870 8091 0000             lds r24,FromNaviCtrl+27
 922 0874 8093 0000             sts NC_GPS_ModeCharacter,r24
 923 0878 8091 0000             lds r24,FromNaviCtrl+28
 924 087c 8093 0000             sts FromNaviCtrl_Value+3,r24
 925 0880 00C0                  rjmp .L20
 926                    .L57:
 927 0882 8091 0000             lds r24,FromNaviCtrl+19
 928 0886 8093 0000             sts GPSInfo,r24
 929 088a 8091 0000             lds r24,FromNaviCtrl+20
 930 088e 8093 0000             sts GPSInfo+1,r24
 931 0892 8091 0000             lds r24,FromNaviCtrl+21
 932 0896 8093 0000             sts GPSInfo+2,r24
 933 089a 8091 0000             lds r24,FromNaviCtrl+22
 934 089e 8093 0000             sts GPSInfo+3,r24
 935 08a2 8091 0000             lds r24,FromNaviCtrl+23
 936 08a6 9091 0000             lds r25,(FromNaviCtrl+23)+1
 937 08aa 9093 0000             sts (GPSInfo+4)+1,r25
 938 08ae 8093 0000             sts GPSInfo+4,r24
 939 08b2 8091 0000             lds r24,FromNaviCtrl+25
 940 08b6 9091 0000             lds r25,(FromNaviCtrl+25)+1
 941 08ba 9093 0000             sts (GPSInfo+6)+1,r25
 942 08be 8093 0000             sts GPSInfo+6,r24
 943 08c2 8091 0000             lds r24,FromNaviCtrl+27
 944 08c6 9927                  clr r25
 945 08c8 87FD                  sbrc r24,7
 946 08ca 9095                  com r25
 947 08cc 9093 0000             sts (PPM_in+50)+1,r25
 948 08d0 8093 0000             sts PPM_in+50,r24
 949 08d4 8091 0000             lds r24,FromNaviCtrl+28
 950 08d8 8093 0000             sts FromNC_AltitudeSpeed,r24
 951 08dc 8091 0000             lds r24,FromNaviCtrl+29
 952 08e0 9091 0000             lds r25,(FromNaviCtrl+29)+1
 953 08e4 9C01                  movw r18,r24
 954 08e6 4427                  clr r20
 955 08e8 37FD                  sbrc r19,7
 956 08ea 4095                  com r20
 957 08ec 542F                  mov r21,r20
 958 08ee DA01                  movw r26,r20
 959 08f0 C901                  movw r24,r18
 960 08f2 63E0                  ldi r22,3
 961 08f4 880F          1:      lsl r24
 962 08f6 991F                  rol r25
 963 08f8 AA1F                  rol r26
 964 08fa BB1F                  rol r27
 965 08fc 6A95                  dec r22
 966 08fe 01F4                  brne 1b
 967 0900 820F                  add r24,r18
 968 0902 931F                  adc r25,r19
 969 0904 A41F                  adc r26,r20
 970 0906 B51F                  adc r27,r21
 971 0908 820F                  add r24,r18
 972 090a 931F                  adc r25,r19
 973 090c A41F                  adc r26,r20
 974 090e B51F                  adc r27,r21
 975 0910 8093 0000             sts FromNC_AltitudeSetpoint,r24
 976 0914 9093 0000             sts (FromNC_AltitudeSetpoint)+1,r25
 977 0918 A093 0000             sts (FromNC_AltitudeSetpoint)+2,r26
 978 091c B093 0000             sts (FromNC_AltitudeSetpoint)+3,r27
 979 0920 00C0                  rjmp .L20
 980                    .L58:
 981 0922 8091 0000             lds r24,FromNaviCtrl+19
 982 0926 8093 0000             sts EarthMagneticField,r24
 983 092a 8091 0000             lds r24,FromNaviCtrl+20
 984 092e 8093 0000             sts EarthMagneticInclination,r24
 985 0932 8091 0000             lds r24,FromNaviCtrl+21
 986 0936 8093 0000             sts EarthMagneticInclinationTheoretic,r24
 987 093a 00C0                  rjmp .L20
 988                    .L47:
 989 093c 1092 0000             sts (GPS_Nick)+1,__zero_reg__
 990 0940 1092 0000             sts GPS_Nick,__zero_reg__
 991 0944 1092 0000             sts (GPS_Roll)+1,__zero_reg__
 992 0948 1092 0000             sts GPS_Roll,__zero_reg__
 993                    .L20:
 994                    /* epilogue: frame size=0 */
 995 094c 1F91                  pop r17
 996 094e 0F91                  pop r16
 997 0950 FF90                  pop r15
 998 0952 EF90                  pop r14
 999 0954 0895                  ret
 1000                   /* epilogue end (size=5) */
 1001                   /* function UpdateSPI_Buffer size 1030 (1021) */
 1003                   .global SPI_StartTransmitPacket
 1005                   SPI_StartTransmitPacket:
 1006                   /* prologue: frame size=0 */
 1007                   /* prologue end (size=0) */
 1008 0956 8091 0000            lds r24,SPITransferCompleted
 1009 095a 8823                 tst r24
 1010 095c 01F4                 brne .+2
 1011 095e 00C0                 rjmp .L63
 1012 0960 4598                 cbi 40-0x20,5
 1013 0962 80E0                 ldi r24,lo8(ToNaviCtrl)
 1014 0964 90E0                 ldi r25,hi8(ToNaviCtrl)
 1015 0966 9093 0000            sts (SPI_TX_Buffer)+1,r25
 1016 096a 8093 0000            sts SPI_TX_Buffer,r24
 1017 096e 9091 0000            lds r25,SPI_CommandCounter
 1018 0972 E92F                 mov r30,r25
 1019 0974 FF27                 clr r31
 1020 0976 E050                 subi r30,lo8(-(SPI_CommandSequence))
 1021 0978 F040                 sbci r31,hi8(-(SPI_CommandSequence))
 1022 097a 9F5F                 subi r25,lo8(-(1))
 1023 097c 9093 0000            sts SPI_CommandCounter,r25
 1024 0980 8081                 ld r24,Z
 1025 0982 8093 0000            sts ToNaviCtrl+2,r24
 1026 0986 9930                 cpi r25,lo8(9)
 1027 0988 00F0                 brlo .L65
 1028 098a 1092 0000            sts SPI_CommandCounter,__zero_reg__
 1029                   .L65:
 1030 098e 1092 0000            sts SPITransferCompleted,__zero_reg__
 1031 0992 0E94 0000            call UpdateSPI_Buffer
 1032 0996 81E0                 ldi r24,lo8(1)
 1033 0998 8093 0000            sts SPI_BufferIndex,r24
 1034                   /* #APP */
 1035 099c 0000                 nop
 1036 099e 0000                 nop
 1037 09a0 0000                 nop
 1038 09a2 0000                 nop
 1039 09a4 0000                 nop
 1040 09a6 0000                 nop
 1041 09a8 0000                 nop
 1042 09aa 0000                 nop
 1043 09ac 0000                 nop
 1044 09ae 0000                 nop
 1045 09b0 0000                 nop
 1046 09b2 0000                 nop
 1047 09b4 0000                 nop
 1048 09b6 0000                 nop
 1049 09b8 0000                 nop
 1050 09ba 0000                 nop
 1051 09bc 0000                 nop
 1052 09be 0000                 nop
 1053 09c0 0000                 nop
 1054 09c2 0000                 nop
 1055 09c4 0000                 nop
 1056 09c6 0000                 nop
 1057 09c8 0000                 nop
 1058 09ca 0000                 nop
 1059                   /* #NOAPP */
 1060 09cc 8091 0000            lds r24,ToNaviCtrl
 1061 09d0 8093 0000            sts ToNaviCtrl+33,r24
 1062 09d4 8EBD                 out 78-0x20,r24
 1063                   .L63:
 1064 09d6 0895                 ret
 1065                   /* epilogue: frame size=0 */
 1066                   /* epilogue: noreturn */
 1067                   /* epilogue end (size=0) */
 1068                   /* function SPI_StartTransmitPacket size 89 (89) */
 1070                           .comm Motorsmax,8,1
 1071                           .comm MotorsTmax,2,1
 1072                           .comm GPSInfo,8,1
 1073                           .comm NC_Version,5,1
 1074                           .comm FromNaviCtrl_Value,5,1
 1075                           .comm ToNaviCtrl,34,1
 1076                           .comm FromNaviCtrl,32,1
 1077                           .comm SPI_BufferIndex,1,1
 1078                           .comm SPI_RxBufferIndex,1,1
 1079                           .comm SPI_Buffer,32,1
 1080                           .comm SPI_TX_Buffer,2,1
 1081                           .comm SPITransferCompleted,1,1
 1082                           .comm SPI_ChkSum,1,1
 1083                           .comm SPI_RxDataValid,1,1
 1084                   /* File "spi.c": code 1316 = 0x0524 (1306), prologues   4, epilogues   6 */
DEFINED SYMBOLS
                            *ABS*:00000000 spi.c
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:3      *ABS*:0000003f __SREG__
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:4      *ABS*:0000003e __SP_H__
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:5      *ABS*:0000003d __SP_L__
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:15     .bss:00000000 MagVec
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:21     .bss:00000006 POI_KameraNick
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:27     .bss:00000008 EarthMagneticInclinationTheoretic
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:33     .bss:00000009 EarthMagneticInclination
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:39     .bss:0000000a EarthMagneticField
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:45     .data:00000000 NC_GPS_ModeCharacter
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:52     .bss:0000000b NC_ErrorCode
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:58     .bss:0000000c SPI_CommandCounter
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:64     .data:00000001 SPI_CommandSequence
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:77     .data:0000000a NaviDataOkay
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:84     .bss:0000000d FromNC_Rotate_S
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:90     .data:0000000b FromNC_Rotate_C
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:95     .text:00000000 SPI_MasterInit
                            *COM*:00000001 SPITransferCompleted
                            *COM*:00000022 ToNaviCtrl
                            *COM*:00000005 FromNaviCtrl_Value
                            *COM*:00000001 SPI_RxDataValid
                             .bss:0000000e SPI_RXState.1
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:125    .bss:0000000f rxchksum.2
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:129    .text:00000042 SPI_TransmitByte
                            *COM*:00000001 SPI_RxBufferIndex
                            *COM*:00000020 SPI_Buffer
                            *COM*:00000020 FromNaviCtrl
                            *COM*:00000001 SPI_BufferIndex
                            *COM*:00000002 SPI_TX_Buffer
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:126    .bss:00000010 motorindex.0
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:271    .text:00000158 UpdateSPI_Buffer
                            *COM*:00000005 NC_Version
                            *COM*:00000008 GPSInfo
C:\Users\Thomas\AppData\Local\Temp/ccal2cUl.s:1005   .text:00000956 SPI_StartTransmitPacket
                            *COM*:00000008 Motorsmax
                            *COM*:00000002 MotorsTmax
                            *COM*:00000001 SPI_ChkSum

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
SendSPI
EE_Parameter
IntegralNick
__divmodsi4
IntegralRoll
ErsatzKompass
GIER_GRAD_FAKTOR
AdNeutralGier
AdWertGier
NaviCntAcc
NaviAccNick
__divmodhi4
NaviAccRoll
Parameter_UserParam1
Parameter_UserParam2
Parameter_UserParam3
Parameter_UserParam4
Parameter_UserParam5
Parameter_UserParam6
Parameter_UserParam7
Parameter_UserParam8
FC_StatusFlags
GetActiveParamSet
FC_StatusFlags2
Capacity
UBat
BattLowVoltageWarning
VarioCharacter
Parameter_GlobalConfig
Parameter_ExtraConfig
Motor
__udivmodqi4
PPM_in
Poti
WinkelOut
HoehenWert
SollHoehe
SenderOkay
DebugOut
PlatinenVersion
VersionInfo
Parameter_ServoNickControl
Parameter_ServoRollControl
CalculateCompassTimer
GPS_Nick
GPS_Roll
KompassValue
beeptime
KompassFusion
GPS_Aid_StickMultiplikator
CareFree
KompassSollWert
FromNC_AltitudeSpeed
FromNC_AltitudeSetpoint