1 .file "GPS.c" 2 .arch atmega644 3 __SREG__ = 0x3f 4 __SP_H__ = 0x3e 5 __SP_L__ = 0x3d 6 __tmp_reg__ = 0 7 __zero_reg__ = 1 8 .global __do_copy_data 9 .global __do_clear_bss 10 .text 11 .global gps_main 13 gps_main: 14 /* prologue: frame size=31 */ 15 0000 2F92 push r2 16 0002 3F92 push r3 17 0004 4F92 push r4 18 0006 5F92 push r5 19 0008 6F92 push r6 20 000a 7F92 push r7 21 000c 8F92 push r8 22 000e 9F92 push r9 23 0010 AF92 push r10 24 0012 BF92 push r11 25 0014 CF92 push r12 26 0016 DF92 push r13 27 0018 EF92 push r14 28 001a FF92 push r15 29 001c 0F93 push r16 30 001e 1F93 push r17 31 0020 CF93 push r28 32 0022 DF93 push r29 33 0024 CDB7 in r28,__SP_L__ 34 0026 DEB7 in r29,__SP_H__ 35 0028 6F97 sbiw r28,31 36 002a 0FB6 in __tmp_reg__,__SREG__ 37 002c F894 cli 38 002e DEBF out __SP_H__,r29 39 0030 0FBE out __SREG__,__tmp_reg__ 40 0032 CDBF out __SP_L__,r28 41 /* prologue end (size=26) */ 42 0034 2091 0000 lds r18,actualPos+45 43 0038 2D87 std Y+13,r18 44 003a 2330 cpi r18,lo8(3) 45 003c 01F0 breq .+2 46 003e 00C0 rjmp .L2 47 0040 E091 0000 lds r30,FilterPos 48 0044 FF27 clr r31 49 0046 EE0F lsl r30 50 0048 FF1F rol r31 51 004a EE0F lsl r30 52 004c FF1F rol r31 53 004e E050 subi r30,lo8(-(filter_north)) 54 0050 F040 sbci r31,hi8(-(filter_north)) 55 0052 8091 0000 lds r24,actualPos+24 56 0056 9091 0000 lds r25,(actualPos+24)+1 57 005a A091 0000 lds r26,(actualPos+24)+2 58 005e B091 0000 lds r27,(actualPos+24)+3 59 0062 8083 st Z,r24 60 0064 9183 std Z+1,r25 61 0066 A283 std Z+2,r26 62 0068 B383 std Z+3,r27 63 006a E091 0000 lds r30,FilterPos 64 006e FF27 clr r31 65 0070 EE0F lsl r30 66 0072 FF1F rol r31 67 0074 EE0F lsl r30 68 0076 FF1F rol r31 69 0078 E050 subi r30,lo8(-(filter_east)) 70 007a F040 sbci r31,hi8(-(filter_east)) 71 007c 8091 0000 lds r24,actualPos+28 72 0080 9091 0000 lds r25,(actualPos+28)+1 73 0084 A091 0000 lds r26,(actualPos+28)+2 74 0088 B091 0000 lds r27,(actualPos+28)+3 75 008c 8083 st Z,r24 76 008e 9183 std Z+1,r25 77 0090 A283 std Z+2,r26 78 0092 B383 std Z+3,r27 79 0094 8091 0000 lds r24,FilterPos 80 0098 8F5F subi r24,lo8(-(1)) 81 009a 8093 0000 sts FilterPos,r24 82 009e 8091 0000 lds r24,FilterPos 83 00a2 8830 cpi r24,lo8(8) 84 00a4 01F4 brne .L4 85 00a6 1092 0000 sts FilterPos,__zero_reg__ 86 .L4: 87 00aa 8091 0000 lds r24,filterfilled 88 00ae 9091 0000 lds r25,(filterfilled)+1 89 00b2 0897 sbiw r24,8 90 00b4 04F4 brge .L6 91 00b6 8091 0000 lds r24,filterfilled 92 00ba 9091 0000 lds r25,(filterfilled)+1 93 00be 0196 adiw r24,1 94 00c0 9093 0000 sts (filterfilled)+1,r25 95 00c4 8093 0000 sts filterfilled,r24 96 .L6: 97 00c8 1092 0000 sts NORTH_LONG_LONG,__zero_reg__ 98 00cc 1092 0000 sts NORTH_LONG_LONG+1,__zero_reg__ 99 00d0 1092 0000 sts NORTH_LONG_LONG+2,__zero_reg__ 100 00d4 1092 0000 sts NORTH_LONG_LONG+3,__zero_reg__ 101 00d8 1092 0000 sts NORTH_LONG_LONG+4,__zero_reg__ 102 00dc 1092 0000 sts NORTH_LONG_LONG+5,__zero_reg__ 103 00e0 1092 0000 sts NORTH_LONG_LONG+6,__zero_reg__ 104 00e4 1092 0000 sts NORTH_LONG_LONG+7,__zero_reg__ 105 00e8 1092 0000 sts EAST_LONG_LONG,__zero_reg__ 106 00ec 1092 0000 sts EAST_LONG_LONG+1,__zero_reg__ 107 00f0 1092 0000 sts EAST_LONG_LONG+2,__zero_reg__ 108 00f4 1092 0000 sts EAST_LONG_LONG+3,__zero_reg__ 109 00f8 1092 0000 sts EAST_LONG_LONG+4,__zero_reg__ 110 00fc 1092 0000 sts EAST_LONG_LONG+5,__zero_reg__ 111 0100 1092 0000 sts EAST_LONG_LONG+6,__zero_reg__ 112 0104 1092 0000 sts EAST_LONG_LONG+7,__zero_reg__ 113 0108 1C82 std Y+4,__zero_reg__ 114 010a 1B82 std Y+3,__zero_reg__ 115 010c 80E0 ldi r24,lo8(filter_north) 116 010e 90E0 ldi r25,hi8(filter_north) 117 0110 9A83 std Y+2,r25 118 0112 8983 std Y+1,r24 119 0114 A0E0 ldi r26,lo8(filter_east) 120 0116 B0E0 ldi r27,hi8(filter_east) 121 0118 BF8F std Y+31,r27 122 011a AE8F std Y+30,r26 123 011c 00C0 rjmp .L8 124 .L9: 125 011e 2090 0000 lds r2,NORTH_LONG_LONG 126 0122 3090 0000 lds r3,NORTH_LONG_LONG+1 127 0126 4090 0000 lds r4,NORTH_LONG_LONG+2 128 012a 5090 0000 lds r5,NORTH_LONG_LONG+3 129 012e 6090 0000 lds r6,NORTH_LONG_LONG+4 130 0132 7090 0000 lds r7,NORTH_LONG_LONG+5 131 0136 8090 0000 lds r8,NORTH_LONG_LONG+6 132 013a 9090 0000 lds r9,NORTH_LONG_LONG+7 133 013e E981 ldd r30,Y+1 134 0140 FA81 ldd r31,Y+2 135 0142 2081 ld r18,Z 136 0144 3181 ldd r19,Z+1 137 0146 4281 ldd r20,Z+2 138 0148 5381 ldd r21,Z+3 139 014a DA01 movw r26,r20 140 014c C901 movw r24,r18 141 014e BB0F lsl r27 142 0150 880B sbc r24,r24 143 0152 982F mov r25,r24 144 0154 DC01 movw r26,r24 145 0156 2E87 std Y+14,r18 146 0158 3F87 std Y+15,r19 147 015a 488B std Y+16,r20 148 015c 598B std Y+17,r21 149 015e 8A8B std Y+18,r24 150 0160 8B8B std Y+19,r24 151 0162 8C8B std Y+20,r24 152 0164 8D8B std Y+21,r24 153 0166 AE84 ldd r10,Y+14 154 0168 A20C add r10,r2 155 016a 81E0 ldi r24,lo8(1) 156 016c A214 cp r10,r2 157 016e 00F0 brlo .L10 158 0170 80E0 ldi r24,lo8(0) 159 .L10: 160 0172 BF84 ldd r11,Y+15 161 0174 B30C add r11,r3 162 0176 21E0 ldi r18,lo8(1) 163 0178 B314 cp r11,r3 164 017a 00F0 brlo .L11 165 017c 20E0 ldi r18,lo8(0) 166 .L11: 167 017e 8B0D add r24,r11 168 0180 91E0 ldi r25,lo8(1) 169 0182 8B15 cp r24,r11 170 0184 00F0 brlo .L12 171 0186 90E0 ldi r25,lo8(0) 172 .L12: 173 0188 292B or r18,r25 174 018a B82E mov r11,r24 175 018c C888 ldd r12,Y+16 176 018e C40C add r12,r4 177 0190 31E0 ldi r19,lo8(1) 178 0192 C414 cp r12,r4 179 0194 00F0 brlo .L13 180 0196 30E0 ldi r19,lo8(0) 181 .L13: 182 0198 822F mov r24,r18 183 019a 8C0D add r24,r12 184 019c 91E0 ldi r25,lo8(1) 185 019e 8C15 cp r24,r12 186 01a0 00F0 brlo .L14 187 01a2 90E0 ldi r25,lo8(0) 188 .L14: 189 01a4 392B or r19,r25 190 01a6 C82E mov r12,r24 191 01a8 D988 ldd r13,Y+17 192 01aa D50C add r13,r5 193 01ac 21E0 ldi r18,lo8(1) 194 01ae D514 cp r13,r5 195 01b0 00F0 brlo .L15 196 01b2 20E0 ldi r18,lo8(0) 197 .L15: 198 01b4 832F mov r24,r19 199 01b6 8D0D add r24,r13 200 01b8 91E0 ldi r25,lo8(1) 201 01ba 8D15 cp r24,r13 202 01bc 00F0 brlo .L16 203 01be 90E0 ldi r25,lo8(0) 204 .L16: 205 01c0 292B or r18,r25 206 01c2 D82E mov r13,r24 207 01c4 EA88 ldd r14,Y+18 208 01c6 E60C add r14,r6 209 01c8 31E0 ldi r19,lo8(1) 210 01ca E614 cp r14,r6 211 01cc 00F0 brlo .L17 212 01ce 30E0 ldi r19,lo8(0) 213 .L17: 214 01d0 822F mov r24,r18 215 01d2 8E0D add r24,r14 216 01d4 91E0 ldi r25,lo8(1) 217 01d6 8E15 cp r24,r14 218 01d8 00F0 brlo .L18 219 01da 90E0 ldi r25,lo8(0) 220 .L18: 221 01dc 392B or r19,r25 222 01de E82E mov r14,r24 223 01e0 FB88 ldd r15,Y+19 224 01e2 F70C add r15,r7 225 01e4 21E0 ldi r18,lo8(1) 226 01e6 F714 cp r15,r7 227 01e8 00F0 brlo .L19 228 01ea 20E0 ldi r18,lo8(0) 229 .L19: 230 01ec 832F mov r24,r19 231 01ee 8F0D add r24,r15 232 01f0 91E0 ldi r25,lo8(1) 233 01f2 8F15 cp r24,r15 234 01f4 00F0 brlo .L20 235 01f6 90E0 ldi r25,lo8(0) 236 .L20: 237 01f8 292B or r18,r25 238 01fa F82E mov r15,r24 239 01fc 0C89 ldd r16,Y+20 240 01fe 080D add r16,r8 241 0200 91E0 ldi r25,lo8(1) 242 0202 0815 cp r16,r8 243 0204 00F0 brlo .L21 244 0206 90E0 ldi r25,lo8(0) 245 .L21: 246 0208 822F mov r24,r18 247 020a 800F add r24,r16 248 020c E1E0 ldi r30,lo8(1) 249 020e 8017 cp r24,r16 250 0210 00F0 brlo .L22 251 0212 E0E0 ldi r30,lo8(0) 252 .L22: 253 0214 AE2F mov r26,r30 254 0216 A92B or r26,r25 255 0218 1D89 ldd r17,Y+21 256 021a 190D add r17,r9 257 021c A10F add r26,r17 258 021e A092 0000 sts NORTH_LONG_LONG,r10 259 0222 B092 0000 sts NORTH_LONG_LONG+1,r11 260 0226 C092 0000 sts NORTH_LONG_LONG+2,r12 261 022a D092 0000 sts NORTH_LONG_LONG+3,r13 262 022e E092 0000 sts NORTH_LONG_LONG+4,r14 263 0232 F092 0000 sts NORTH_LONG_LONG+5,r15 264 0236 8093 0000 sts NORTH_LONG_LONG+6,r24 265 023a A093 0000 sts NORTH_LONG_LONG+7,r26 266 023e 2090 0000 lds r2,EAST_LONG_LONG 267 0242 3090 0000 lds r3,EAST_LONG_LONG+1 268 0246 4090 0000 lds r4,EAST_LONG_LONG+2 269 024a 5090 0000 lds r5,EAST_LONG_LONG+3 270 024e 6090 0000 lds r6,EAST_LONG_LONG+4 271 0252 7090 0000 lds r7,EAST_LONG_LONG+5 272 0256 8090 0000 lds r8,EAST_LONG_LONG+6 273 025a 9090 0000 lds r9,EAST_LONG_LONG+7 274 025e AE8D ldd r26,Y+30 275 0260 BF8D ldd r27,Y+31 276 0262 2D91 ld r18,X+ 277 0264 3D91 ld r19,X+ 278 0266 4D91 ld r20,X+ 279 0268 5C91 ld r21,X 280 026a DA01 movw r26,r20 281 026c C901 movw r24,r18 282 026e BB0F lsl r27 283 0270 880B sbc r24,r24 284 0272 982F mov r25,r24 285 0274 DC01 movw r26,r24 286 0276 2E8B std Y+22,r18 287 0278 3F8B std Y+23,r19 288 027a 488F std Y+24,r20 289 027c 598F std Y+25,r21 290 027e 8A8F std Y+26,r24 291 0280 8B8F std Y+27,r24 292 0282 8C8F std Y+28,r24 293 0284 8D8F std Y+29,r24 294 0286 AE88 ldd r10,Y+22 295 0288 A20C add r10,r2 296 028a 81E0 ldi r24,lo8(1) 297 028c A214 cp r10,r2 298 028e 00F0 brlo .L23 299 0290 80E0 ldi r24,lo8(0) 300 .L23: 301 0292 BF88 ldd r11,Y+23 302 0294 B30C add r11,r3 303 0296 21E0 ldi r18,lo8(1) 304 0298 B314 cp r11,r3 305 029a 00F0 brlo .L24 306 029c 20E0 ldi r18,lo8(0) 307 .L24: 308 029e 8B0D add r24,r11 309 02a0 91E0 ldi r25,lo8(1) 310 02a2 8B15 cp r24,r11 311 02a4 00F0 brlo .L25 312 02a6 90E0 ldi r25,lo8(0) 313 .L25: 314 02a8 292B or r18,r25 315 02aa B82E mov r11,r24 316 02ac C88C ldd r12,Y+24 317 02ae C40C add r12,r4 318 02b0 31E0 ldi r19,lo8(1) 319 02b2 C414 cp r12,r4 320 02b4 00F0 brlo .L26 321 02b6 30E0 ldi r19,lo8(0) 322 .L26: 323 02b8 822F mov r24,r18 324 02ba 8C0D add r24,r12 325 02bc 91E0 ldi r25,lo8(1) 326 02be 8C15 cp r24,r12 327 02c0 00F0 brlo .L27 328 02c2 90E0 ldi r25,lo8(0) 329 .L27: 330 02c4 392B or r19,r25 331 02c6 C82E mov r12,r24 332 02c8 D98C ldd r13,Y+25 333 02ca D50C add r13,r5 334 02cc 21E0 ldi r18,lo8(1) 335 02ce D514 cp r13,r5 336 02d0 00F0 brlo .L28 337 02d2 20E0 ldi r18,lo8(0) 338 .L28: 339 02d4 832F mov r24,r19 340 02d6 8D0D add r24,r13 341 02d8 91E0 ldi r25,lo8(1) 342 02da 8D15 cp r24,r13 343 02dc 00F0 brlo .L29 344 02de 90E0 ldi r25,lo8(0) 345 .L29: 346 02e0 292B or r18,r25 347 02e2 D82E mov r13,r24 348 02e4 EA8C ldd r14,Y+26 349 02e6 E60C add r14,r6 350 02e8 31E0 ldi r19,lo8(1) 351 02ea E614 cp r14,r6 352 02ec 00F0 brlo .L30 353 02ee 30E0 ldi r19,lo8(0) 354 .L30: 355 02f0 822F mov r24,r18 356 02f2 8E0D add r24,r14 357 02f4 91E0 ldi r25,lo8(1) 358 02f6 8E15 cp r24,r14 359 02f8 00F0 brlo .L31 360 02fa 90E0 ldi r25,lo8(0) 361 .L31: 362 02fc 392B or r19,r25 363 02fe E82E mov r14,r24 364 0300 FB8C ldd r15,Y+27 365 0302 F70C add r15,r7 366 0304 21E0 ldi r18,lo8(1) 367 0306 F714 cp r15,r7 368 0308 00F0 brlo .L32 369 030a 20E0 ldi r18,lo8(0) 370 .L32: 371 030c 832F mov r24,r19 372 030e 8F0D add r24,r15 373 0310 91E0 ldi r25,lo8(1) 374 0312 8F15 cp r24,r15 375 0314 00F0 brlo .L33 376 0316 90E0 ldi r25,lo8(0) 377 .L33: 378 0318 292B or r18,r25 379 031a F82E mov r15,r24 380 031c 0C8D ldd r16,Y+28 381 031e 080D add r16,r8 382 0320 91E0 ldi r25,lo8(1) 383 0322 0815 cp r16,r8 384 0324 00F0 brlo .L34 385 0326 90E0 ldi r25,lo8(0) 386 .L34: 387 0328 822F mov r24,r18 388 032a 800F add r24,r16 389 032c E1E0 ldi r30,lo8(1) 390 032e 8017 cp r24,r16 391 0330 00F0 brlo .L35 392 0332 E0E0 ldi r30,lo8(0) 393 .L35: 394 0334 AE2F mov r26,r30 395 0336 A92B or r26,r25 396 0338 1D8D ldd r17,Y+29 397 033a 190D add r17,r9 398 033c A10F add r26,r17 399 033e A092 0000 sts EAST_LONG_LONG,r10 400 0342 B092 0000 sts EAST_LONG_LONG+1,r11 401 0346 C092 0000 sts EAST_LONG_LONG+2,r12 402 034a D092 0000 sts EAST_LONG_LONG+3,r13 403 034e E092 0000 sts EAST_LONG_LONG+4,r14 404 0352 F092 0000 sts EAST_LONG_LONG+5,r15 405 0356 8093 0000 sts EAST_LONG_LONG+6,r24 406 035a A093 0000 sts EAST_LONG_LONG+7,r26 407 035e EB81 ldd r30,Y+3 408 0360 FC81 ldd r31,Y+4 409 0362 3196 adiw r30,1 410 0364 FC83 std Y+4,r31 411 0366 EB83 std Y+3,r30 412 0368 2981 ldd r18,Y+1 413 036a 3A81 ldd r19,Y+2 414 036c 2C5F subi r18,lo8(-(4)) 415 036e 3F4F sbci r19,hi8(-(4)) 416 0370 3A83 std Y+2,r19 417 0372 2983 std Y+1,r18 418 0374 8E8D ldd r24,Y+30 419 0376 9F8D ldd r25,Y+31 420 0378 0496 adiw r24,4 421 037a 9F8F std Y+31,r25 422 037c 8E8F std Y+30,r24 423 .L8: 424 037e 8091 0000 lds r24,filterfilled 425 0382 9091 0000 lds r25,(filterfilled)+1 426 0386 AB81 ldd r26,Y+3 427 0388 BC81 ldd r27,Y+4 428 038a A817 cp r26,r24 429 038c B907 cpc r27,r25 430 038e 04F4 brge .+2 431 0390 00C0 rjmp .L9 432 0392 2090 0000 lds r2,NORTH_LONG_LONG 433 0396 3090 0000 lds r3,NORTH_LONG_LONG+1 434 039a 4090 0000 lds r4,NORTH_LONG_LONG+2 435 039e 5090 0000 lds r5,NORTH_LONG_LONG+3 436 03a2 6090 0000 lds r6,NORTH_LONG_LONG+4 437 03a6 7090 0000 lds r7,NORTH_LONG_LONG+5 438 03aa 8090 0000 lds r8,NORTH_LONG_LONG+6 439 03ae 9090 0000 lds r9,NORTH_LONG_LONG+7 440 03b2 A091 0000 lds r26,filterfilled 441 03b6 B091 0000 lds r27,(filterfilled)+1 442 03ba FD01 movw r30,r26 443 03bc FF0F lsl r31 444 03be EE0B sbc r30,r30 445 03c0 FE2F mov r31,r30 446 03c2 9D01 movw r18,r26 447 03c4 AA2E mov r10,r26 448 03c6 B32E mov r11,r19 449 03c8 CE2E mov r12,r30 450 03ca DE2E mov r13,r30 451 03cc EE2E mov r14,r30 452 03ce FE2E mov r15,r30 453 03d0 0E2F mov r16,r30 454 03d2 1E2F mov r17,r30 455 03d4 222D mov r18,r2 456 03d6 332D mov r19,r3 457 03d8 442D mov r20,r4 458 03da 552D mov r21,r5 459 03dc 662D mov r22,r6 460 03de 772D mov r23,r7 461 03e0 882D mov r24,r8 462 03e2 992D mov r25,r9 463 03e4 0E94 0000 call __divdi3 464 03e8 2093 0000 sts NORTH_LONG_LONG,r18 465 03ec 3093 0000 sts NORTH_LONG_LONG+1,r19 466 03f0 4093 0000 sts NORTH_LONG_LONG+2,r20 467 03f4 5093 0000 sts NORTH_LONG_LONG+3,r21 468 03f8 6093 0000 sts NORTH_LONG_LONG+4,r22 469 03fc 7093 0000 sts NORTH_LONG_LONG+5,r23 470 0400 8093 0000 sts NORTH_LONG_LONG+6,r24 471 0404 9093 0000 sts NORTH_LONG_LONG+7,r25 472 0408 2090 0000 lds r2,EAST_LONG_LONG 473 040c 3090 0000 lds r3,EAST_LONG_LONG+1 474 0410 4090 0000 lds r4,EAST_LONG_LONG+2 475 0414 5090 0000 lds r5,EAST_LONG_LONG+3 476 0418 6090 0000 lds r6,EAST_LONG_LONG+4 477 041c 7090 0000 lds r7,EAST_LONG_LONG+5 478 0420 8090 0000 lds r8,EAST_LONG_LONG+6 479 0424 9090 0000 lds r9,EAST_LONG_LONG+7 480 0428 A091 0000 lds r26,filterfilled 481 042c B091 0000 lds r27,(filterfilled)+1 482 0430 FD01 movw r30,r26 483 0432 FF0F lsl r31 484 0434 EE0B sbc r30,r30 485 0436 FE2F mov r31,r30 486 0438 9D01 movw r18,r26 487 043a AA2E mov r10,r26 488 043c B32E mov r11,r19 489 043e CE2E mov r12,r30 490 0440 DE2E mov r13,r30 491 0442 EE2E mov r14,r30 492 0444 FE2E mov r15,r30 493 0446 0E2F mov r16,r30 494 0448 1E2F mov r17,r30 495 044a 222D mov r18,r2 496 044c 332D mov r19,r3 497 044e 442D mov r20,r4 498 0450 552D mov r21,r5 499 0452 662D mov r22,r6 500 0454 772D mov r23,r7 501 0456 882D mov r24,r8 502 0458 992D mov r25,r9 503 045a 0E94 0000 call __divdi3 504 045e 2093 0000 sts EAST_LONG_LONG,r18 505 0462 3093 0000 sts EAST_LONG_LONG+1,r19 506 0466 4093 0000 sts EAST_LONG_LONG+2,r20 507 046a 5093 0000 sts EAST_LONG_LONG+3,r21 508 046e 6093 0000 sts EAST_LONG_LONG+4,r22 509 0472 7093 0000 sts EAST_LONG_LONG+5,r23 510 0476 8093 0000 sts EAST_LONG_LONG+6,r24 511 047a 9093 0000 sts EAST_LONG_LONG+7,r25 512 047e 2091 0000 lds r18,NORTH_LONG_LONG 513 0482 3091 0000 lds r19,NORTH_LONG_LONG+1 514 0486 4091 0000 lds r20,NORTH_LONG_LONG+2 515 048a 5091 0000 lds r21,NORTH_LONG_LONG+3 516 048e 6091 0000 lds r22,NORTH_LONG_LONG+4 517 0492 7091 0000 lds r23,NORTH_LONG_LONG+5 518 0496 8091 0000 lds r24,NORTH_LONG_LONG+6 519 049a 9091 0000 lds r25,NORTH_LONG_LONG+7 520 049e 2093 0000 sts NORTH_MITTEL,r18 521 04a2 3093 0000 sts (NORTH_MITTEL)+1,r19 522 04a6 4093 0000 sts (NORTH_MITTEL)+2,r20 523 04aa 5093 0000 sts (NORTH_MITTEL)+3,r21 524 04ae 2091 0000 lds r18,EAST_LONG_LONG 525 04b2 3091 0000 lds r19,EAST_LONG_LONG+1 526 04b6 4091 0000 lds r20,EAST_LONG_LONG+2 527 04ba 5091 0000 lds r21,EAST_LONG_LONG+3 528 04be 6091 0000 lds r22,EAST_LONG_LONG+4 529 04c2 7091 0000 lds r23,EAST_LONG_LONG+5 530 04c6 8091 0000 lds r24,EAST_LONG_LONG+6 531 04ca 9091 0000 lds r25,EAST_LONG_LONG+7 532 04ce 2093 0000 sts EAST_MITTEL,r18 533 04d2 3093 0000 sts (EAST_MITTEL)+1,r19 534 04d6 4093 0000 sts (EAST_MITTEL)+2,r20 535 04da 5093 0000 sts (EAST_MITTEL)+3,r21 536 04de 81E0 ldi r24,lo8(1) 537 04e0 8093 0000 sts NeuerMittelwert,r24 538 04e4 2091 0000 lds r18,MotorenEin 539 04e8 2130 cpi r18,lo8(1) 540 04ea 01F0 breq .+2 541 04ec 00C0 rjmp .L38 542 04ee 00C0 rjmp .L37 543 .L2: 544 04f0 BD85 ldd r27,Y+13 545 04f2 B330 cpi r27,lo8(3) 546 04f4 00F0 brlo .+2 547 04f6 00C0 rjmp .L38 548 04f8 8091 0000 lds r24,Poti3 549 04fc 9091 0000 lds r25,(Poti3)+1 550 0500 8734 cpi r24,71 551 0502 9105 cpc r25,__zero_reg__ 552 0504 04F4 brge .+2 553 0506 00C0 rjmp .L38 554 0508 1092 0000 sts (GPS_Nick)+1,__zero_reg__ 555 050c 1092 0000 sts GPS_Nick,__zero_reg__ 556 0510 1092 0000 sts (GPS_Roll)+1,__zero_reg__ 557 0514 1092 0000 sts GPS_Roll,__zero_reg__ 558 0518 4398 cbi 40-0x20,3 559 051a 82E3 ldi r24,lo8(50) 560 051c 90E0 ldi r25,hi8(50) 561 051e 9093 0000 sts (beeptime)+1,r25 562 0522 8093 0000 sts beeptime,r24 563 0526 00C0 rjmp .L38 564 .L37: 565 0528 8091 0000 lds r24,gethome 566 052c 8823 tst r24 567 052e 01F0 breq .+2 568 0530 00C0 rjmp .L41 569 0532 8091 0000 lds r24,modell_fliegt_gps 570 0536 9091 0000 lds r25,(modell_fliegt_gps)+1 571 053a 805D subi r24,lo8(2000) 572 053c 9740 sbci r25,hi8(2000) 573 053e 00F0 brlo .+2 574 0540 00C0 rjmp .L41 575 0542 8091 0000 lds r24,NORTH_MITTEL 576 0546 9091 0000 lds r25,(NORTH_MITTEL)+1 577 054a A091 0000 lds r26,(NORTH_MITTEL)+2 578 054e B091 0000 lds r27,(NORTH_MITTEL)+3 579 0552 8093 0000 sts GPS_Home_North,r24 580 0556 9093 0000 sts (GPS_Home_North)+1,r25 581 055a A093 0000 sts (GPS_Home_North)+2,r26 582 055e B093 0000 sts (GPS_Home_North)+3,r27 583 0562 8091 0000 lds r24,EAST_MITTEL 584 0566 9091 0000 lds r25,(EAST_MITTEL)+1 585 056a A091 0000 lds r26,(EAST_MITTEL)+2 586 056e B091 0000 lds r27,(EAST_MITTEL)+3 587 0572 8093 0000 sts GPS_Home_East,r24 588 0576 9093 0000 sts (GPS_Home_East)+1,r25 589 057a A093 0000 sts (GPS_Home_East)+2,r26 590 057e B093 0000 sts (GPS_Home_East)+3,r27 591 0582 8091 0000 lds r24,NORTH_MITTEL 592 0586 9091 0000 lds r25,(NORTH_MITTEL)+1 593 058a A091 0000 lds r26,(NORTH_MITTEL)+2 594 058e B091 0000 lds r27,(NORTH_MITTEL)+3 595 0592 8093 0000 sts Soll_Position_North,r24 596 0596 9093 0000 sts (Soll_Position_North)+1,r25 597 059a A093 0000 sts (Soll_Position_North)+2,r26 598 059e B093 0000 sts (Soll_Position_North)+3,r27 599 05a2 8091 0000 lds r24,EAST_MITTEL 600 05a6 9091 0000 lds r25,(EAST_MITTEL)+1 601 05aa A091 0000 lds r26,(EAST_MITTEL)+2 602 05ae B091 0000 lds r27,(EAST_MITTEL)+3 603 05b2 8093 0000 sts Soll_Position_East,r24 604 05b6 9093 0000 sts (Soll_Position_East)+1,r25 605 05ba A093 0000 sts (Soll_Position_East)+2,r26 606 05be B093 0000 sts (Soll_Position_East)+3,r27 607 05c2 82E3 ldi r24,lo8(50) 608 05c4 90E0 ldi r25,hi8(50) 609 05c6 9093 0000 sts (beeptime)+1,r25 610 05ca 8093 0000 sts beeptime,r24 611 05ce 2093 0000 sts gethome,r18 612 05d2 00C0 rjmp .L41 613 .L38: 614 05d4 8091 0000 lds r24,MotorenEin 615 05d8 8823 tst r24 616 05da 01F4 brne .L41 617 05dc 1092 0000 sts GPS_Home_North,__zero_reg__ 618 05e0 1092 0000 sts (GPS_Home_North)+1,__zero_reg__ 619 05e4 1092 0000 sts (GPS_Home_North)+2,__zero_reg__ 620 05e8 1092 0000 sts (GPS_Home_North)+3,__zero_reg__ 621 05ec 1092 0000 sts GPS_Home_East,__zero_reg__ 622 05f0 1092 0000 sts (GPS_Home_East)+1,__zero_reg__ 623 05f4 1092 0000 sts (GPS_Home_East)+2,__zero_reg__ 624 05f8 1092 0000 sts (GPS_Home_East)+3,__zero_reg__ 625 05fc 1092 0000 sts gethome,__zero_reg__ 626 0600 1092 0000 sts (modell_fliegt_gps)+1,__zero_reg__ 627 0604 1092 0000 sts modell_fliegt_gps,__zero_reg__ 628 .L41: 629 0608 2091 0000 lds r18,Poti3 630 060c 3091 0000 lds r19,(Poti3)+1 631 0610 3F8F std Y+31,r19 632 0612 2E8F std Y+30,r18 633 0614 2634 cpi r18,70 634 0616 3105 cpc r19,__zero_reg__ 635 0618 04F4 brge .L45 636 061a 8091 0000 lds r24,NORTH_MITTEL 637 061e 9091 0000 lds r25,(NORTH_MITTEL)+1 638 0622 A091 0000 lds r26,(NORTH_MITTEL)+2 639 0626 B091 0000 lds r27,(NORTH_MITTEL)+3 640 062a 8093 0000 sts Soll_Position_North,r24 641 062e 9093 0000 sts (Soll_Position_North)+1,r25 642 0632 A093 0000 sts (Soll_Position_North)+2,r26 643 0636 B093 0000 sts (Soll_Position_North)+3,r27 644 063a 8091 0000 lds r24,EAST_MITTEL 645 063e 9091 0000 lds r25,(EAST_MITTEL)+1 646 0642 A091 0000 lds r26,(EAST_MITTEL)+2 647 0646 B091 0000 lds r27,(EAST_MITTEL)+3 648 064a 8093 0000 sts Soll_Position_East,r24 649 064e 9093 0000 sts (Soll_Position_East)+1,r25 650 0652 A093 0000 sts (Soll_Position_East)+2,r26 651 0656 B093 0000 sts (Soll_Position_East)+3,r27 652 065a 1092 0000 sts (GPS_Nick)+1,__zero_reg__ 653 065e 1092 0000 sts GPS_Nick,__zero_reg__ 654 0662 1092 0000 sts (GPS_Roll)+1,__zero_reg__ 655 0666 1092 0000 sts GPS_Roll,__zero_reg__ 656 066a 4398 cbi 40-0x20,3 657 .L45: 658 066c 3D85 ldd r19,Y+13 659 066e 3330 cpi r19,lo8(3) 660 0670 01F0 breq .+2 661 0672 00C0 rjmp .L94 662 0674 8E8D ldd r24,Y+30 663 0676 9F8D ldd r25,Y+31 664 0678 8734 cpi r24,71 665 067a 9105 cpc r25,__zero_reg__ 666 067c 04F4 brge .+2 667 067e 00C0 rjmp .L94 668 0680 8639 cpi r24,150 669 0682 9105 cpc r25,__zero_reg__ 670 0684 04F0 brlt .+2 671 0686 00C0 rjmp .L50 672 0688 8091 0000 lds r24,StickNick 673 068c 9091 0000 lds r25,(StickNick)+1 674 0690 0C96 adiw r24,12 675 0692 4997 sbiw r24,25 676 0694 00F4 brsh .L52 677 0696 8091 0000 lds r24,StickRoll 678 069a 9091 0000 lds r25,(StickRoll)+1 679 069e 8D30 cpi r24,13 680 06a0 9105 cpc r25,__zero_reg__ 681 06a2 04F4 brge .L52 682 06a4 845F subi r24,lo8(-12) 683 06a6 9F4F sbci r25,hi8(-12) 684 06a8 04F4 brge .L50 685 .L52: 686 06aa 1092 0000 sts (GPS_Nick)+1,__zero_reg__ 687 06ae 1092 0000 sts GPS_Nick,__zero_reg__ 688 06b2 1092 0000 sts (GPS_Roll)+1,__zero_reg__ 689 06b6 1092 0000 sts GPS_Roll,__zero_reg__ 690 06ba 8091 0000 lds r24,NORTH_MITTEL 691 06be 9091 0000 lds r25,(NORTH_MITTEL)+1 692 06c2 A091 0000 lds r26,(NORTH_MITTEL)+2 693 06c6 B091 0000 lds r27,(NORTH_MITTEL)+3 694 06ca 8093 0000 sts Soll_Position_North,r24 695 06ce 9093 0000 sts (Soll_Position_North)+1,r25 696 06d2 A093 0000 sts (Soll_Position_North)+2,r26 697 06d6 B093 0000 sts (Soll_Position_North)+3,r27 698 06da 8091 0000 lds r24,EAST_MITTEL 699 06de 9091 0000 lds r25,(EAST_MITTEL)+1 700 06e2 A091 0000 lds r26,(EAST_MITTEL)+2 701 06e6 B091 0000 lds r27,(EAST_MITTEL)+3 702 06ea 8093 0000 sts Soll_Position_East,r24 703 06ee 9093 0000 sts (Soll_Position_East)+1,r25 704 06f2 A093 0000 sts (Soll_Position_East)+2,r26 705 06f6 B093 0000 sts (Soll_Position_East)+3,r27 706 06fa 8091 0000 lds r24,blinkcount_LED2 707 06fe 883C cpi r24,lo8(-56) 708 0700 00F0 brlo .L55 709 0702 88B1 in r24,40-0x20 710 0704 98E0 ldi r25,lo8(8) 711 0706 8927 eor r24,r25 712 0708 88B9 out 40-0x20,r24 713 070a 1092 0000 sts blinkcount_LED2,__zero_reg__ 714 .L55: 715 070e 8091 0000 lds r24,blinkcount_LED2 716 0712 8F5F subi r24,lo8(-(1)) 717 0714 8093 0000 sts blinkcount_LED2,r24 718 .L50: 719 0718 8091 0000 lds r24,NeuerMittelwert 720 071c 8130 cpi r24,lo8(1) 721 071e 01F0 breq .+2 722 0720 00C0 rjmp .L94 723 0722 E090 0000 lds r14,Soll_Position_North 724 0726 F090 0000 lds r15,(Soll_Position_North)+1 725 072a 0091 0000 lds r16,(Soll_Position_North)+2 726 072e 1091 0000 lds r17,(Soll_Position_North)+3 727 0732 E114 cp r14,__zero_reg__ 728 0734 F104 cpc r15,__zero_reg__ 729 0736 0105 cpc r16,__zero_reg__ 730 0738 1105 cpc r17,__zero_reg__ 731 073a 01F4 brne .+2 732 073c 00C0 rjmp .L94 733 073e A090 0000 lds r10,Soll_Position_East 734 0742 B090 0000 lds r11,(Soll_Position_East)+1 735 0746 C090 0000 lds r12,(Soll_Position_East)+2 736 074a D090 0000 lds r13,(Soll_Position_East)+3 737 074e A114 cp r10,__zero_reg__ 738 0750 B104 cpc r11,__zero_reg__ 739 0752 C104 cpc r12,__zero_reg__ 740 0754 D104 cpc r13,__zero_reg__ 741 0756 01F4 brne .+2 742 0758 00C0 rjmp .L94 743 075a 8091 0000 lds r24,StickNick 744 075e 9091 0000 lds r25,(StickNick)+1 745 0762 8D30 cpi r24,13 746 0764 9105 cpc r25,__zero_reg__ 747 0766 04F0 brlt .+2 748 0768 00C0 rjmp .L94 749 076a 845F subi r24,lo8(-12) 750 076c 9F4F sbci r25,hi8(-12) 751 076e 04F4 brge .+2 752 0770 00C0 rjmp .L94 753 0772 8091 0000 lds r24,StickRoll 754 0776 9091 0000 lds r25,(StickRoll)+1 755 077a 8D30 cpi r24,13 756 077c 9105 cpc r25,__zero_reg__ 757 077e 04F0 brlt .+2 758 0780 00C0 rjmp .L94 759 0782 845F subi r24,lo8(-12) 760 0784 9F4F sbci r25,hi8(-12) 761 0786 04F4 brge .+2 762 0788 00C0 rjmp .L94 763 078a 2E8D ldd r18,Y+30 764 078c 3F8D ldd r19,Y+31 765 078e 2639 cpi r18,150 766 0790 3105 cpc r19,__zero_reg__ 767 0792 04F0 brlt .+2 768 0794 00C0 rjmp .L64 769 0796 8091 0000 lds r24,NORTH_MITTEL 770 079a 9091 0000 lds r25,(NORTH_MITTEL)+1 771 079e A091 0000 lds r26,(NORTH_MITTEL)+2 772 07a2 B091 0000 lds r27,(NORTH_MITTEL)+3 773 07a6 E81A sub r14,r24 774 07a8 F90A sbc r15,r25 775 07aa 0A0B sbc r16,r26 776 07ac 1B0B sbc r17,r27 777 07ae E092 0000 sts GPS_Positionsabweichung_North,r14 778 07b2 F092 0000 sts (GPS_Positionsabweichung_North)+1,r15 779 07b6 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16 780 07ba 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17 781 07be 8091 0000 lds r24,EAST_MITTEL 782 07c2 9091 0000 lds r25,(EAST_MITTEL)+1 783 07c6 A091 0000 lds r26,(EAST_MITTEL)+2 784 07ca B091 0000 lds r27,(EAST_MITTEL)+3 785 07ce A81A sub r10,r24 786 07d0 B90A sbc r11,r25 787 07d2 CA0A sbc r12,r26 788 07d4 DB0A sbc r13,r27 789 07d6 A092 0000 sts GPS_Positionsabweichung_East,r10 790 07da B092 0000 sts (GPS_Positionsabweichung_East)+1,r11 791 07de C092 0000 sts (GPS_Positionsabweichung_East)+2,r12 792 07e2 D092 0000 sts (GPS_Positionsabweichung_East)+3,r13 793 07e6 00C0 rjmp .L96 794 .L67: 795 07e8 E090 0000 lds r14,GPS_Home_East 796 07ec F090 0000 lds r15,(GPS_Home_East)+1 797 07f0 0091 0000 lds r16,(GPS_Home_East)+2 798 07f4 1091 0000 lds r17,(GPS_Home_East)+3 799 07f8 E114 cp r14,__zero_reg__ 800 07fa F104 cpc r15,__zero_reg__ 801 07fc 0105 cpc r16,__zero_reg__ 802 07fe 1105 cpc r17,__zero_reg__ 803 0800 01F4 brne .+2 804 0802 00C0 rjmp .L66 805 0804 8091 0000 lds r24,NORTH_MITTEL 806 0808 9091 0000 lds r25,(NORTH_MITTEL)+1 807 080c A091 0000 lds r26,(NORTH_MITTEL)+2 808 0810 B091 0000 lds r27,(NORTH_MITTEL)+3 809 0814 281B sub r18,r24 810 0816 390B sbc r19,r25 811 0818 4A0B sbc r20,r26 812 081a 5B0B sbc r21,r27 813 081c 2093 0000 sts GPS_Positionsabweichung_North,r18 814 0820 3093 0000 sts (GPS_Positionsabweichung_North)+1,r19 815 0824 4093 0000 sts (GPS_Positionsabweichung_North)+2,r20 816 0828 5093 0000 sts (GPS_Positionsabweichung_North)+3,r21 817 082c 8091 0000 lds r24,EAST_MITTEL 818 0830 9091 0000 lds r25,(EAST_MITTEL)+1 819 0834 A091 0000 lds r26,(EAST_MITTEL)+2 820 0838 B091 0000 lds r27,(EAST_MITTEL)+3 821 083c E81A sub r14,r24 822 083e F90A sbc r15,r25 823 0840 0A0B sbc r16,r26 824 0842 1B0B sbc r17,r27 825 0844 E092 0000 sts GPS_Positionsabweichung_East,r14 826 0848 F092 0000 sts (GPS_Positionsabweichung_East)+1,r15 827 084c 0093 0000 sts (GPS_Positionsabweichung_East)+2,r16 828 0850 1093 0000 sts (GPS_Positionsabweichung_East)+3,r17 829 0854 8091 0000 lds r24,NORTH_MITTEL 830 0858 9091 0000 lds r25,(NORTH_MITTEL)+1 831 085c A091 0000 lds r26,(NORTH_MITTEL)+2 832 0860 B091 0000 lds r27,(NORTH_MITTEL)+3 833 0864 8093 0000 sts Soll_Position_North,r24 834 0868 9093 0000 sts (Soll_Position_North)+1,r25 835 086c A093 0000 sts (Soll_Position_North)+2,r26 836 0870 B093 0000 sts (Soll_Position_North)+3,r27 837 0874 8091 0000 lds r24,EAST_MITTEL 838 0878 9091 0000 lds r25,(EAST_MITTEL)+1 839 087c A091 0000 lds r26,(EAST_MITTEL)+2 840 0880 B091 0000 lds r27,(EAST_MITTEL)+3 841 0884 8093 0000 sts Soll_Position_East,r24 842 0888 9093 0000 sts (Soll_Position_East)+1,r25 843 088c A093 0000 sts (Soll_Position_East)+2,r26 844 0890 B093 0000 sts (Soll_Position_East)+3,r27 845 .L96: 846 0894 439A sbi 40-0x20,3 847 0896 00C0 rjmp .L66 848 .L95: 849 0898 8091 0000 lds r24,GPS_Home_East 850 089c 9091 0000 lds r25,(GPS_Home_East)+1 851 08a0 A091 0000 lds r26,(GPS_Home_East)+2 852 08a4 B091 0000 lds r27,(GPS_Home_East)+3 853 08a8 0097 sbiw r24,0 854 08aa A105 cpc r26,__zero_reg__ 855 08ac B105 cpc r27,__zero_reg__ 856 08ae 01F4 brne .L66 857 08b0 8091 0000 lds r24,NORTH_MITTEL 858 08b4 9091 0000 lds r25,(NORTH_MITTEL)+1 859 08b8 A091 0000 lds r26,(NORTH_MITTEL)+2 860 08bc B091 0000 lds r27,(NORTH_MITTEL)+3 861 08c0 E81A sub r14,r24 862 08c2 F90A sbc r15,r25 863 08c4 0A0B sbc r16,r26 864 08c6 1B0B sbc r17,r27 865 08c8 E092 0000 sts GPS_Positionsabweichung_North,r14 866 08cc F092 0000 sts (GPS_Positionsabweichung_North)+1,r15 867 08d0 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16 868 08d4 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17 869 08d8 8091 0000 lds r24,EAST_MITTEL 870 08dc 9091 0000 lds r25,(EAST_MITTEL)+1 871 08e0 A091 0000 lds r26,(EAST_MITTEL)+2 872 08e4 B091 0000 lds r27,(EAST_MITTEL)+3 873 08e8 A81A sub r10,r24 874 08ea B90A sbc r11,r25 875 08ec CA0A sbc r12,r26 876 08ee DB0A sbc r13,r27 877 08f0 A092 0000 sts GPS_Positionsabweichung_East,r10 878 08f4 B092 0000 sts (GPS_Positionsabweichung_East)+1,r11 879 08f8 C092 0000 sts (GPS_Positionsabweichung_East)+2,r12 880 08fc D092 0000 sts (GPS_Positionsabweichung_East)+3,r13 881 0900 439A sbi 40-0x20,3 882 0902 82E3 ldi r24,lo8(50) 883 0904 90E0 ldi r25,hi8(50) 884 0906 9093 0000 sts (beeptime)+1,r25 885 090a 8093 0000 sts beeptime,r24 886 .L66: 887 090e E090 0000 lds r14,actualPos+36 888 0912 F090 0000 lds r15,(actualPos+36)+1 889 0916 0091 0000 lds r16,(actualPos+36)+2 890 091a 1091 0000 lds r17,(actualPos+36)+3 891 091e E092 0000 sts GPS_Geschwindigkeit_North,r14 892 0922 F092 0000 sts (GPS_Geschwindigkeit_North)+1,r15 893 0926 0093 0000 sts (GPS_Geschwindigkeit_North)+2,r16 894 092a 1093 0000 sts (GPS_Geschwindigkeit_North)+3,r17 895 092e A090 0000 lds r10,actualPos+40 896 0932 B090 0000 lds r11,(actualPos+40)+1 897 0936 C090 0000 lds r12,(actualPos+40)+2 898 093a D090 0000 lds r13,(actualPos+40)+3 899 093e A092 0000 sts GPS_Geschwindigkeit_East,r10 900 0942 B092 0000 sts (GPS_Geschwindigkeit_East)+1,r11 901 0946 C092 0000 sts (GPS_Geschwindigkeit_East)+2,r12 902 094a D092 0000 sts (GPS_Geschwindigkeit_East)+3,r13 903 094e 6091 0000 lds r22,P_GPS_Verstaerkung 904 0952 7091 0000 lds r23,(P_GPS_Verstaerkung)+1 905 0956 6090 0000 lds r6,GPS_Positionsabweichung_North 906 095a 7090 0000 lds r7,(GPS_Positionsabweichung_North)+1 907 095e 8090 0000 lds r8,(GPS_Positionsabweichung_North)+2 908 0962 9090 0000 lds r9,(GPS_Positionsabweichung_North)+3 909 0966 8827 clr r24 910 0968 77FD sbrc r23,7 911 096a 8095 com r24 912 096c 982F mov r25,r24 913 096e A401 movw r20,r8 914 0970 9301 movw r18,r6 915 0972 0E94 0000 call __mulsi3 916 0976 0E94 0000 call __floatsisf 917 097a 2FE6 ldi r18,lo8(0x3a03126f) 918 097c 32E1 ldi r19,hi8(0x3a03126f) 919 097e 43E0 ldi r20,hlo8(0x3a03126f) 920 0980 5AE3 ldi r21,hhi8(0x3a03126f) 921 0982 0E94 0000 call __mulsf3 922 0986 0E94 0000 call __fixsfsi 923 098a 6987 std Y+9,r22 924 098c 7A87 std Y+10,r23 925 098e 8B87 std Y+11,r24 926 0990 9C87 std Y+12,r25 927 0992 6093 0000 sts P_Einfluss_North,r22 928 0996 7093 0000 sts (P_Einfluss_North)+1,r23 929 099a 8093 0000 sts (P_Einfluss_North)+2,r24 930 099e 9093 0000 sts (P_Einfluss_North)+3,r25 931 09a2 6091 0000 lds r22,D_GPS_Verstaerkung 932 09a6 7091 0000 lds r23,(D_GPS_Verstaerkung)+1 933 09aa 8827 clr r24 934 09ac 77FD sbrc r23,7 935 09ae 8095 com r24 936 09b0 982F mov r25,r24 937 09b2 A801 movw r20,r16 938 09b4 9701 movw r18,r14 939 09b6 0E94 0000 call __mulsi3 940 09ba 0E94 0000 call __floatsisf 941 09be 21E2 ldi r18,lo8(0x3b5a3c21) 942 09c0 3CE3 ldi r19,hi8(0x3b5a3c21) 943 09c2 4AE5 ldi r20,hlo8(0x3b5a3c21) 944 09c4 5BE3 ldi r21,hhi8(0x3b5a3c21) 945 09c6 0E94 0000 call __mulsf3 946 09ca 0E94 0000 call __fixsfsi 947 09ce 1B01 movw r2,r22 948 09d0 2C01 movw r4,r24 949 09d2 6093 0000 sts D_Einfluss_North,r22 950 09d6 7093 0000 sts (D_Einfluss_North)+1,r23 951 09da 8093 0000 sts (D_Einfluss_North)+2,r24 952 09de 9093 0000 sts (D_Einfluss_North)+3,r25 953 09e2 6091 0000 lds r22,P_GPS_Verstaerkung 954 09e6 7091 0000 lds r23,(P_GPS_Verstaerkung)+1 955 09ea E090 0000 lds r14,GPS_Positionsabweichung_East 956 09ee F090 0000 lds r15,(GPS_Positionsabweichung_East)+1 957 09f2 0091 0000 lds r16,(GPS_Positionsabweichung_East)+2 958 09f6 1091 0000 lds r17,(GPS_Positionsabweichung_East)+3 959 09fa 8827 clr r24 960 09fc 77FD sbrc r23,7 961 09fe 8095 com r24 962 0a00 982F mov r25,r24 963 0a02 A801 movw r20,r16 964 0a04 9701 movw r18,r14 965 0a06 0E94 0000 call __mulsi3 966 0a0a 0E94 0000 call __floatsisf 967 0a0e 2FE6 ldi r18,lo8(0x3a03126f) 968 0a10 32E1 ldi r19,hi8(0x3a03126f) 969 0a12 43E0 ldi r20,hlo8(0x3a03126f) 970 0a14 5AE3 ldi r21,hhi8(0x3a03126f) 971 0a16 0E94 0000 call __mulsf3 972 0a1a 0E94 0000 call __fixsfsi 973 0a1e 6D83 std Y+5,r22 974 0a20 7E83 std Y+6,r23 975 0a22 8F83 std Y+7,r24 976 0a24 9887 std Y+8,r25 977 0a26 6093 0000 sts P_Einfluss_East,r22 978 0a2a 7093 0000 sts (P_Einfluss_East)+1,r23 979 0a2e 8093 0000 sts (P_Einfluss_East)+2,r24 980 0a32 9093 0000 sts (P_Einfluss_East)+3,r25 981 0a36 6091 0000 lds r22,D_GPS_Verstaerkung 982 0a3a 7091 0000 lds r23,(D_GPS_Verstaerkung)+1 983 0a3e 8827 clr r24 984 0a40 77FD sbrc r23,7 985 0a42 8095 com r24 986 0a44 982F mov r25,r24 987 0a46 A601 movw r20,r12 988 0a48 9501 movw r18,r10 989 0a4a 0E94 0000 call __mulsi3 990 0a4e 0E94 0000 call __floatsisf 991 0a52 21E2 ldi r18,lo8(0x3b5a3c21) 992 0a54 3CE3 ldi r19,hi8(0x3b5a3c21) 993 0a56 4AE5 ldi r20,hlo8(0x3b5a3c21) 994 0a58 5BE3 ldi r21,hhi8(0x3b5a3c21) 995 0a5a 0E94 0000 call __mulsf3 996 0a5e 0E94 0000 call __fixsfsi 997 0a62 5B01 movw r10,r22 998 0a64 6C01 movw r12,r24 999 0a66 6093 0000 sts D_Einfluss_East,r22 1000 0a6a 7093 0000 sts (D_Einfluss_East)+1,r23 1001 0a6e 8093 0000 sts (D_Einfluss_East)+2,r24 1002 0a72 9093 0000 sts (D_Einfluss_East)+3,r25 1003 0a76 8E8D ldd r24,Y+30 1004 0a78 9F8D ldd r25,Y+31 1005 0a7a 8639 cpi r24,150 1006 0a7c 9105 cpc r25,__zero_reg__ 1007 0a7e 04F4 brge .+2 1008 0a80 00C0 rjmp .L71 1009 0a82 8091 0000 lds r24,GPS_Home_North 1010 0a86 9091 0000 lds r25,(GPS_Home_North)+1 1011 0a8a A091 0000 lds r26,(GPS_Home_North)+2 1012 0a8e B091 0000 lds r27,(GPS_Home_North)+3 1013 0a92 0097 sbiw r24,0 1014 0a94 A105 cpc r26,__zero_reg__ 1015 0a96 B105 cpc r27,__zero_reg__ 1016 0a98 01F4 brne .+2 1017 0a9a 00C0 rjmp .L71 1018 0a9c 8091 0000 lds r24,GPS_Home_East 1019 0aa0 9091 0000 lds r25,(GPS_Home_East)+1 1020 0aa4 A091 0000 lds r26,(GPS_Home_East)+2 1021 0aa8 B091 0000 lds r27,(GPS_Home_East)+3 1022 0aac 0097 sbiw r24,0 1023 0aae A105 cpc r26,__zero_reg__ 1024 0ab0 B105 cpc r27,__zero_reg__ 1025 0ab2 01F4 brne .+2 1026 0ab4 00C0 rjmp .L71 1027 0ab6 C301 movw r24,r6 1028 0ab8 77FE sbrs r7,7 1029 0aba 00C0 rjmp .L76 1030 0abc 9095 com r25 1031 0abe 8195 neg r24 1032 0ac0 9F4F sbci r25,lo8(-1) 1033 .L76: 1034 0ac2 8B3F cpi r24,251 1035 0ac4 9105 cpc r25,__zero_reg__ 1036 0ac6 04F4 brge .L75 1037 0ac8 C701 movw r24,r14 1038 0aca F7FE sbrs r15,7 1039 0acc 00C0 rjmp .L78 1040 0ace 9095 com r25 1041 0ad0 8195 neg r24 1042 0ad2 9F4F sbci r25,lo8(-1) 1043 .L78: 1044 0ad4 8B3F cpi r24,251 1045 0ad6 9105 cpc r25,__zero_reg__ 1046 0ad8 04F4 brge .+2 1047 0ada 00C0 rjmp .L71 1048 .L75: 1049 0adc 8091 0000 lds r24,Limit_D_Anteil 1050 0ae0 282F mov r18,r24 1051 0ae2 3327 clr r19 1052 0ae4 4427 clr r20 1053 0ae6 5527 clr r21 1054 0ae8 2215 cp r18,r2 1055 0aea 3305 cpc r19,r3 1056 0aec 4405 cpc r20,r4 1057 0aee 5505 cpc r21,r5 1058 0af0 04F4 brge .L79 1059 0af2 2093 0000 sts D_Einfluss_North,r18 1060 0af6 3093 0000 sts (D_Einfluss_North)+1,r19 1061 0afa 4093 0000 sts (D_Einfluss_North)+2,r20 1062 0afe 5093 0000 sts (D_Einfluss_North)+3,r21 1063 .L79: 1064 0b02 2A15 cp r18,r10 1065 0b04 3B05 cpc r19,r11 1066 0b06 4C05 cpc r20,r12 1067 0b08 5D05 cpc r21,r13 1068 0b0a 04F4 brge .L81 1069 0b0c 2093 0000 sts D_Einfluss_East,r18 1070 0b10 3093 0000 sts (D_Einfluss_East)+1,r19 1071 0b14 4093 0000 sts (D_Einfluss_East)+2,r20 1072 0b18 5093 0000 sts (D_Einfluss_East)+3,r21 1073 .L81: 1074 0b1c 9927 clr r25 1075 0b1e 9095 com r25 1076 0b20 8195 neg r24 1077 0b22 9F4F sbci r25,lo8(-1) 1078 0b24 9C01 movw r18,r24 1079 0b26 4427 clr r20 1080 0b28 37FD sbrc r19,7 1081 0b2a 4095 com r20 1082 0b2c 542F mov r21,r20 1083 0b2e 8091 0000 lds r24,D_Einfluss_North 1084 0b32 9091 0000 lds r25,(D_Einfluss_North)+1 1085 0b36 A091 0000 lds r26,(D_Einfluss_North)+2 1086 0b3a B091 0000 lds r27,(D_Einfluss_North)+3 1087 0b3e 8217 cp r24,r18 1088 0b40 9307 cpc r25,r19 1089 0b42 A407 cpc r26,r20 1090 0b44 B507 cpc r27,r21 1091 0b46 04F4 brge .L83 1092 0b48 2093 0000 sts D_Einfluss_North,r18 1093 0b4c 3093 0000 sts (D_Einfluss_North)+1,r19 1094 0b50 4093 0000 sts (D_Einfluss_North)+2,r20 1095 0b54 5093 0000 sts (D_Einfluss_North)+3,r21 1096 .L83: 1097 0b58 8091 0000 lds r24,D_Einfluss_East 1098 0b5c 9091 0000 lds r25,(D_Einfluss_East)+1 1099 0b60 A091 0000 lds r26,(D_Einfluss_East)+2 1100 0b64 B091 0000 lds r27,(D_Einfluss_East)+3 1101 0b68 8217 cp r24,r18 1102 0b6a 9307 cpc r25,r19 1103 0b6c A407 cpc r26,r20 1104 0b6e B507 cpc r27,r21 1105 0b70 04F4 brge .L71 1106 0b72 2093 0000 sts D_Einfluss_East,r18 1107 0b76 3093 0000 sts (D_Einfluss_East)+1,r19 1108 0b7a 4093 0000 sts (D_Einfluss_East)+2,r20 1109 0b7e 5093 0000 sts (D_Einfluss_East)+3,r21 1110 .L71: 1111 0b82 E090 0000 lds r14,D_Einfluss_North 1112 0b86 F090 0000 lds r15,(D_Einfluss_North)+1 1113 0b8a A985 ldd r26,Y+9 1114 0b8c BA85 ldd r27,Y+10 1115 0b8e EA1A sub r14,r26 1116 0b90 FB0A sbc r15,r27 1117 0b92 F092 0000 sts (GPS_North)+1,r15 1118 0b96 E092 0000 sts GPS_North,r14 1119 0b9a 8091 0000 lds r24,D_Einfluss_East 1120 0b9e 9091 0000 lds r25,(D_Einfluss_East)+1 1121 0ba2 6D81 ldd r22,Y+5 1122 0ba4 7E81 ldd r23,Y+6 1123 0ba6 681B sub r22,r24 1124 0ba8 790B sbc r23,r25 1125 0baa 7093 0000 sts (GPS_East)+1,r23 1126 0bae 6093 0000 sts GPS_East,r22 1127 0bb2 C090 0000 lds r12,KompassValue 1128 0bb6 D090 0000 lds r13,(KompassValue)+1 1129 0bba 8827 clr r24 1130 0bbc 77FD sbrc r23,7 1131 0bbe 8095 com r24 1132 0bc0 982F mov r25,r24 1133 0bc2 0E94 0000 call __floatsisf 1134 0bc6 3B01 movw r6,r22 1135 0bc8 4C01 movw r8,r24 1136 0bca A090 0000 lds r10,KompassValue 1137 0bce B090 0000 lds r11,(KompassValue)+1 1138 0bd2 0027 clr r16 1139 0bd4 F7FC sbrc r15,7 1140 0bd6 0095 com r16 1141 0bd8 102F mov r17,r16 1142 0bda C801 movw r24,r16 1143 0bdc B701 movw r22,r14 1144 0bde 0E94 0000 call __floatsisf 1145 0be2 1B01 movw r2,r22 1146 0be4 2C01 movw r4,r24 1147 0be6 CC0C lsl r12 1148 0be8 DD1C rol r13 1149 0bea E0E0 ldi r30,lo8(c_sin) 1150 0bec F0E0 ldi r31,hi8(c_sin) 1151 0bee CE0E add r12,r30 1152 0bf0 DF1E adc r13,r31 1153 0bf2 D601 movw r26,r12 1154 0bf4 6D91 ld r22,X+ 1155 0bf6 7C91 ld r23,X 1156 0bf8 7095 com r23 1157 0bfa 6195 neg r22 1158 0bfc 7F4F sbci r23,lo8(-1) 1159 0bfe 8827 clr r24 1160 0c00 77FD sbrc r23,7 1161 0c02 8095 com r24 1162 0c04 982F mov r25,r24 1163 0c06 0E94 0000 call __floatsisf 1164 0c0a 2FE6 ldi r18,lo8(0x3a83126f) 1165 0c0c 32E1 ldi r19,hi8(0x3a83126f) 1166 0c0e 43E8 ldi r20,hlo8(0x3a83126f) 1167 0c10 5AE3 ldi r21,hhi8(0x3a83126f) 1168 0c12 0E94 0000 call __mulsf3 1169 0c16 A401 movw r20,r8 1170 0c18 9301 movw r18,r6 1171 0c1a 0E94 0000 call __mulsf3 1172 0c1e 7B01 movw r14,r22 1173 0c20 8C01 movw r16,r24 1174 0c22 AA0C lsl r10 1175 0c24 BB1C rol r11 1176 0c26 E0E0 ldi r30,lo8(c_cos) 1177 0c28 F0E0 ldi r31,hi8(c_cos) 1178 0c2a AE0E add r10,r30 1179 0c2c BF1E adc r11,r31 1180 0c2e D501 movw r26,r10 1181 0c30 6D91 ld r22,X+ 1182 0c32 7C91 ld r23,X 1183 0c34 8827 clr r24 1184 0c36 77FD sbrc r23,7 1185 0c38 8095 com r24 1186 0c3a 982F mov r25,r24 1187 0c3c 0E94 0000 call __floatsisf 1188 0c40 2FE6 ldi r18,lo8(0x3a83126f) 1189 0c42 32E1 ldi r19,hi8(0x3a83126f) 1190 0c44 43E8 ldi r20,hlo8(0x3a83126f) 1191 0c46 5AE3 ldi r21,hhi8(0x3a83126f) 1192 0c48 0E94 0000 call __mulsf3 1193 0c4c A201 movw r20,r4 1194 0c4e 9101 movw r18,r2 1195 0c50 0E94 0000 call __mulsf3 1196 0c54 9B01 movw r18,r22 1197 0c56 AC01 movw r20,r24 1198 0c58 C801 movw r24,r16 1199 0c5a B701 movw r22,r14 1200 0c5c 0E94 0000 call __addsf3 1201 0c60 0E94 0000 call __fixsfsi 1202 0c64 5B01 movw r10,r22 1203 0c66 7093 0000 sts (GPS_Nick)+1,r23 1204 0c6a 6093 0000 sts GPS_Nick,r22 1205 0c6e E091 0000 lds r30,KompassValue 1206 0c72 F091 0000 lds r31,(KompassValue)+1 1207 0c76 0091 0000 lds r16,KompassValue 1208 0c7a 1091 0000 lds r17,(KompassValue)+1 1209 0c7e EE0F lsl r30 1210 0c80 FF1F rol r31 1211 0c82 E050 subi r30,lo8(-(c_cos)) 1212 0c84 F040 sbci r31,hi8(-(c_cos)) 1213 0c86 6081 ld r22,Z 1214 0c88 7181 ldd r23,Z+1 1215 0c8a 8827 clr r24 1216 0c8c 77FD sbrc r23,7 1217 0c8e 8095 com r24 1218 0c90 982F mov r25,r24 1219 0c92 0E94 0000 call __floatsisf 1220 0c96 2FE6 ldi r18,lo8(0x3a83126f) 1221 0c98 32E1 ldi r19,hi8(0x3a83126f) 1222 0c9a 43E8 ldi r20,hlo8(0x3a83126f) 1223 0c9c 5AE3 ldi r21,hhi8(0x3a83126f) 1224 0c9e 0E94 0000 call __mulsf3 1225 0ca2 A401 movw r20,r8 1226 0ca4 9301 movw r18,r6 1227 0ca6 0E94 0000 call __mulsf3 1228 0caa 6B01 movw r12,r22 1229 0cac 7C01 movw r14,r24 1230 0cae 000F lsl r16 1231 0cb0 111F rol r17 1232 0cb2 0050 subi r16,lo8(-(c_sin)) 1233 0cb4 1040 sbci r17,hi8(-(c_sin)) 1234 0cb6 F801 movw r30,r16 1235 0cb8 6081 ld r22,Z 1236 0cba 7181 ldd r23,Z+1 1237 0cbc 8827 clr r24 1238 0cbe 77FD sbrc r23,7 1239 0cc0 8095 com r24 1240 0cc2 982F mov r25,r24 1241 0cc4 0E94 0000 call __floatsisf 1242 0cc8 2FE6 ldi r18,lo8(0x3a83126f) 1243 0cca 32E1 ldi r19,hi8(0x3a83126f) 1244 0ccc 43E8 ldi r20,hlo8(0x3a83126f) 1245 0cce 5AE3 ldi r21,hhi8(0x3a83126f) 1246 0cd0 0E94 0000 call __mulsf3 1247 0cd4 A201 movw r20,r4 1248 0cd6 9101 movw r18,r2 1249 0cd8 0E94 0000 call __mulsf3 1250 0cdc 9B01 movw r18,r22 1251 0cde AC01 movw r20,r24 1252 0ce0 C701 movw r24,r14 1253 0ce2 B601 movw r22,r12 1254 0ce4 0E94 0000 call __addsf3 1255 0ce8 0E94 0000 call __fixsfsi 1256 0cec 9B01 movw r18,r22 1257 0cee 7093 0000 sts (GPS_Roll)+1,r23 1258 0cf2 6093 0000 sts GPS_Roll,r22 1259 0cf6 F4E2 ldi r31,lo8(36) 1260 0cf8 AF16 cp r10,r31 1261 0cfa B104 cpc r11,__zero_reg__ 1262 0cfc 04F0 brlt .L86 1263 0cfe 83E2 ldi r24,lo8(35) 1264 0d00 90E0 ldi r25,hi8(35) 1265 0d02 9093 0000 sts (GPS_Nick)+1,r25 1266 0d06 8093 0000 sts GPS_Nick,r24 1267 .L86: 1268 0d0a 2432 cpi r18,36 1269 0d0c 3105 cpc r19,__zero_reg__ 1270 0d0e 04F0 brlt .L88 1271 0d10 83E2 ldi r24,lo8(35) 1272 0d12 90E0 ldi r25,hi8(35) 1273 0d14 9093 0000 sts (GPS_Roll)+1,r25 1274 0d18 8093 0000 sts GPS_Roll,r24 1275 .L88: 1276 0d1c 8091 0000 lds r24,GPS_Nick 1277 0d20 9091 0000 lds r25,(GPS_Nick)+1 1278 0d24 8D5D subi r24,lo8(-35) 1279 0d26 9F4F sbci r25,hi8(-35) 1280 0d28 04F4 brge .L90 1281 0d2a 8DED ldi r24,lo8(-35) 1282 0d2c 9FEF ldi r25,hi8(-35) 1283 0d2e 9093 0000 sts (GPS_Nick)+1,r25 1284 0d32 8093 0000 sts GPS_Nick,r24 1285 .L90: 1286 0d36 8091 0000 lds r24,GPS_Roll 1287 0d3a 9091 0000 lds r25,(GPS_Roll)+1 1288 0d3e 8D5D subi r24,lo8(-35) 1289 0d40 9F4F sbci r25,hi8(-35) 1290 0d42 04F4 brge .L92 1291 0d44 8DED ldi r24,lo8(-35) 1292 0d46 9FEF ldi r25,hi8(-35) 1293 0d48 9093 0000 sts (GPS_Roll)+1,r25 1294 0d4c 8093 0000 sts GPS_Roll,r24 1295 .L92: 1296 0d50 1092 0000 sts NeuerMittelwert,__zero_reg__ 1297 0d54 00C0 rjmp .L94 1298 .L64: 1299 0d56 2091 0000 lds r18,GPS_Home_North 1300 0d5a 3091 0000 lds r19,(GPS_Home_North)+1 1301 0d5e 4091 0000 lds r20,(GPS_Home_North)+2 1302 0d62 5091 0000 lds r21,(GPS_Home_North)+3 1303 0d66 2115 cp r18,__zero_reg__ 1304 0d68 3105 cpc r19,__zero_reg__ 1305 0d6a 4105 cpc r20,__zero_reg__ 1306 0d6c 5105 cpc r21,__zero_reg__ 1307 0d6e 01F0 breq .+2 1308 0d70 00C0 rjmp .L67 1309 0d72 00C0 rjmp .L95 1310 .L94: 1311 /* epilogue: frame size=31 */ 1312 0d74 6F96 adiw r28,31 1313 0d76 0FB6 in __tmp_reg__,__SREG__ 1314 0d78 F894 cli 1315 0d7a DEBF out __SP_H__,r29 1316 0d7c 0FBE out __SREG__,__tmp_reg__ 1317 0d7e CDBF out __SP_L__,r28 1318 0d80 DF91 pop r29 1319 0d82 CF91 pop r28 1320 0d84 1F91 pop r17 1321 0d86 0F91 pop r16 1322 0d88 FF90 pop r15 1323 0d8a EF90 pop r14 1324 0d8c DF90 pop r13 1325 0d8e CF90 pop r12 1326 0d90 BF90 pop r11 1327 0d92 AF90 pop r10 1328 0d94 9F90 pop r9 1329 0d96 8F90 pop r8 1330 0d98 7F90 pop r7 1331 0d9a 6F90 pop r6 1332 0d9c 5F90 pop r5 1333 0d9e 4F90 pop r4 1334 0da0 3F90 pop r3 1335 0da2 2F90 pop r2 1336 0da4 0895 ret 1337 /* epilogue end (size=25) */ 1338 /* function gps_main size 1755 (1704) */ 1340 .global c_sin 1341 .data 1344 c_sin: 1345 0000 0000 .word 0 1346 0002 1100 .word 17 1347 0004 2200 .word 34 1348 0006 3400 .word 52 1349 0008 4500 .word 69 1350 000a 5700 .word 87 1351 000c 6800 .word 104 1352 000e 7900 .word 121 1353 0010 8B00 .word 139 1354 0012 9C00 .word 156 1355 0014 AD00 .word 173 1356 0016 BE00 .word 190 1357 0018 CF00 .word 207 1358 001a E000 .word 224 1359 001c F100 .word 241 1360 001e 0201 .word 258 1361 0020 1301 .word 275 1362 0022 2401 .word 292 1363 0024 3501 .word 309 1364 0026 4501 .word 325 1365 0028 5601 .word 342 1366 002a 6601 .word 358 1367 002c 7601 .word 374 1368 002e 8601 .word 390 1369 0030 9601 .word 406 1370 0032 A601 .word 422 1371 0034 B601 .word 438 1372 0036 C501 .word 453 1373 0038 D501 .word 469 1374 003a E401 .word 484 1375 003c F401 .word 500 1376 003e 0302 .word 515 1377 0040 1102 .word 529 1378 0042 2002 .word 544 1379 0044 2F02 .word 559 1380 0046 3D02 .word 573 1381 0048 4B02 .word 587 1382 004a 5902 .word 601 1383 004c 6702 .word 615 1384 004e 7502 .word 629 1385 0050 8202 .word 642 1386 0052 9002 .word 656 1387 0054 9D02 .word 669 1388 0056 AA02 .word 682 1389 0058 B602 .word 694 1390 005a C302 .word 707 1391 005c CF02 .word 719 1392 005e DB02 .word 731 1393 0060 E702 .word 743 1394 0062 F202 .word 754 1395 0064 FE02 .word 766 1396 0066 0903 .word 777 1397 0068 1403 .word 788 1398 006a 1E03 .word 798 1399 006c 2903 .word 809 1400 006e 3303 .word 819 1401 0070 3D03 .word 829 1402 0072 4603 .word 838 1403 0074 5003 .word 848 1404 0076 5903 .word 857 1405 0078 6203 .word 866 1406 007a 6A03 .word 874 1407 007c 7203 .word 882 1408 007e 7B03 .word 891 1409 0080 8203 .word 898 1410 0082 8A03 .word 906 1411 0084 9103 .word 913 1412 0086 9803 .word 920 1413 0088 9F03 .word 927 1414 008a A503 .word 933 1415 008c AB03 .word 939 1416 008e B103 .word 945 1417 0090 B703 .word 951 1418 0092 BC03 .word 956 1419 0094 C103 .word 961 1420 0096 C503 .word 965 1421 0098 CA03 .word 970 1422 009a CE03 .word 974 1423 009c D203 .word 978 1424 009e D503 .word 981 1425 00a0 D803 .word 984 1426 00a2 DB03 .word 987 1427 00a4 DE03 .word 990 1428 00a6 E003 .word 992 1429 00a8 E203 .word 994 1430 00aa E403 .word 996 1431 00ac E503 .word 997 1432 00ae E603 .word 998 1433 00b0 E703 .word 999 1434 00b2 E703 .word 999 1435 00b4 E803 .word 1000 1436 00b6 E703 .word 999 1437 00b8 E703 .word 999 1438 00ba E603 .word 998 1439 00bc E503 .word 997 1440 00be E403 .word 996 1441 00c0 E203 .word 994 1442 00c2 E003 .word 992 1443 00c4 DE03 .word 990 1444 00c6 DB03 .word 987 1445 00c8 D803 .word 984 1446 00ca D503 .word 981 1447 00cc D203 .word 978 1448 00ce CE03 .word 974 1449 00d0 CA03 .word 970 1450 00d2 C503 .word 965 1451 00d4 C103 .word 961 1452 00d6 BC03 .word 956 1453 00d8 B703 .word 951 1454 00da B103 .word 945 1455 00dc AB03 .word 939 1456 00de A503 .word 933 1457 00e0 9F03 .word 927 1458 00e2 9803 .word 920 1459 00e4 9103 .word 913 1460 00e6 8A03 .word 906 1461 00e8 8203 .word 898 1462 00ea 7B03 .word 891 1463 00ec 7203 .word 882 1464 00ee 6A03 .word 874 1465 00f0 6203 .word 866 1466 00f2 5903 .word 857 1467 00f4 5003 .word 848 1468 00f6 4603 .word 838 1469 00f8 3D03 .word 829 1470 00fa 3303 .word 819 1471 00fc 2903 .word 809 1472 00fe 1E03 .word 798 1473 0100 1403 .word 788 1474 0102 0903 .word 777 1475 0104 FE02 .word 766 1476 0106 F202 .word 754 1477 0108 E702 .word 743 1478 010a DB02 .word 731 1479 010c CF02 .word 719 1480 010e C302 .word 707 1481 0110 B602 .word 694 1482 0112 AA02 .word 682 1483 0114 9D02 .word 669 1484 0116 9002 .word 656 1485 0118 8202 .word 642 1486 011a 7502 .word 629 1487 011c 6702 .word 615 1488 011e 5902 .word 601 1489 0120 4B02 .word 587 1490 0122 3D02 .word 573 1491 0124 2F02 .word 559 1492 0126 2002 .word 544 1493 0128 1102 .word 529 1494 012a 0302 .word 515 1495 012c F401 .word 500 1496 012e E401 .word 484 1497 0130 D501 .word 469 1498 0132 C501 .word 453 1499 0134 B601 .word 438 1500 0136 A601 .word 422 1501 0138 9601 .word 406 1502 013a 8601 .word 390 1503 013c 7601 .word 374 1504 013e 6601 .word 358 1505 0140 5601 .word 342 1506 0142 4501 .word 325 1507 0144 3501 .word 309 1508 0146 2401 .word 292 1509 0148 1301 .word 275 1510 014a 0201 .word 258 1511 014c F100 .word 241 1512 014e E000 .word 224 1513 0150 CF00 .word 207 1514 0152 BE00 .word 190 1515 0154 AD00 .word 173 1516 0156 9C00 .word 156 1517 0158 8B00 .word 139 1518 015a 7900 .word 121 1519 015c 6800 .word 104 1520 015e 5700 .word 87 1521 0160 4500 .word 69 1522 0162 3400 .word 52 1523 0164 2200 .word 34 1524 0166 1100 .word 17 1525 0168 0000 .word 0 1526 016a EFFF .word -17 1527 016c DEFF .word -34 1528 016e CCFF .word -52 1529 0170 BBFF .word -69 1530 0172 A9FF .word -87 1531 0174 98FF .word -104 1532 0176 87FF .word -121 1533 0178 75FF .word -139 1534 017a 64FF .word -156 1535 017c 53FF .word -173 1536 017e 42FF .word -190 1537 0180 31FF .word -207 1538 0182 20FF .word -224 1539 0184 0FFF .word -241 1540 0186 FEFE .word -258 1541 0188 EDFE .word -275 1542 018a DCFE .word -292 1543 018c CBFE .word -309 1544 018e BBFE .word -325 1545 0190 AAFE .word -342 1546 0192 9AFE .word -358 1547 0194 8AFE .word -374 1548 0196 7AFE .word -390 1549 0198 6AFE .word -406 1550 019a 5AFE .word -422 1551 019c 4AFE .word -438 1552 019e 3BFE .word -453 1553 01a0 2BFE .word -469 1554 01a2 1CFE .word -484 1555 01a4 0CFE .word -500 1556 01a6 FDFD .word -515 1557 01a8 EFFD .word -529 1558 01aa E0FD .word -544 1559 01ac D1FD .word -559 1560 01ae C3FD .word -573 1561 01b0 B5FD .word -587 1562 01b2 A7FD .word -601 1563 01b4 99FD .word -615 1564 01b6 8BFD .word -629 1565 01b8 7EFD .word -642 1566 01ba 70FD .word -656 1567 01bc 63FD .word -669 1568 01be 56FD .word -682 1569 01c0 4AFD .word -694 1570 01c2 3DFD .word -707 1571 01c4 31FD .word -719 1572 01c6 25FD .word -731 1573 01c8 19FD .word -743 1574 01ca 0EFD .word -754 1575 01cc 02FD .word -766 1576 01ce F7FC .word -777 1577 01d0 ECFC .word -788 1578 01d2 E2FC .word -798 1579 01d4 D7FC .word -809 1580 01d6 CDFC .word -819 1581 01d8 C3FC .word -829 1582 01da BAFC .word -838 1583 01dc B0FC .word -848 1584 01de A7FC .word -857 1585 01e0 9EFC .word -866 1586 01e2 96FC .word -874 1587 01e4 8EFC .word -882 1588 01e6 85FC .word -891 1589 01e8 7EFC .word -898 1590 01ea 76FC .word -906 1591 01ec 6FFC .word -913 1592 01ee 68FC .word -920 1593 01f0 61FC .word -927 1594 01f2 5BFC .word -933 1595 01f4 55FC .word -939 1596 01f6 4FFC .word -945 1597 01f8 49FC .word -951 1598 01fa 44FC .word -956 1599 01fc 3FFC .word -961 1600 01fe 3BFC .word -965 1601 0200 36FC .word -970 1602 0202 32FC .word -974 1603 0204 2EFC .word -978 1604 0206 2BFC .word -981 1605 0208 28FC .word -984 1606 020a 25FC .word -987 1607 020c 22FC .word -990 1608 020e 20FC .word -992 1609 0210 1EFC .word -994 1610 0212 1CFC .word -996 1611 0214 1BFC .word -997 1612 0216 1AFC .word -998 1613 0218 19FC .word -999 1614 021a 19FC .word -999 1615 021c 18FC .word -1000 1616 021e 19FC .word -999 1617 0220 19FC .word -999 1618 0222 1AFC .word -998 1619 0224 1BFC .word -997 1620 0226 1CFC .word -996 1621 0228 1EFC .word -994 1622 022a 20FC .word -992 1623 022c 22FC .word -990 1624 022e 25FC .word -987 1625 0230 28FC .word -984 1626 0232 2BFC .word -981 1627 0234 2EFC .word -978 1628 0236 32FC .word -974 1629 0238 36FC .word -970 1630 023a 3BFC .word -965 1631 023c 3FFC .word -961 1632 023e 44FC .word -956 1633 0240 49FC .word -951 1634 0242 4FFC .word -945 1635 0244 55FC .word -939 1636 0246 5BFC .word -933 1637 0248 61FC .word -927 1638 024a 68FC .word -920 1639 024c 6FFC .word -913 1640 024e 76FC .word -906 1641 0250 7EFC .word -898 1642 0252 85FC .word -891 1643 0254 8EFC .word -882 1644 0256 96FC .word -874 1645 0258 9EFC .word -866 1646 025a A7FC .word -857 1647 025c B0FC .word -848 1648 025e BAFC .word -838 1649 0260 C3FC .word -829 1650 0262 CDFC .word -819 1651 0264 D7FC .word -809 1652 0266 E2FC .word -798 1653 0268 ECFC .word -788 1654 026a F7FC .word -777 1655 026c 02FD .word -766 1656 026e 0EFD .word -754 1657 0270 19FD .word -743 1658 0272 25FD .word -731 1659 0274 31FD .word -719 1660 0276 3DFD .word -707 1661 0278 4AFD .word -694 1662 027a 56FD .word -682 1663 027c 63FD .word -669 1664 027e 70FD .word -656 1665 0280 7EFD .word -642 1666 0282 8BFD .word -629 1667 0284 99FD .word -615 1668 0286 A7FD .word -601 1669 0288 B5FD .word -587 1670 028a C3FD .word -573 1671 028c D1FD .word -559 1672 028e E0FD .word -544 1673 0290 EFFD .word -529 1674 0292 FDFD .word -515 1675 0294 0CFE .word -500 1676 0296 1CFE .word -484 1677 0298 2BFE .word -469 1678 029a 3BFE .word -453 1679 029c 4AFE .word -438 1680 029e 5AFE .word -422 1681 02a0 6AFE .word -406 1682 02a2 7AFE .word -390 1683 02a4 8AFE .word -374 1684 02a6 9AFE .word -358 1685 02a8 AAFE .word -342 1686 02aa BBFE .word -325 1687 02ac CBFE .word -309 1688 02ae DCFE .word -292 1689 02b0 EDFE .word -275 1690 02b2 FEFE .word -258 1691 02b4 0FFF .word -241 1692 02b6 20FF .word -224 1693 02b8 31FF .word -207 1694 02ba 42FF .word -190 1695 02bc 53FF .word -173 1696 02be 64FF .word -156 1697 02c0 75FF .word -139 1698 02c2 87FF .word -121 1699 02c4 98FF .word -104 1700 02c6 A9FF .word -87 1701 02c8 BBFF .word -69 1702 02ca CCFF .word -52 1703 02cc DEFF .word -34 1704 02ce EFFF .word -17 1705 .global c_cos 1708 c_cos: 1709 02d0 E803 .word 1000 1710 02d2 E703 .word 999 1711 02d4 E703 .word 999 1712 02d6 E603 .word 998 1713 02d8 E503 .word 997 1714 02da E403 .word 996 1715 02dc E203 .word 994 1716 02de E003 .word 992 1717 02e0 DE03 .word 990 1718 02e2 DB03 .word 987 1719 02e4 D803 .word 984 1720 02e6 D503 .word 981 1721 02e8 D203 .word 978 1722 02ea CE03 .word 974 1723 02ec CA03 .word 970 1724 02ee C503 .word 965 1725 02f0 C103 .word 961 1726 02f2 BC03 .word 956 1727 02f4 B703 .word 951 1728 02f6 B103 .word 945 1729 02f8 AB03 .word 939 1730 02fa A503 .word 933 1731 02fc 9F03 .word 927 1732 02fe 9803 .word 920 1733 0300 9103 .word 913 1734 0302 8A03 .word 906 1735 0304 8203 .word 898 1736 0306 7B03 .word 891 1737 0308 7203 .word 882 1738 030a 6A03 .word 874 1739 030c 6203 .word 866 1740 030e 5903 .word 857 1741 0310 5003 .word 848 1742 0312 4603 .word 838 1743 0314 3D03 .word 829 1744 0316 3303 .word 819 1745 0318 2903 .word 809 1746 031a 1E03 .word 798 1747 031c 1403 .word 788 1748 031e 0903 .word 777 1749 0320 FE02 .word 766 1750 0322 F202 .word 754 1751 0324 E702 .word 743 1752 0326 DB02 .word 731 1753 0328 CF02 .word 719 1754 032a C302 .word 707 1755 032c B602 .word 694 1756 032e AA02 .word 682 1757 0330 9D02 .word 669 1758 0332 9002 .word 656 1759 0334 8202 .word 642 1760 0336 7502 .word 629 1761 0338 6702 .word 615 1762 033a 5902 .word 601 1763 033c 4B02 .word 587 1764 033e 3D02 .word 573 1765 0340 2F02 .word 559 1766 0342 2002 .word 544 1767 0344 1102 .word 529 1768 0346 0302 .word 515 1769 0348 F401 .word 500 1770 034a E401 .word 484 1771 034c D501 .word 469 1772 034e C501 .word 453 1773 0350 B601 .word 438 1774 0352 A601 .word 422 1775 0354 9601 .word 406 1776 0356 8601 .word 390 1777 0358 7601 .word 374 1778 035a 6601 .word 358 1779 035c 5601 .word 342 1780 035e 4501 .word 325 1781 0360 3501 .word 309 1782 0362 2401 .word 292 1783 0364 1301 .word 275 1784 0366 0201 .word 258 1785 0368 F100 .word 241 1786 036a E000 .word 224 1787 036c CF00 .word 207 1788 036e BE00 .word 190 1789 0370 AD00 .word 173 1790 0372 9C00 .word 156 1791 0374 8B00 .word 139 1792 0376 7900 .word 121 1793 0378 6800 .word 104 1794 037a 5700 .word 87 1795 037c 4500 .word 69 1796 037e 3400 .word 52 1797 0380 2200 .word 34 1798 0382 1100 .word 17 1799 0384 0000 .word 0 1800 0386 EFFF .word -17 1801 0388 DEFF .word -34 1802 038a CCFF .word -52 1803 038c BBFF .word -69 1804 038e A9FF .word -87 1805 0390 98FF .word -104 1806 0392 87FF .word -121 1807 0394 75FF .word -139 1808 0396 64FF .word -156 1809 0398 53FF .word -173 1810 039a 42FF .word -190 1811 039c 31FF .word -207 1812 039e 20FF .word -224 1813 03a0 0FFF .word -241 1814 03a2 FEFE .word -258 1815 03a4 EDFE .word -275 1816 03a6 DCFE .word -292 1817 03a8 CBFE .word -309 1818 03aa BBFE .word -325 1819 03ac AAFE .word -342 1820 03ae 9AFE .word -358 1821 03b0 8AFE .word -374 1822 03b2 7AFE .word -390 1823 03b4 6AFE .word -406 1824 03b6 5AFE .word -422 1825 03b8 4AFE .word -438 1826 03ba 3BFE .word -453 1827 03bc 2BFE .word -469 1828 03be 1CFE .word -484 1829 03c0 0CFE .word -500 1830 03c2 FDFD .word -515 1831 03c4 EFFD .word -529 1832 03c6 E0FD .word -544 1833 03c8 D1FD .word -559 1834 03ca C3FD .word -573 1835 03cc B5FD .word -587 1836 03ce A7FD .word -601 1837 03d0 99FD .word -615 1838 03d2 8BFD .word -629 1839 03d4 7EFD .word -642 1840 03d6 70FD .word -656 1841 03d8 63FD .word -669 1842 03da 56FD .word -682 1843 03dc 4AFD .word -694 1844 03de 3DFD .word -707 1845 03e0 31FD .word -719 1846 03e2 25FD .word -731 1847 03e4 19FD .word -743 1848 03e6 0EFD .word -754 1849 03e8 02FD .word -766 1850 03ea F7FC .word -777 1851 03ec ECFC .word -788 1852 03ee E2FC .word -798 1853 03f0 D7FC .word -809 1854 03f2 CDFC .word -819 1855 03f4 C3FC .word -829 1856 03f6 BAFC .word -838 1857 03f8 B0FC .word -848 1858 03fa A7FC .word -857 1859 03fc 9EFC .word -866 1860 03fe 96FC .word -874 1861 0400 8EFC .word -882 1862 0402 85FC .word -891 1863 0404 7EFC .word -898 1864 0406 76FC .word -906 1865 0408 6FFC .word -913 1866 040a 68FC .word -920 1867 040c 61FC .word -927 1868 040e 5BFC .word -933 1869 0410 55FC .word -939 1870 0412 4FFC .word -945 1871 0414 49FC .word -951 1872 0416 44FC .word -956 1873 0418 3FFC .word -961 1874 041a 3BFC .word -965 1875 041c 36FC .word -970 1876 041e 32FC .word -974 1877 0420 2EFC .word -978 1878 0422 2BFC .word -981 1879 0424 28FC .word -984 1880 0426 25FC .word -987 1881 0428 22FC .word -990 1882 042a 20FC .word -992 1883 042c 1EFC .word -994 1884 042e 1CFC .word -996 1885 0430 1BFC .word -997 1886 0432 1AFC .word -998 1887 0434 19FC .word -999 1888 0436 19FC .word -999 1889 0438 18FC .word -1000 1890 043a 19FC .word -999 1891 043c 19FC .word -999 1892 043e 1AFC .word -998 1893 0440 1BFC .word -997 1894 0442 1CFC .word -996 1895 0444 1EFC .word -994 1896 0446 20FC .word -992 1897 0448 22FC .word -990 1898 044a 25FC .word -987 1899 044c 28FC .word -984 1900 044e 2BFC .word -981 1901 0450 2EFC .word -978 1902 0452 32FC .word -974 1903 0454 36FC .word -970 1904 0456 3BFC .word -965 1905 0458 3FFC .word -961 1906 045a 44FC .word -956 1907 045c 49FC .word -951 1908 045e 4FFC .word -945 1909 0460 55FC .word -939 1910 0462 5BFC .word -933 1911 0464 61FC .word -927 1912 0466 68FC .word -920 1913 0468 6FFC .word -913 1914 046a 76FC .word -906 1915 046c 7EFC .word -898 1916 046e 85FC .word -891 1917 0470 8EFC .word -882 1918 0472 96FC .word -874 1919 0474 9EFC .word -866 1920 0476 A7FC .word -857 1921 0478 B0FC .word -848 1922 047a BAFC .word -838 1923 047c C3FC .word -829 1924 047e CDFC .word -819 1925 0480 D7FC .word -809 1926 0482 E2FC .word -798 1927 0484 ECFC .word -788 1928 0486 F7FC .word -777 1929 0488 02FD .word -766 1930 048a 0EFD .word -754 1931 048c 19FD .word -743 1932 048e 25FD .word -731 1933 0490 31FD .word -719 1934 0492 3DFD .word -707 1935 0494 4AFD .word -694 1936 0496 56FD .word -682 1937 0498 63FD .word -669 1938 049a 70FD .word -656 1939 049c 7EFD .word -642 1940 049e 8BFD .word -629 1941 04a0 99FD .word -615 1942 04a2 A7FD .word -601 1943 04a4 B5FD .word -587 1944 04a6 C3FD .word -573 1945 04a8 D1FD .word -559 1946 04aa E0FD .word -544 1947 04ac EFFD .word -529 1948 04ae FDFD .word -515 1949 04b0 0CFE .word -500 1950 04b2 1CFE .word -484 1951 04b4 2BFE .word -469 1952 04b6 3BFE .word -453 1953 04b8 4AFE .word -438 1954 04ba 5AFE .word -422 1955 04bc 6AFE .word -406 1956 04be 7AFE .word -390 1957 04c0 8AFE .word -374 1958 04c2 9AFE .word -358 1959 04c4 AAFE .word -342 1960 04c6 BBFE .word -325 1961 04c8 CBFE .word -309 1962 04ca DCFE .word -292 1963 04cc EDFE .word -275 1964 04ce FEFE .word -258 1965 04d0 0FFF .word -241 1966 04d2 20FF .word -224 1967 04d4 31FF .word -207 1968 04d6 42FF .word -190 1969 04d8 53FF .word -173 1970 04da 64FF .word -156 1971 04dc 75FF .word -139 1972 04de 87FF .word -121 1973 04e0 98FF .word -104 1974 04e2 A9FF .word -87 1975 04e4 BBFF .word -69 1976 04e6 CCFF .word -52 1977 04e8 DEFF .word -34 1978 04ea EFFF .word -17 1979 04ec 0000 .word 0 1980 04ee 1100 .word 17 1981 04f0 2200 .word 34 1982 04f2 3400 .word 52 1983 04f4 4500 .word 69 1984 04f6 5700 .word 87 1985 04f8 6800 .word 104 1986 04fa 7900 .word 121 1987 04fc 8B00 .word 139 1988 04fe 9C00 .word 156 1989 0500 AD00 .word 173 1990 0502 BE00 .word 190 1991 0504 CF00 .word 207 1992 0506 E000 .word 224 1993 0508 F100 .word 241 1994 050a 0201 .word 258 1995 050c 1301 .word 275 1996 050e 2401 .word 292 1997 0510 3501 .word 309 1998 0512 4501 .word 325 1999 0514 5601 .word 342 2000 0516 6601 .word 358 2001 0518 7601 .word 374 2002 051a 8601 .word 390 2003 051c 9601 .word 406 2004 051e A601 .word 422 2005 0520 B601 .word 438 2006 0522 C501 .word 453 2007 0524 D501 .word 469 2008 0526 E401 .word 484 2009 0528 F401 .word 500 2010 052a 0302 .word 515 2011 052c 1102 .word 529 2012 052e 2002 .word 544 2013 0530 2F02 .word 559 2014 0532 3D02 .word 573 2015 0534 4B02 .word 587 2016 0536 5902 .word 601 2017 0538 6702 .word 615 2018 053a 7502 .word 629 2019 053c 8202 .word 642 2020 053e 9002 .word 656 2021 0540 9D02 .word 669 2022 0542 AA02 .word 682 2023 0544 B602 .word 694 2024 0546 C302 .word 707 2025 0548 CF02 .word 719 2026 054a DB02 .word 731 2027 054c E702 .word 743 2028 054e F202 .word 754 2029 0550 FE02 .word 766 2030 0552 0903 .word 777 2031 0554 1403 .word 788 2032 0556 1E03 .word 798 2033 0558 2903 .word 809 2034 055a 3303 .word 819 2035 055c 3D03 .word 829 2036 055e 4603 .word 838 2037 0560 5003 .word 848 2038 0562 5903 .word 857 2039 0564 6203 .word 866 2040 0566 6A03 .word 874 2041 0568 7203 .word 882 2042 056a 7B03 .word 891 2043 056c 8203 .word 898 2044 056e 8A03 .word 906 2045 0570 9103 .word 913 2046 0572 9803 .word 920 2047 0574 9F03 .word 927 2048 0576 A503 .word 933 2049 0578 AB03 .word 939 2050 057a B103 .word 945 2051 057c B703 .word 951 2052 057e BC03 .word 956 2053 0580 C103 .word 961 2054 0582 C503 .word 965 2055 0584 CA03 .word 970 2056 0586 CE03 .word 974 2057 0588 D203 .word 978 2058 058a D503 .word 981 2059 058c D803 .word 984 2060 058e DB03 .word 987 2061 0590 DE03 .word 990 2062 0592 E003 .word 992 2063 0594 E203 .word 994 2064 0596 E403 .word 996 2065 0598 E503 .word 997 2066 059a E603 .word 998 2067 059c E703 .word 999 2068 059e E703 .word 999 2069 .global Soll_Position_North 2070 .global Soll_Position_North 2071 .section .bss 2074 Soll_Position_North: 2075 0000 0000 0000 .skip 4,0 2076 .global Soll_Position_East 2077 .global Soll_Position_East 2080 Soll_Position_East: 2081 0004 0000 0000 .skip 4,0 2082 .global GPS_Positionsabweichung_North 2083 .global GPS_Positionsabweichung_North 2086 GPS_Positionsabweichung_North: 2087 0008 0000 0000 .skip 4,0 2088 .global GPS_Positionsabweichung_East 2089 .global GPS_Positionsabweichung_East 2092 GPS_Positionsabweichung_East: 2093 000c 0000 0000 .skip 4,0 2094 .global GPS_Geschwindigkeit_North 2095 .global GPS_Geschwindigkeit_North 2098 GPS_Geschwindigkeit_North: 2099 0010 0000 0000 .skip 4,0 2100 .global GPS_Geschwindigkeit_East 2101 .global GPS_Geschwindigkeit_East 2104 GPS_Geschwindigkeit_East: 2105 0014 0000 0000 .skip 4,0 2106 .global P_Einfluss_North 2107 .global P_Einfluss_North 2110 P_Einfluss_North: 2111 0018 0000 0000 .skip 4,0 2112 .global D_Einfluss_North 2113 .global D_Einfluss_North 2116 D_Einfluss_North: 2117 001c 0000 0000 .skip 4,0 2118 .global P_Einfluss_East 2119 .global P_Einfluss_East 2122 P_Einfluss_East: 2123 0020 0000 0000 .skip 4,0 2124 .global D_Einfluss_East 2125 .global D_Einfluss_East 2128 D_Einfluss_East: 2129 0024 0000 0000 .skip 4,0 2130 .global GPS_North 2131 .global GPS_North 2134 GPS_North: 2135 0028 0000 .skip 2,0 2136 .global GPS_East 2137 .global GPS_East 2140 GPS_East: 2141 002a 0000 .skip 2,0 2142 .global GPS_Nick 2143 .global GPS_Nick 2146 GPS_Nick: 2147 002c 0000 .skip 2,0 2148 .global GPS_Roll 2149 .global GPS_Roll 2152 GPS_Roll: 2153 002e 0000 .skip 2,0 2154 .global gethome 2155 .global gethome 2158 gethome: 2159 0030 00 .skip 1,0 2160 .global GPS_Home_North 2161 .global GPS_Home_North 2164 GPS_Home_North: 2165 0031 0000 0000 .skip 4,0 2166 .global GPS_Home_East 2167 .global GPS_Home_East 2170 GPS_Home_East: 2171 0035 0000 0000 .skip 4,0 2172 .global blinkcount_LED2 2173 .global blinkcount_LED2 2176 blinkcount_LED2: 2177 0039 00 .skip 1,0 2178 .global NeuerMittelwert 2179 .global NeuerMittelwert 2182 NeuerMittelwert: 2183 003a 00 .skip 1,0 2184 .global FilterPos 2185 .global FilterPos 2188 FilterPos: 2189 003b 00 .skip 1,0 2190 .global NORTH_MITTEL 2191 .global NORTH_MITTEL 2194 NORTH_MITTEL: 2195 003c 0000 0000 .skip 4,0 2196 .global EAST_MITTEL 2197 .global EAST_MITTEL 2200 EAST_MITTEL: 2201 0040 0000 0000 .skip 4,0 2202 .global NORTH_LONG_LONG 2203 .global NORTH_LONG_LONG 2206 NORTH_LONG_LONG: 2207 0044 0000 0000 .skip 8,0 2207 0000 0000 2208 .global EAST_LONG_LONG 2209 .global EAST_LONG_LONG 2212 EAST_LONG_LONG: 2213 004c 0000 0000 .skip 8,0 2213 0000 0000 2214 .global filterfilled 2215 .global filterfilled 2218 filterfilled: 2219 0054 0000 .skip 2,0 2220 .comm DiffNick,2,1 2221 .comm DiffRoll,2,1 2222 .comm SenderOkay,1,1 2223 .comm CosinusNickWinkel,1,1 2224 .comm CosinusRollWinkel,1,1 2225 .comm durchschnitt_northing,4,1 2226 .comm durchschnitt_easting,4,1 2227 .comm P_GPS_Verstaerkung,2,1 2228 .comm D_GPS_Verstaerkung,2,1 2229 .comm RemoteTasten,1,1 2230 .comm Timeout,1,1 2231 .comm IntegralNick,4,1 2232 .comm IntegralNick2,4,1 2233 .comm IntegralRoll,4,1 2234 .comm IntegralRoll2,4,1 2235 .comm Mess_IntegralNick,4,1 2236 .comm Mess_IntegralNick2,4,1 2237 .comm Mess_IntegralRoll,4,1 2238 .comm Mess_IntegralRoll2,4,1 2239 .comm Integral_Gier,4,1 2240 .comm Mess_Integral_Gier,4,1 2241 .comm h,1,1 2242 .comm m,1,1 2243 .comm s,1,1 2244 .comm Motor_Vorne,1,1 2245 .comm Motor_Hinten,1,1 2246 .comm Motor_Rechts,1,1 2247 .comm Motor_Links,1,1 2248 .comm Count,1,1 2249 .comm MotorWert,5,1 2250 .comm filter_north,32,1 2251 .comm filter_east,32,1 2252 /* File "GPS.c": code 1755 = 0x06db (1704), prologues 26, epilogues 25 */ DEFINED SYMBOLS *ABS*:00000000 GPS.c C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:3 *ABS*:0000003f __SREG__ C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:4 *ABS*:0000003e __SP_H__ C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:5 *ABS*:0000003d __SP_L__ C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:6 *ABS*:00000000 __tmp_reg__ C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:7 *ABS*:00000001 __zero_reg__ C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:13 .text:00000000 gps_main C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2188 .bss:0000003b FilterPos *COM*:00000020 filter_north *COM*:00000020 filter_east C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2218 .bss:00000054 filterfilled C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2206 .bss:00000044 NORTH_LONG_LONG C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2212 .bss:0000004c EAST_LONG_LONG C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2194 .bss:0000003c NORTH_MITTEL C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2200 .bss:00000040 EAST_MITTEL C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2182 .bss:0000003a NeuerMittelwert C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2146 .bss:0000002c GPS_Nick C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2152 .bss:0000002e GPS_Roll C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2158 .bss:00000030 gethome C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2164 .bss:00000031 GPS_Home_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2170 .bss:00000035 GPS_Home_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2074 .bss:00000000 Soll_Position_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2080 .bss:00000004 Soll_Position_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2176 .bss:00000039 blinkcount_LED2 C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2086 .bss:00000008 GPS_Positionsabweichung_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2092 .bss:0000000c GPS_Positionsabweichung_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2098 .bss:00000010 GPS_Geschwindigkeit_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2104 .bss:00000014 GPS_Geschwindigkeit_East *COM*:00000002 P_GPS_Verstaerkung C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2110 .bss:00000018 P_Einfluss_North *COM*:00000002 D_GPS_Verstaerkung C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2116 .bss:0000001c D_Einfluss_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2122 .bss:00000020 P_Einfluss_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2128 .bss:00000024 D_Einfluss_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2134 .bss:00000028 GPS_North C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2140 .bss:0000002a GPS_East C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1344 .data:00000000 c_sin C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1708 .data:000002d0 c_cos *COM*:00000002 DiffNick *COM*:00000002 DiffRoll *COM*:00000001 SenderOkay *COM*:00000001 CosinusNickWinkel *COM*:00000001 CosinusRollWinkel *COM*:00000004 durchschnitt_northing *COM*:00000004 durchschnitt_easting *COM*:00000001 RemoteTasten *COM*:00000001 Timeout *COM*:00000004 IntegralNick *COM*:00000004 IntegralNick2 *COM*:00000004 IntegralRoll *COM*:00000004 IntegralRoll2 *COM*:00000004 Mess_IntegralNick *COM*:00000004 Mess_IntegralNick2 *COM*:00000004 Mess_IntegralRoll *COM*:00000004 Mess_IntegralRoll2 *COM*:00000004 Integral_Gier *COM*:00000004 Mess_Integral_Gier *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Motor_Vorne *COM*:00000001 Motor_Hinten *COM*:00000001 Motor_Rechts *COM*:00000001 Motor_Links *COM*:00000001 Count *COM*:00000005 MotorWert UNDEFINED SYMBOLS __do_copy_data __do_clear_bss actualPos __divdi3 MotorenEin Poti3 beeptime modell_fliegt_gps StickNick StickRoll __mulsi3 __floatsisf __mulsf3 __fixsfsi Limit_D_Anteil KompassValue __addsf3