1 .file "fc.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 Mittelwert 13 Mittelwert: 14 /* prologue: frame size=0 */ 15 0000 AF92 push r10 16 0002 BF92 push r11 17 0004 CF92 push r12 18 0006 DF92 push r13 19 0008 EF92 push r14 20 000a FF92 push r15 21 000c 0F93 push r16 22 000e 1F93 push r17 23 /* prologue end (size=8) */ 24 0010 1092 7A00 sts 122,__zero_reg__ 25 0014 8091 0000 lds r24,MessanzahlNick 26 0018 8823 tst r24 27 001a 01F0 breq .L2 28 001c 8091 0000 lds r24,AccumulateNick 29 0020 9091 0000 lds r25,(AccumulateNick)+1 30 0024 6091 0000 lds r22,MessanzahlNick 31 0028 7727 clr r23 32 002a 0E94 0000 call __divmodhi4 33 002e 7093 0000 sts (MesswertNick)+1,r23 34 0032 6093 0000 sts MesswertNick,r22 35 .L2: 36 0036 8091 0000 lds r24,MessanzahlRoll 37 003a 8823 tst r24 38 003c 01F0 breq .L4 39 003e 8091 0000 lds r24,AccumulateRoll 40 0042 9091 0000 lds r25,(AccumulateRoll)+1 41 0046 6091 0000 lds r22,MessanzahlRoll 42 004a 7727 clr r23 43 004c 0E94 0000 call __divmodhi4 44 0050 7093 0000 sts (MesswertRoll)+1,r23 45 0054 6093 0000 sts MesswertRoll,r22 46 .L4: 47 0058 8091 0000 lds r24,MessanzahlGier 48 005c 8823 tst r24 49 005e 01F0 breq .L6 50 0060 8091 0000 lds r24,AccumulateGier 51 0064 9091 0000 lds r25,(AccumulateGier)+1 52 0068 6091 0000 lds r22,MessanzahlGier 53 006c 7727 clr r23 54 006e 0E94 0000 call __divmodhi4 55 0072 7093 0000 sts (MesswertGier)+1,r23 56 0076 6093 0000 sts MesswertGier,r22 57 .L6: 58 007a 8091 0000 lds r24,messanzahl_AccNick 59 007e 8823 tst r24 60 0080 01F0 breq .L8 61 0082 E090 0000 lds r14,Mittelwert_AccNick 62 0086 F090 0000 lds r15,(Mittelwert_AccNick)+1 63 008a 6091 0000 lds r22,accumulate_AccNick 64 008e 7091 0000 lds r23,(accumulate_AccNick)+1 65 0092 2091 0000 lds r18,messanzahl_AccNick 66 0096 0027 clr r16 67 0098 F7FC sbrc r15,7 68 009a 0095 com r16 69 009c 102F mov r17,r16 70 009e 5701 movw r10,r14 71 00a0 6801 movw r12,r16 72 00a2 43E0 ldi r20,3 73 00a4 AA0C 1: lsl r10 74 00a6 BB1C rol r11 75 00a8 CC1C rol r12 76 00aa DD1C rol r13 77 00ac 4A95 dec r20 78 00ae 01F4 brne 1b 79 00b0 AE18 sub r10,r14 80 00b2 BF08 sbc r11,r15 81 00b4 C00A sbc r12,r16 82 00b6 D10A sbc r13,r17 83 00b8 8827 clr r24 84 00ba 77FD sbrc r23,7 85 00bc 8095 com r24 86 00be 982F mov r25,r24 87 00c0 34E0 ldi r19,4 88 00c2 660F 1: lsl r22 89 00c4 771F rol r23 90 00c6 881F rol r24 91 00c8 991F rol r25 92 00ca 3A95 dec r19 93 00cc 01F4 brne 1b 94 00ce 3327 clr r19 95 00d0 4427 clr r20 96 00d2 5527 clr r21 97 00d4 0E94 0000 call __divmodsi4 98 00d8 A20E add r10,r18 99 00da B31E adc r11,r19 100 00dc C41E adc r12,r20 101 00de D51E adc r13,r21 102 00e0 C601 movw r24,r12 103 00e2 B501 movw r22,r10 104 00e4 28E0 ldi r18,lo8(8) 105 00e6 30E0 ldi r19,hi8(8) 106 00e8 40E0 ldi r20,hlo8(8) 107 00ea 50E0 ldi r21,hhi8(8) 108 00ec 0E94 0000 call __divmodsi4 109 00f0 3093 0000 sts (Mittelwert_AccNick)+1,r19 110 00f4 2093 0000 sts Mittelwert_AccNick,r18 111 .L8: 112 00f8 8091 0000 lds r24,messanzahl_AccRoll 113 00fc 8823 tst r24 114 00fe 01F0 breq .L10 115 0100 E090 0000 lds r14,Mittelwert_AccRoll 116 0104 F090 0000 lds r15,(Mittelwert_AccRoll)+1 117 0108 6091 0000 lds r22,accumulate_AccRoll 118 010c 7091 0000 lds r23,(accumulate_AccRoll)+1 119 0110 2091 0000 lds r18,messanzahl_AccRoll 120 0114 0027 clr r16 121 0116 F7FC sbrc r15,7 122 0118 0095 com r16 123 011a 102F mov r17,r16 124 011c 5701 movw r10,r14 125 011e 6801 movw r12,r16 126 0120 83E0 ldi r24,3 127 0122 AA0C 1: lsl r10 128 0124 BB1C rol r11 129 0126 CC1C rol r12 130 0128 DD1C rol r13 131 012a 8A95 dec r24 132 012c 01F4 brne 1b 133 012e AE18 sub r10,r14 134 0130 BF08 sbc r11,r15 135 0132 C00A sbc r12,r16 136 0134 D10A sbc r13,r17 137 0136 8827 clr r24 138 0138 77FD sbrc r23,7 139 013a 8095 com r24 140 013c 982F mov r25,r24 141 013e B4E0 ldi r27,4 142 0140 660F 1: lsl r22 143 0142 771F rol r23 144 0144 881F rol r24 145 0146 991F rol r25 146 0148 BA95 dec r27 147 014a 01F4 brne 1b 148 014c 3327 clr r19 149 014e 4427 clr r20 150 0150 5527 clr r21 151 0152 0E94 0000 call __divmodsi4 152 0156 A20E add r10,r18 153 0158 B31E adc r11,r19 154 015a C41E adc r12,r20 155 015c D51E adc r13,r21 156 015e C601 movw r24,r12 157 0160 B501 movw r22,r10 158 0162 28E0 ldi r18,lo8(8) 159 0164 30E0 ldi r19,hi8(8) 160 0166 40E0 ldi r20,hlo8(8) 161 0168 50E0 ldi r21,hhi8(8) 162 016a 0E94 0000 call __divmodsi4 163 016e 3093 0000 sts (Mittelwert_AccRoll)+1,r19 164 0172 2093 0000 sts Mittelwert_AccRoll,r18 165 .L10: 166 0176 8091 0000 lds r24,messanzahl_AccHoch 167 017a 8823 tst r24 168 017c 01F0 breq .L12 169 017e E090 0000 lds r14,Mittelwert_AccHoch 170 0182 F090 0000 lds r15,(Mittelwert_AccHoch)+1 171 0186 6091 0000 lds r22,accumulate_AccHoch 172 018a 7091 0000 lds r23,(accumulate_AccHoch)+1 173 018e 2091 0000 lds r18,messanzahl_AccHoch 174 0192 0027 clr r16 175 0194 F7FC sbrc r15,7 176 0196 0095 com r16 177 0198 102F mov r17,r16 178 019a 5701 movw r10,r14 179 019c 6801 movw r12,r16 180 019e A3E0 ldi r26,3 181 01a0 AA0C 1: lsl r10 182 01a2 BB1C rol r11 183 01a4 CC1C rol r12 184 01a6 DD1C rol r13 185 01a8 AA95 dec r26 186 01aa 01F4 brne 1b 187 01ac AE18 sub r10,r14 188 01ae BF08 sbc r11,r15 189 01b0 C00A sbc r12,r16 190 01b2 D10A sbc r13,r17 191 01b4 8827 clr r24 192 01b6 77FD sbrc r23,7 193 01b8 8095 com r24 194 01ba 982F mov r25,r24 195 01bc 3327 clr r19 196 01be 4427 clr r20 197 01c0 5527 clr r21 198 01c2 0E94 0000 call __divmodsi4 199 01c6 A20E add r10,r18 200 01c8 B31E adc r11,r19 201 01ca C41E adc r12,r20 202 01cc D51E adc r13,r21 203 01ce C601 movw r24,r12 204 01d0 B501 movw r22,r10 205 01d2 28E0 ldi r18,lo8(8) 206 01d4 30E0 ldi r19,hi8(8) 207 01d6 40E0 ldi r20,hlo8(8) 208 01d8 50E0 ldi r21,hhi8(8) 209 01da 0E94 0000 call __divmodsi4 210 01de 3093 0000 sts (Mittelwert_AccHoch)+1,r19 211 01e2 2093 0000 sts Mittelwert_AccHoch,r18 212 .L12: 213 01e6 1092 0000 sts (AccumulateNick)+1,__zero_reg__ 214 01ea 1092 0000 sts AccumulateNick,__zero_reg__ 215 01ee 1092 0000 sts MessanzahlNick,__zero_reg__ 216 01f2 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ 217 01f6 1092 0000 sts AccumulateRoll,__zero_reg__ 218 01fa 1092 0000 sts MessanzahlRoll,__zero_reg__ 219 01fe 1092 0000 sts (AccumulateGier)+1,__zero_reg__ 220 0202 1092 0000 sts AccumulateGier,__zero_reg__ 221 0206 1092 0000 sts MessanzahlGier,__zero_reg__ 222 020a 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ 223 020e 1092 0000 sts accumulate_AccRoll,__zero_reg__ 224 0212 1092 0000 sts messanzahl_AccRoll,__zero_reg__ 225 0216 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ 226 021a 1092 0000 sts accumulate_AccNick,__zero_reg__ 227 021e 1092 0000 sts messanzahl_AccNick,__zero_reg__ 228 0222 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ 229 0226 1092 0000 sts accumulate_AccHoch,__zero_reg__ 230 022a 1092 0000 sts messanzahl_AccHoch,__zero_reg__ 231 022e 8091 0000 lds r24,Mess_Integral_Gier 232 0232 9091 0000 lds r25,(Mess_Integral_Gier)+1 233 0236 A091 0000 lds r26,(Mess_Integral_Gier)+2 234 023a B091 0000 lds r27,(Mess_Integral_Gier)+3 235 023e 8093 0000 sts Integral_Gier,r24 236 0242 9093 0000 sts (Integral_Gier)+1,r25 237 0246 A093 0000 sts (Integral_Gier)+2,r26 238 024a B093 0000 sts (Integral_Gier)+3,r27 239 024e 8091 0000 lds r24,Mess_IntegralNick 240 0252 9091 0000 lds r25,(Mess_IntegralNick)+1 241 0256 A091 0000 lds r26,(Mess_IntegralNick)+2 242 025a B091 0000 lds r27,(Mess_IntegralNick)+3 243 025e 8093 0000 sts IntegralNick,r24 244 0262 9093 0000 sts (IntegralNick)+1,r25 245 0266 A093 0000 sts (IntegralNick)+2,r26 246 026a B093 0000 sts (IntegralNick)+3,r27 247 026e 8091 0000 lds r24,Mess_IntegralRoll 248 0272 9091 0000 lds r25,(Mess_IntegralRoll)+1 249 0276 A091 0000 lds r26,(Mess_IntegralRoll)+2 250 027a B091 0000 lds r27,(Mess_IntegralRoll)+3 251 027e 8093 0000 sts IntegralRoll,r24 252 0282 9093 0000 sts (IntegralRoll)+1,r25 253 0286 A093 0000 sts (IntegralRoll)+2,r26 254 028a B093 0000 sts (IntegralRoll)+3,r27 255 028e 8091 0000 lds r24,Mess_IntegralNick2 256 0292 9091 0000 lds r25,(Mess_IntegralNick2)+1 257 0296 A091 0000 lds r26,(Mess_IntegralNick2)+2 258 029a B091 0000 lds r27,(Mess_IntegralNick2)+3 259 029e 8093 0000 sts IntegralNick2,r24 260 02a2 9093 0000 sts (IntegralNick2)+1,r25 261 02a6 A093 0000 sts (IntegralNick2)+2,r26 262 02aa B093 0000 sts (IntegralNick2)+3,r27 263 02ae 8091 0000 lds r24,Mess_IntegralRoll2 264 02b2 9091 0000 lds r25,(Mess_IntegralRoll2)+1 265 02b6 A091 0000 lds r26,(Mess_IntegralRoll2)+2 266 02ba B091 0000 lds r27,(Mess_IntegralRoll2)+3 267 02be 8093 0000 sts IntegralRoll2,r24 268 02c2 9093 0000 sts (IntegralRoll2)+1,r25 269 02c6 A093 0000 sts (IntegralRoll2)+2,r26 270 02ca B093 0000 sts (IntegralRoll2)+3,r27 271 02ce 8FEE ldi r24,lo8(-17) 272 02d0 8093 7A00 sts 122,r24 273 02d4 8091 0000 lds r24,MesswertNick 274 02d8 9091 0000 lds r25,(MesswertNick)+1 275 02dc 893C cpi r24,201 276 02de 9105 cpc r25,__zero_reg__ 277 02e0 04F0 brlt .L14 278 02e2 2091 0000 lds r18,MesswertNick 279 02e6 3091 0000 lds r19,(MesswertNick)+1 280 02ea 8091 0000 lds r24,MesswertNick 281 02ee 9091 0000 lds r25,(MesswertNick)+1 282 02f2 880F lsl r24 283 02f4 991F rol r25 284 02f6 880F lsl r24 285 02f8 991F rol r25 286 02fa 2052 subi r18,lo8(-(-800)) 287 02fc 3340 sbci r19,hi8(-(-800)) 288 02fe 00C0 rjmp .L95 289 .L14: 290 0300 8091 0000 lds r24,MesswertNick 291 0304 9091 0000 lds r25,(MesswertNick)+1 292 0308 8853 subi r24,lo8(-200) 293 030a 9F4F sbci r25,hi8(-200) 294 030c 04F4 brge .L16 295 030e 2091 0000 lds r18,MesswertNick 296 0312 3091 0000 lds r19,(MesswertNick)+1 297 0316 8091 0000 lds r24,MesswertNick 298 031a 9091 0000 lds r25,(MesswertNick)+1 299 031e 880F lsl r24 300 0320 991F rol r25 301 0322 880F lsl r24 302 0324 991F rol r25 303 0326 205E subi r18,lo8(-(800)) 304 0328 3C4F sbci r19,hi8(-(800)) 305 .L95: 306 032a 820F add r24,r18 307 032c 931F adc r25,r19 308 032e 9093 0000 sts (MesswertNick)+1,r25 309 0332 8093 0000 sts MesswertNick,r24 310 .L16: 311 0336 8091 0000 lds r24,MesswertRoll 312 033a 9091 0000 lds r25,(MesswertRoll)+1 313 033e 893C cpi r24,201 314 0340 9105 cpc r25,__zero_reg__ 315 0342 04F0 brlt .L18 316 0344 2091 0000 lds r18,MesswertRoll 317 0348 3091 0000 lds r19,(MesswertRoll)+1 318 034c 8091 0000 lds r24,MesswertRoll 319 0350 9091 0000 lds r25,(MesswertRoll)+1 320 0354 880F lsl r24 321 0356 991F rol r25 322 0358 880F lsl r24 323 035a 991F rol r25 324 035c 2052 subi r18,lo8(-(-800)) 325 035e 3340 sbci r19,hi8(-(-800)) 326 0360 00C0 rjmp .L96 327 .L18: 328 0362 8091 0000 lds r24,MesswertRoll 329 0366 9091 0000 lds r25,(MesswertRoll)+1 330 036a 8853 subi r24,lo8(-200) 331 036c 9F4F sbci r25,hi8(-200) 332 036e 04F4 brge .L20 333 0370 2091 0000 lds r18,MesswertRoll 334 0374 3091 0000 lds r19,(MesswertRoll)+1 335 0378 8091 0000 lds r24,MesswertRoll 336 037c 9091 0000 lds r25,(MesswertRoll)+1 337 0380 880F lsl r24 338 0382 991F rol r25 339 0384 880F lsl r24 340 0386 991F rol r25 341 0388 205E subi r18,lo8(-(800)) 342 038a 3C4F sbci r19,hi8(-(800)) 343 .L96: 344 038c 820F add r24,r18 345 038e 931F adc r25,r19 346 0390 9093 0000 sts (MesswertRoll)+1,r25 347 0394 8093 0000 sts MesswertRoll,r24 348 .L20: 349 0398 2091 0000 lds r18,Poti1 350 039c 3091 0000 lds r19,(Poti1)+1 351 03a0 8091 0000 lds r24,EE_Parameter+4 352 03a4 E82F mov r30,r24 353 03a6 FF27 clr r31 354 03a8 EE0F lsl r30 355 03aa FF1F rol r31 356 03ac E050 subi r30,lo8(-(PPM_in)) 357 03ae F040 sbci r31,hi8(-(PPM_in)) 358 03b0 8081 ld r24,Z 359 03b2 9181 ldd r25,Z+1 360 03b4 8259 subi r24,lo8(-(110)) 361 03b6 9F4F sbci r25,hi8(-(110)) 362 03b8 2817 cp r18,r24 363 03ba 3907 cpc r19,r25 364 03bc 04F4 brge .L22 365 03be 2F5F subi r18,lo8(-(1)) 366 03c0 3F4F sbci r19,hi8(-(1)) 367 03c2 00C0 rjmp .L97 368 .L22: 369 03c4 8081 ld r24,Z 370 03c6 9181 ldd r25,Z+1 371 03c8 8259 subi r24,lo8(-(110)) 372 03ca 9F4F sbci r25,hi8(-(110)) 373 03cc 8217 cp r24,r18 374 03ce 9307 cpc r25,r19 375 03d0 04F4 brge .L24 376 03d2 2115 cp r18,__zero_reg__ 377 03d4 3105 cpc r19,__zero_reg__ 378 03d6 01F0 breq .L24 379 03d8 2150 subi r18,lo8(-(-1)) 380 03da 3040 sbci r19,hi8(-(-1)) 381 .L97: 382 03dc 3093 0000 sts (Poti1)+1,r19 383 03e0 2093 0000 sts Poti1,r18 384 .L24: 385 03e4 2091 0000 lds r18,Poti2 386 03e8 3091 0000 lds r19,(Poti2)+1 387 03ec 8091 0000 lds r24,EE_Parameter+5 388 03f0 E82F mov r30,r24 389 03f2 FF27 clr r31 390 03f4 EE0F lsl r30 391 03f6 FF1F rol r31 392 03f8 E050 subi r30,lo8(-(PPM_in)) 393 03fa F040 sbci r31,hi8(-(PPM_in)) 394 03fc 8081 ld r24,Z 395 03fe 9181 ldd r25,Z+1 396 0400 8259 subi r24,lo8(-(110)) 397 0402 9F4F sbci r25,hi8(-(110)) 398 0404 2817 cp r18,r24 399 0406 3907 cpc r19,r25 400 0408 04F4 brge .L27 401 040a 2F5F subi r18,lo8(-(1)) 402 040c 3F4F sbci r19,hi8(-(1)) 403 040e 00C0 rjmp .L98 404 .L27: 405 0410 8081 ld r24,Z 406 0412 9181 ldd r25,Z+1 407 0414 8259 subi r24,lo8(-(110)) 408 0416 9F4F sbci r25,hi8(-(110)) 409 0418 8217 cp r24,r18 410 041a 9307 cpc r25,r19 411 041c 04F4 brge .L29 412 041e 2115 cp r18,__zero_reg__ 413 0420 3105 cpc r19,__zero_reg__ 414 0422 01F0 breq .L29 415 0424 2150 subi r18,lo8(-(-1)) 416 0426 3040 sbci r19,hi8(-(-1)) 417 .L98: 418 0428 3093 0000 sts (Poti2)+1,r19 419 042c 2093 0000 sts Poti2,r18 420 .L29: 421 0430 2091 0000 lds r18,Poti3 422 0434 3091 0000 lds r19,(Poti3)+1 423 0438 8091 0000 lds r24,EE_Parameter+6 424 043c E82F mov r30,r24 425 043e FF27 clr r31 426 0440 EE0F lsl r30 427 0442 FF1F rol r31 428 0444 E050 subi r30,lo8(-(PPM_in)) 429 0446 F040 sbci r31,hi8(-(PPM_in)) 430 0448 8081 ld r24,Z 431 044a 9181 ldd r25,Z+1 432 044c 8259 subi r24,lo8(-(110)) 433 044e 9F4F sbci r25,hi8(-(110)) 434 0450 2817 cp r18,r24 435 0452 3907 cpc r19,r25 436 0454 04F4 brge .L32 437 0456 2F5F subi r18,lo8(-(1)) 438 0458 3F4F sbci r19,hi8(-(1)) 439 045a 00C0 rjmp .L99 440 .L32: 441 045c 8081 ld r24,Z 442 045e 9181 ldd r25,Z+1 443 0460 8259 subi r24,lo8(-(110)) 444 0462 9F4F sbci r25,hi8(-(110)) 445 0464 8217 cp r24,r18 446 0466 9307 cpc r25,r19 447 0468 04F4 brge .L34 448 046a 2115 cp r18,__zero_reg__ 449 046c 3105 cpc r19,__zero_reg__ 450 046e 01F0 breq .L34 451 0470 2150 subi r18,lo8(-(-1)) 452 0472 3040 sbci r19,hi8(-(-1)) 453 .L99: 454 0474 3093 0000 sts (Poti3)+1,r19 455 0478 2093 0000 sts Poti3,r18 456 .L34: 457 047c 2091 0000 lds r18,Poti4 458 0480 3091 0000 lds r19,(Poti4)+1 459 0484 8091 0000 lds r24,EE_Parameter+7 460 0488 E82F mov r30,r24 461 048a FF27 clr r31 462 048c EE0F lsl r30 463 048e FF1F rol r31 464 0490 E050 subi r30,lo8(-(PPM_in)) 465 0492 F040 sbci r31,hi8(-(PPM_in)) 466 0494 8081 ld r24,Z 467 0496 9181 ldd r25,Z+1 468 0498 8259 subi r24,lo8(-(110)) 469 049a 9F4F sbci r25,hi8(-(110)) 470 049c 2817 cp r18,r24 471 049e 3907 cpc r19,r25 472 04a0 04F4 brge .L37 473 04a2 2F5F subi r18,lo8(-(1)) 474 04a4 3F4F sbci r19,hi8(-(1)) 475 04a6 00C0 rjmp .L100 476 .L37: 477 04a8 8081 ld r24,Z 478 04aa 9181 ldd r25,Z+1 479 04ac 8259 subi r24,lo8(-(110)) 480 04ae 9F4F sbci r25,hi8(-(110)) 481 04b0 8217 cp r24,r18 482 04b2 9307 cpc r25,r19 483 04b4 04F4 brge .L39 484 04b6 2115 cp r18,__zero_reg__ 485 04b8 3105 cpc r19,__zero_reg__ 486 04ba 01F0 breq .L39 487 04bc 2150 subi r18,lo8(-(-1)) 488 04be 3040 sbci r19,hi8(-(-1)) 489 .L100: 490 04c0 3093 0000 sts (Poti4)+1,r19 491 04c4 2093 0000 sts Poti4,r18 492 .L39: 493 04c8 2091 0000 lds r18,Poti5 494 04cc 3091 0000 lds r19,(Poti5)+1 495 04d0 8091 0000 lds r24,PPM_in+18 496 04d4 9091 0000 lds r25,(PPM_in+18)+1 497 04d8 8259 subi r24,lo8(-(110)) 498 04da 9F4F sbci r25,hi8(-(110)) 499 04dc 2817 cp r18,r24 500 04de 3907 cpc r19,r25 501 04e0 04F4 brge .L42 502 04e2 2F5F subi r18,lo8(-(1)) 503 04e4 3F4F sbci r19,hi8(-(1)) 504 04e6 00C0 rjmp .L101 505 .L42: 506 04e8 8091 0000 lds r24,PPM_in+18 507 04ec 9091 0000 lds r25,(PPM_in+18)+1 508 04f0 8259 subi r24,lo8(-(110)) 509 04f2 9F4F sbci r25,hi8(-(110)) 510 04f4 8217 cp r24,r18 511 04f6 9307 cpc r25,r19 512 04f8 04F4 brge .L44 513 04fa 2115 cp r18,__zero_reg__ 514 04fc 3105 cpc r19,__zero_reg__ 515 04fe 01F0 breq .L44 516 0500 2150 subi r18,lo8(-(-1)) 517 0502 3040 sbci r19,hi8(-(-1)) 518 .L101: 519 0504 3093 0000 sts (Poti5)+1,r19 520 0508 2093 0000 sts Poti5,r18 521 .L44: 522 050c 2091 0000 lds r18,Poti6 523 0510 3091 0000 lds r19,(Poti6)+1 524 0514 8091 0000 lds r24,PPM_in+20 525 0518 9091 0000 lds r25,(PPM_in+20)+1 526 051c 8259 subi r24,lo8(-(110)) 527 051e 9F4F sbci r25,hi8(-(110)) 528 0520 2817 cp r18,r24 529 0522 3907 cpc r19,r25 530 0524 04F4 brge .L47 531 0526 2F5F subi r18,lo8(-(1)) 532 0528 3F4F sbci r19,hi8(-(1)) 533 052a 00C0 rjmp .L102 534 .L47: 535 052c 8091 0000 lds r24,PPM_in+20 536 0530 9091 0000 lds r25,(PPM_in+20)+1 537 0534 8259 subi r24,lo8(-(110)) 538 0536 9F4F sbci r25,hi8(-(110)) 539 0538 8217 cp r24,r18 540 053a 9307 cpc r25,r19 541 053c 04F4 brge .L49 542 053e 2115 cp r18,__zero_reg__ 543 0540 3105 cpc r19,__zero_reg__ 544 0542 01F0 breq .L49 545 0544 2150 subi r18,lo8(-(-1)) 546 0546 3040 sbci r19,hi8(-(-1)) 547 .L102: 548 0548 3093 0000 sts (Poti6)+1,r19 549 054c 2093 0000 sts Poti6,r18 550 .L49: 551 0550 2091 0000 lds r18,Poti7 552 0554 3091 0000 lds r19,(Poti7)+1 553 0558 8091 0000 lds r24,PPM_in+22 554 055c 9091 0000 lds r25,(PPM_in+22)+1 555 0560 8259 subi r24,lo8(-(110)) 556 0562 9F4F sbci r25,hi8(-(110)) 557 0564 2817 cp r18,r24 558 0566 3907 cpc r19,r25 559 0568 04F4 brge .L52 560 056a 2F5F subi r18,lo8(-(1)) 561 056c 3F4F sbci r19,hi8(-(1)) 562 056e 00C0 rjmp .L103 563 .L52: 564 0570 8091 0000 lds r24,PPM_in+22 565 0574 9091 0000 lds r25,(PPM_in+22)+1 566 0578 8259 subi r24,lo8(-(110)) 567 057a 9F4F sbci r25,hi8(-(110)) 568 057c 8217 cp r24,r18 569 057e 9307 cpc r25,r19 570 0580 04F4 brge .L54 571 0582 2115 cp r18,__zero_reg__ 572 0584 3105 cpc r19,__zero_reg__ 573 0586 01F0 breq .L54 574 0588 2150 subi r18,lo8(-(-1)) 575 058a 3040 sbci r19,hi8(-(-1)) 576 .L103: 577 058c 3093 0000 sts (Poti7)+1,r19 578 0590 2093 0000 sts Poti7,r18 579 .L54: 580 0594 2091 0000 lds r18,Poti8 581 0598 3091 0000 lds r19,(Poti8)+1 582 059c 8091 0000 lds r24,PPM_in+24 583 05a0 9091 0000 lds r25,(PPM_in+24)+1 584 05a4 8259 subi r24,lo8(-(110)) 585 05a6 9F4F sbci r25,hi8(-(110)) 586 05a8 2817 cp r18,r24 587 05aa 3907 cpc r19,r25 588 05ac 04F4 brge .L57 589 05ae 2F5F subi r18,lo8(-(1)) 590 05b0 3F4F sbci r19,hi8(-(1)) 591 05b2 00C0 rjmp .L104 592 .L57: 593 05b4 8091 0000 lds r24,PPM_in+24 594 05b8 9091 0000 lds r25,(PPM_in+24)+1 595 05bc 8259 subi r24,lo8(-(110)) 596 05be 9F4F sbci r25,hi8(-(110)) 597 05c0 8217 cp r24,r18 598 05c2 9307 cpc r25,r19 599 05c4 04F4 brge .L59 600 05c6 2115 cp r18,__zero_reg__ 601 05c8 3105 cpc r19,__zero_reg__ 602 05ca 01F0 breq .L59 603 05cc 2150 subi r18,lo8(-(-1)) 604 05ce 3040 sbci r19,hi8(-(-1)) 605 .L104: 606 05d0 3093 0000 sts (Poti8)+1,r19 607 05d4 2093 0000 sts Poti8,r18 608 .L59: 609 05d8 8091 0000 lds r24,Poti1 610 05dc 9091 0000 lds r25,(Poti1)+1 611 05e0 97FF sbrs r25,7 612 05e2 00C0 rjmp .L62 613 05e4 1092 0000 sts (Poti1)+1,__zero_reg__ 614 05e8 1092 0000 sts Poti1,__zero_reg__ 615 05ec 00C0 rjmp .L64 616 .L62: 617 05ee 8F3F cpi r24,255 618 05f0 9105 cpc r25,__zero_reg__ 619 05f2 01F0 breq .L64 620 05f4 04F0 brlt .L64 621 05f6 8FEF ldi r24,lo8(255) 622 05f8 90E0 ldi r25,hi8(255) 623 05fa 9093 0000 sts (Poti1)+1,r25 624 05fe 8093 0000 sts Poti1,r24 625 .L64: 626 0602 8091 0000 lds r24,Poti2 627 0606 9091 0000 lds r25,(Poti2)+1 628 060a 97FF sbrs r25,7 629 060c 00C0 rjmp .L66 630 060e 1092 0000 sts (Poti2)+1,__zero_reg__ 631 0612 1092 0000 sts Poti2,__zero_reg__ 632 0616 00C0 rjmp .L68 633 .L66: 634 0618 8F3F cpi r24,255 635 061a 9105 cpc r25,__zero_reg__ 636 061c 01F0 breq .L68 637 061e 04F0 brlt .L68 638 0620 8FEF ldi r24,lo8(255) 639 0622 90E0 ldi r25,hi8(255) 640 0624 9093 0000 sts (Poti2)+1,r25 641 0628 8093 0000 sts Poti2,r24 642 .L68: 643 062c 8091 0000 lds r24,Poti3 644 0630 9091 0000 lds r25,(Poti3)+1 645 0634 97FF sbrs r25,7 646 0636 00C0 rjmp .L70 647 0638 1092 0000 sts (Poti3)+1,__zero_reg__ 648 063c 1092 0000 sts Poti3,__zero_reg__ 649 0640 00C0 rjmp .L72 650 .L70: 651 0642 8F3F cpi r24,255 652 0644 9105 cpc r25,__zero_reg__ 653 0646 01F0 breq .L72 654 0648 04F0 brlt .L72 655 064a 8FEF ldi r24,lo8(255) 656 064c 90E0 ldi r25,hi8(255) 657 064e 9093 0000 sts (Poti3)+1,r25 658 0652 8093 0000 sts Poti3,r24 659 .L72: 660 0656 8091 0000 lds r24,Poti4 661 065a 9091 0000 lds r25,(Poti4)+1 662 065e 97FF sbrs r25,7 663 0660 00C0 rjmp .L74 664 0662 1092 0000 sts (Poti4)+1,__zero_reg__ 665 0666 1092 0000 sts Poti4,__zero_reg__ 666 066a 00C0 rjmp .L76 667 .L74: 668 066c 8F3F cpi r24,255 669 066e 9105 cpc r25,__zero_reg__ 670 0670 01F0 breq .L76 671 0672 04F0 brlt .L76 672 0674 8FEF ldi r24,lo8(255) 673 0676 90E0 ldi r25,hi8(255) 674 0678 9093 0000 sts (Poti4)+1,r25 675 067c 8093 0000 sts Poti4,r24 676 .L76: 677 0680 8091 0000 lds r24,Poti5 678 0684 9091 0000 lds r25,(Poti5)+1 679 0688 97FF sbrs r25,7 680 068a 00C0 rjmp .L78 681 068c 1092 0000 sts (Poti5)+1,__zero_reg__ 682 0690 1092 0000 sts Poti5,__zero_reg__ 683 0694 00C0 rjmp .L80 684 .L78: 685 0696 8F3F cpi r24,255 686 0698 9105 cpc r25,__zero_reg__ 687 069a 01F0 breq .L80 688 069c 04F0 brlt .L80 689 069e 8FEF ldi r24,lo8(255) 690 06a0 90E0 ldi r25,hi8(255) 691 06a2 9093 0000 sts (Poti5)+1,r25 692 06a6 8093 0000 sts Poti5,r24 693 .L80: 694 06aa 8091 0000 lds r24,Poti6 695 06ae 9091 0000 lds r25,(Poti6)+1 696 06b2 97FF sbrs r25,7 697 06b4 00C0 rjmp .L82 698 06b6 1092 0000 sts (Poti6)+1,__zero_reg__ 699 06ba 1092 0000 sts Poti6,__zero_reg__ 700 06be 00C0 rjmp .L84 701 .L82: 702 06c0 8F3F cpi r24,255 703 06c2 9105 cpc r25,__zero_reg__ 704 06c4 01F0 breq .L84 705 06c6 04F0 brlt .L84 706 06c8 8FEF ldi r24,lo8(255) 707 06ca 90E0 ldi r25,hi8(255) 708 06cc 9093 0000 sts (Poti6)+1,r25 709 06d0 8093 0000 sts Poti6,r24 710 .L84: 711 06d4 8091 0000 lds r24,Poti7 712 06d8 9091 0000 lds r25,(Poti7)+1 713 06dc 97FF sbrs r25,7 714 06de 00C0 rjmp .L86 715 06e0 1092 0000 sts (Poti7)+1,__zero_reg__ 716 06e4 1092 0000 sts Poti7,__zero_reg__ 717 06e8 00C0 rjmp .L88 718 .L86: 719 06ea 8F3F cpi r24,255 720 06ec 9105 cpc r25,__zero_reg__ 721 06ee 01F0 breq .L88 722 06f0 04F0 brlt .L88 723 06f2 8FEF ldi r24,lo8(255) 724 06f4 90E0 ldi r25,hi8(255) 725 06f6 9093 0000 sts (Poti7)+1,r25 726 06fa 8093 0000 sts Poti7,r24 727 .L88: 728 06fe 8091 0000 lds r24,Poti8 729 0702 9091 0000 lds r25,(Poti8)+1 730 0706 97FF sbrs r25,7 731 0708 00C0 rjmp .L90 732 070a 1092 0000 sts (Poti8)+1,__zero_reg__ 733 070e 1092 0000 sts Poti8,__zero_reg__ 734 0712 00C0 rjmp .L94 735 .L90: 736 0714 8F3F cpi r24,255 737 0716 9105 cpc r25,__zero_reg__ 738 0718 01F0 breq .L94 739 071a 04F0 brlt .L94 740 071c 8FEF ldi r24,lo8(255) 741 071e 90E0 ldi r25,hi8(255) 742 0720 9093 0000 sts (Poti8)+1,r25 743 0724 8093 0000 sts Poti8,r24 744 .L94: 745 /* epilogue: frame size=0 */ 746 0728 1F91 pop r17 747 072a 0F91 pop r16 748 072c FF90 pop r15 749 072e EF90 pop r14 750 0730 DF90 pop r13 751 0732 CF90 pop r12 752 0734 BF90 pop r11 753 0736 AF90 pop r10 754 0738 0895 ret 755 /* epilogue end (size=9) */ 756 /* function Mittelwert size 927 (910) */ 758 .global CalibrierMittelwert 760 CalibrierMittelwert: 761 /* prologue: frame size=0 */ 762 /* prologue end (size=0) */ 763 073a 1092 7A00 sts 122,__zero_reg__ 764 073e 8091 0000 lds r24,MessanzahlNick 765 0742 8823 tst r24 766 0744 01F0 breq .L106 767 0746 8091 0000 lds r24,AccumulateNick 768 074a 9091 0000 lds r25,(AccumulateNick)+1 769 074e 6091 0000 lds r22,MessanzahlNick 770 0752 7727 clr r23 771 0754 0E94 0000 call __divmodhi4 772 0758 7093 0000 sts (MesswertNick)+1,r23 773 075c 6093 0000 sts MesswertNick,r22 774 .L106: 775 0760 8091 0000 lds r24,MessanzahlRoll 776 0764 8823 tst r24 777 0766 01F0 breq .L108 778 0768 8091 0000 lds r24,AccumulateRoll 779 076c 9091 0000 lds r25,(AccumulateRoll)+1 780 0770 6091 0000 lds r22,MessanzahlRoll 781 0774 7727 clr r23 782 0776 0E94 0000 call __divmodhi4 783 077a 7093 0000 sts (MesswertRoll)+1,r23 784 077e 6093 0000 sts MesswertRoll,r22 785 .L108: 786 0782 8091 0000 lds r24,MessanzahlGier 787 0786 8823 tst r24 788 0788 01F0 breq .L110 789 078a 8091 0000 lds r24,AccumulateGier 790 078e 9091 0000 lds r25,(AccumulateGier)+1 791 0792 6091 0000 lds r22,MessanzahlGier 792 0796 7727 clr r23 793 0798 0E94 0000 call __divmodhi4 794 079c 7093 0000 sts (MesswertGier)+1,r23 795 07a0 6093 0000 sts MesswertGier,r22 796 .L110: 797 07a4 8091 0000 lds r24,messanzahl_AccNick 798 07a8 8823 tst r24 799 07aa 01F0 breq .L112 800 07ac 6091 0000 lds r22,accumulate_AccNick 801 07b0 7091 0000 lds r23,(accumulate_AccNick)+1 802 07b4 2091 0000 lds r18,messanzahl_AccNick 803 07b8 8827 clr r24 804 07ba 77FD sbrc r23,7 805 07bc 8095 com r24 806 07be 982F mov r25,r24 807 07c0 34E0 ldi r19,4 808 07c2 660F 1: lsl r22 809 07c4 771F rol r23 810 07c6 881F rol r24 811 07c8 991F rol r25 812 07ca 3A95 dec r19 813 07cc 01F4 brne 1b 814 07ce 3327 clr r19 815 07d0 4427 clr r20 816 07d2 5527 clr r21 817 07d4 0E94 0000 call __divmodsi4 818 07d8 3093 0000 sts (Mittelwert_AccNick)+1,r19 819 07dc 2093 0000 sts Mittelwert_AccNick,r18 820 .L112: 821 07e0 8091 0000 lds r24,messanzahl_AccRoll 822 07e4 8823 tst r24 823 07e6 01F0 breq .L114 824 07e8 6091 0000 lds r22,accumulate_AccRoll 825 07ec 7091 0000 lds r23,(accumulate_AccRoll)+1 826 07f0 2091 0000 lds r18,messanzahl_AccRoll 827 07f4 8827 clr r24 828 07f6 77FD sbrc r23,7 829 07f8 8095 com r24 830 07fa 982F mov r25,r24 831 07fc B4E0 ldi r27,4 832 07fe 660F 1: lsl r22 833 0800 771F rol r23 834 0802 881F rol r24 835 0804 991F rol r25 836 0806 BA95 dec r27 837 0808 01F4 brne 1b 838 080a 3327 clr r19 839 080c 4427 clr r20 840 080e 5527 clr r21 841 0810 0E94 0000 call __divmodsi4 842 0814 3093 0000 sts (Mittelwert_AccRoll)+1,r19 843 0818 2093 0000 sts Mittelwert_AccRoll,r18 844 .L114: 845 081c 8091 0000 lds r24,messanzahl_AccHoch 846 0820 8823 tst r24 847 0822 01F0 breq .L116 848 0824 6091 0000 lds r22,accumulate_AccHoch 849 0828 7091 0000 lds r23,(accumulate_AccHoch)+1 850 082c 2091 0000 lds r18,messanzahl_AccHoch 851 0830 8827 clr r24 852 0832 77FD sbrc r23,7 853 0834 8095 com r24 854 0836 982F mov r25,r24 855 0838 3327 clr r19 856 083a 4427 clr r20 857 083c 5527 clr r21 858 083e 0E94 0000 call __divmodsi4 859 0842 3093 0000 sts (Mittelwert_AccHoch)+1,r19 860 0846 2093 0000 sts Mittelwert_AccHoch,r18 861 .L116: 862 084a 1092 0000 sts (AccumulateNick)+1,__zero_reg__ 863 084e 1092 0000 sts AccumulateNick,__zero_reg__ 864 0852 1092 0000 sts MessanzahlNick,__zero_reg__ 865 0856 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ 866 085a 1092 0000 sts AccumulateRoll,__zero_reg__ 867 085e 1092 0000 sts MessanzahlRoll,__zero_reg__ 868 0862 1092 0000 sts (AccumulateGier)+1,__zero_reg__ 869 0866 1092 0000 sts AccumulateGier,__zero_reg__ 870 086a 1092 0000 sts MessanzahlGier,__zero_reg__ 871 086e 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ 872 0872 1092 0000 sts accumulate_AccRoll,__zero_reg__ 873 0876 1092 0000 sts messanzahl_AccRoll,__zero_reg__ 874 087a 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ 875 087e 1092 0000 sts accumulate_AccNick,__zero_reg__ 876 0882 1092 0000 sts messanzahl_AccNick,__zero_reg__ 877 0886 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ 878 088a 1092 0000 sts accumulate_AccHoch,__zero_reg__ 879 088e 1092 0000 sts messanzahl_AccHoch,__zero_reg__ 880 0892 8FEE ldi r24,lo8(-17) 881 0894 8093 7A00 sts 122,r24 882 0898 2091 0000 lds r18,Poti1 883 089c 3091 0000 lds r19,(Poti1)+1 884 08a0 8091 0000 lds r24,EE_Parameter+4 885 08a4 E82F mov r30,r24 886 08a6 FF27 clr r31 887 08a8 EE0F lsl r30 888 08aa FF1F rol r31 889 08ac E050 subi r30,lo8(-(PPM_in)) 890 08ae F040 sbci r31,hi8(-(PPM_in)) 891 08b0 8081 ld r24,Z 892 08b2 9181 ldd r25,Z+1 893 08b4 8259 subi r24,lo8(-(110)) 894 08b6 9F4F sbci r25,hi8(-(110)) 895 08b8 2817 cp r18,r24 896 08ba 3907 cpc r19,r25 897 08bc 04F4 brge .L118 898 08be 2F5F subi r18,lo8(-(1)) 899 08c0 3F4F sbci r19,hi8(-(1)) 900 08c2 00C0 rjmp .L191 901 .L118: 902 08c4 8081 ld r24,Z 903 08c6 9181 ldd r25,Z+1 904 08c8 8259 subi r24,lo8(-(110)) 905 08ca 9F4F sbci r25,hi8(-(110)) 906 08cc 8217 cp r24,r18 907 08ce 9307 cpc r25,r19 908 08d0 04F4 brge .L120 909 08d2 2115 cp r18,__zero_reg__ 910 08d4 3105 cpc r19,__zero_reg__ 911 08d6 01F0 breq .L120 912 08d8 2150 subi r18,lo8(-(-1)) 913 08da 3040 sbci r19,hi8(-(-1)) 914 .L191: 915 08dc 3093 0000 sts (Poti1)+1,r19 916 08e0 2093 0000 sts Poti1,r18 917 .L120: 918 08e4 2091 0000 lds r18,Poti2 919 08e8 3091 0000 lds r19,(Poti2)+1 920 08ec 8091 0000 lds r24,EE_Parameter+5 921 08f0 E82F mov r30,r24 922 08f2 FF27 clr r31 923 08f4 EE0F lsl r30 924 08f6 FF1F rol r31 925 08f8 E050 subi r30,lo8(-(PPM_in)) 926 08fa F040 sbci r31,hi8(-(PPM_in)) 927 08fc 8081 ld r24,Z 928 08fe 9181 ldd r25,Z+1 929 0900 8259 subi r24,lo8(-(110)) 930 0902 9F4F sbci r25,hi8(-(110)) 931 0904 2817 cp r18,r24 932 0906 3907 cpc r19,r25 933 0908 04F4 brge .L123 934 090a 2F5F subi r18,lo8(-(1)) 935 090c 3F4F sbci r19,hi8(-(1)) 936 090e 00C0 rjmp .L192 937 .L123: 938 0910 8081 ld r24,Z 939 0912 9181 ldd r25,Z+1 940 0914 8259 subi r24,lo8(-(110)) 941 0916 9F4F sbci r25,hi8(-(110)) 942 0918 8217 cp r24,r18 943 091a 9307 cpc r25,r19 944 091c 04F4 brge .L125 945 091e 2115 cp r18,__zero_reg__ 946 0920 3105 cpc r19,__zero_reg__ 947 0922 01F0 breq .L125 948 0924 2150 subi r18,lo8(-(-1)) 949 0926 3040 sbci r19,hi8(-(-1)) 950 .L192: 951 0928 3093 0000 sts (Poti2)+1,r19 952 092c 2093 0000 sts Poti2,r18 953 .L125: 954 0930 2091 0000 lds r18,Poti3 955 0934 3091 0000 lds r19,(Poti3)+1 956 0938 8091 0000 lds r24,EE_Parameter+6 957 093c E82F mov r30,r24 958 093e FF27 clr r31 959 0940 EE0F lsl r30 960 0942 FF1F rol r31 961 0944 E050 subi r30,lo8(-(PPM_in)) 962 0946 F040 sbci r31,hi8(-(PPM_in)) 963 0948 8081 ld r24,Z 964 094a 9181 ldd r25,Z+1 965 094c 8259 subi r24,lo8(-(110)) 966 094e 9F4F sbci r25,hi8(-(110)) 967 0950 2817 cp r18,r24 968 0952 3907 cpc r19,r25 969 0954 04F4 brge .L128 970 0956 2F5F subi r18,lo8(-(1)) 971 0958 3F4F sbci r19,hi8(-(1)) 972 095a 00C0 rjmp .L193 973 .L128: 974 095c 8081 ld r24,Z 975 095e 9181 ldd r25,Z+1 976 0960 8259 subi r24,lo8(-(110)) 977 0962 9F4F sbci r25,hi8(-(110)) 978 0964 8217 cp r24,r18 979 0966 9307 cpc r25,r19 980 0968 04F4 brge .L130 981 096a 2115 cp r18,__zero_reg__ 982 096c 3105 cpc r19,__zero_reg__ 983 096e 01F0 breq .L130 984 0970 2150 subi r18,lo8(-(-1)) 985 0972 3040 sbci r19,hi8(-(-1)) 986 .L193: 987 0974 3093 0000 sts (Poti3)+1,r19 988 0978 2093 0000 sts Poti3,r18 989 .L130: 990 097c 2091 0000 lds r18,Poti4 991 0980 3091 0000 lds r19,(Poti4)+1 992 0984 8091 0000 lds r24,EE_Parameter+7 993 0988 E82F mov r30,r24 994 098a FF27 clr r31 995 098c EE0F lsl r30 996 098e FF1F rol r31 997 0990 E050 subi r30,lo8(-(PPM_in)) 998 0992 F040 sbci r31,hi8(-(PPM_in)) 999 0994 8081 ld r24,Z 1000 0996 9181 ldd r25,Z+1 1001 0998 8259 subi r24,lo8(-(110)) 1002 099a 9F4F sbci r25,hi8(-(110)) 1003 099c 2817 cp r18,r24 1004 099e 3907 cpc r19,r25 1005 09a0 04F4 brge .L133 1006 09a2 2F5F subi r18,lo8(-(1)) 1007 09a4 3F4F sbci r19,hi8(-(1)) 1008 09a6 00C0 rjmp .L194 1009 .L133: 1010 09a8 8081 ld r24,Z 1011 09aa 9181 ldd r25,Z+1 1012 09ac 8259 subi r24,lo8(-(110)) 1013 09ae 9F4F sbci r25,hi8(-(110)) 1014 09b0 8217 cp r24,r18 1015 09b2 9307 cpc r25,r19 1016 09b4 04F4 brge .L135 1017 09b6 2115 cp r18,__zero_reg__ 1018 09b8 3105 cpc r19,__zero_reg__ 1019 09ba 01F0 breq .L135 1020 09bc 2150 subi r18,lo8(-(-1)) 1021 09be 3040 sbci r19,hi8(-(-1)) 1022 .L194: 1023 09c0 3093 0000 sts (Poti4)+1,r19 1024 09c4 2093 0000 sts Poti4,r18 1025 .L135: 1026 09c8 2091 0000 lds r18,Poti5 1027 09cc 3091 0000 lds r19,(Poti5)+1 1028 09d0 8091 0000 lds r24,PPM_in+18 1029 09d4 9091 0000 lds r25,(PPM_in+18)+1 1030 09d8 8259 subi r24,lo8(-(110)) 1031 09da 9F4F sbci r25,hi8(-(110)) 1032 09dc 2817 cp r18,r24 1033 09de 3907 cpc r19,r25 1034 09e0 04F4 brge .L138 1035 09e2 2F5F subi r18,lo8(-(1)) 1036 09e4 3F4F sbci r19,hi8(-(1)) 1037 09e6 00C0 rjmp .L195 1038 .L138: 1039 09e8 8091 0000 lds r24,PPM_in+18 1040 09ec 9091 0000 lds r25,(PPM_in+18)+1 1041 09f0 8259 subi r24,lo8(-(110)) 1042 09f2 9F4F sbci r25,hi8(-(110)) 1043 09f4 8217 cp r24,r18 1044 09f6 9307 cpc r25,r19 1045 09f8 04F4 brge .L140 1046 09fa 2115 cp r18,__zero_reg__ 1047 09fc 3105 cpc r19,__zero_reg__ 1048 09fe 01F0 breq .L140 1049 0a00 2150 subi r18,lo8(-(-1)) 1050 0a02 3040 sbci r19,hi8(-(-1)) 1051 .L195: 1052 0a04 3093 0000 sts (Poti5)+1,r19 1053 0a08 2093 0000 sts Poti5,r18 1054 .L140: 1055 0a0c 2091 0000 lds r18,Poti6 1056 0a10 3091 0000 lds r19,(Poti6)+1 1057 0a14 8091 0000 lds r24,PPM_in+20 1058 0a18 9091 0000 lds r25,(PPM_in+20)+1 1059 0a1c 8259 subi r24,lo8(-(110)) 1060 0a1e 9F4F sbci r25,hi8(-(110)) 1061 0a20 2817 cp r18,r24 1062 0a22 3907 cpc r19,r25 1063 0a24 04F4 brge .L143 1064 0a26 2F5F subi r18,lo8(-(1)) 1065 0a28 3F4F sbci r19,hi8(-(1)) 1066 0a2a 00C0 rjmp .L196 1067 .L143: 1068 0a2c 8091 0000 lds r24,PPM_in+20 1069 0a30 9091 0000 lds r25,(PPM_in+20)+1 1070 0a34 8259 subi r24,lo8(-(110)) 1071 0a36 9F4F sbci r25,hi8(-(110)) 1072 0a38 8217 cp r24,r18 1073 0a3a 9307 cpc r25,r19 1074 0a3c 04F4 brge .L145 1075 0a3e 2115 cp r18,__zero_reg__ 1076 0a40 3105 cpc r19,__zero_reg__ 1077 0a42 01F0 breq .L145 1078 0a44 2150 subi r18,lo8(-(-1)) 1079 0a46 3040 sbci r19,hi8(-(-1)) 1080 .L196: 1081 0a48 3093 0000 sts (Poti6)+1,r19 1082 0a4c 2093 0000 sts Poti6,r18 1083 .L145: 1084 0a50 2091 0000 lds r18,Poti7 1085 0a54 3091 0000 lds r19,(Poti7)+1 1086 0a58 8091 0000 lds r24,PPM_in+22 1087 0a5c 9091 0000 lds r25,(PPM_in+22)+1 1088 0a60 8259 subi r24,lo8(-(110)) 1089 0a62 9F4F sbci r25,hi8(-(110)) 1090 0a64 2817 cp r18,r24 1091 0a66 3907 cpc r19,r25 1092 0a68 04F4 brge .L148 1093 0a6a 2F5F subi r18,lo8(-(1)) 1094 0a6c 3F4F sbci r19,hi8(-(1)) 1095 0a6e 00C0 rjmp .L197 1096 .L148: 1097 0a70 8091 0000 lds r24,PPM_in+22 1098 0a74 9091 0000 lds r25,(PPM_in+22)+1 1099 0a78 8259 subi r24,lo8(-(110)) 1100 0a7a 9F4F sbci r25,hi8(-(110)) 1101 0a7c 8217 cp r24,r18 1102 0a7e 9307 cpc r25,r19 1103 0a80 04F4 brge .L150 1104 0a82 2115 cp r18,__zero_reg__ 1105 0a84 3105 cpc r19,__zero_reg__ 1106 0a86 01F0 breq .L150 1107 0a88 2150 subi r18,lo8(-(-1)) 1108 0a8a 3040 sbci r19,hi8(-(-1)) 1109 .L197: 1110 0a8c 3093 0000 sts (Poti7)+1,r19 1111 0a90 2093 0000 sts Poti7,r18 1112 .L150: 1113 0a94 2091 0000 lds r18,Poti8 1114 0a98 3091 0000 lds r19,(Poti8)+1 1115 0a9c 8091 0000 lds r24,PPM_in+24 1116 0aa0 9091 0000 lds r25,(PPM_in+24)+1 1117 0aa4 8259 subi r24,lo8(-(110)) 1118 0aa6 9F4F sbci r25,hi8(-(110)) 1119 0aa8 2817 cp r18,r24 1120 0aaa 3907 cpc r19,r25 1121 0aac 04F4 brge .L153 1122 0aae 2F5F subi r18,lo8(-(1)) 1123 0ab0 3F4F sbci r19,hi8(-(1)) 1124 0ab2 00C0 rjmp .L198 1125 .L153: 1126 0ab4 8091 0000 lds r24,PPM_in+24 1127 0ab8 9091 0000 lds r25,(PPM_in+24)+1 1128 0abc 8259 subi r24,lo8(-(110)) 1129 0abe 9F4F sbci r25,hi8(-(110)) 1130 0ac0 8217 cp r24,r18 1131 0ac2 9307 cpc r25,r19 1132 0ac4 04F4 brge .L155 1133 0ac6 2115 cp r18,__zero_reg__ 1134 0ac8 3105 cpc r19,__zero_reg__ 1135 0aca 01F0 breq .L155 1136 0acc 2150 subi r18,lo8(-(-1)) 1137 0ace 3040 sbci r19,hi8(-(-1)) 1138 .L198: 1139 0ad0 3093 0000 sts (Poti8)+1,r19 1140 0ad4 2093 0000 sts Poti8,r18 1141 .L155: 1142 0ad8 8091 0000 lds r24,Poti1 1143 0adc 9091 0000 lds r25,(Poti1)+1 1144 0ae0 97FF sbrs r25,7 1145 0ae2 00C0 rjmp .L158 1146 0ae4 1092 0000 sts (Poti1)+1,__zero_reg__ 1147 0ae8 1092 0000 sts Poti1,__zero_reg__ 1148 0aec 00C0 rjmp .L160 1149 .L158: 1150 0aee 8F3F cpi r24,255 1151 0af0 9105 cpc r25,__zero_reg__ 1152 0af2 01F0 breq .L160 1153 0af4 04F0 brlt .L160 1154 0af6 8FEF ldi r24,lo8(255) 1155 0af8 90E0 ldi r25,hi8(255) 1156 0afa 9093 0000 sts (Poti1)+1,r25 1157 0afe 8093 0000 sts Poti1,r24 1158 .L160: 1159 0b02 8091 0000 lds r24,Poti2 1160 0b06 9091 0000 lds r25,(Poti2)+1 1161 0b0a 97FF sbrs r25,7 1162 0b0c 00C0 rjmp .L162 1163 0b0e 1092 0000 sts (Poti2)+1,__zero_reg__ 1164 0b12 1092 0000 sts Poti2,__zero_reg__ 1165 0b16 00C0 rjmp .L164 1166 .L162: 1167 0b18 8F3F cpi r24,255 1168 0b1a 9105 cpc r25,__zero_reg__ 1169 0b1c 01F0 breq .L164 1170 0b1e 04F0 brlt .L164 1171 0b20 8FEF ldi r24,lo8(255) 1172 0b22 90E0 ldi r25,hi8(255) 1173 0b24 9093 0000 sts (Poti2)+1,r25 1174 0b28 8093 0000 sts Poti2,r24 1175 .L164: 1176 0b2c 8091 0000 lds r24,Poti3 1177 0b30 9091 0000 lds r25,(Poti3)+1 1178 0b34 97FF sbrs r25,7 1179 0b36 00C0 rjmp .L166 1180 0b38 1092 0000 sts (Poti3)+1,__zero_reg__ 1181 0b3c 1092 0000 sts Poti3,__zero_reg__ 1182 0b40 00C0 rjmp .L168 1183 .L166: 1184 0b42 8F3F cpi r24,255 1185 0b44 9105 cpc r25,__zero_reg__ 1186 0b46 01F0 breq .L168 1187 0b48 04F0 brlt .L168 1188 0b4a 8FEF ldi r24,lo8(255) 1189 0b4c 90E0 ldi r25,hi8(255) 1190 0b4e 9093 0000 sts (Poti3)+1,r25 1191 0b52 8093 0000 sts Poti3,r24 1192 .L168: 1193 0b56 8091 0000 lds r24,Poti4 1194 0b5a 9091 0000 lds r25,(Poti4)+1 1195 0b5e 97FF sbrs r25,7 1196 0b60 00C0 rjmp .L170 1197 0b62 1092 0000 sts (Poti4)+1,__zero_reg__ 1198 0b66 1092 0000 sts Poti4,__zero_reg__ 1199 0b6a 00C0 rjmp .L172 1200 .L170: 1201 0b6c 8F3F cpi r24,255 1202 0b6e 9105 cpc r25,__zero_reg__ 1203 0b70 01F0 breq .L172 1204 0b72 04F0 brlt .L172 1205 0b74 8FEF ldi r24,lo8(255) 1206 0b76 90E0 ldi r25,hi8(255) 1207 0b78 9093 0000 sts (Poti4)+1,r25 1208 0b7c 8093 0000 sts Poti4,r24 1209 .L172: 1210 0b80 8091 0000 lds r24,Poti5 1211 0b84 9091 0000 lds r25,(Poti5)+1 1212 0b88 97FF sbrs r25,7 1213 0b8a 00C0 rjmp .L174 1214 0b8c 1092 0000 sts (Poti5)+1,__zero_reg__ 1215 0b90 1092 0000 sts Poti5,__zero_reg__ 1216 0b94 00C0 rjmp .L176 1217 .L174: 1218 0b96 8F3F cpi r24,255 1219 0b98 9105 cpc r25,__zero_reg__ 1220 0b9a 01F0 breq .L176 1221 0b9c 04F0 brlt .L176 1222 0b9e 8FEF ldi r24,lo8(255) 1223 0ba0 90E0 ldi r25,hi8(255) 1224 0ba2 9093 0000 sts (Poti5)+1,r25 1225 0ba6 8093 0000 sts Poti5,r24 1226 .L176: 1227 0baa 8091 0000 lds r24,Poti6 1228 0bae 9091 0000 lds r25,(Poti6)+1 1229 0bb2 97FF sbrs r25,7 1230 0bb4 00C0 rjmp .L178 1231 0bb6 1092 0000 sts (Poti6)+1,__zero_reg__ 1232 0bba 1092 0000 sts Poti6,__zero_reg__ 1233 0bbe 00C0 rjmp .L180 1234 .L178: 1235 0bc0 8F3F cpi r24,255 1236 0bc2 9105 cpc r25,__zero_reg__ 1237 0bc4 01F0 breq .L180 1238 0bc6 04F0 brlt .L180 1239 0bc8 8FEF ldi r24,lo8(255) 1240 0bca 90E0 ldi r25,hi8(255) 1241 0bcc 9093 0000 sts (Poti6)+1,r25 1242 0bd0 8093 0000 sts Poti6,r24 1243 .L180: 1244 0bd4 8091 0000 lds r24,Poti7 1245 0bd8 9091 0000 lds r25,(Poti7)+1 1246 0bdc 97FF sbrs r25,7 1247 0bde 00C0 rjmp .L182 1248 0be0 1092 0000 sts (Poti7)+1,__zero_reg__ 1249 0be4 1092 0000 sts Poti7,__zero_reg__ 1250 0be8 00C0 rjmp .L184 1251 .L182: 1252 0bea 8F3F cpi r24,255 1253 0bec 9105 cpc r25,__zero_reg__ 1254 0bee 01F0 breq .L184 1255 0bf0 04F0 brlt .L184 1256 0bf2 8FEF ldi r24,lo8(255) 1257 0bf4 90E0 ldi r25,hi8(255) 1258 0bf6 9093 0000 sts (Poti7)+1,r25 1259 0bfa 8093 0000 sts Poti7,r24 1260 .L184: 1261 0bfe 8091 0000 lds r24,Poti8 1262 0c02 9091 0000 lds r25,(Poti8)+1 1263 0c06 97FF sbrs r25,7 1264 0c08 00C0 rjmp .L186 1265 0c0a 1092 0000 sts (Poti8)+1,__zero_reg__ 1266 0c0e 1092 0000 sts Poti8,__zero_reg__ 1267 0c12 0895 ret 1268 .L186: 1269 0c14 8F3F cpi r24,255 1270 0c16 9105 cpc r25,__zero_reg__ 1271 0c18 01F0 breq .L190 1272 0c1a 04F0 brlt .L190 1273 0c1c 8FEF ldi r24,lo8(255) 1274 0c1e 90E0 ldi r25,hi8(255) 1275 0c20 9093 0000 sts (Poti8)+1,r25 1276 0c24 8093 0000 sts Poti8,r24 1277 .L190: 1278 0c28 0895 ret 1279 /* epilogue: frame size=0 */ 1280 /* epilogue: noreturn */ 1281 /* epilogue end (size=0) */ 1282 /* function CalibrierMittelwert size 632 (632) */ 1284 .global ParameterZuordnung 1286 ParameterZuordnung: 1287 /* prologue: frame size=0 */ 1288 0c2a 1F93 push r17 1289 /* prologue end (size=1) */ 1290 0c2c 8091 0000 lds r24,EE_Parameter+11 1291 0c30 8B3F cpi r24,lo8(-5) 1292 0c32 00F0 brlo .L200 1293 0c34 8B3F cpi r24,lo8(-5) 1294 0c36 01F4 brne .L202 1295 0c38 8091 0000 lds r24,Poti1 1296 0c3c 00C0 rjmp .L200 1297 .L202: 1298 0c3e 8C3F cpi r24,lo8(-4) 1299 0c40 01F4 brne .L205 1300 0c42 8091 0000 lds r24,Poti2 1301 0c46 00C0 rjmp .L200 1302 .L205: 1303 0c48 8D3F cpi r24,lo8(-3) 1304 0c4a 01F4 brne .L207 1305 0c4c 8091 0000 lds r24,Poti3 1306 0c50 00C0 rjmp .L200 1307 .L207: 1308 0c52 8E3F cpi r24,lo8(-2) 1309 0c54 01F4 brne .L204 1310 0c56 8091 0000 lds r24,Poti4 1311 .L200: 1312 0c5a 8093 0000 sts Parameter_MaxHoehe,r24 1313 .L204: 1314 0c5e 8091 0000 lds r24,Parameter_MaxHoehe 1315 0c62 8823 tst r24 1316 0c64 01F4 brne .L210 1317 0c66 1092 0000 sts Parameter_MaxHoehe,__zero_reg__ 1318 0c6a 00C0 rjmp .L212 1319 .L210: 1320 0c6c 8F3F cpi r24,lo8(-1) 1321 0c6e 01F4 brne .L212 1322 0c70 8093 0000 sts Parameter_MaxHoehe,r24 1323 .L212: 1324 0c74 8091 0000 lds r24,EE_Parameter+10 1325 0c78 8B3F cpi r24,lo8(-5) 1326 0c7a 00F0 brlo .L214 1327 0c7c 8B3F cpi r24,lo8(-5) 1328 0c7e 01F4 brne .L216 1329 0c80 8091 0000 lds r24,Poti1 1330 0c84 00C0 rjmp .L214 1331 .L216: 1332 0c86 8C3F cpi r24,lo8(-4) 1333 0c88 01F4 brne .L219 1334 0c8a 8091 0000 lds r24,Poti2 1335 0c8e 00C0 rjmp .L214 1336 .L219: 1337 0c90 8D3F cpi r24,lo8(-3) 1338 0c92 01F4 brne .L221 1339 0c94 8091 0000 lds r24,Poti3 1340 0c98 00C0 rjmp .L214 1341 .L221: 1342 0c9a 8E3F cpi r24,lo8(-2) 1343 0c9c 01F4 brne .L218 1344 0c9e 8091 0000 lds r24,Poti4 1345 .L214: 1346 0ca2 8093 0000 sts Parameter_Luftdruck_D,r24 1347 .L218: 1348 0ca6 8091 0000 lds r24,Parameter_Luftdruck_D 1349 0caa 8823 tst r24 1350 0cac 01F4 brne .L224 1351 0cae 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ 1352 0cb2 00C0 rjmp .L226 1353 .L224: 1354 0cb4 8436 cpi r24,lo8(100) 1355 0cb6 00F0 brlo .L226 1356 0cb8 84E6 ldi r24,lo8(100) 1357 0cba 8093 0000 sts Parameter_Luftdruck_D,r24 1358 .L226: 1359 0cbe 8091 0000 lds r24,EE_Parameter+12 1360 0cc2 8B3F cpi r24,lo8(-5) 1361 0cc4 00F0 brlo .L228 1362 0cc6 8B3F cpi r24,lo8(-5) 1363 0cc8 01F4 brne .L230 1364 0cca 8091 0000 lds r24,Poti1 1365 0cce 00C0 rjmp .L228 1366 .L230: 1367 0cd0 8C3F cpi r24,lo8(-4) 1368 0cd2 01F4 brne .L233 1369 0cd4 8091 0000 lds r24,Poti2 1370 0cd8 00C0 rjmp .L228 1371 .L233: 1372 0cda 8D3F cpi r24,lo8(-3) 1373 0cdc 01F4 brne .L235 1374 0cde 8091 0000 lds r24,Poti3 1375 0ce2 00C0 rjmp .L228 1376 .L235: 1377 0ce4 8E3F cpi r24,lo8(-2) 1378 0ce6 01F4 brne .L232 1379 0ce8 8091 0000 lds r24,Poti4 1380 .L228: 1381 0cec 8093 0000 sts Parameter_Hoehe_P,r24 1382 .L232: 1383 0cf0 8091 0000 lds r24,Parameter_Hoehe_P 1384 0cf4 8823 tst r24 1385 0cf6 01F4 brne .L238 1386 0cf8 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ 1387 0cfc 00C0 rjmp .L240 1388 .L238: 1389 0cfe 8436 cpi r24,lo8(100) 1390 0d00 00F0 brlo .L240 1391 0d02 84E6 ldi r24,lo8(100) 1392 0d04 8093 0000 sts Parameter_Hoehe_P,r24 1393 .L240: 1394 0d08 8091 0000 lds r24,EE_Parameter+14 1395 0d0c 8B3F cpi r24,lo8(-5) 1396 0d0e 00F0 brlo .L242 1397 0d10 8B3F cpi r24,lo8(-5) 1398 0d12 01F4 brne .L244 1399 0d14 8091 0000 lds r24,Poti1 1400 0d18 00C0 rjmp .L242 1401 .L244: 1402 0d1a 8C3F cpi r24,lo8(-4) 1403 0d1c 01F4 brne .L247 1404 0d1e 8091 0000 lds r24,Poti2 1405 0d22 00C0 rjmp .L242 1406 .L247: 1407 0d24 8D3F cpi r24,lo8(-3) 1408 0d26 01F4 brne .L249 1409 0d28 8091 0000 lds r24,Poti3 1410 0d2c 00C0 rjmp .L242 1411 .L249: 1412 0d2e 8E3F cpi r24,lo8(-2) 1413 0d30 01F4 brne .L246 1414 0d32 8091 0000 lds r24,Poti4 1415 .L242: 1416 0d36 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 1417 .L246: 1418 0d3a 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung 1419 0d3e 8823 tst r24 1420 0d40 01F4 brne .L252 1421 0d42 1092 0000 sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__ 1422 0d46 00C0 rjmp .L254 1423 .L252: 1424 0d48 8F3F cpi r24,lo8(-1) 1425 0d4a 01F4 brne .L254 1426 0d4c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 1427 .L254: 1428 0d50 8091 0000 lds r24,EE_Parameter+21 1429 0d54 8B3F cpi r24,lo8(-5) 1430 0d56 00F0 brlo .L256 1431 0d58 8B3F cpi r24,lo8(-5) 1432 0d5a 01F4 brne .L258 1433 0d5c 8091 0000 lds r24,Poti1 1434 0d60 00C0 rjmp .L256 1435 .L258: 1436 0d62 8C3F cpi r24,lo8(-4) 1437 0d64 01F4 brne .L261 1438 0d66 8091 0000 lds r24,Poti2 1439 0d6a 00C0 rjmp .L256 1440 .L261: 1441 0d6c 8D3F cpi r24,lo8(-3) 1442 0d6e 01F4 brne .L263 1443 0d70 8091 0000 lds r24,Poti3 1444 0d74 00C0 rjmp .L256 1445 .L263: 1446 0d76 8E3F cpi r24,lo8(-2) 1447 0d78 01F4 brne .L260 1448 0d7a 8091 0000 lds r24,Poti4 1449 .L256: 1450 0d7e 8093 0000 sts Parameter_KompassWirkung,r24 1451 .L260: 1452 0d82 8091 0000 lds r24,Parameter_KompassWirkung 1453 0d86 8823 tst r24 1454 0d88 01F4 brne .L266 1455 0d8a 1092 0000 sts Parameter_KompassWirkung,__zero_reg__ 1456 0d8e 00C0 rjmp .L268 1457 .L266: 1458 0d90 8F3F cpi r24,lo8(-1) 1459 0d92 01F4 brne .L268 1460 0d94 8093 0000 sts Parameter_KompassWirkung,r24 1461 .L268: 1462 0d98 8091 0000 lds r24,EE_Parameter+22 1463 0d9c 8B3F cpi r24,lo8(-5) 1464 0d9e 00F0 brlo .L270 1465 0da0 8B3F cpi r24,lo8(-5) 1466 0da2 01F4 brne .L272 1467 0da4 8091 0000 lds r24,Poti1 1468 0da8 00C0 rjmp .L270 1469 .L272: 1470 0daa 8C3F cpi r24,lo8(-4) 1471 0dac 01F4 brne .L275 1472 0dae 8091 0000 lds r24,Poti2 1473 0db2 00C0 rjmp .L270 1474 .L275: 1475 0db4 8D3F cpi r24,lo8(-3) 1476 0db6 01F4 brne .L277 1477 0db8 8091 0000 lds r24,Poti3 1478 0dbc 00C0 rjmp .L270 1479 .L277: 1480 0dbe 8E3F cpi r24,lo8(-2) 1481 0dc0 01F4 brne .L274 1482 0dc2 8091 0000 lds r24,Poti4 1483 .L270: 1484 0dc6 8093 0000 sts Parameter_Gyro_P,r24 1485 .L274: 1486 0dca 8091 0000 lds r24,Parameter_Gyro_P 1487 0dce 8B30 cpi r24,lo8(11) 1488 0dd0 00F4 brsh .L280 1489 0dd2 8AE0 ldi r24,lo8(10) 1490 0dd4 00C0 rjmp .L412 1491 .L280: 1492 0dd6 8F3F cpi r24,lo8(-1) 1493 0dd8 01F4 brne .L282 1494 .L412: 1495 0dda 8093 0000 sts Parameter_Gyro_P,r24 1496 .L282: 1497 0dde 8091 0000 lds r24,EE_Parameter+23 1498 0de2 8B3F cpi r24,lo8(-5) 1499 0de4 00F0 brlo .L284 1500 0de6 8B3F cpi r24,lo8(-5) 1501 0de8 01F4 brne .L286 1502 0dea 8091 0000 lds r24,Poti1 1503 0dee 00C0 rjmp .L284 1504 .L286: 1505 0df0 8C3F cpi r24,lo8(-4) 1506 0df2 01F4 brne .L289 1507 0df4 8091 0000 lds r24,Poti2 1508 0df8 00C0 rjmp .L284 1509 .L289: 1510 0dfa 8D3F cpi r24,lo8(-3) 1511 0dfc 01F4 brne .L291 1512 0dfe 8091 0000 lds r24,Poti3 1513 0e02 00C0 rjmp .L284 1514 .L291: 1515 0e04 8E3F cpi r24,lo8(-2) 1516 0e06 01F4 brne .L288 1517 0e08 8091 0000 lds r24,Poti4 1518 .L284: 1519 0e0c 8093 0000 sts Parameter_Gyro_I,r24 1520 .L288: 1521 0e10 8091 0000 lds r24,Parameter_Gyro_I 1522 0e14 8823 tst r24 1523 0e16 01F4 brne .L294 1524 0e18 1092 0000 sts Parameter_Gyro_I,__zero_reg__ 1525 0e1c 00C0 rjmp .L296 1526 .L294: 1527 0e1e 8F3F cpi r24,lo8(-1) 1528 0e20 01F4 brne .L296 1529 0e22 8093 0000 sts Parameter_Gyro_I,r24 1530 .L296: 1531 0e26 8091 0000 lds r24,EE_Parameter+28 1532 0e2a 8B3F cpi r24,lo8(-5) 1533 0e2c 00F0 brlo .L298 1534 0e2e 8B3F cpi r24,lo8(-5) 1535 0e30 01F4 brne .L300 1536 0e32 8091 0000 lds r24,Poti1 1537 0e36 00C0 rjmp .L298 1538 .L300: 1539 0e38 8C3F cpi r24,lo8(-4) 1540 0e3a 01F4 brne .L303 1541 0e3c 8091 0000 lds r24,Poti2 1542 0e40 00C0 rjmp .L298 1543 .L303: 1544 0e42 8D3F cpi r24,lo8(-3) 1545 0e44 01F4 brne .L305 1546 0e46 8091 0000 lds r24,Poti3 1547 0e4a 00C0 rjmp .L298 1548 .L305: 1549 0e4c 8E3F cpi r24,lo8(-2) 1550 0e4e 01F4 brne .L302 1551 0e50 8091 0000 lds r24,Poti4 1552 .L298: 1553 0e54 8093 0000 sts Parameter_I_Faktor,r24 1554 .L302: 1555 0e58 8091 0000 lds r24,Parameter_I_Faktor 1556 0e5c 8823 tst r24 1557 0e5e 01F4 brne .L308 1558 0e60 1092 0000 sts Parameter_I_Faktor,__zero_reg__ 1559 0e64 00C0 rjmp .L310 1560 .L308: 1561 0e66 8F3F cpi r24,lo8(-1) 1562 0e68 01F4 brne .L310 1563 0e6a 8093 0000 sts Parameter_I_Faktor,r24 1564 .L310: 1565 0e6e 8091 0000 lds r24,EE_Parameter+29 1566 0e72 8B3F cpi r24,lo8(-5) 1567 0e74 00F0 brlo .L312 1568 0e76 8B3F cpi r24,lo8(-5) 1569 0e78 01F4 brne .L314 1570 0e7a 8091 0000 lds r24,Poti1 1571 0e7e 00C0 rjmp .L312 1572 .L314: 1573 0e80 8C3F cpi r24,lo8(-4) 1574 0e82 01F4 brne .L317 1575 0e84 8091 0000 lds r24,Poti2 1576 0e88 00C0 rjmp .L312 1577 .L317: 1578 0e8a 8D3F cpi r24,lo8(-3) 1579 0e8c 01F4 brne .L319 1580 0e8e 8091 0000 lds r24,Poti3 1581 0e92 00C0 rjmp .L312 1582 .L319: 1583 0e94 8E3F cpi r24,lo8(-2) 1584 0e96 01F4 brne .L316 1585 0e98 8091 0000 lds r24,Poti4 1586 .L312: 1587 0e9c 8093 0000 sts Parameter_UserParam1,r24 1588 .L316: 1589 0ea0 8091 0000 lds r24,Parameter_UserParam1 1590 0ea4 8823 tst r24 1591 0ea6 01F4 brne .L322 1592 0ea8 1092 0000 sts Parameter_UserParam1,__zero_reg__ 1593 0eac 00C0 rjmp .L324 1594 .L322: 1595 0eae 8F3F cpi r24,lo8(-1) 1596 0eb0 01F4 brne .L324 1597 0eb2 8093 0000 sts Parameter_UserParam1,r24 1598 .L324: 1599 0eb6 8091 0000 lds r24,EE_Parameter+30 1600 0eba 8B3F cpi r24,lo8(-5) 1601 0ebc 00F0 brlo .L326 1602 0ebe 8B3F cpi r24,lo8(-5) 1603 0ec0 01F4 brne .L328 1604 0ec2 8091 0000 lds r24,Poti1 1605 0ec6 00C0 rjmp .L326 1606 .L328: 1607 0ec8 8C3F cpi r24,lo8(-4) 1608 0eca 01F4 brne .L331 1609 0ecc 8091 0000 lds r24,Poti2 1610 0ed0 00C0 rjmp .L326 1611 .L331: 1612 0ed2 8D3F cpi r24,lo8(-3) 1613 0ed4 01F4 brne .L333 1614 0ed6 8091 0000 lds r24,Poti3 1615 0eda 00C0 rjmp .L326 1616 .L333: 1617 0edc 8E3F cpi r24,lo8(-2) 1618 0ede 01F4 brne .L330 1619 0ee0 8091 0000 lds r24,Poti4 1620 .L326: 1621 0ee4 8093 0000 sts Parameter_UserParam2,r24 1622 .L330: 1623 0ee8 8091 0000 lds r24,Parameter_UserParam2 1624 0eec 8823 tst r24 1625 0eee 01F4 brne .L336 1626 0ef0 1092 0000 sts Parameter_UserParam2,__zero_reg__ 1627 0ef4 00C0 rjmp .L338 1628 .L336: 1629 0ef6 8F3F cpi r24,lo8(-1) 1630 0ef8 01F4 brne .L338 1631 0efa 8093 0000 sts Parameter_UserParam2,r24 1632 .L338: 1633 0efe 8091 0000 lds r24,EE_Parameter+31 1634 0f02 8B3F cpi r24,lo8(-5) 1635 0f04 00F0 brlo .L340 1636 0f06 8B3F cpi r24,lo8(-5) 1637 0f08 01F4 brne .L342 1638 0f0a 8091 0000 lds r24,Poti1 1639 0f0e 00C0 rjmp .L340 1640 .L342: 1641 0f10 8C3F cpi r24,lo8(-4) 1642 0f12 01F4 brne .L345 1643 0f14 8091 0000 lds r24,Poti2 1644 0f18 00C0 rjmp .L340 1645 .L345: 1646 0f1a 8D3F cpi r24,lo8(-3) 1647 0f1c 01F4 brne .L347 1648 0f1e 8091 0000 lds r24,Poti3 1649 0f22 00C0 rjmp .L340 1650 .L347: 1651 0f24 8E3F cpi r24,lo8(-2) 1652 0f26 01F4 brne .L344 1653 0f28 8091 0000 lds r24,Poti4 1654 .L340: 1655 0f2c 8093 0000 sts Parameter_UserParam3,r24 1656 .L344: 1657 0f30 8091 0000 lds r24,Parameter_UserParam3 1658 0f34 8823 tst r24 1659 0f36 01F4 brne .L350 1660 0f38 1092 0000 sts Parameter_UserParam3,__zero_reg__ 1661 0f3c 00C0 rjmp .L352 1662 .L350: 1663 0f3e 8F3F cpi r24,lo8(-1) 1664 0f40 01F4 brne .L352 1665 0f42 8093 0000 sts Parameter_UserParam3,r24 1666 .L352: 1667 0f46 8091 0000 lds r24,EE_Parameter+32 1668 0f4a 8B3F cpi r24,lo8(-5) 1669 0f4c 00F0 brlo .L354 1670 0f4e 8B3F cpi r24,lo8(-5) 1671 0f50 01F4 brne .L356 1672 0f52 8091 0000 lds r24,Poti1 1673 0f56 00C0 rjmp .L354 1674 .L356: 1675 0f58 8C3F cpi r24,lo8(-4) 1676 0f5a 01F4 brne .L359 1677 0f5c 8091 0000 lds r24,Poti2 1678 0f60 00C0 rjmp .L354 1679 .L359: 1680 0f62 8D3F cpi r24,lo8(-3) 1681 0f64 01F4 brne .L361 1682 0f66 8091 0000 lds r24,Poti3 1683 0f6a 00C0 rjmp .L354 1684 .L361: 1685 0f6c 8E3F cpi r24,lo8(-2) 1686 0f6e 01F4 brne .L358 1687 0f70 8091 0000 lds r24,Poti4 1688 .L354: 1689 0f74 8093 0000 sts Parameter_UserParam4,r24 1690 .L358: 1691 0f78 8091 0000 lds r24,Parameter_UserParam4 1692 0f7c 8823 tst r24 1693 0f7e 01F4 brne .L364 1694 0f80 1092 0000 sts Parameter_UserParam4,__zero_reg__ 1695 0f84 00C0 rjmp .L366 1696 .L364: 1697 0f86 8F3F cpi r24,lo8(-1) 1698 0f88 01F4 brne .L366 1699 0f8a 8093 0000 sts Parameter_UserParam4,r24 1700 .L366: 1701 0f8e 9091 0000 lds r25,EE_Parameter+33 1702 0f92 9B3F cpi r25,lo8(-5) 1703 0f94 00F0 brlo .L368 1704 0f96 9B3F cpi r25,lo8(-5) 1705 0f98 01F4 brne .L370 1706 0f9a 8091 0000 lds r24,Poti1 1707 0f9e 00C0 rjmp .L413 1708 .L370: 1709 0fa0 9C3F cpi r25,lo8(-4) 1710 0fa2 01F4 brne .L373 1711 0fa4 8091 0000 lds r24,Poti2 1712 .L413: 1713 0fa8 8093 0000 sts Parameter_ServoNickControl,r24 1714 0fac 00C0 rjmp .L372 1715 .L373: 1716 0fae 9D3F cpi r25,lo8(-3) 1717 0fb0 01F4 brne .L375 1718 0fb2 8091 0000 lds r24,Poti3 1719 0fb6 00C0 rjmp .L413 1720 .L375: 1721 0fb8 9E3F cpi r25,lo8(-2) 1722 0fba 01F4 brne .L372 1723 0fbc 8091 0000 lds r24,Poti4 1724 0fc0 00C0 rjmp .L413 1725 .L368: 1726 0fc2 9093 0000 sts Parameter_ServoNickControl,r25 1727 .L372: 1728 0fc6 8091 0000 lds r24,Parameter_ServoNickControl 1729 0fca 8823 tst r24 1730 0fcc 01F4 brne .L378 1731 0fce 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ 1732 0fd2 00C0 rjmp .L380 1733 .L378: 1734 0fd4 8F3F cpi r24,lo8(-1) 1735 0fd6 01F4 brne .L380 1736 0fd8 8093 0000 sts Parameter_ServoNickControl,r24 1737 .L380: 1738 0fdc 9B3F cpi r25,lo8(-5) 1739 0fde 00F0 brlo .L382 1740 0fe0 9B3F cpi r25,lo8(-5) 1741 0fe2 01F4 brne .L384 1742 0fe4 8091 0000 lds r24,Poti1 1743 0fe8 00C0 rjmp .L414 1744 .L384: 1745 0fea 9C3F cpi r25,lo8(-4) 1746 0fec 01F4 brne .L387 1747 0fee 8091 0000 lds r24,Poti2 1748 .L414: 1749 0ff2 8093 0000 sts Parameter_ServoNickControl,r24 1750 0ff6 00C0 rjmp .L386 1751 .L387: 1752 0ff8 9D3F cpi r25,lo8(-3) 1753 0ffa 01F4 brne .L389 1754 0ffc 8091 0000 lds r24,Poti3 1755 1000 00C0 rjmp .L414 1756 .L389: 1757 1002 9E3F cpi r25,lo8(-2) 1758 1004 01F4 brne .L386 1759 1006 8091 0000 lds r24,Poti4 1760 100a 00C0 rjmp .L414 1761 .L382: 1762 100c 9093 0000 sts Parameter_ServoNickControl,r25 1763 .L386: 1764 1010 8091 0000 lds r24,Parameter_ServoNickControl 1765 1014 8823 tst r24 1766 1016 01F4 brne .L392 1767 1018 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ 1768 101c 00C0 rjmp .L394 1769 .L392: 1770 101e 8F3F cpi r24,lo8(-1) 1771 1020 01F4 brne .L394 1772 1022 8093 0000 sts Parameter_ServoNickControl,r24 1773 .L394: 1774 1026 9B3F cpi r25,lo8(-5) 1775 1028 00F0 brlo .L396 1776 102a 9B3F cpi r25,lo8(-5) 1777 102c 01F4 brne .L398 1778 102e 8091 0000 lds r24,Poti1 1779 1032 00C0 rjmp .L415 1780 .L398: 1781 1034 9C3F cpi r25,lo8(-4) 1782 1036 01F4 brne .L401 1783 1038 8091 0000 lds r24,Poti2 1784 .L415: 1785 103c 8093 0000 sts Parameter_ServoNickControl,r24 1786 1040 00C0 rjmp .L400 1787 .L401: 1788 1042 9D3F cpi r25,lo8(-3) 1789 1044 01F4 brne .L403 1790 1046 8091 0000 lds r24,Poti3 1791 104a 00C0 rjmp .L415 1792 .L403: 1793 104c 9E3F cpi r25,lo8(-2) 1794 104e 01F4 brne .L400 1795 1050 8091 0000 lds r24,Poti4 1796 1054 00C0 rjmp .L415 1797 .L396: 1798 1056 9093 0000 sts Parameter_ServoNickControl,r25 1799 .L400: 1800 105a 8091 0000 lds r24,Parameter_ServoNickControl 1801 105e 8823 tst r24 1802 1060 01F4 brne .L406 1803 1062 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ 1804 1066 00C0 rjmp .L408 1805 .L406: 1806 1068 8F3F cpi r24,lo8(-1) 1807 106a 01F4 brne .L408 1808 106c 8093 0000 sts Parameter_ServoNickControl,r24 1809 .L408: 1810 1070 1091 0000 lds r17,Parameter_I_Faktor 1811 1074 612F mov r22,r17 1812 1076 7727 clr r23 1813 1078 67FD sbrc r22,7 1814 107a 7095 com r23 1815 107c 872F mov r24,r23 1816 107e 972F mov r25,r23 1817 1080 0E94 0000 call __floatsisf 1818 1084 17FF sbrs r17,7 1819 1086 00C0 rjmp .L410 1820 1088 20E0 ldi r18,lo8(0x43800000) 1821 108a 30E0 ldi r19,hi8(0x43800000) 1822 108c 40E8 ldi r20,hlo8(0x43800000) 1823 108e 53E4 ldi r21,hhi8(0x43800000) 1824 1090 0E94 0000 call __addsf3 1825 .L410: 1826 1094 27E1 ldi r18,lo8(0x38d1b717) 1827 1096 37EB ldi r19,hi8(0x38d1b717) 1828 1098 41ED ldi r20,hlo8(0x38d1b717) 1829 109a 58E3 ldi r21,hhi8(0x38d1b717) 1830 109c 0E94 0000 call __mulsf3 1831 10a0 6093 0000 sts Ki,r22 1832 10a4 7093 0000 sts (Ki)+1,r23 1833 10a8 8093 0000 sts (Ki)+2,r24 1834 10ac 9093 0000 sts (Ki)+3,r25 1835 10b0 8091 0000 lds r24,EE_Parameter+19 1836 10b4 8093 0000 sts MAX_GAS,r24 1837 10b8 8091 0000 lds r24,EE_Parameter+18 1838 10bc 8093 0000 sts MIN_GAS,r24 1839 /* epilogue: frame size=0 */ 1840 10c0 1F91 pop r17 1841 10c2 0895 ret 1842 /* epilogue end (size=2) */ 1843 /* function ParameterZuordnung size 589 (586) */ 1845 .data 1846 .LC0: 1847 0000 4B61 6D65 .string "Kamera" 1847 7261 00 1848 0007 00 .string "" 1849 .text 1850 .global DefaultKonstanten2 1852 DefaultKonstanten2: 1853 /* prologue: frame size=0 */ 1854 /* prologue end (size=0) */ 1855 10c4 83E0 ldi r24,lo8(3) 1856 10c6 8093 0000 sts EE_Parameter,r24 1857 10ca 42E0 ldi r20,lo8(2) 1858 10cc 4093 0000 sts EE_Parameter+1,r20 1859 10d0 81E0 ldi r24,lo8(1) 1860 10d2 8093 0000 sts EE_Parameter+2,r24 1861 10d6 34E0 ldi r19,lo8(4) 1862 10d8 3093 0000 sts EE_Parameter+3,r19 1863 10dc 25E0 ldi r18,lo8(5) 1864 10de 2093 0000 sts EE_Parameter+4,r18 1865 10e2 86E0 ldi r24,lo8(6) 1866 10e4 8093 0000 sts EE_Parameter+5,r24 1867 10e8 87E0 ldi r24,lo8(7) 1868 10ea 8093 0000 sts EE_Parameter+6,r24 1869 10ee 1092 0000 sts EE_Parameter+8,__zero_reg__ 1870 10f2 8EE1 ldi r24,lo8(30) 1871 10f4 8093 0000 sts EE_Parameter+9,r24 1872 10f8 8BEF ldi r24,lo8(-5) 1873 10fa 8093 0000 sts EE_Parameter+11,r24 1874 10fe 8AE0 ldi r24,lo8(10) 1875 1100 8093 0000 sts EE_Parameter+12,r24 1876 1104 92E3 ldi r25,lo8(50) 1877 1106 9093 0000 sts EE_Parameter+10,r25 1878 110a 9093 0000 sts EE_Parameter+14,r25 1879 110e 4093 0000 sts EE_Parameter+13,r20 1880 1112 3093 0000 sts EE_Parameter+15,r19 1881 1116 1092 0000 sts EE_Parameter+16,__zero_reg__ 1882 111a 80E1 ldi r24,lo8(16) 1883 111c 8093 0000 sts EE_Parameter+17,r24 1884 1120 2093 0000 sts EE_Parameter+18,r18 1885 1124 8AEF ldi r24,lo8(-6) 1886 1126 8093 0000 sts EE_Parameter+19,r24 1887 112a 8AE1 ldi r24,lo8(26) 1888 112c 8093 0000 sts EE_Parameter+20,r24 1889 1130 80E8 ldi r24,lo8(-128) 1890 1132 8093 0000 sts EE_Parameter+21,r24 1891 1136 8FEA ldi r24,lo8(-81) 1892 1138 8093 0000 sts EE_Parameter+22,r24 1893 113c 8093 0000 sts EE_Parameter+23,r24 1894 1140 8AE5 ldi r24,lo8(90) 1895 1142 8093 0000 sts EE_Parameter+24,r24 1896 1146 83E2 ldi r24,lo8(35) 1897 1148 8093 0000 sts EE_Parameter+25,r24 1898 114c 84E1 ldi r24,lo8(20) 1899 114e 8093 0000 sts EE_Parameter+26,r24 1900 1152 1092 0000 sts EE_Parameter+27,__zero_reg__ 1901 1156 2093 0000 sts EE_Parameter+28,r18 1902 115a 1092 0000 sts EE_Parameter+29,__zero_reg__ 1903 115e 1092 0000 sts EE_Parameter+30,__zero_reg__ 1904 1162 1092 0000 sts EE_Parameter+31,__zero_reg__ 1905 1166 1092 0000 sts EE_Parameter+32,__zero_reg__ 1906 116a 84E6 ldi r24,lo8(100) 1907 116c 8093 0000 sts EE_Parameter+33,r24 1908 1170 88E2 ldi r24,lo8(40) 1909 1172 8093 0000 sts EE_Parameter+34,r24 1910 1176 1092 0000 sts EE_Parameter+38,__zero_reg__ 1911 117a 9093 0000 sts EE_Parameter+35,r25 1912 117e 86E9 ldi r24,lo8(-106) 1913 1180 8093 0000 sts EE_Parameter+36,r24 1914 1184 2093 0000 sts EE_Parameter+37,r18 1915 1188 A0E0 ldi r26,lo8(EE_Parameter+46) 1916 118a B0E0 ldi r27,hi8(EE_Parameter+46) 1917 118c E0E0 ldi r30,lo8(.LC0) 1918 118e F0E0 ldi r31,hi8(.LC0) 1919 1190 8CE0 ldi r24,lo8(12) 1920 .L417: 1921 1192 0190 ld r0,Z+ 1922 1194 0D92 st X+,r0 1923 1196 8150 subi r24,lo8(-(-1)) 1924 1198 01F4 brne .L417 1925 /* epilogue: frame size=0 */ 1926 119a 0895 ret 1927 /* epilogue end (size=1) */ 1928 /* function DefaultKonstanten2 size 109 (108) */ 1930 .data 1931 .LC1: 1932 0008 4E6F 726D .string "Normal" 1932 616C 00 1933 000f 00 .string "" 1934 .text 1935 .global DefaultKonstanten1 1937 DefaultKonstanten1: 1938 /* prologue: frame size=0 */ 1939 /* prologue end (size=0) */ 1940 119c 83E0 ldi r24,lo8(3) 1941 119e 8093 0000 sts EE_Parameter,r24 1942 11a2 42E0 ldi r20,lo8(2) 1943 11a4 4093 0000 sts EE_Parameter+1,r20 1944 11a8 81E0 ldi r24,lo8(1) 1945 11aa 8093 0000 sts EE_Parameter+2,r24 1946 11ae 34E0 ldi r19,lo8(4) 1947 11b0 3093 0000 sts EE_Parameter+3,r19 1948 11b4 25E0 ldi r18,lo8(5) 1949 11b6 2093 0000 sts EE_Parameter+4,r18 1950 11ba 86E0 ldi r24,lo8(6) 1951 11bc 8093 0000 sts EE_Parameter+5,r24 1952 11c0 87E0 ldi r24,lo8(7) 1953 11c2 8093 0000 sts EE_Parameter+6,r24 1954 11c6 88E0 ldi r24,lo8(8) 1955 11c8 8093 0000 sts EE_Parameter+7,r24 1956 11cc 1092 0000 sts EE_Parameter+8,__zero_reg__ 1957 11d0 9EE1 ldi r25,lo8(30) 1958 11d2 9093 0000 sts EE_Parameter+9,r25 1959 11d6 8BEF ldi r24,lo8(-5) 1960 11d8 8093 0000 sts EE_Parameter+11,r24 1961 11dc 8AE0 ldi r24,lo8(10) 1962 11de 8093 0000 sts EE_Parameter+12,r24 1963 11e2 86E4 ldi r24,lo8(70) 1964 11e4 8093 0000 sts EE_Parameter+10,r24 1965 11e8 9093 0000 sts EE_Parameter+14,r25 1966 11ec 4093 0000 sts EE_Parameter+13,r20 1967 11f0 3093 0000 sts EE_Parameter+15,r19 1968 11f4 1092 0000 sts EE_Parameter+16,__zero_reg__ 1969 11f8 80E1 ldi r24,lo8(16) 1970 11fa 8093 0000 sts EE_Parameter+17,r24 1971 11fe 2093 0000 sts EE_Parameter+18,r18 1972 1202 8AEF ldi r24,lo8(-6) 1973 1204 8093 0000 sts EE_Parameter+19,r24 1974 1208 8AE1 ldi r24,lo8(26) 1975 120a 8093 0000 sts EE_Parameter+20,r24 1976 120e 80E8 ldi r24,lo8(-128) 1977 1210 8093 0000 sts EE_Parameter+21,r24 1978 1214 88E7 ldi r24,lo8(120) 1979 1216 8093 0000 sts EE_Parameter+22,r24 1980 121a 96E9 ldi r25,lo8(-106) 1981 121c 9093 0000 sts EE_Parameter+23,r25 1982 1220 8AE5 ldi r24,lo8(90) 1983 1222 8093 0000 sts EE_Parameter+24,r24 1984 1226 83E2 ldi r24,lo8(35) 1985 1228 8093 0000 sts EE_Parameter+25,r24 1986 122c 84E1 ldi r24,lo8(20) 1987 122e 8093 0000 sts EE_Parameter+26,r24 1988 1232 1092 0000 sts EE_Parameter+27,__zero_reg__ 1989 1236 2093 0000 sts EE_Parameter+28,r18 1990 123a 1092 0000 sts EE_Parameter+29,__zero_reg__ 1991 123e 1092 0000 sts EE_Parameter+30,__zero_reg__ 1992 1242 1092 0000 sts EE_Parameter+31,__zero_reg__ 1993 1246 1092 0000 sts EE_Parameter+32,__zero_reg__ 1994 124a 84E6 ldi r24,lo8(100) 1995 124c 8093 0000 sts EE_Parameter+33,r24 1996 1250 88E2 ldi r24,lo8(40) 1997 1252 8093 0000 sts EE_Parameter+34,r24 1998 1256 1092 0000 sts EE_Parameter+38,__zero_reg__ 1999 125a 82E3 ldi r24,lo8(50) 2000 125c 8093 0000 sts EE_Parameter+35,r24 2001 1260 9093 0000 sts EE_Parameter+36,r25 2002 1264 2093 0000 sts EE_Parameter+37,r18 2003 1268 A0E0 ldi r26,lo8(EE_Parameter+46) 2004 126a B0E0 ldi r27,hi8(EE_Parameter+46) 2005 126c E0E0 ldi r30,lo8(.LC1) 2006 126e F0E0 ldi r31,hi8(.LC1) 2007 1270 8CE0 ldi r24,lo8(12) 2008 .L422: 2009 1272 0190 ld r0,Z+ 2010 1274 0D92 st X+,r0 2011 1276 8150 subi r24,lo8(-(-1)) 2012 1278 01F4 brne .L422 2013 /* epilogue: frame size=0 */ 2014 127a 0895 ret 2015 /* epilogue end (size=1) */ 2016 /* function DefaultKonstanten1 size 113 (112) */ 2018 .global SendMotorData 2020 SendMotorData: 2021 /* prologue: frame size=0 */ 2022 /* prologue end (size=0) */ 2023 127c 8091 0000 lds r24,MotorenEin 2024 1280 8823 tst r24 2025 1282 01F4 brne .L427 2026 1284 1092 0000 sts Motor_Hinten,__zero_reg__ 2027 1288 1092 0000 sts Motor_Vorne,__zero_reg__ 2028 128c 1092 0000 sts Motor_Rechts,__zero_reg__ 2029 1290 1092 0000 sts Motor_Links,__zero_reg__ 2030 1294 8091 0000 lds r24,MotorTest 2031 1298 8823 tst r24 2032 129a 01F0 breq .L429 2033 129c 8093 0000 sts Motor_Vorne,r24 2034 .L429: 2035 12a0 8091 0000 lds r24,MotorTest+1 2036 12a4 8823 tst r24 2037 12a6 01F0 breq .L431 2038 12a8 8093 0000 sts Motor_Hinten,r24 2039 .L431: 2040 12ac 8091 0000 lds r24,MotorTest+2 2041 12b0 8823 tst r24 2042 12b2 01F0 breq .L433 2043 12b4 8093 0000 sts Motor_Links,r24 2044 .L433: 2045 12b8 8091 0000 lds r24,MotorTest+3 2046 12bc 8823 tst r24 2047 12be 01F0 breq .L427 2048 12c0 8093 0000 sts Motor_Rechts,r24 2049 .L427: 2050 12c4 1092 0000 sts twi_state,__zero_reg__ 2051 12c8 1092 0000 sts motor,__zero_reg__ 2052 12cc 0E94 0000 call i2c_start 2053 /* epilogue: frame size=0 */ 2054 12d0 0895 ret 2055 /* epilogue end (size=1) */ 2056 /* function SendMotorData size 43 (42) */ 2058 .global SetNeutral 2060 SetNeutral: 2061 /* prologue: frame size=0 */ 2062 12d2 CF93 push r28 2063 12d4 DF93 push r29 2064 /* prologue end (size=2) */ 2065 12d6 1092 0000 sts (NeutralAccX)+1,__zero_reg__ 2066 12da 1092 0000 sts NeutralAccX,__zero_reg__ 2067 12de 1092 0000 sts (NeutralAccY)+1,__zero_reg__ 2068 12e2 1092 0000 sts NeutralAccY,__zero_reg__ 2069 12e6 80E0 ldi r24,lo8(0x0) 2070 12e8 90E0 ldi r25,hi8(0x0) 2071 12ea A0E0 ldi r26,hlo8(0x0) 2072 12ec B0E0 ldi r27,hhi8(0x0) 2073 12ee 8093 0000 sts NeutralAccZ,r24 2074 12f2 9093 0000 sts (NeutralAccZ)+1,r25 2075 12f6 A093 0000 sts (NeutralAccZ)+2,r26 2076 12fa B093 0000 sts (NeutralAccZ)+3,r27 2077 12fe 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ 2078 1302 1092 0000 sts AdNeutralNick,__zero_reg__ 2079 1306 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ 2080 130a 1092 0000 sts AdNeutralRoll,__zero_reg__ 2081 130e 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ 2082 1312 1092 0000 sts AdNeutralGier,__zero_reg__ 2083 1316 0E94 0000 call CalibrierMittelwert 2084 131a 85E0 ldi r24,lo8(5) 2085 131c 90E0 ldi r25,hi8(5) 2086 131e 0E94 0000 call SetDelay 2087 1322 EC01 movw r28,r24 2088 .L438: 2089 1324 CE01 movw r24,r28 2090 1326 0E94 0000 call CheckDelay 2091 132a 8823 tst r24 2092 132c 01F0 breq .L438 2093 132e 0E94 0000 call CalibrierMittelwert 2094 1332 8091 0000 lds r24,EE_Parameter+8 2095 1336 80FF sbrs r24,0 2096 1338 00C0 rjmp .L440 2097 133a 8091 0000 lds r24,MessLuftdruck 2098 133e 9091 0000 lds r25,(MessLuftdruck)+1 2099 1342 875B subi r24,lo8(951) 2100 1344 9340 sbci r25,hi8(951) 2101 1346 00F4 brsh .L442 2102 1348 8091 0000 lds r24,MessLuftdruck 2103 134c 9091 0000 lds r25,(MessLuftdruck)+1 2104 1350 8E5E subi r24,lo8(750) 2105 1352 9240 sbci r25,hi8(750) 2106 1354 00F4 brsh .L440 2107 .L442: 2108 1356 0E94 0000 call SucheLuftruckOffset 2109 .L440: 2110 135a 8091 0000 lds r24,MesswertNick 2111 135e 9091 0000 lds r25,(MesswertNick)+1 2112 1362 97FF sbrs r25,7 2113 1364 00C0 rjmp .L444 2114 1366 9095 com r25 2115 1368 8195 neg r24 2116 136a 9F4F sbci r25,lo8(-1) 2117 .L444: 2118 136c 9093 0000 sts (AdNeutralNick)+1,r25 2119 1370 8093 0000 sts AdNeutralNick,r24 2120 1374 8091 0000 lds r24,MesswertRoll 2121 1378 9091 0000 lds r25,(MesswertRoll)+1 2122 137c 97FF sbrs r25,7 2123 137e 00C0 rjmp .L445 2124 1380 9095 com r25 2125 1382 8195 neg r24 2126 1384 9F4F sbci r25,lo8(-1) 2127 .L445: 2128 1386 9093 0000 sts (AdNeutralRoll)+1,r25 2129 138a 8093 0000 sts AdNeutralRoll,r24 2130 138e 8091 0000 lds r24,MesswertGier 2131 1392 9091 0000 lds r25,(MesswertGier)+1 2132 1396 97FF sbrs r25,7 2133 1398 00C0 rjmp .L446 2134 139a 9095 com r25 2135 139c 8195 neg r24 2136 139e 9F4F sbci r25,lo8(-1) 2137 .L446: 2138 13a0 9093 0000 sts (AdNeutralGier)+1,r25 2139 13a4 8093 0000 sts AdNeutralGier,r24 2140 13a8 8091 0000 lds r24,Mittelwert_AccRoll 2141 13ac 9091 0000 lds r25,(Mittelwert_AccRoll)+1 2142 13b0 97FF sbrs r25,7 2143 13b2 00C0 rjmp .L447 2144 13b4 9095 com r25 2145 13b6 8195 neg r24 2146 13b8 9F4F sbci r25,lo8(-1) 2147 .L447: 2148 13ba 60E1 ldi r22,lo8(16) 2149 13bc 70E0 ldi r23,hi8(16) 2150 13be 0E94 0000 call __divmodhi4 2151 13c2 7093 0000 sts (NeutralAccY)+1,r23 2152 13c6 6093 0000 sts NeutralAccY,r22 2153 13ca 8091 0000 lds r24,Mittelwert_AccNick 2154 13ce 9091 0000 lds r25,(Mittelwert_AccNick)+1 2155 13d2 97FF sbrs r25,7 2156 13d4 00C0 rjmp .L448 2157 13d6 9095 com r25 2158 13d8 8195 neg r24 2159 13da 9F4F sbci r25,lo8(-1) 2160 .L448: 2161 13dc 60E1 ldi r22,lo8(16) 2162 13de 70E0 ldi r23,hi8(16) 2163 13e0 0E94 0000 call __divmodhi4 2164 13e4 7093 0000 sts (NeutralAccX)+1,r23 2165 13e8 6093 0000 sts NeutralAccX,r22 2166 13ec 6091 0000 lds r22,Aktuell_az 2167 13f0 7091 0000 lds r23,(Aktuell_az)+1 2168 13f4 8827 clr r24 2169 13f6 77FD sbrc r23,7 2170 13f8 8095 com r24 2171 13fa 982F mov r25,r24 2172 13fc 0E94 0000 call __floatsisf 2173 1400 6093 0000 sts NeutralAccZ,r22 2174 1404 7093 0000 sts (NeutralAccZ)+1,r23 2175 1408 8093 0000 sts (NeutralAccZ)+2,r24 2176 140c 9093 0000 sts (NeutralAccZ)+3,r25 2177 1410 1092 0000 sts Mess_IntegralNick,__zero_reg__ 2178 1414 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ 2179 1418 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ 2180 141c 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ 2181 1420 1092 0000 sts Mess_IntegralNick2,__zero_reg__ 2182 1424 1092 0000 sts (Mess_IntegralNick2)+1,__zero_reg__ 2183 1428 1092 0000 sts (Mess_IntegralNick2)+2,__zero_reg__ 2184 142c 1092 0000 sts (Mess_IntegralNick2)+3,__zero_reg__ 2185 1430 1092 0000 sts Mess_IntegralRoll,__zero_reg__ 2186 1434 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ 2187 1438 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ 2188 143c 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ 2189 1440 1092 0000 sts Mess_IntegralRoll2,__zero_reg__ 2190 1444 1092 0000 sts (Mess_IntegralRoll2)+1,__zero_reg__ 2191 1448 1092 0000 sts (Mess_IntegralRoll2)+2,__zero_reg__ 2192 144c 1092 0000 sts (Mess_IntegralRoll2)+3,__zero_reg__ 2193 1450 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 2194 1454 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 2195 1458 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 2196 145c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 2197 1460 1092 0000 sts (MesswertNick)+1,__zero_reg__ 2198 1464 1092 0000 sts MesswertNick,__zero_reg__ 2199 1468 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 2200 146c 1092 0000 sts MesswertRoll,__zero_reg__ 2201 1470 1092 0000 sts (MesswertGier)+1,__zero_reg__ 2202 1474 1092 0000 sts MesswertGier,__zero_reg__ 2203 1478 8091 0000 lds r24,Luftdruck 2204 147c 9091 0000 lds r25,(Luftdruck)+1 2205 1480 A091 0000 lds r26,(Luftdruck)+2 2206 1484 B091 0000 lds r27,(Luftdruck)+3 2207 1488 9093 0000 sts (StartLuftdruck)+1,r25 2208 148c 8093 0000 sts StartLuftdruck,r24 2209 1490 1092 0000 sts (HoeheD)+1,__zero_reg__ 2210 1494 1092 0000 sts HoeheD,__zero_reg__ 2211 1498 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 2212 149c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 2213 14a0 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 2214 14a4 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 2215 14a8 8091 0000 lds r24,KompassValue 2216 14ac 9091 0000 lds r25,(KompassValue)+1 2217 14b0 9093 0000 sts (KompassStartwert)+1,r25 2218 14b4 8093 0000 sts KompassStartwert,r24 2219 14b8 82E3 ldi r24,lo8(50) 2220 14ba 90E0 ldi r25,hi8(50) 2221 14bc 9093 0000 sts (beeptime)+1,r25 2222 14c0 8093 0000 sts beeptime,r24 2223 /* epilogue: frame size=0 */ 2224 14c4 DF91 pop r29 2225 14c6 CF91 pop r28 2226 14c8 0895 ret 2227 /* epilogue end (size=3) */ 2228 /* function SetNeutral size 254 (249) */ 2230 .global Piep 2232 Piep: 2233 /* prologue: frame size=0 */ 2234 14ca 1F93 push r17 2235 /* prologue end (size=1) */ 2236 14cc 182F mov r17,r24 2237 14ce 00C0 rjmp .L453 2238 .L454: 2239 14d0 8091 0000 lds r24,MotorenEin 2240 14d4 8823 tst r24 2241 14d6 01F4 brne .L457 2242 14d8 84E6 ldi r24,lo8(100) 2243 14da 90E0 ldi r25,hi8(100) 2244 14dc 9093 0000 sts (beeptime)+1,r25 2245 14e0 8093 0000 sts beeptime,r24 2246 14e4 8AEF ldi r24,lo8(250) 2247 14e6 90E0 ldi r25,hi8(250) 2248 14e8 0E94 0000 call Delay_ms 2249 .L453: 2250 14ec 1150 subi r17,1 2251 14ee 00F4 brcc .L454 2252 .L457: 2253 /* epilogue: frame size=0 */ 2254 14f0 1F91 pop r17 2255 14f2 0895 ret 2256 /* epilogue end (size=2) */ 2257 /* function Piep size 22 (19) */ 2259 .global MotorRegler 2261 MotorRegler: 2262 /* prologue: frame size=4 */ 2263 14f4 2F92 push r2 2264 14f6 3F92 push r3 2265 14f8 4F92 push r4 2266 14fa 5F92 push r5 2267 14fc 6F92 push r6 2268 14fe 7F92 push r7 2269 1500 8F92 push r8 2270 1502 9F92 push r9 2271 1504 AF92 push r10 2272 1506 BF92 push r11 2273 1508 CF92 push r12 2274 150a DF92 push r13 2275 150c EF92 push r14 2276 150e FF92 push r15 2277 1510 0F93 push r16 2278 1512 1F93 push r17 2279 1514 CF93 push r28 2280 1516 DF93 push r29 2281 1518 CDB7 in r28,__SP_L__ 2282 151a DEB7 in r29,__SP_H__ 2283 151c 2497 sbiw r28,4 2284 151e 0FB6 in __tmp_reg__,__SREG__ 2285 1520 F894 cli 2286 1522 DEBF out __SP_H__,r29 2287 1524 0FBE out __SREG__,__tmp_reg__ 2288 1526 CDBF out __SP_L__,r28 2289 /* prologue end (size=26) */ 2290 1528 0E94 0000 call Mittelwert 2291 152c 299A sbi 37-0x20,1 2292 152e E091 0000 lds r30,EE_Parameter+2 2293 1532 AE2F mov r26,r30 2294 1534 BB27 clr r27 2295 1536 AA0F lsl r26 2296 1538 BB1F rol r27 2297 153a A050 subi r26,lo8(-(PPM_in)) 2298 153c B040 sbci r27,hi8(-(PPM_in)) 2299 153e 0D90 ld __tmp_reg__,X+ 2300 1540 BC91 ld r27,X 2301 1542 A02D mov r26,__tmp_reg__ 2302 1544 9D01 movw r18,r26 2303 1546 2858 subi r18,lo8(-(120)) 2304 1548 3F4F sbci r19,hi8(-(120)) 2305 154a 3A83 std Y+2,r19 2306 154c 2983 std Y+1,r18 2307 154e 37FF sbrs r19,7 2308 1550 00C0 rjmp .L459 2309 1552 1A82 std Y+2,__zero_reg__ 2310 1554 1982 std Y+1,__zero_reg__ 2311 .L459: 2312 1556 8091 0000 lds r24,SenderOkay 2313 155a 8436 cpi r24,lo8(100) 2314 155c 00F0 brlo .+2 2315 155e 00C0 rjmp .L460 2316 1560 8091 0000 lds r24,PcZugriff 2317 1564 8823 tst r24 2318 1566 01F4 brne .L462 2319 1568 84EF ldi r24,lo8(500) 2320 156a 91E0 ldi r25,hi8(500) 2321 156c 9093 0000 sts (beeptime)+1,r25 2322 1570 8093 0000 sts beeptime,r24 2323 .L462: 2324 1574 8091 0000 lds r24,RcLostTimer.2446 2325 1578 9091 0000 lds r25,(RcLostTimer.2446)+1 2326 157c 0097 sbiw r24,0 2327 157e 01F0 breq .L464 2328 1580 0197 sbiw r24,1 2329 1582 9093 0000 sts (RcLostTimer.2446)+1,r25 2330 1586 8093 0000 sts RcLostTimer.2446,r24 2331 158a 00C0 rjmp .L466 2332 .L464: 2333 158c 1092 0000 sts MotorenEin,__zero_reg__ 2334 1590 1092 0000 sts Notlandung,__zero_reg__ 2335 .L466: 2336 1594 289A sbi 37-0x20,0 2337 1596 8091 0000 lds r24,modell_fliegt.2450 2338 159a 9091 0000 lds r25,(modell_fliegt.2450)+1 2339 159e 815D subi r24,lo8(2001) 2340 15a0 9740 sbci r25,hi8(2001) 2341 15a2 00F0 brlo .L467 2342 15a4 8091 0000 lds r24,EE_Parameter+25 2343 15a8 482F mov r20,r24 2344 15aa 5527 clr r21 2345 15ac 5A83 std Y+2,r21 2346 15ae 4983 std Y+1,r20 2347 15b0 81E0 ldi r24,lo8(1) 2348 15b2 8093 0000 sts Notlandung,r24 2349 15b6 E091 0000 lds r30,EE_Parameter 2350 15ba FF27 clr r31 2351 15bc EE0F lsl r30 2352 15be FF1F rol r31 2353 15c0 E050 subi r30,lo8(-(PPM_in)) 2354 15c2 F040 sbci r31,hi8(-(PPM_in)) 2355 15c4 1182 std Z+1,__zero_reg__ 2356 15c6 1082 st Z,__zero_reg__ 2357 15c8 E091 0000 lds r30,EE_Parameter+1 2358 15cc FF27 clr r31 2359 15ce EE0F lsl r30 2360 15d0 FF1F rol r31 2361 15d2 E050 subi r30,lo8(-(PPM_in)) 2362 15d4 F040 sbci r31,hi8(-(PPM_in)) 2363 15d6 1182 std Z+1,__zero_reg__ 2364 15d8 1082 st Z,__zero_reg__ 2365 15da E091 0000 lds r30,EE_Parameter+3 2366 15de FF27 clr r31 2367 15e0 EE0F lsl r30 2368 15e2 FF1F rol r31 2369 15e4 E050 subi r30,lo8(-(PPM_in)) 2370 15e6 F040 sbci r31,hi8(-(PPM_in)) 2371 15e8 1182 std Z+1,__zero_reg__ 2372 15ea 1082 st Z,__zero_reg__ 2373 15ec 00C0 rjmp .L469 2374 .L467: 2375 15ee 1092 0000 sts MotorenEin,__zero_reg__ 2376 15f2 00C0 rjmp .L469 2377 .L460: 2378 15f4 8091 0000 lds r24,SenderOkay 2379 15f8 8D38 cpi r24,lo8(-115) 2380 15fa 00F4 brsh .+2 2381 15fc 00C0 rjmp .L469 2382 15fe 1092 0000 sts Notlandung,__zero_reg__ 2383 1602 8091 0000 lds r24,EE_Parameter+26 2384 1606 22E3 ldi r18,lo8(50) 2385 1608 829F mul r24,r18 2386 160a C001 movw r24,r0 2387 160c 1124 clr r1 2388 160e 9093 0000 sts (RcLostTimer.2446)+1,r25 2389 1612 8093 0000 sts RcLostTimer.2446,r24 2390 1616 6981 ldd r22,Y+1 2391 1618 7A81 ldd r23,Y+2 2392 161a 6932 cpi r22,41 2393 161c 7105 cpc r23,__zero_reg__ 2394 161e 04F0 brlt .L471 2395 1620 8091 0000 lds r24,modell_fliegt.2450 2396 1624 9091 0000 lds r25,(modell_fliegt.2450)+1 2397 1628 7FEF ldi r23,hi8(-1) 2398 162a 8F3F cpi r24,lo8(-1) 2399 162c 9707 cpc r25,r23 2400 162e 01F0 breq .L473 2401 1630 0196 adiw r24,1 2402 1632 9093 0000 sts (modell_fliegt.2450)+1,r25 2403 1636 8093 0000 sts modell_fliegt.2450,r24 2404 .L473: 2405 163a 8091 0000 lds r24,modell_fliegt.2450 2406 163e 9091 0000 lds r25,(modell_fliegt.2450)+1 2407 1642 9093 0000 sts (modell_fliegt_gps)+1,r25 2408 1646 8093 0000 sts modell_fliegt_gps,r24 2409 .L471: 2410 164a 8091 0000 lds r24,modell_fliegt.2450 2411 164e 9091 0000 lds r25,(modell_fliegt.2450)+1 2412 1652 883C cpi r24,200 2413 1654 9105 cpc r25,__zero_reg__ 2414 1656 00F0 brlo .L475 2415 1658 8981 ldd r24,Y+1 2416 165a 9A81 ldd r25,Y+2 2417 165c 8897 sbiw r24,40 2418 165e 04F4 brge .L477 2419 .L475: 2420 1660 1092 0000 sts SummeNick.2439,__zero_reg__ 2421 1664 1092 0000 sts (SummeNick.2439)+1,__zero_reg__ 2422 1668 1092 0000 sts (SummeNick.2439)+2,__zero_reg__ 2423 166c 1092 0000 sts (SummeNick.2439)+3,__zero_reg__ 2424 1670 1092 0000 sts SummeRoll.2440,__zero_reg__ 2425 1674 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__ 2426 1678 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__ 2427 167c 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__ 2428 1680 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 2429 1684 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 2430 1688 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 2431 168c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 2432 1690 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 2433 1694 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 2434 1698 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 2435 169c 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 2436 .L477: 2437 16a0 E981 ldd r30,Y+1 2438 16a2 FA81 ldd r31,Y+2 2439 16a4 E93C cpi r30,201 2440 16a6 F105 cpc r31,__zero_reg__ 2441 16a8 04F4 brge .+2 2442 16aa 00C0 rjmp .L478 2443 16ac 8091 0000 lds r24,MotorenEin 2444 16b0 8823 tst r24 2445 16b2 01F0 breq .+2 2446 16b4 00C0 rjmp .L469 2447 16b6 E091 0000 lds r30,EE_Parameter+3 2448 16ba FF27 clr r31 2449 16bc EE0F lsl r30 2450 16be FF1F rol r31 2451 16c0 E050 subi r30,lo8(-(PPM_in)) 2452 16c2 F040 sbci r31,hi8(-(PPM_in)) 2453 16c4 8081 ld r24,Z 2454 16c6 9181 ldd r25,Z+1 2455 16c8 8C34 cpi r24,76 2456 16ca 9105 cpc r25,__zero_reg__ 2457 16cc 04F4 brge .+2 2458 16ce 00C0 rjmp .L481 2459 16d0 8091 0000 lds r24,delay_neutral.2447 2460 16d4 8F5F subi r24,lo8(-(1)) 2461 16d6 8093 0000 sts delay_neutral.2447,r24 2462 16da 893C cpi r24,lo8(-55) 2463 16dc 00F4 brsh .+2 2464 16de 00C0 rjmp .L469 2465 16e0 2998 cbi 37-0x20,1 2466 16e2 0E94 0000 call SetNeutral 2467 16e6 1092 0000 sts MotorenEin,__zero_reg__ 2468 16ea 1092 0000 sts delay_neutral.2447,__zero_reg__ 2469 16ee 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__ 2470 16f2 1092 0000 sts modell_fliegt.2450,__zero_reg__ 2471 16f6 8091 0000 lds r24,EE_Parameter 2472 16fa 282F mov r18,r24 2473 16fc 3327 clr r19 2474 16fe F901 movw r30,r18 2475 1700 EE0F lsl r30 2476 1702 FF1F rol r31 2477 1704 E050 subi r30,lo8(-(PPM_in)) 2478 1706 F040 sbci r31,hi8(-(PPM_in)) 2479 1708 8081 ld r24,Z 2480 170a 9181 ldd r25,Z+1 2481 170c 8734 cpi r24,71 2482 170e 9105 cpc r25,__zero_reg__ 2483 1710 04F4 brge .L484 2484 1712 E091 0000 lds r30,EE_Parameter+1 2485 1716 FF27 clr r31 2486 1718 EE0F lsl r30 2487 171a FF1F rol r31 2488 171c E050 subi r30,lo8(-(PPM_in)) 2489 171e F040 sbci r31,hi8(-(PPM_in)) 2490 1720 0190 ld __tmp_reg__,Z+ 2491 1722 F081 ld r31,Z 2492 1724 E02D mov r30,__tmp_reg__ 2493 1726 F7FF sbrs r31,7 2494 1728 00C0 rjmp .L487 2495 172a F095 com r31 2496 172c E195 neg r30 2497 172e FF4F sbci r31,lo8(-1) 2498 .L487: 2499 1730 E734 cpi r30,71 2500 1732 F105 cpc r31,__zero_reg__ 2501 1734 04F4 brge .+2 2502 1736 00C0 rjmp .L486 2503 .L484: 2504 1738 8091 0000 lds r24,EE_Parameter+1 2505 173c 682F mov r22,r24 2506 173e 7727 clr r23 2507 1740 DB01 movw r26,r22 2508 1742 AA0F lsl r26 2509 1744 BB1F rol r27 2510 1746 A050 subi r26,lo8(-(PPM_in)) 2511 1748 B040 sbci r27,hi8(-(PPM_in)) 2512 174a 8D91 ld r24,X+ 2513 174c 9C91 ld r25,X 2514 174e 1197 sbiw r26,1 2515 1750 8734 cpi r24,71 2516 1752 9105 cpc r25,__zero_reg__ 2517 1754 04F0 brlt .L488 2518 1756 F901 movw r30,r18 2519 1758 EE0F lsl r30 2520 175a FF1F rol r31 2521 175c E050 subi r30,lo8(-(PPM_in)) 2522 175e F040 sbci r31,hi8(-(PPM_in)) 2523 1760 8081 ld r24,Z 2524 1762 9181 ldd r25,Z+1 2525 .L488: 2526 1764 8D91 ld r24,X+ 2527 1766 9C91 ld r25,X 2528 1768 8734 cpi r24,71 2529 176a 9105 cpc r25,__zero_reg__ 2530 176c 04F0 brlt .L490 2531 176e F901 movw r30,r18 2532 1770 EE0F lsl r30 2533 1772 FF1F rol r31 2534 1774 E050 subi r30,lo8(-(PPM_in)) 2535 1776 F040 sbci r31,hi8(-(PPM_in)) 2536 1778 8081 ld r24,Z 2537 177a 9181 ldd r25,Z+1 2538 177c 8734 cpi r24,71 2539 177e 9105 cpc r25,__zero_reg__ 2540 1780 04F0 brlt .L490 2541 1782 42E0 ldi r20,lo8(2) 2542 1784 00C0 rjmp .L493 2543 .L490: 2544 1786 41E0 ldi r20,lo8(1) 2545 .L493: 2546 1788 FB01 movw r30,r22 2547 178a EE0F lsl r30 2548 178c FF1F rol r31 2549 178e E050 subi r30,lo8(-(PPM_in)) 2550 1790 F040 sbci r31,hi8(-(PPM_in)) 2551 1792 8081 ld r24,Z 2552 1794 9181 ldd r25,Z+1 2553 1796 8634 cpi r24,70 2554 1798 9105 cpc r25,__zero_reg__ 2555 179a 04F4 brge .L494 2556 179c F901 movw r30,r18 2557 179e EE0F lsl r30 2558 17a0 FF1F rol r31 2559 17a2 E050 subi r30,lo8(-(PPM_in)) 2560 17a4 F040 sbci r31,hi8(-(PPM_in)) 2561 17a6 8081 ld r24,Z 2562 17a8 9181 ldd r25,Z+1 2563 17aa 8734 cpi r24,71 2564 17ac 9105 cpc r25,__zero_reg__ 2565 17ae 04F0 brlt .L494 2566 17b0 43E0 ldi r20,lo8(3) 2567 .L494: 2568 17b2 FB01 movw r30,r22 2569 17b4 EE0F lsl r30 2570 17b6 FF1F rol r31 2571 17b8 E050 subi r30,lo8(-(PPM_in)) 2572 17ba F040 sbci r31,hi8(-(PPM_in)) 2573 17bc 8081 ld r24,Z 2574 17be 9181 ldd r25,Z+1 2575 17c0 8A5B subi r24,lo8(-70) 2576 17c2 9F4F sbci r25,hi8(-70) 2577 17c4 04F4 brge .L497 2578 17c6 F901 movw r30,r18 2579 17c8 EE0F lsl r30 2580 17ca FF1F rol r31 2581 17cc E050 subi r30,lo8(-(PPM_in)) 2582 17ce F040 sbci r31,hi8(-(PPM_in)) 2583 17d0 8081 ld r24,Z 2584 17d2 9181 ldd r25,Z+1 2585 17d4 8734 cpi r24,71 2586 17d6 9105 cpc r25,__zero_reg__ 2587 17d8 04F0 brlt .L497 2588 17da 44E0 ldi r20,lo8(4) 2589 .L497: 2590 17dc 660F lsl r22 2591 17de 771F rol r23 2592 17e0 6050 subi r22,lo8(-(PPM_in)) 2593 17e2 7040 sbci r23,hi8(-(PPM_in)) 2594 17e4 FB01 movw r30,r22 2595 17e6 8081 ld r24,Z 2596 17e8 9181 ldd r25,Z+1 2597 17ea 8A5B subi r24,lo8(-70) 2598 17ec 9F4F sbci r25,hi8(-70) 2599 17ee 04F4 brge .L500 2600 17f0 220F lsl r18 2601 17f2 331F rol r19 2602 17f4 2050 subi r18,lo8(-(PPM_in)) 2603 17f6 3040 sbci r19,hi8(-(PPM_in)) 2604 17f8 F901 movw r30,r18 2605 17fa 8081 ld r24,Z 2606 17fc 9181 ldd r25,Z+1 2607 17fe 8634 cpi r24,70 2608 1800 9105 cpc r25,__zero_reg__ 2609 1802 04F4 brge .L500 2610 1804 45E0 ldi r20,lo8(5) 2611 .L500: 2612 1806 A0E0 ldi r26,lo8(EEPromArray+2) 2613 1808 B0E0 ldi r27,hi8(EEPromArray+2) 2614 /* #APP */ 2615 180a 042E mov __tmp_reg__,r20 2616 180c 0E94 0000 call __eeprom_write_byte_1F2021 2617 /* #NOAPP */ 2618 .L486: 2619 1810 0E94 0000 call GetActiveParamSetNumber 2620 1814 4AE3 ldi r20,lo8(58) 2621 1816 60E0 ldi r22,lo8(EE_Parameter) 2622 1818 70E0 ldi r23,hi8(EE_Parameter) 2623 181a 0E94 0000 call ReadParameterSet 2624 181e 0E94 0000 call GetActiveParamSetNumber 2625 1822 0E94 0000 call Piep 2626 1826 8091 0000 lds r24,EE_Parameter+8 2627 182a 80FF sbrs r24,0 2628 182c 00C0 rjmp .L469 2629 182e 8091 0000 lds r24,MessLuftdruck 2630 1832 9091 0000 lds r25,(MessLuftdruck)+1 2631 1836 875B subi r24,lo8(951) 2632 1838 9340 sbci r25,hi8(951) 2633 183a 00F4 brsh .L504 2634 183c 8091 0000 lds r24,MessLuftdruck 2635 1840 9091 0000 lds r25,(MessLuftdruck)+1 2636 1844 8E5E subi r24,lo8(750) 2637 1846 9240 sbci r25,hi8(750) 2638 1848 00F0 brlo .+2 2639 184a 00C0 rjmp .L469 2640 .L504: 2641 184c 0E94 0000 call SucheLuftruckOffset 2642 1850 00C0 rjmp .L469 2643 .L481: 2644 1852 1092 0000 sts delay_neutral.2447,__zero_reg__ 2645 1856 00C0 rjmp .L469 2646 .L478: 2647 1858 4981 ldd r20,Y+1 2648 185a 5A81 ldd r21,Y+2 2649 185c 4332 cpi r20,35 2650 185e 5105 cpc r21,__zero_reg__ 2651 1860 04F0 brlt .+2 2652 1862 00C0 rjmp .L469 2653 1864 8091 0000 lds r24,EE_Parameter+3 2654 1868 482F mov r20,r24 2655 186a 5527 clr r21 2656 186c FA01 movw r30,r20 2657 186e EE0F lsl r30 2658 1870 FF1F rol r31 2659 1872 E050 subi r30,lo8(-(PPM_in)) 2660 1874 F040 sbci r31,hi8(-(PPM_in)) 2661 1876 8081 ld r24,Z 2662 1878 9181 ldd r25,Z+1 2663 187a 855B subi r24,lo8(-75) 2664 187c 9F4F sbci r25,hi8(-75) 2665 187e 04F0 brlt .+2 2666 1880 00C0 rjmp .L507 2667 1882 8091 0000 lds r24,delay_einschalten.2448 2668 1886 8F5F subi r24,lo8(-(1)) 2669 1888 8093 0000 sts delay_einschalten.2448,r24 2670 188c 893C cpi r24,lo8(-55) 2671 188e 00F4 brsh .+2 2672 1890 00C0 rjmp .L509 2673 1892 88EC ldi r24,lo8(-56) 2674 1894 8093 0000 sts delay_einschalten.2448,r24 2675 1898 81E0 ldi r24,lo8(1) 2676 189a 90E0 ldi r25,hi8(1) 2677 189c 9093 0000 sts (modell_fliegt.2450)+1,r25 2678 18a0 8093 0000 sts modell_fliegt.2450,r24 2679 18a4 81E0 ldi r24,lo8(1) 2680 18a6 8093 0000 sts MotorenEin,r24 2681 18aa 1092 0000 sts sollGier.2441,__zero_reg__ 2682 18ae 1092 0000 sts (sollGier.2441)+1,__zero_reg__ 2683 18b2 1092 0000 sts (sollGier.2441)+2,__zero_reg__ 2684 18b6 1092 0000 sts (sollGier.2441)+3,__zero_reg__ 2685 18ba 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 2686 18be 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 2687 18c2 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 2688 18c6 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 2689 18ca 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 2690 18ce 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 2691 18d2 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 2692 18d6 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 2693 18da 1092 0000 sts Mess_IntegralNick,__zero_reg__ 2694 18de 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ 2695 18e2 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ 2696 18e6 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ 2697 18ea 1092 0000 sts Mess_IntegralRoll,__zero_reg__ 2698 18ee 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ 2699 18f2 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ 2700 18f6 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ 2701 18fa 8091 0000 lds r24,IntegralNick 2702 18fe 9091 0000 lds r25,(IntegralNick)+1 2703 1902 A091 0000 lds r26,(IntegralNick)+2 2704 1906 B091 0000 lds r27,(IntegralNick)+3 2705 190a 8093 0000 sts Mess_IntegralNick2,r24 2706 190e 9093 0000 sts (Mess_IntegralNick2)+1,r25 2707 1912 A093 0000 sts (Mess_IntegralNick2)+2,r26 2708 1916 B093 0000 sts (Mess_IntegralNick2)+3,r27 2709 191a 8091 0000 lds r24,IntegralRoll 2710 191e 9091 0000 lds r25,(IntegralRoll)+1 2711 1922 A091 0000 lds r26,(IntegralRoll)+2 2712 1926 B091 0000 lds r27,(IntegralRoll)+3 2713 192a 8093 0000 sts Mess_IntegralRoll2,r24 2714 192e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2715 1932 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2716 1936 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2717 193a 1092 0000 sts SummeNick.2439,__zero_reg__ 2718 193e 1092 0000 sts (SummeNick.2439)+1,__zero_reg__ 2719 1942 1092 0000 sts (SummeNick.2439)+2,__zero_reg__ 2720 1946 1092 0000 sts (SummeNick.2439)+3,__zero_reg__ 2721 194a 1092 0000 sts SummeRoll.2440,__zero_reg__ 2722 194e 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__ 2723 1952 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__ 2724 1956 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__ 2725 195a 00C0 rjmp .L509 2726 .L507: 2727 195c 1092 0000 sts delay_einschalten.2448,__zero_reg__ 2728 .L509: 2729 1960 440F lsl r20 2730 1962 551F rol r21 2731 1964 4050 subi r20,lo8(-(PPM_in)) 2732 1966 5040 sbci r21,hi8(-(PPM_in)) 2733 1968 FA01 movw r30,r20 2734 196a 8081 ld r24,Z 2735 196c 9181 ldd r25,Z+1 2736 196e 8C34 cpi r24,76 2737 1970 9105 cpc r25,__zero_reg__ 2738 1972 04F0 brlt .L511 2739 1974 8091 0000 lds r24,delay_ausschalten.2449 2740 1978 8F5F subi r24,lo8(-(1)) 2741 197a 8093 0000 sts delay_ausschalten.2449,r24 2742 197e 893C cpi r24,lo8(-55) 2743 1980 00F0 brlo .L469 2744 1982 1092 0000 sts MotorenEin,__zero_reg__ 2745 1986 88EC ldi r24,lo8(-56) 2746 1988 8093 0000 sts delay_ausschalten.2449,r24 2747 198c 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__ 2748 1990 1092 0000 sts modell_fliegt.2450,__zero_reg__ 2749 1994 00C0 rjmp .L469 2750 .L511: 2751 1996 1092 0000 sts delay_ausschalten.2449,__zero_reg__ 2752 .L469: 2753 199a 8091 0000 lds r24,NewPpmData 2754 199e 8150 subi r24,lo8(-(-1)) 2755 19a0 8093 0000 sts NewPpmData,r24 2756 19a4 8091 0000 lds r24,NewPpmData 2757 19a8 8F3F cpi r24,lo8(-1) 2758 19aa 01F0 breq .L514 2759 19ac 8091 0000 lds r24,Notlandung 2760 19b0 8823 tst r24 2761 19b2 01F4 brne .+2 2762 19b4 00C0 rjmp .L516 2763 .L514: 2764 19b6 0E94 0000 call ParameterZuordnung 2765 19ba E091 0000 lds r30,EE_Parameter 2766 19be FF27 clr r31 2767 19c0 EE0F lsl r30 2768 19c2 FF1F rol r31 2769 19c4 DF01 movw r26,r30 2770 19c6 A050 subi r26,lo8(-(PPM_in)) 2771 19c8 B040 sbci r27,hi8(-(PPM_in)) 2772 19ca 8D91 ld r24,X+ 2773 19cc 9C91 ld r25,X 2774 19ce 6091 0000 lds r22,EE_Parameter+15 2775 19d2 7727 clr r23 2776 19d4 E050 subi r30,lo8(-(PPM_diff)) 2777 19d6 F040 sbci r31,hi8(-(PPM_diff)) 2778 19d8 2081 ld r18,Z 2779 19da 3181 ldd r19,Z+1 2780 19dc 4091 0000 lds r20,EE_Parameter+16 2781 19e0 5527 clr r21 2782 19e2 FC01 movw r30,r24 2783 19e4 E69F mul r30,r22 2784 19e6 C001 movw r24,r0 2785 19e8 E79F mul r30,r23 2786 19ea 900D add r25,r0 2787 19ec F69F mul r31,r22 2788 19ee 900D add r25,r0 2789 19f0 1124 clr r1 2790 19f2 F901 movw r30,r18 2791 19f4 E49F mul r30,r20 2792 19f6 9001 movw r18,r0 2793 19f8 E59F mul r30,r21 2794 19fa 300D add r19,r0 2795 19fc F49F mul r31,r20 2796 19fe 300D add r19,r0 2797 1a00 1124 clr r1 2798 1a02 820F add r24,r18 2799 1a04 931F adc r25,r19 2800 1a06 9093 0000 sts (StickNick)+1,r25 2801 1a0a 8093 0000 sts StickNick,r24 2802 1a0e E091 0000 lds r30,EE_Parameter+1 2803 1a12 FF27 clr r31 2804 1a14 EE0F lsl r30 2805 1a16 FF1F rol r31 2806 1a18 DF01 movw r26,r30 2807 1a1a A050 subi r26,lo8(-(PPM_in)) 2808 1a1c B040 sbci r27,hi8(-(PPM_in)) 2809 1a1e 8D91 ld r24,X+ 2810 1a20 9C91 ld r25,X 2811 1a22 E050 subi r30,lo8(-(PPM_diff)) 2812 1a24 F040 sbci r31,hi8(-(PPM_diff)) 2813 1a26 2081 ld r18,Z 2814 1a28 3181 ldd r19,Z+1 2815 1a2a FC01 movw r30,r24 2816 1a2c E69F mul r30,r22 2817 1a2e C001 movw r24,r0 2818 1a30 E79F mul r30,r23 2819 1a32 900D add r25,r0 2820 1a34 F69F mul r31,r22 2821 1a36 900D add r25,r0 2822 1a38 1124 clr r1 2823 1a3a B901 movw r22,r18 2824 1a3c 649F mul r22,r20 2825 1a3e 9001 movw r18,r0 2826 1a40 659F mul r22,r21 2827 1a42 300D add r19,r0 2828 1a44 749F mul r23,r20 2829 1a46 300D add r19,r0 2830 1a48 1124 clr r1 2831 1a4a 820F add r24,r18 2832 1a4c 931F adc r25,r19 2833 1a4e 9093 0000 sts (StickRoll)+1,r25 2834 1a52 8093 0000 sts StickRoll,r24 2835 1a56 E091 0000 lds r30,EE_Parameter+3 2836 1a5a FF27 clr r31 2837 1a5c EE0F lsl r30 2838 1a5e FF1F rol r31 2839 1a60 E050 subi r30,lo8(-(PPM_in)) 2840 1a62 F040 sbci r31,hi8(-(PPM_in)) 2841 1a64 8081 ld r24,Z 2842 1a66 9181 ldd r25,Z+1 2843 1a68 9095 com r25 2844 1a6a 8195 neg r24 2845 1a6c 9F4F sbci r25,lo8(-1) 2846 1a6e 9093 0000 sts (StickGier)+1,r25 2847 1a72 8093 0000 sts StickGier,r24 2848 1a76 1091 0000 lds r17,Parameter_Gyro_P 2849 1a7a 612F mov r22,r17 2850 1a7c 7727 clr r23 2851 1a7e 67FD sbrc r22,7 2852 1a80 7095 com r23 2853 1a82 872F mov r24,r23 2854 1a84 972F mov r25,r23 2855 1a86 0E94 0000 call __floatsisf 2856 1a8a 17FF sbrs r17,7 2857 1a8c 00C0 rjmp .L517 2858 1a8e 20E0 ldi r18,lo8(0x43800000) 2859 1a90 30E0 ldi r19,hi8(0x43800000) 2860 1a92 40E8 ldi r20,hlo8(0x43800000) 2861 1a94 53E4 ldi r21,hhi8(0x43800000) 2862 1a96 0E94 0000 call __addsf3 2863 .L517: 2864 1a9a 20E0 ldi r18,lo8(0x41200000) 2865 1a9c 30E0 ldi r19,hi8(0x41200000) 2866 1a9e 40E2 ldi r20,hlo8(0x41200000) 2867 1aa0 51E4 ldi r21,hhi8(0x41200000) 2868 1aa2 0E94 0000 call __addsf3 2869 1aa6 20E0 ldi r18,lo8(0x3b800000) 2870 1aa8 30E0 ldi r19,hi8(0x3b800000) 2871 1aaa 40E8 ldi r20,hlo8(0x3b800000) 2872 1aac 5BE3 ldi r21,hhi8(0x3b800000) 2873 1aae 0E94 0000 call __mulsf3 2874 1ab2 5B01 movw r10,r22 2875 1ab4 6C01 movw r12,r24 2876 1ab6 6093 0000 sts GyroFaktor,r22 2877 1aba 7093 0000 sts (GyroFaktor)+1,r23 2878 1abe 8093 0000 sts (GyroFaktor)+2,r24 2879 1ac2 9093 0000 sts (GyroFaktor)+3,r25 2880 1ac6 1091 0000 lds r17,Parameter_Gyro_I 2881 1aca 612F mov r22,r17 2882 1acc 7727 clr r23 2883 1ace 67FD sbrc r22,7 2884 1ad0 7095 com r23 2885 1ad2 872F mov r24,r23 2886 1ad4 972F mov r25,r23 2887 1ad6 0E94 0000 call __floatsisf 2888 1ada 17FF sbrs r17,7 2889 1adc 00C0 rjmp .L518 2890 1ade 20E0 ldi r18,lo8(0x43800000) 2891 1ae0 30E0 ldi r19,hi8(0x43800000) 2892 1ae2 40E8 ldi r20,hlo8(0x43800000) 2893 1ae4 53E4 ldi r21,hhi8(0x43800000) 2894 1ae6 0E94 0000 call __addsf3 2895 .L518: 2896 1aea 20E0 ldi r18,lo8(0x472be000) 2897 1aec 30EE ldi r19,hi8(0x472be000) 2898 1aee 4BE2 ldi r20,hlo8(0x472be000) 2899 1af0 57E4 ldi r21,hhi8(0x472be000) 2900 1af2 0E94 0000 call __divsf3 2901 1af6 6093 0000 sts IntegralFaktor,r22 2902 1afa 7093 0000 sts (IntegralFaktor)+1,r23 2903 1afe 8093 0000 sts (IntegralFaktor)+2,r24 2904 1b02 9093 0000 sts (IntegralFaktor)+3,r25 2905 1b06 8091 0000 lds r24,EE_Parameter+8 2906 1b0a 82FF sbrs r24,2 2907 1b0c 00C0 rjmp .L519 2908 1b0e 80E0 ldi r24,lo8(0x0) 2909 1b10 90E0 ldi r25,hi8(0x0) 2910 1b12 A0E0 ldi r26,hlo8(0x0) 2911 1b14 B0E0 ldi r27,hhi8(0x0) 2912 1b16 8093 0000 sts IntegralFaktor,r24 2913 1b1a 9093 0000 sts (IntegralFaktor)+1,r25 2914 1b1e A093 0000 sts (IntegralFaktor)+2,r26 2915 1b22 B093 0000 sts (IntegralFaktor)+3,r27 2916 .L519: 2917 1b26 20E0 ldi r18,lo8(0x0) 2918 1b28 30E0 ldi r19,hi8(0x0) 2919 1b2a 40E0 ldi r20,hlo8(0x0) 2920 1b2c 50E0 ldi r21,hhi8(0x0) 2921 1b2e C601 movw r24,r12 2922 1b30 B501 movw r22,r10 2923 1b32 0E94 0000 call __ltsf2 2924 1b36 8823 tst r24 2925 1b38 04F4 brge .L521 2926 1b3a 80E0 ldi r24,lo8(0x0) 2927 1b3c 90E0 ldi r25,hi8(0x0) 2928 1b3e A0E0 ldi r26,hlo8(0x0) 2929 1b40 B0E0 ldi r27,hhi8(0x0) 2930 1b42 8093 0000 sts GyroFaktor,r24 2931 1b46 9093 0000 sts (GyroFaktor)+1,r25 2932 1b4a A093 0000 sts (GyroFaktor)+2,r26 2933 1b4e B093 0000 sts (GyroFaktor)+3,r27 2934 .L521: 2935 1b52 20E0 ldi r18,lo8(0x0) 2936 1b54 30E0 ldi r19,hi8(0x0) 2937 1b56 40E0 ldi r20,hlo8(0x0) 2938 1b58 50E0 ldi r21,hhi8(0x0) 2939 1b5a 6091 0000 lds r22,IntegralFaktor 2940 1b5e 7091 0000 lds r23,(IntegralFaktor)+1 2941 1b62 8091 0000 lds r24,(IntegralFaktor)+2 2942 1b66 9091 0000 lds r25,(IntegralFaktor)+3 2943 1b6a 0E94 0000 call __ltsf2 2944 1b6e 8823 tst r24 2945 1b70 04F4 brge .L524 2946 1b72 80E0 ldi r24,lo8(0x0) 2947 1b74 90E0 ldi r25,hi8(0x0) 2948 1b76 A0E0 ldi r26,hlo8(0x0) 2949 1b78 B0E0 ldi r27,hhi8(0x0) 2950 1b7a 8093 0000 sts IntegralFaktor,r24 2951 1b7e 9093 0000 sts (IntegralFaktor)+1,r25 2952 1b82 A093 0000 sts (IntegralFaktor)+2,r26 2953 1b86 B093 0000 sts (IntegralFaktor)+3,r27 2954 .L524: 2955 1b8a 4298 cbi 40-0x20,2 2956 1b8c 9091 0000 lds r25,Parameter_UserParam4 2957 1b90 8091 0000 lds r24,blinkcount_LED1 2958 1b94 8917 cp r24,r25 2959 1b96 00F0 brlo .L527 2960 1b98 9923 tst r25 2961 1b9a 01F0 breq .L527 2962 1b9c 88B1 in r24,40-0x20 2963 1b9e 94E0 ldi r25,lo8(4) 2964 1ba0 8927 eor r24,r25 2965 1ba2 88B9 out 40-0x20,r24 2966 1ba4 1092 0000 sts blinkcount_LED1,__zero_reg__ 2967 .L527: 2968 1ba8 8091 0000 lds r24,blinkcount_LED1 2969 1bac 8F5F subi r24,lo8(-(1)) 2970 1bae 8093 0000 sts blinkcount_LED1,r24 2971 1bb2 8091 0000 lds r24,Notlandung 2972 1bb6 8823 tst r24 2973 1bb8 01F0 breq .L516 2974 1bba 1092 0000 sts (StickGier)+1,__zero_reg__ 2975 1bbe 1092 0000 sts StickGier,__zero_reg__ 2976 1bc2 1092 0000 sts (StickNick)+1,__zero_reg__ 2977 1bc6 1092 0000 sts StickNick,__zero_reg__ 2978 1bca 1092 0000 sts (StickRoll)+1,__zero_reg__ 2979 1bce 1092 0000 sts StickRoll,__zero_reg__ 2980 1bd2 8DEC ldi r24,lo8(0x3dcccccd) 2981 1bd4 9CEC ldi r25,hi8(0x3dcccccd) 2982 1bd6 ACEC ldi r26,hlo8(0x3dcccccd) 2983 1bd8 BDE3 ldi r27,hhi8(0x3dcccccd) 2984 1bda 8093 0000 sts GyroFaktor,r24 2985 1bde 9093 0000 sts (GyroFaktor)+1,r25 2986 1be2 A093 0000 sts (GyroFaktor)+2,r26 2987 1be6 B093 0000 sts (GyroFaktor)+3,r27 2988 1bea 8AE0 ldi r24,lo8(0x3ba3d70a) 2989 1bec 97ED ldi r25,hi8(0x3ba3d70a) 2990 1bee A3EA ldi r26,hlo8(0x3ba3d70a) 2991 1bf0 BBE3 ldi r27,hhi8(0x3ba3d70a) 2992 1bf2 8093 0000 sts IntegralFaktor,r24 2993 1bf6 9093 0000 sts (IntegralFaktor)+1,r25 2994 1bfa A093 0000 sts (IntegralFaktor)+2,r26 2995 1bfe B093 0000 sts (IntegralFaktor)+3,r27 2996 .L516: 2997 1c02 8091 0000 lds r24,ZaehlMessungen 2998 1c06 9091 0000 lds r25,(ZaehlMessungen)+1 2999 1c0a 8D54 subi r24,lo8(333) 3000 1c0c 9140 sbci r25,hi8(333) 3001 1c0e 00F4 brsh .+2 3002 1c10 00C0 rjmp .L531 3003 1c12 2091 0000 lds r18,IntegralNick2 3004 1c16 3091 0000 lds r19,(IntegralNick2)+1 3005 1c1a 4091 0000 lds r20,(IntegralNick2)+2 3006 1c1e 5091 0000 lds r21,(IntegralNick2)+3 3007 1c22 8091 0000 lds r24,IntegralNick 3008 1c26 9091 0000 lds r25,(IntegralNick)+1 3009 1c2a A091 0000 lds r26,(IntegralNick)+2 3010 1c2e B091 0000 lds r27,(IntegralNick)+3 3011 1c32 B901 movw r22,r18 3012 1c34 681B sub r22,r24 3013 1c36 790B sbc r23,r25 3014 1c38 7093 0000 sts (IntegralFehlerNick.2444)+1,r23 3015 1c3c 6093 0000 sts IntegralFehlerNick.2444,r22 3016 1c40 2091 0000 lds r18,IntegralRoll2 3017 1c44 3091 0000 lds r19,(IntegralRoll2)+1 3018 1c48 4091 0000 lds r20,(IntegralRoll2)+2 3019 1c4c 5091 0000 lds r21,(IntegralRoll2)+3 3020 1c50 8091 0000 lds r24,IntegralRoll 3021 1c54 9091 0000 lds r25,(IntegralRoll)+1 3022 1c58 A091 0000 lds r26,(IntegralRoll)+2 3023 1c5c B091 0000 lds r27,(IntegralRoll)+3 3024 1c60 281B sub r18,r24 3025 1c62 390B sbc r19,r25 3026 1c64 3093 0000 sts (IntegralFehlerRoll.2445)+1,r19 3027 1c68 2093 0000 sts IntegralFehlerRoll.2445,r18 3028 1c6c 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 3029 1c70 1092 0000 sts ZaehlMessungen,__zero_reg__ 3030 1c74 673A cpi r22,167 3031 1c76 7105 cpc r23,__zero_reg__ 3032 1c78 04F0 brlt .L533 3033 1c7a 8091 0000 lds r24,AdNeutralNick 3034 1c7e 9091 0000 lds r25,(AdNeutralNick)+1 3035 1c82 0196 adiw r24,1 3036 1c84 00C0 rjmp .L660 3037 .L533: 3038 1c86 6A55 subi r22,lo8(-166) 3039 1c88 7F4F sbci r23,hi8(-166) 3040 1c8a 04F4 brge .L535 3041 1c8c 8091 0000 lds r24,AdNeutralNick 3042 1c90 9091 0000 lds r25,(AdNeutralNick)+1 3043 1c94 0197 sbiw r24,1 3044 .L660: 3045 1c96 9093 0000 sts (AdNeutralNick)+1,r25 3046 1c9a 8093 0000 sts AdNeutralNick,r24 3047 .L535: 3048 1c9e 273A cpi r18,167 3049 1ca0 3105 cpc r19,__zero_reg__ 3050 1ca2 04F0 brlt .L537 3051 1ca4 8091 0000 lds r24,AdNeutralRoll 3052 1ca8 9091 0000 lds r25,(AdNeutralRoll)+1 3053 1cac 0196 adiw r24,1 3054 1cae 00C0 rjmp .L661 3055 .L537: 3056 1cb0 2A55 subi r18,lo8(-166) 3057 1cb2 3F4F sbci r19,hi8(-166) 3058 1cb4 04F4 brge .L539 3059 1cb6 8091 0000 lds r24,AdNeutralRoll 3060 1cba 9091 0000 lds r25,(AdNeutralRoll)+1 3061 1cbe 0197 sbiw r24,1 3062 .L661: 3063 1cc0 9093 0000 sts (AdNeutralRoll)+1,r25 3064 1cc4 8093 0000 sts AdNeutralRoll,r24 3065 .L539: 3066 1cc8 8091 0000 lds r24,Mess_Integral_Gier2 3067 1ccc 9091 0000 lds r25,(Mess_Integral_Gier2)+1 3068 1cd0 A091 0000 lds r26,(Mess_Integral_Gier2)+2 3069 1cd4 B091 0000 lds r27,(Mess_Integral_Gier2)+3 3070 1cd8 873A cpi r24,lo8(167) 3071 1cda 9105 cpc r25,__zero_reg__ 3072 1cdc A105 cpc r26,__zero_reg__ 3073 1cde B105 cpc r27,__zero_reg__ 3074 1ce0 04F0 brlt .L541 3075 1ce2 8091 0000 lds r24,AdNeutralGier 3076 1ce6 9091 0000 lds r25,(AdNeutralGier)+1 3077 1cea 0197 sbiw r24,1 3078 1cec 9093 0000 sts (AdNeutralGier)+1,r25 3079 1cf0 8093 0000 sts AdNeutralGier,r24 3080 .L541: 3081 1cf4 8091 0000 lds r24,Mess_Integral_Gier2 3082 1cf8 9091 0000 lds r25,(Mess_Integral_Gier2)+1 3083 1cfc A091 0000 lds r26,(Mess_Integral_Gier2)+2 3084 1d00 B091 0000 lds r27,(Mess_Integral_Gier2)+3 3085 1d04 8A55 subi r24,lo8(-166) 3086 1d06 9F4F sbci r25,hi8(-166) 3087 1d08 AF4F sbci r26,hlo8(-166) 3088 1d0a BF4F sbci r27,hhi8(-166) 3089 1d0c 04F4 brge .L543 3090 1d0e 8091 0000 lds r24,AdNeutralGier 3091 1d12 9091 0000 lds r25,(AdNeutralGier)+1 3092 1d16 0196 adiw r24,1 3093 1d18 9093 0000 sts (AdNeutralGier)+1,r25 3094 1d1c 8093 0000 sts AdNeutralGier,r24 3095 .L543: 3096 1d20 1092 7A00 sts 122,__zero_reg__ 3097 1d24 8091 0000 lds r24,IntegralNick 3098 1d28 9091 0000 lds r25,(IntegralNick)+1 3099 1d2c A091 0000 lds r26,(IntegralNick)+2 3100 1d30 B091 0000 lds r27,(IntegralNick)+3 3101 1d34 8093 0000 sts Mess_IntegralNick2,r24 3102 1d38 9093 0000 sts (Mess_IntegralNick2)+1,r25 3103 1d3c A093 0000 sts (Mess_IntegralNick2)+2,r26 3104 1d40 B093 0000 sts (Mess_IntegralNick2)+3,r27 3105 1d44 8091 0000 lds r24,IntegralRoll 3106 1d48 9091 0000 lds r25,(IntegralRoll)+1 3107 1d4c A091 0000 lds r26,(IntegralRoll)+2 3108 1d50 B091 0000 lds r27,(IntegralRoll)+3 3109 1d54 8093 0000 sts Mess_IntegralRoll2,r24 3110 1d58 9093 0000 sts (Mess_IntegralRoll2)+1,r25 3111 1d5c A093 0000 sts (Mess_IntegralRoll2)+2,r26 3112 1d60 B093 0000 sts (Mess_IntegralRoll2)+3,r27 3113 1d64 8091 0000 lds r24,Integral_Gier 3114 1d68 9091 0000 lds r25,(Integral_Gier)+1 3115 1d6c A091 0000 lds r26,(Integral_Gier)+2 3116 1d70 B091 0000 lds r27,(Integral_Gier)+3 3117 1d74 8093 0000 sts Mess_Integral_Gier2,r24 3118 1d78 9093 0000 sts (Mess_Integral_Gier2)+1,r25 3119 1d7c A093 0000 sts (Mess_Integral_Gier2)+2,r26 3120 1d80 B093 0000 sts (Mess_Integral_Gier2)+3,r27 3121 1d84 8FEE ldi r24,lo8(-17) 3122 1d86 8093 7A00 sts 122,r24 3123 .L531: 3124 1d8a 6091 0000 lds r22,IntegralNick 3125 1d8e 7091 0000 lds r23,(IntegralNick)+1 3126 1d92 8091 0000 lds r24,(IntegralNick)+2 3127 1d96 9091 0000 lds r25,(IntegralNick)+3 3128 1d9a A090 0000 lds r10,EE_Parameter+20 3129 1d9e BB24 clr r11 3130 1da0 CC24 clr r12 3131 1da2 DD24 clr r13 3132 1da4 E090 0000 lds r14,Mittelwert_AccNick 3133 1da8 F090 0000 lds r15,(Mittelwert_AccNick)+1 3134 1dac A601 movw r20,r12 3135 1dae 9501 movw r18,r10 3136 1db0 0E94 0000 call __divmodsi4 3137 1db4 0027 clr r16 3138 1db6 F7FC sbrc r15,7 3139 1db8 0095 com r16 3140 1dba 102F mov r17,r16 3141 1dbc 2E19 sub r18,r14 3142 1dbe 3F09 sbc r19,r15 3143 1dc0 400B sbc r20,r16 3144 1dc2 510B sbc r21,r17 3145 1dc4 CA01 movw r24,r20 3146 1dc6 B901 movw r22,r18 3147 1dc8 20E1 ldi r18,lo8(16) 3148 1dca 30E0 ldi r19,hi8(16) 3149 1dcc 40E0 ldi r20,hlo8(16) 3150 1dce 50E0 ldi r21,hhi8(16) 3151 1dd0 0E94 0000 call __divmodsi4 3152 1dd4 3901 movw r6,r18 3153 1dd6 4A01 movw r8,r20 3154 1dd8 2093 0000 sts tmp_long.2442,r18 3155 1ddc 3093 0000 sts (tmp_long.2442)+1,r19 3156 1de0 4093 0000 sts (tmp_long.2442)+2,r20 3157 1de4 5093 0000 sts (tmp_long.2442)+3,r21 3158 1de8 6091 0000 lds r22,IntegralRoll 3159 1dec 7091 0000 lds r23,(IntegralRoll)+1 3160 1df0 8091 0000 lds r24,(IntegralRoll)+2 3161 1df4 9091 0000 lds r25,(IntegralRoll)+3 3162 1df8 E090 0000 lds r14,Mittelwert_AccRoll 3163 1dfc F090 0000 lds r15,(Mittelwert_AccRoll)+1 3164 1e00 A601 movw r20,r12 3165 1e02 9501 movw r18,r10 3166 1e04 0E94 0000 call __divmodsi4 3167 1e08 0027 clr r16 3168 1e0a F7FC sbrc r15,7 3169 1e0c 0095 com r16 3170 1e0e 102F mov r17,r16 3171 1e10 2E19 sub r18,r14 3172 1e12 3F09 sbc r19,r15 3173 1e14 400B sbc r20,r16 3174 1e16 510B sbc r21,r17 3175 1e18 CA01 movw r24,r20 3176 1e1a B901 movw r22,r18 3177 1e1c 20E1 ldi r18,lo8(16) 3178 1e1e 30E0 ldi r19,hi8(16) 3179 1e20 40E0 ldi r20,hlo8(16) 3180 1e22 50E0 ldi r21,hhi8(16) 3181 1e24 0E94 0000 call __divmodsi4 3182 1e28 2093 0000 sts tmp_long2.2443,r18 3183 1e2c 3093 0000 sts (tmp_long2.2443)+1,r19 3184 1e30 4093 0000 sts (tmp_long2.2443)+2,r20 3185 1e34 5093 0000 sts (tmp_long2.2443)+3,r21 3186 1e38 F5EF ldi r31,lo8(501) 3187 1e3a 6F16 cp r6,r31 3188 1e3c F1E0 ldi r31,hi8(501) 3189 1e3e 7F06 cpc r7,r31 3190 1e40 F0E0 ldi r31,hlo8(501) 3191 1e42 8F06 cpc r8,r31 3192 1e44 F0E0 ldi r31,hhi8(501) 3193 1e46 9F06 cpc r9,r31 3194 1e48 04F0 brlt .L545 3195 1e4a 84EF ldi r24,lo8(500) 3196 1e4c 91E0 ldi r25,hi8(500) 3197 1e4e A0E0 ldi r26,hlo8(500) 3198 1e50 B0E0 ldi r27,hhi8(500) 3199 1e52 00C0 rjmp .L662 3200 .L545: 3201 1e54 6CE0 ldi r22,lo8(-500) 3202 1e56 6616 cp r6,r22 3203 1e58 6EEF ldi r22,hi8(-500) 3204 1e5a 7606 cpc r7,r22 3205 1e5c 6FEF ldi r22,hlo8(-500) 3206 1e5e 8606 cpc r8,r22 3207 1e60 6FEF ldi r22,hhi8(-500) 3208 1e62 9606 cpc r9,r22 3209 1e64 04F4 brge .L547 3210 1e66 8CE0 ldi r24,lo8(-500) 3211 1e68 9EEF ldi r25,hi8(-500) 3212 1e6a AFEF ldi r26,hlo8(-500) 3213 1e6c BFEF ldi r27,hhi8(-500) 3214 .L662: 3215 1e6e 8093 0000 sts tmp_long.2442,r24 3216 1e72 9093 0000 sts (tmp_long.2442)+1,r25 3217 1e76 A093 0000 sts (tmp_long.2442)+2,r26 3218 1e7a B093 0000 sts (tmp_long.2442)+3,r27 3219 .L547: 3220 1e7e 253F cpi r18,lo8(501) 3221 1e80 71E0 ldi r23,hi8(501) 3222 1e82 3707 cpc r19,r23 3223 1e84 70E0 ldi r23,hlo8(501) 3224 1e86 4707 cpc r20,r23 3225 1e88 70E0 ldi r23,hhi8(501) 3226 1e8a 5707 cpc r21,r23 3227 1e8c 04F0 brlt .L549 3228 1e8e 84EF ldi r24,lo8(500) 3229 1e90 91E0 ldi r25,hi8(500) 3230 1e92 A0E0 ldi r26,hlo8(500) 3231 1e94 B0E0 ldi r27,hhi8(500) 3232 1e96 00C0 rjmp .L663 3233 .L549: 3234 1e98 2C50 subi r18,lo8(-500) 3235 1e9a 3E4F sbci r19,hi8(-500) 3236 1e9c 4F4F sbci r20,hlo8(-500) 3237 1e9e 5F4F sbci r21,hhi8(-500) 3238 1ea0 04F4 brge .L551 3239 1ea2 8CE0 ldi r24,lo8(-500) 3240 1ea4 9EEF ldi r25,hi8(-500) 3241 1ea6 AFEF ldi r26,hlo8(-500) 3242 1ea8 BFEF ldi r27,hhi8(-500) 3243 .L663: 3244 1eaa 8093 0000 sts tmp_long2.2443,r24 3245 1eae 9093 0000 sts (tmp_long2.2443)+1,r25 3246 1eb2 A093 0000 sts (tmp_long2.2443)+2,r26 3247 1eb6 B093 0000 sts (tmp_long2.2443)+3,r27 3248 .L551: 3249 1eba 1092 7A00 sts 122,__zero_reg__ 3250 1ebe 8091 0000 lds r24,Mess_IntegralNick 3251 1ec2 9091 0000 lds r25,(Mess_IntegralNick)+1 3252 1ec6 A091 0000 lds r26,(Mess_IntegralNick)+2 3253 1eca B091 0000 lds r27,(Mess_IntegralNick)+3 3254 1ece 2091 0000 lds r18,tmp_long.2442 3255 1ed2 3091 0000 lds r19,(tmp_long.2442)+1 3256 1ed6 4091 0000 lds r20,(tmp_long.2442)+2 3257 1eda 5091 0000 lds r21,(tmp_long.2442)+3 3258 1ede 821B sub r24,r18 3259 1ee0 930B sbc r25,r19 3260 1ee2 A40B sbc r26,r20 3261 1ee4 B50B sbc r27,r21 3262 1ee6 8093 0000 sts Mess_IntegralNick,r24 3263 1eea 9093 0000 sts (Mess_IntegralNick)+1,r25 3264 1eee A093 0000 sts (Mess_IntegralNick)+2,r26 3265 1ef2 B093 0000 sts (Mess_IntegralNick)+3,r27 3266 1ef6 8091 0000 lds r24,Mess_IntegralRoll 3267 1efa 9091 0000 lds r25,(Mess_IntegralRoll)+1 3268 1efe A091 0000 lds r26,(Mess_IntegralRoll)+2 3269 1f02 B091 0000 lds r27,(Mess_IntegralRoll)+3 3270 1f06 2091 0000 lds r18,tmp_long2.2443 3271 1f0a 3091 0000 lds r19,(tmp_long2.2443)+1 3272 1f0e 4091 0000 lds r20,(tmp_long2.2443)+2 3273 1f12 5091 0000 lds r21,(tmp_long2.2443)+3 3274 1f16 821B sub r24,r18 3275 1f18 930B sbc r25,r19 3276 1f1a A40B sbc r26,r20 3277 1f1c B50B sbc r27,r21 3278 1f1e 8093 0000 sts Mess_IntegralRoll,r24 3279 1f22 9093 0000 sts (Mess_IntegralRoll)+1,r25 3280 1f26 A093 0000 sts (Mess_IntegralRoll)+2,r26 3281 1f2a B093 0000 sts (Mess_IntegralRoll)+3,r27 3282 1f2e 8091 0000 lds r24,StickGier 3283 1f32 9091 0000 lds r25,(StickGier)+1 3284 1f36 5C01 movw r10,r24 3285 1f38 CC24 clr r12 3286 1f3a B7FC sbrc r11,7 3287 1f3c C094 com r12 3288 1f3e DC2C mov r13,r12 3289 1f40 A092 0000 sts sollGier.2441,r10 3290 1f44 B092 0000 sts (sollGier.2441)+1,r11 3291 1f48 C092 0000 sts (sollGier.2441)+2,r12 3292 1f4c D092 0000 sts (sollGier.2441)+3,r13 3293 1f50 97FF sbrs r25,7 3294 1f52 00C0 rjmp .L554 3295 1f54 9095 com r25 3296 1f56 8195 neg r24 3297 1f58 9F4F sbci r25,lo8(-1) 3298 .L554: 3299 1f5a 8497 sbiw r24,36 3300 1f5c 04F0 brlt .L553 3301 1f5e 8091 0000 lds r24,EE_Parameter+8 3302 1f62 84FD sbrc r24,4 3303 1f64 00C0 rjmp .L553 3304 1f66 81E0 ldi r24,lo8(1) 3305 1f68 8093 0000 sts NeueKompassRichtungMerken.2453,r24 3306 .L553: 3307 1f6c 6090 0000 lds r6,Mess_Integral_Gier 3308 1f70 7090 0000 lds r7,(Mess_Integral_Gier)+1 3309 1f74 8090 0000 lds r8,(Mess_Integral_Gier)+2 3310 1f78 9090 0000 lds r9,(Mess_Integral_Gier)+3 3311 1f7c C501 movw r24,r10 3312 1f7e B7FE sbrs r11,7 3313 1f80 00C0 rjmp .L557 3314 1f82 9095 com r25 3315 1f84 8195 neg r24 3316 1f86 9F4F sbci r25,lo8(-1) 3317 .L557: 3318 1f88 7C01 movw r14,r24 3319 1f8a 0027 clr r16 3320 1f8c F7FC sbrc r15,7 3321 1f8e 0095 com r16 3322 1f90 102F mov r17,r16 3323 1f92 2091 0000 lds r18,EE_Parameter+17 3324 1f96 3327 clr r19 3325 1f98 4427 clr r20 3326 1f9a 5527 clr r21 3327 1f9c C601 movw r24,r12 3328 1f9e B501 movw r22,r10 3329 1fa0 0E94 0000 call __mulsi3 3330 1fa4 9B01 movw r18,r22 3331 1fa6 AC01 movw r20,r24 3332 1fa8 C801 movw r24,r16 3333 1faa B701 movw r22,r14 3334 1fac 0E94 0000 call __mulsi3 3335 1fb0 20E0 ldi r18,lo8(256) 3336 1fb2 31E0 ldi r19,hi8(256) 3337 1fb4 40E0 ldi r20,hlo8(256) 3338 1fb6 50E0 ldi r21,hhi8(256) 3339 1fb8 0E94 0000 call __divmodsi4 3340 1fbc 4427 clr r20 3341 1fbe 37FD sbrc r19,7 3342 1fc0 4095 com r20 3343 1fc2 542F mov r21,r20 3344 1fc4 621A sub r6,r18 3345 1fc6 730A sbc r7,r19 3346 1fc8 840A sbc r8,r20 3347 1fca 950A sbc r9,r21 3348 1fcc 6092 0000 sts Mess_Integral_Gier,r6 3349 1fd0 7092 0000 sts (Mess_Integral_Gier)+1,r7 3350 1fd4 8092 0000 sts (Mess_Integral_Gier)+2,r8 3351 1fd8 9092 0000 sts (Mess_Integral_Gier)+3,r9 3352 1fdc 8091 0000 lds r24,Mess_Integral_Gier 3353 1fe0 9091 0000 lds r25,(Mess_Integral_Gier)+1 3354 1fe4 A091 0000 lds r26,(Mess_Integral_Gier)+2 3355 1fe8 B091 0000 lds r27,(Mess_Integral_Gier)+3 3356 1fec 8153 subi r24,lo8(30001) 3357 1fee 9547 sbci r25,hi8(30001) 3358 1ff0 A040 sbci r26,hlo8(30001) 3359 1ff2 B040 sbci r27,hhi8(30001) 3360 1ff4 04F0 brlt .L558 3361 1ff6 80E3 ldi r24,lo8(30000) 3362 1ff8 95E7 ldi r25,hi8(30000) 3363 1ffa A0E0 ldi r26,hlo8(30000) 3364 1ffc B0E0 ldi r27,hhi8(30000) 3365 1ffe 8093 0000 sts Mess_Integral_Gier,r24 3366 2002 9093 0000 sts (Mess_Integral_Gier)+1,r25 3367 2006 A093 0000 sts (Mess_Integral_Gier)+2,r26 3368 200a B093 0000 sts (Mess_Integral_Gier)+3,r27 3369 .L558: 3370 200e 8091 0000 lds r24,Mess_Integral_Gier 3371 2012 9091 0000 lds r25,(Mess_Integral_Gier)+1 3372 2016 A091 0000 lds r26,(Mess_Integral_Gier)+2 3373 201a B091 0000 lds r27,(Mess_Integral_Gier)+3 3374 201e 805D subi r24,lo8(-30000) 3375 2020 9A48 sbci r25,hi8(-30000) 3376 2022 AF4F sbci r26,hlo8(-30000) 3377 2024 BF4F sbci r27,hhi8(-30000) 3378 2026 04F4 brge .L560 3379 2028 80ED ldi r24,lo8(-30000) 3380 202a 9AE8 ldi r25,hi8(-30000) 3381 202c AFEF ldi r26,hlo8(-30000) 3382 202e BFEF ldi r27,hhi8(-30000) 3383 2030 8093 0000 sts Mess_Integral_Gier,r24 3384 2034 9093 0000 sts (Mess_Integral_Gier)+1,r25 3385 2038 A093 0000 sts (Mess_Integral_Gier)+2,r26 3386 203c B093 0000 sts (Mess_Integral_Gier)+3,r27 3387 .L560: 3388 2040 8FEE ldi r24,lo8(-17) 3389 2042 8093 7A00 sts 122,r24 3390 2046 8091 0000 lds r24,KompassValue 3391 204a 9091 0000 lds r25,(KompassValue)+1 3392 204e 892B or r24,r25 3393 2050 01F4 brne .+2 3394 2052 00C0 rjmp .L562 3395 2054 8091 0000 lds r24,EE_Parameter+8 3396 2058 83FF sbrs r24,3 3397 205a 00C0 rjmp .L562 3398 205c 6091 0000 lds r22,IntegralNick 3399 2060 7091 0000 lds r23,(IntegralNick)+1 3400 2064 8091 0000 lds r24,(IntegralNick)+2 3401 2068 9091 0000 lds r25,(IntegralNick)+3 3402 206c 20E0 ldi r18,lo8(512) 3403 206e 32E0 ldi r19,hi8(512) 3404 2070 40E0 ldi r20,hlo8(512) 3405 2072 50E0 ldi r21,hhi8(512) 3406 2074 0E94 0000 call __divmodsi4 3407 2078 8901 movw r16,r18 3408 207a 37FF sbrs r19,7 3409 207c 00C0 rjmp .L565 3410 207e 1095 com r17 3411 2080 0195 neg r16 3412 2082 1F4F sbci r17,lo8(-1) 3413 .L565: 3414 2084 6091 0000 lds r22,IntegralRoll 3415 2088 7091 0000 lds r23,(IntegralRoll)+1 3416 208c 8091 0000 lds r24,(IntegralRoll)+2 3417 2090 9091 0000 lds r25,(IntegralRoll)+3 3418 2094 20E0 ldi r18,lo8(512) 3419 2096 32E0 ldi r19,hi8(512) 3420 2098 40E0 ldi r20,hlo8(512) 3421 209a 50E0 ldi r21,hhi8(512) 3422 209c 0E94 0000 call __divmodsi4 3423 20a0 B901 movw r22,r18 3424 20a2 37FF sbrs r19,7 3425 20a4 00C0 rjmp .L566 3426 20a6 7095 com r23 3427 20a8 6195 neg r22 3428 20aa 7F4F sbci r23,lo8(-1) 3429 .L566: 3430 20ac 6017 cp r22,r16 3431 20ae 7107 cpc r23,r17 3432 20b0 04F4 brge .L567 3433 20b2 B801 movw r22,r16 3434 .L567: 3435 20b4 6931 cpi r22,25 3436 20b6 7105 cpc r23,__zero_reg__ 3437 20b8 04F4 brge .L568 3438 20ba 8091 0000 lds r24,NeueKompassRichtungMerken.2453 3439 20be 8823 tst r24 3440 20c0 01F0 breq .L568 3441 20c2 8091 0000 lds r24,SignalSchlecht.2457 3442 20c6 9091 0000 lds r25,(SignalSchlecht.2457)+1 3443 20ca 892B or r24,r25 3444 20cc 01F4 brne .L568 3445 20ce 8091 0000 lds r24,KompassValue 3446 20d2 9091 0000 lds r25,(KompassValue)+1 3447 20d6 9093 0000 sts (KompassStartwert)+1,r25 3448 20da 8093 0000 sts KompassStartwert,r24 3449 20de 1092 0000 sts NeueKompassRichtungMerken.2453,__zero_reg__ 3450 .L568: 3451 20e2 2091 0000 lds r18,Parameter_KompassWirkung 3452 20e6 3327 clr r19 3453 20e8 629F mul r22,r18 3454 20ea C001 movw r24,r0 3455 20ec 639F mul r22,r19 3456 20ee 900D add r25,r0 3457 20f0 729F mul r23,r18 3458 20f2 900D add r25,r0 3459 20f4 1124 clr r1 3460 20f6 60E4 ldi r22,lo8(64) 3461 20f8 70E0 ldi r23,hi8(64) 3462 20fa 0E94 0000 call __divmodhi4 3463 20fe A901 movw r20,r18 3464 2100 461B sub r20,r22 3465 2102 570B sbc r21,r23 3466 2104 1416 cp __zero_reg__,r20 3467 2106 1506 cpc __zero_reg__,r21 3468 2108 04F0 brlt .+2 3469 210a 00C0 rjmp .L572 3470 210c 1092 7A00 sts 122,__zero_reg__ 3471 2110 2091 0000 lds r18,SignalSchlecht.2457 3472 2114 3091 0000 lds r19,(SignalSchlecht.2457)+1 3473 2118 2115 cp r18,__zero_reg__ 3474 211a 3105 cpc r19,__zero_reg__ 3475 211c 01F4 brne .L574 3476 211e 0091 0000 lds r16,Mess_Integral_Gier 3477 2122 1091 0000 lds r17,(Mess_Integral_Gier)+1 3478 2126 2091 0000 lds r18,(Mess_Integral_Gier)+2 3479 212a 3091 0000 lds r19,(Mess_Integral_Gier)+3 3480 212e 8091 0000 lds r24,KompassRichtung 3481 2132 9091 0000 lds r25,(KompassRichtung)+1 3482 2136 BC01 movw r22,r24 3483 2138 649F mul r22,r20 3484 213a C001 movw r24,r0 3485 213c 659F mul r22,r21 3486 213e 900D add r25,r0 3487 2140 749F mul r23,r20 3488 2142 900D add r25,r0 3489 2144 1124 clr r1 3490 2146 60E2 ldi r22,lo8(32) 3491 2148 70E0 ldi r23,hi8(32) 3492 214a 0E94 0000 call __divmodhi4 3493 214e 8827 clr r24 3494 2150 77FD sbrc r23,7 3495 2152 8095 com r24 3496 2154 982F mov r25,r24 3497 2156 060F add r16,r22 3498 2158 171F adc r17,r23 3499 215a 281F adc r18,r24 3500 215c 391F adc r19,r25 3501 215e 0093 0000 sts Mess_Integral_Gier,r16 3502 2162 1093 0000 sts (Mess_Integral_Gier)+1,r17 3503 2166 2093 0000 sts (Mess_Integral_Gier)+2,r18 3504 216a 3093 0000 sts (Mess_Integral_Gier)+3,r19 3505 216e 8FEE ldi r24,lo8(-17) 3506 2170 8093 7A00 sts 122,r24 3507 2174 00C0 rjmp .L562 3508 .L574: 3509 2176 8FEE ldi r24,lo8(-17) 3510 2178 8093 7A00 sts 122,r24 3511 217c 2150 subi r18,lo8(-(-1)) 3512 217e 3040 sbci r19,hi8(-(-1)) 3513 2180 3093 0000 sts (SignalSchlecht.2457)+1,r19 3514 2184 2093 0000 sts SignalSchlecht.2457,r18 3515 2188 00C0 rjmp .L562 3516 .L572: 3517 218a 84EF ldi r24,lo8(500) 3518 218c 91E0 ldi r25,hi8(500) 3519 218e 9093 0000 sts (SignalSchlecht.2457)+1,r25 3520 2192 8093 0000 sts SignalSchlecht.2457,r24 3521 .L562: 3522 2196 8091 0000 lds r24,EE_Parameter+8 3523 219a 85FF sbrs r24,5 3524 219c 00C0 rjmp .L576 3525 219e 8091 0000 lds r24,Parameter_UserParam1 3526 21a2 9927 clr r25 3527 21a4 9093 0000 sts (P_GPS_Verstaerkung)+1,r25 3528 21a8 8093 0000 sts P_GPS_Verstaerkung,r24 3529 21ac 8091 0000 lds r24,Parameter_UserParam2 3530 21b0 9927 clr r25 3531 21b2 9093 0000 sts (D_GPS_Verstaerkung)+1,r25 3532 21b6 8093 0000 sts D_GPS_Verstaerkung,r24 3533 21ba 8091 0000 lds r24,Parameter_UserParam3 3534 21be 8093 0000 sts Limit_D_Anteil,r24 3535 21c2 0E94 0000 call gps_main 3536 21c6 00C0 rjmp .L578 3537 .L576: 3538 21c8 1092 0000 sts (GPS_Nick)+1,__zero_reg__ 3539 21cc 1092 0000 sts GPS_Nick,__zero_reg__ 3540 21d0 1092 0000 sts (GPS_Roll)+1,__zero_reg__ 3541 21d4 1092 0000 sts GPS_Roll,__zero_reg__ 3542 .L578: 3543 21d8 8091 0000 lds r24,DebugOut+17 3544 21dc 8F5F subi r24,lo8(-(1)) 3545 21de 8093 0000 sts DebugOut+17,r24 3546 21e2 8091 0000 lds r24,TimerWerteausgabe.2452 3547 21e6 8150 subi r24,lo8(-(-1)) 3548 21e8 8093 0000 sts TimerWerteausgabe.2452,r24 3549 21ec 8F3F cpi r24,lo8(-1) 3550 21ee 01F0 breq .+2 3551 21f0 00C0 rjmp .L579 3552 21f2 81E3 ldi r24,lo8(49) 3553 21f4 8093 0000 sts TimerWerteausgabe.2452,r24 3554 21f8 8091 0000 lds r24,GPS_Roll 3555 21fc 9091 0000 lds r25,(GPS_Roll)+1 3556 2200 9093 0000 sts (DebugOut+18)+1,r25 3557 2204 8093 0000 sts DebugOut+18,r24 3558 2208 8091 0000 lds r24,GPS_Nick 3559 220c 9091 0000 lds r25,(GPS_Nick)+1 3560 2210 9093 0000 sts (DebugOut+20)+1,r25 3561 2214 8093 0000 sts DebugOut+20,r24 3562 2218 8091 0000 lds r24,GPS_Positionsabweichung_North 3563 221c 9091 0000 lds r25,(GPS_Positionsabweichung_North)+1 3564 2220 9093 0000 sts (DebugOut+22)+1,r25 3565 2224 8093 0000 sts DebugOut+22,r24 3566 2228 8091 0000 lds r24,GPS_Positionsabweichung_East 3567 222c 9091 0000 lds r25,(GPS_Positionsabweichung_East)+1 3568 2230 9093 0000 sts (DebugOut+24)+1,r25 3569 2234 8093 0000 sts DebugOut+24,r24 3570 2238 8091 0000 lds r24,P_Einfluss_East 3571 223c 9091 0000 lds r25,(P_Einfluss_East)+1 3572 2240 9093 0000 sts (DebugOut+26)+1,r25 3573 2244 8093 0000 sts DebugOut+26,r24 3574 2248 8091 0000 lds r24,D_Einfluss_East 3575 224c 9091 0000 lds r25,(D_Einfluss_East)+1 3576 2250 9093 0000 sts (DebugOut+28)+1,r25 3577 2254 8093 0000 sts DebugOut+28,r24 3578 2258 8091 0000 lds r24,P_Einfluss_North 3579 225c 9091 0000 lds r25,(P_Einfluss_North)+1 3580 2260 9093 0000 sts (DebugOut+30)+1,r25 3581 2264 8093 0000 sts DebugOut+30,r24 3582 2268 8091 0000 lds r24,D_Einfluss_North 3583 226c 9091 0000 lds r25,(D_Einfluss_North)+1 3584 2270 9093 0000 sts (DebugOut+32)+1,r25 3585 2274 8093 0000 sts DebugOut+32,r24 3586 2278 8091 0000 lds r24,GPS_Geschwindigkeit_North 3587 227c 9091 0000 lds r25,(GPS_Geschwindigkeit_North)+1 3588 2280 9093 0000 sts (DebugOut+34)+1,r25 3589 2284 8093 0000 sts DebugOut+34,r24 3590 2288 8091 0000 lds r24,GPS_Geschwindigkeit_East 3591 228c 9091 0000 lds r25,(GPS_Geschwindigkeit_East)+1 3592 2290 9093 0000 sts (DebugOut+36)+1,r25 3593 2294 8093 0000 sts DebugOut+36,r24 3594 2298 8091 0000 lds r24,Parameter_UserParam1 3595 229c 9927 clr r25 3596 229e 9093 0000 sts (DebugOut+38)+1,r25 3597 22a2 8093 0000 sts DebugOut+38,r24 3598 22a6 8091 0000 lds r24,Parameter_UserParam2 3599 22aa 9927 clr r25 3600 22ac 9093 0000 sts (DebugOut+40)+1,r25 3601 22b0 8093 0000 sts DebugOut+40,r24 3602 22b4 8091 0000 lds r24,Soll_Position_North 3603 22b8 9091 0000 lds r25,(Soll_Position_North)+1 3604 22bc 9093 0000 sts (DebugOut+42)+1,r25 3605 22c0 8093 0000 sts DebugOut+42,r24 3606 22c4 8091 0000 lds r24,Soll_Position_East 3607 22c8 9091 0000 lds r25,(Soll_Position_East)+1 3608 22cc 9093 0000 sts (DebugOut+44)+1,r25 3609 22d0 8093 0000 sts DebugOut+44,r24 3610 22d4 8091 0000 lds r24,Poti6 3611 22d8 9091 0000 lds r25,(Poti6)+1 3612 22dc 9093 0000 sts (DebugOut+46)+1,r25 3613 22e0 8093 0000 sts DebugOut+46,r24 3614 22e4 8091 0000 lds r24,KompassValue 3615 22e8 9091 0000 lds r25,(KompassValue)+1 3616 22ec 9093 0000 sts (DebugOut+48)+1,r25 3617 22f0 8093 0000 sts DebugOut+48,r24 3618 .L579: 3619 22f4 6091 0000 lds r22,IntegralNick 3620 22f8 7091 0000 lds r23,(IntegralNick)+1 3621 22fc 8091 0000 lds r24,(IntegralNick)+2 3622 2300 9091 0000 lds r25,(IntegralNick)+3 3623 2304 2090 0000 lds r2,IntegralFaktor 3624 2308 3090 0000 lds r3,(IntegralFaktor)+1 3625 230c 4090 0000 lds r4,(IntegralFaktor)+2 3626 2310 5090 0000 lds r5,(IntegralFaktor)+3 3627 2314 E090 0000 lds r14,MesswertNick 3628 2318 F090 0000 lds r15,(MesswertNick)+1 3629 231c 6090 0000 lds r6,GyroFaktor 3630 2320 7090 0000 lds r7,(GyroFaktor)+1 3631 2324 8090 0000 lds r8,(GyroFaktor)+2 3632 2328 9090 0000 lds r9,(GyroFaktor)+3 3633 232c 0E94 0000 call __floatsisf 3634 2330 A201 movw r20,r4 3635 2332 9101 movw r18,r2 3636 2334 0E94 0000 call __mulsf3 3637 2338 5B01 movw r10,r22 3638 233a 6C01 movw r12,r24 3639 233c 0027 clr r16 3640 233e F7FC sbrc r15,7 3641 2340 0095 com r16 3642 2342 102F mov r17,r16 3643 2344 C801 movw r24,r16 3644 2346 B701 movw r22,r14 3645 2348 0E94 0000 call __floatsisf 3646 234c A401 movw r20,r8 3647 234e 9301 movw r18,r6 3648 2350 0E94 0000 call __mulsf3 3649 2354 9B01 movw r18,r22 3650 2356 AC01 movw r20,r24 3651 2358 C601 movw r24,r12 3652 235a B501 movw r22,r10 3653 235c 0E94 0000 call __addsf3 3654 2360 0E94 0000 call __fixsfsi 3655 2364 7093 0000 sts (MesswertNick)+1,r23 3656 2368 6093 0000 sts MesswertNick,r22 3657 236c 6091 0000 lds r22,IntegralRoll 3658 2370 7091 0000 lds r23,(IntegralRoll)+1 3659 2374 8091 0000 lds r24,(IntegralRoll)+2 3660 2378 9091 0000 lds r25,(IntegralRoll)+3 3661 237c E090 0000 lds r14,MesswertRoll 3662 2380 F090 0000 lds r15,(MesswertRoll)+1 3663 2384 0E94 0000 call __floatsisf 3664 2388 A201 movw r20,r4 3665 238a 9101 movw r18,r2 3666 238c 0E94 0000 call __mulsf3 3667 2390 5B01 movw r10,r22 3668 2392 6C01 movw r12,r24 3669 2394 0027 clr r16 3670 2396 F7FC sbrc r15,7 3671 2398 0095 com r16 3672 239a 102F mov r17,r16 3673 239c C801 movw r24,r16 3674 239e B701 movw r22,r14 3675 23a0 0E94 0000 call __floatsisf 3676 23a4 A401 movw r20,r8 3677 23a6 9301 movw r18,r6 3678 23a8 0E94 0000 call __mulsf3 3679 23ac 9B01 movw r18,r22 3680 23ae AC01 movw r20,r24 3681 23b0 C601 movw r24,r12 3682 23b2 B501 movw r22,r10 3683 23b4 0E94 0000 call __addsf3 3684 23b8 0E94 0000 call __fixsfsi 3685 23bc 7093 0000 sts (MesswertRoll)+1,r23 3686 23c0 6093 0000 sts MesswertRoll,r22 3687 23c4 6091 0000 lds r22,MesswertGier 3688 23c8 7091 0000 lds r23,(MesswertGier)+1 3689 23cc A090 0000 lds r10,Integral_Gier 3690 23d0 B090 0000 lds r11,(Integral_Gier)+1 3691 23d4 C090 0000 lds r12,(Integral_Gier)+2 3692 23d8 D090 0000 lds r13,(Integral_Gier)+3 3693 23dc 8827 clr r24 3694 23de 77FD sbrc r23,7 3695 23e0 8095 com r24 3696 23e2 982F mov r25,r24 3697 23e4 0E94 0000 call __floatsisf 3698 23e8 7B01 movw r14,r22 3699 23ea 8C01 movw r16,r24 3700 23ec 20E0 ldi r18,lo8(0x3f000000) 3701 23ee 30E0 ldi r19,hi8(0x3f000000) 3702 23f0 40E0 ldi r20,hlo8(0x3f000000) 3703 23f2 5FE3 ldi r21,hhi8(0x3f000000) 3704 23f4 C401 movw r24,r8 3705 23f6 B301 movw r22,r6 3706 23f8 0E94 0000 call __mulsf3 3707 23fc 9B01 movw r18,r22 3708 23fe AC01 movw r20,r24 3709 2400 C801 movw r24,r16 3710 2402 B701 movw r22,r14 3711 2404 0E94 0000 call __mulsf3 3712 2408 7B01 movw r14,r22 3713 240a 8C01 movw r16,r24 3714 240c C601 movw r24,r12 3715 240e B501 movw r22,r10 3716 2410 0E94 0000 call __floatsisf 3717 2414 A201 movw r20,r4 3718 2416 9101 movw r18,r2 3719 2418 0E94 0000 call __mulsf3 3720 241c 9B01 movw r18,r22 3721 241e AC01 movw r20,r24 3722 2420 C801 movw r24,r16 3723 2422 B701 movw r22,r14 3724 2424 0E94 0000 call __addsf3 3725 2428 0E94 0000 call __fixsfsi 3726 242c 7093 0000 sts (MesswertGier)+1,r23 3727 2430 6093 0000 sts MesswertGier,r22 3728 2434 8091 0000 lds r24,MesswertNick 3729 2438 9091 0000 lds r25,(MesswertNick)+1 3730 243c 8150 subi r24,lo8(2049) 3731 243e 9840 sbci r25,hi8(2049) 3732 2440 04F0 brlt .L581 3733 2442 80E0 ldi r24,lo8(2048) 3734 2444 98E0 ldi r25,hi8(2048) 3735 2446 9093 0000 sts (MesswertNick)+1,r25 3736 244a 8093 0000 sts MesswertNick,r24 3737 .L581: 3738 244e 8091 0000 lds r24,MesswertNick 3739 2452 9091 0000 lds r25,(MesswertNick)+1 3740 2456 8050 subi r24,lo8(-2048) 3741 2458 984F sbci r25,hi8(-2048) 3742 245a 04F4 brge .L583 3743 245c 80E0 ldi r24,lo8(-2048) 3744 245e 98EF ldi r25,hi8(-2048) 3745 2460 9093 0000 sts (MesswertNick)+1,r25 3746 2464 8093 0000 sts MesswertNick,r24 3747 .L583: 3748 2468 8091 0000 lds r24,MesswertRoll 3749 246c 9091 0000 lds r25,(MesswertRoll)+1 3750 2470 8150 subi r24,lo8(2049) 3751 2472 9840 sbci r25,hi8(2049) 3752 2474 04F0 brlt .L585 3753 2476 80E0 ldi r24,lo8(2048) 3754 2478 98E0 ldi r25,hi8(2048) 3755 247a 9093 0000 sts (MesswertRoll)+1,r25 3756 247e 8093 0000 sts MesswertRoll,r24 3757 .L585: 3758 2482 8091 0000 lds r24,MesswertRoll 3759 2486 9091 0000 lds r25,(MesswertRoll)+1 3760 248a 8050 subi r24,lo8(-2048) 3761 248c 984F sbci r25,hi8(-2048) 3762 248e 04F4 brge .L587 3763 2490 80E0 ldi r24,lo8(-2048) 3764 2492 98EF ldi r25,hi8(-2048) 3765 2494 9093 0000 sts (MesswertRoll)+1,r25 3766 2498 8093 0000 sts MesswertRoll,r24 3767 .L587: 3768 249c 8091 0000 lds r24,MesswertGier 3769 24a0 9091 0000 lds r25,(MesswertGier)+1 3770 24a4 8150 subi r24,lo8(2049) 3771 24a6 9840 sbci r25,hi8(2049) 3772 24a8 04F0 brlt .L589 3773 24aa 80E0 ldi r24,lo8(2048) 3774 24ac 98E0 ldi r25,hi8(2048) 3775 24ae 9093 0000 sts (MesswertGier)+1,r25 3776 24b2 8093 0000 sts MesswertGier,r24 3777 .L589: 3778 24b6 8091 0000 lds r24,MesswertGier 3779 24ba 9091 0000 lds r25,(MesswertGier)+1 3780 24be 8050 subi r24,lo8(-2048) 3781 24c0 984F sbci r25,hi8(-2048) 3782 24c2 04F4 brge .L591 3783 24c4 80E0 ldi r24,lo8(-2048) 3784 24c6 98EF ldi r25,hi8(-2048) 3785 24c8 9093 0000 sts (MesswertGier)+1,r25 3786 24cc 8093 0000 sts MesswertGier,r24 3787 .L591: 3788 24d0 8091 0000 lds r24,EE_Parameter+8 3789 24d4 9927 clr r25 3790 24d6 80FF sbrs r24,0 3791 24d8 00C0 rjmp .L593 3792 24da 2091 0000 lds r18,Parameter_MaxHoehe 3793 24de 81FF sbrs r24,1 3794 24e0 00C0 rjmp .L595 3795 24e2 2233 cpi r18,lo8(50) 3796 24e4 00F4 brsh .L664 3797 24e6 8091 0000 lds r24,HoehenWert 3798 24ea 9091 0000 lds r25,(HoehenWert)+1 3799 24ee 8897 sbiw r24,40 3800 24f0 9093 0000 sts (SollHoehe)+1,r25 3801 24f4 8093 0000 sts SollHoehe,r24 3802 24f8 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 3803 24fc 00C0 rjmp .L599 3804 .L595: 3805 24fe 8091 0000 lds r24,EE_Parameter+13 3806 2502 289F mul r18,r24 3807 2504 C001 movw r24,r0 3808 2506 1124 clr r1 3809 2508 8897 sbiw r24,40 3810 250a 9093 0000 sts (SollHoehe)+1,r25 3811 250e 8093 0000 sts SollHoehe,r24 3812 .L664: 3813 2512 81E0 ldi r24,lo8(1) 3814 2514 8093 0000 sts HoehenReglerAktiv,r24 3815 .L599: 3816 2518 8091 0000 lds r24,Notlandung 3817 251c 8823 tst r24 3818 251e 01F0 breq .L600 3819 2520 1092 0000 sts (SollHoehe)+1,__zero_reg__ 3820 2524 1092 0000 sts SollHoehe,__zero_reg__ 3821 .L600: 3822 2528 2091 0000 lds r18,HoehenWert 3823 252c 3091 0000 lds r19,(HoehenWert)+1 3824 2530 4091 0000 lds r20,SollHoehe 3825 2534 5091 0000 lds r21,(SollHoehe)+1 3826 2538 4217 cp r20,r18 3827 253a 5307 cpc r21,r19 3828 253c 04F0 brlt .+2 3829 253e 00C0 rjmp .L593 3830 2540 8091 0000 lds r24,HoehenReglerAktiv 3831 2544 8823 tst r24 3832 2546 01F4 brne .+2 3833 2548 00C0 rjmp .L593 3834 254a 241B sub r18,r20 3835 254c 350B sbc r19,r21 3836 254e 8091 0000 lds r24,Parameter_Hoehe_P 3837 2552 9927 clr r25 3838 2554 BC01 movw r22,r24 3839 2556 269F mul r18,r22 3840 2558 C001 movw r24,r0 3841 255a 279F mul r18,r23 3842 255c 900D add r25,r0 3843 255e 369F mul r19,r22 3844 2560 900D add r25,r0 3845 2562 1124 clr r1 3846 2564 60E1 ldi r22,lo8(16) 3847 2566 70E0 ldi r23,hi8(16) 3848 2568 0E94 0000 call __divmodhi4 3849 256c 0981 ldd r16,Y+1 3850 256e 1A81 ldd r17,Y+2 3851 2570 061B sub r16,r22 3852 2572 170B sbc r17,r23 3853 2574 2091 0000 lds r18,HoeheD 3854 2578 3091 0000 lds r19,(HoeheD)+1 3855 257c 8091 0000 lds r24,Parameter_Luftdruck_D 3856 2580 9927 clr r25 3857 2582 FC01 movw r30,r24 3858 2584 2E9F mul r18,r30 3859 2586 C001 movw r24,r0 3860 2588 2F9F mul r18,r31 3861 258a 900D add r25,r0 3862 258c 3E9F mul r19,r30 3863 258e 900D add r25,r0 3864 2590 1124 clr r1 3865 2592 68E0 ldi r22,lo8(8) 3866 2594 70E0 ldi r23,hi8(8) 3867 2596 0E94 0000 call __divmodhi4 3868 259a 061B sub r16,r22 3869 259c 170B sbc r17,r23 3870 259e 6091 0000 lds r22,Mess_Integral_Hoch 3871 25a2 7091 0000 lds r23,(Mess_Integral_Hoch)+1 3872 25a6 8091 0000 lds r24,(Mess_Integral_Hoch)+2 3873 25aa 9091 0000 lds r25,(Mess_Integral_Hoch)+3 3874 25ae 20E0 ldi r18,lo8(512) 3875 25b0 32E0 ldi r19,hi8(512) 3876 25b2 40E0 ldi r20,hlo8(512) 3877 25b4 50E0 ldi r21,hhi8(512) 3878 25b6 0E94 0000 call __divmodsi4 3879 25ba CA01 movw r24,r20 3880 25bc B901 movw r22,r18 3881 25be 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 3882 25c2 3327 clr r19 3883 25c4 4427 clr r20 3884 25c6 5527 clr r21 3885 25c8 0E94 0000 call __mulsi3 3886 25cc 20E2 ldi r18,lo8(32) 3887 25ce 30E0 ldi r19,hi8(32) 3888 25d0 40E0 ldi r20,hlo8(32) 3889 25d2 50E0 ldi r21,hhi8(32) 3890 25d4 0E94 0000 call __divmodsi4 3891 25d8 FFEF ldi r31,hi8(-50) 3892 25da 2E3C cpi r18,lo8(-50) 3893 25dc 3F07 cpc r19,r31 3894 25de 04F4 brge .L604 3895 25e0 2EEC ldi r18,lo8(-50) 3896 25e2 3FEF ldi r19,hi8(-50) 3897 .L604: 3898 25e4 8091 0000 lds r24,hoehenregler.2451 3899 25e8 9091 0000 lds r25,(hoehenregler.2451)+1 3900 25ec AC01 movw r20,r24 3901 25ee 74E0 ldi r23,4 3902 25f0 440F 1: lsl r20 3903 25f2 551F rol r21 3904 25f4 7A95 dec r23 3905 25f6 01F4 brne 1b 3906 25f8 481B sub r20,r24 3907 25fa 590B sbc r21,r25 3908 25fc 2333 cpi r18,51 3909 25fe 3105 cpc r19,__zero_reg__ 3910 2600 04F0 brlt .L605 3911 2602 22E3 ldi r18,lo8(50) 3912 2604 30E0 ldi r19,hi8(50) 3913 .L605: 3914 2606 021B sub r16,r18 3915 2608 130B sbc r17,r19 3916 260a CA01 movw r24,r20 3917 260c 800F add r24,r16 3918 260e 911F adc r25,r17 3919 2610 60E1 ldi r22,lo8(16) 3920 2612 70E0 ldi r23,hi8(16) 3921 2614 0E94 0000 call __divmodhi4 3922 2618 7093 0000 sts (hoehenregler.2451)+1,r23 3923 261c 6093 0000 sts hoehenregler.2451,r22 3924 2620 8091 0000 lds r24,EE_Parameter+9 3925 2624 9927 clr r25 3926 2626 6817 cp r22,r24 3927 2628 7907 cpc r23,r25 3928 262a 04F4 brge .L606 3929 262c 2981 ldd r18,Y+1 3930 262e 3A81 ldd r19,Y+2 3931 2630 2817 cp r18,r24 3932 2632 3907 cpc r19,r25 3933 2634 04F0 brlt .L608 3934 2636 9093 0000 sts (hoehenregler.2451)+1,r25 3935 263a 8093 0000 sts hoehenregler.2451,r24 3936 263e 00C0 rjmp .L606 3937 .L608: 3938 2640 4981 ldd r20,Y+1 3939 2642 5A81 ldd r21,Y+2 3940 2644 5093 0000 sts (hoehenregler.2451)+1,r21 3941 2648 4093 0000 sts hoehenregler.2451,r20 3942 264c 00C0 rjmp .L610 3943 .L606: 3944 264e 8091 0000 lds r24,hoehenregler.2451 3945 2652 9091 0000 lds r25,(hoehenregler.2451)+1 3946 2656 6981 ldd r22,Y+1 3947 2658 7A81 ldd r23,Y+2 3948 265a 6817 cp r22,r24 3949 265c 7907 cpc r23,r25 3950 265e 04F4 brge .L610 3951 2660 7093 0000 sts (hoehenregler.2451)+1,r23 3952 2664 6093 0000 sts hoehenregler.2451,r22 3953 .L610: 3954 2668 8091 0000 lds r24,hoehenregler.2451 3955 266c 9091 0000 lds r25,(hoehenregler.2451)+1 3956 2670 9A83 std Y+2,r25 3957 2672 8983 std Y+1,r24 3958 .L593: 3959 2674 C090 0000 lds r12,MesswertGier 3960 2678 D090 0000 lds r13,(MesswertGier)+1 3961 267c 8091 0000 lds r24,sollGier.2441 3962 2680 9091 0000 lds r25,(sollGier.2441)+1 3963 2684 C81A sub r12,r24 3964 2686 D90A sbc r13,r25 3965 2688 95E6 ldi r25,lo8(101) 3966 268a C916 cp r12,r25 3967 268c D104 cpc r13,__zero_reg__ 3968 268e 04F0 brlt .L612 3969 2690 64E6 ldi r22,lo8(100) 3970 2692 C62E mov r12,r22 3971 2694 D12C mov r13,__zero_reg__ 3972 2696 00C0 rjmp .L614 3973 .L612: 3974 2698 ECE9 ldi r30,lo8(-100) 3975 269a CE16 cp r12,r30 3976 269c EFEF ldi r30,hi8(-100) 3977 269e DE06 cpc r13,r30 3978 26a0 04F4 brge .L614 3979 26a2 5CE9 ldi r21,lo8(-100) 3980 26a4 C52E mov r12,r21 3981 26a6 5FEF ldi r21,hi8(-100) 3982 26a8 D52E mov r13,r21 3983 .L614: 3984 26aa 4090 0000 lds r4,Kp 3985 26ae 5090 0000 lds r5,(Kp)+1 3986 26b2 6090 0000 lds r6,(Kp)+2 3987 26b6 7090 0000 lds r7,(Kp)+3 3988 26ba 6091 0000 lds r22,MesswertNick 3989 26be 7091 0000 lds r23,(MesswertNick)+1 3990 26c2 2091 0000 lds r18,StickNick 3991 26c6 3091 0000 lds r19,(StickNick)+1 3992 26ca 4091 0000 lds r20,GPS_Nick 3993 26ce 5091 0000 lds r21,(GPS_Nick)+1 3994 26d2 241B sub r18,r20 3995 26d4 350B sbc r19,r21 3996 26d6 621B sub r22,r18 3997 26d8 730B sbc r23,r19 3998 26da 8827 clr r24 3999 26dc 77FD sbrc r23,7 4000 26de 8095 com r24 4001 26e0 982F mov r25,r24 4002 26e2 0E94 0000 call __floatsisf 4003 26e6 9B01 movw r18,r22 4004 26e8 AC01 movw r20,r24 4005 26ea C301 movw r24,r6 4006 26ec B201 movw r22,r4 4007 26ee 0E94 0000 call __mulsf3 4008 26f2 0E94 0000 call __fixsfsi 4009 26f6 7093 0000 sts (DiffNick)+1,r23 4010 26fa 6093 0000 sts DiffNick,r22 4011 26fe 8091 0000 lds r24,DiffNick 4012 2702 9091 0000 lds r25,(DiffNick)+1 4013 2706 8C01 movw r16,r24 4014 2708 2227 clr r18 4015 270a 17FD sbrc r17,7 4016 270c 2095 com r18 4017 270e 322F mov r19,r18 4018 2710 8091 0000 lds r24,SummeNick.2439 4019 2714 9091 0000 lds r25,(SummeNick.2439)+1 4020 2718 A091 0000 lds r26,(SummeNick.2439)+2 4021 271c B091 0000 lds r27,(SummeNick.2439)+3 4022 2720 080F add r16,r24 4023 2722 191F adc r17,r25 4024 2724 2A1F adc r18,r26 4025 2726 3B1F adc r19,r27 4026 2728 0093 0000 sts SummeNick.2439,r16 4027 272c 1093 0000 sts (SummeNick.2439)+1,r17 4028 2730 2093 0000 sts (SummeNick.2439)+2,r18 4029 2734 3093 0000 sts (SummeNick.2439)+3,r19 4030 2738 1016 cp __zero_reg__,r16 4031 273a 1106 cpc __zero_reg__,r17 4032 273c 1206 cpc __zero_reg__,r18 4033 273e 1306 cpc __zero_reg__,r19 4034 2740 04F4 brge .L616 4035 2742 C801 movw r24,r16 4036 2744 17FF sbrs r17,7 4037 2746 00C0 rjmp .L618 4038 2748 9095 com r25 4039 274a 8195 neg r24 4040 274c 9F4F sbci r25,lo8(-1) 4041 .L618: 4042 274e 60E0 ldi r22,lo8(256) 4043 2750 71E0 ldi r23,hi8(256) 4044 2752 0E94 0000 call __divmodhi4 4045 2756 6F5F subi r22,lo8(-(1)) 4046 2758 7F4F sbci r23,hi8(-(1)) 4047 275a 8827 clr r24 4048 275c 77FD sbrc r23,7 4049 275e 8095 com r24 4050 2760 982F mov r25,r24 4051 2762 061B sub r16,r22 4052 2764 170B sbc r17,r23 4053 2766 280B sbc r18,r24 4054 2768 390B sbc r19,r25 4055 276a 00C0 rjmp .L665 4056 .L616: 4057 276c C801 movw r24,r16 4058 276e 17FF sbrs r17,7 4059 2770 00C0 rjmp .L620 4060 2772 9095 com r25 4061 2774 8195 neg r24 4062 2776 9F4F sbci r25,lo8(-1) 4063 .L620: 4064 2778 60E0 ldi r22,lo8(256) 4065 277a 71E0 ldi r23,hi8(256) 4066 277c 0E94 0000 call __divmodhi4 4067 2780 6F5F subi r22,lo8(-(1)) 4068 2782 7F4F sbci r23,hi8(-(1)) 4069 2784 8827 clr r24 4070 2786 77FD sbrc r23,7 4071 2788 8095 com r24 4072 278a 982F mov r25,r24 4073 278c 060F add r16,r22 4074 278e 171F adc r17,r23 4075 2790 281F adc r18,r24 4076 2792 391F adc r19,r25 4077 .L665: 4078 2794 0093 0000 sts SummeNick.2439,r16 4079 2798 1093 0000 sts (SummeNick.2439)+1,r17 4080 279c 2093 0000 sts (SummeNick.2439)+2,r18 4081 27a0 3093 0000 sts (SummeNick.2439)+3,r19 4082 27a4 8091 0000 lds r24,SummeNick.2439 4083 27a8 9091 0000 lds r25,(SummeNick.2439)+1 4084 27ac A091 0000 lds r26,(SummeNick.2439)+2 4085 27b0 B091 0000 lds r27,(SummeNick.2439)+3 4086 27b4 8138 cpi r24,lo8(16001) 4087 27b6 FEE3 ldi r31,hi8(16001) 4088 27b8 9F07 cpc r25,r31 4089 27ba F0E0 ldi r31,hlo8(16001) 4090 27bc AF07 cpc r26,r31 4091 27be F0E0 ldi r31,hhi8(16001) 4092 27c0 BF07 cpc r27,r31 4093 27c2 04F0 brlt .L621 4094 27c4 80E8 ldi r24,lo8(16000) 4095 27c6 9EE3 ldi r25,hi8(16000) 4096 27c8 A0E0 ldi r26,hlo8(16000) 4097 27ca B0E0 ldi r27,hhi8(16000) 4098 27cc 00C0 rjmp .L666 4099 .L621: 4100 27ce 8058 subi r24,lo8(-16000) 4101 27d0 914C sbci r25,hi8(-16000) 4102 27d2 AF4F sbci r26,hlo8(-16000) 4103 27d4 BF4F sbci r27,hhi8(-16000) 4104 27d6 04F4 brge .L623 4105 27d8 80E8 ldi r24,lo8(-16000) 4106 27da 91EC ldi r25,hi8(-16000) 4107 27dc AFEF ldi r26,hlo8(-16000) 4108 27de BFEF ldi r27,hhi8(-16000) 4109 .L666: 4110 27e0 8093 0000 sts SummeNick.2439,r24 4111 27e4 9093 0000 sts (SummeNick.2439)+1,r25 4112 27e8 A093 0000 sts (SummeNick.2439)+2,r26 4113 27ec B093 0000 sts (SummeNick.2439)+3,r27 4114 .L623: 4115 27f0 6091 0000 lds r22,DiffNick 4116 27f4 7091 0000 lds r23,(DiffNick)+1 4117 27f8 8090 0000 lds r8,Ki 4118 27fc 9090 0000 lds r9,(Ki)+1 4119 2800 A090 0000 lds r10,(Ki)+2 4120 2804 B090 0000 lds r11,(Ki)+3 4121 2808 8827 clr r24 4122 280a 77FD sbrc r23,7 4123 280c 8095 com r24 4124 280e 982F mov r25,r24 4125 2810 0E94 0000 call __floatsisf 4126 2814 7B01 movw r14,r22 4127 2816 8C01 movw r16,r24 4128 2818 6091 0000 lds r22,SummeNick.2439 4129 281c 7091 0000 lds r23,(SummeNick.2439)+1 4130 2820 8091 0000 lds r24,(SummeNick.2439)+2 4131 2824 9091 0000 lds r25,(SummeNick.2439)+3 4132 2828 0E94 0000 call __floatsisf 4133 282c 9B01 movw r18,r22 4134 282e AC01 movw r20,r24 4135 2830 C501 movw r24,r10 4136 2832 B401 movw r22,r8 4137 2834 0E94 0000 call __mulsf3 4138 2838 9B01 movw r18,r22 4139 283a AC01 movw r20,r24 4140 283c C801 movw r24,r16 4141 283e B701 movw r22,r14 4142 2840 0E94 0000 call __addsf3 4143 2844 0E94 0000 call __fixsfsi 4144 2848 9601 movw r18,r12 4145 284a 260F add r18,r22 4146 284c 371F adc r19,r23 4147 284e 4981 ldd r20,Y+1 4148 2850 5A81 ldd r21,Y+2 4149 2852 240F add r18,r20 4150 2854 351F adc r19,r21 4151 2856 2224 clr r2 4152 2858 4A30 cpi r20,10 4153 285a 5105 cpc r21,__zero_reg__ 4154 285c 04F4 brge .L625 4155 285e 41E0 ldi r20,lo8(1) 4156 2860 242E mov r2,r20 4157 .L625: 4158 2862 37FD sbrc r19,7 4159 2864 00C0 rjmp .L628 4160 2866 2220 tst r2 4161 2868 01F0 breq .L626 4162 .L628: 4163 286a 40E0 ldi r20,lo8(0) 4164 286c 50E0 ldi r21,hi8(0) 4165 286e 00C0 rjmp .L629 4166 .L626: 4167 2870 8091 0000 lds r24,MAX_GAS 4168 2874 482F mov r20,r24 4169 2876 5527 clr r21 4170 2878 2417 cp r18,r20 4171 287a 3507 cpc r19,r21 4172 287c 04F4 brge .L629 4173 287e A901 movw r20,r18 4174 .L629: 4175 2880 8091 0000 lds r24,MIN_GAS 4176 2884 E82F mov r30,r24 4177 2886 FF27 clr r31 4178 2888 FC83 std Y+4,r31 4179 288a EB83 std Y+3,r30 4180 288c 9F01 movw r18,r30 4181 288e E417 cp r30,r20 4182 2890 F507 cpc r31,r21 4183 2892 04F4 brge .L631 4184 2894 9A01 movw r18,r20 4185 .L631: 4186 2896 2093 0000 sts Motor_Vorne,r18 4187 289a 2981 ldd r18,Y+1 4188 289c 3A81 ldd r19,Y+2 4189 289e 261B sub r18,r22 4190 28a0 370B sbc r19,r23 4191 28a2 B901 movw r22,r18 4192 28a4 6C0D add r22,r12 4193 28a6 7D1D adc r23,r13 4194 28a8 77FD sbrc r23,7 4195 28aa 00C0 rjmp .L634 4196 28ac 2220 tst r2 4197 28ae 01F0 breq .L632 4198 .L634: 4199 28b0 80E0 ldi r24,lo8(0) 4200 28b2 90E0 ldi r25,hi8(0) 4201 28b4 00C0 rjmp .L635 4202 .L632: 4203 28b6 8091 0000 lds r24,MAX_GAS 4204 28ba 9927 clr r25 4205 28bc 6817 cp r22,r24 4206 28be 7907 cpc r23,r25 4207 28c0 04F4 brge .L635 4208 28c2 CB01 movw r24,r22 4209 .L635: 4210 28c4 2B81 ldd r18,Y+3 4211 28c6 3C81 ldd r19,Y+4 4212 28c8 2817 cp r18,r24 4213 28ca 3907 cpc r19,r25 4214 28cc 04F4 brge .L637 4215 28ce 9C01 movw r18,r24 4216 .L637: 4217 28d0 2093 0000 sts Motor_Hinten,r18 4218 28d4 6091 0000 lds r22,MesswertRoll 4219 28d8 7091 0000 lds r23,(MesswertRoll)+1 4220 28dc 2091 0000 lds r18,StickRoll 4221 28e0 3091 0000 lds r19,(StickRoll)+1 4222 28e4 4091 0000 lds r20,GPS_Roll 4223 28e8 5091 0000 lds r21,(GPS_Roll)+1 4224 28ec 241B sub r18,r20 4225 28ee 350B sbc r19,r21 4226 28f0 621B sub r22,r18 4227 28f2 730B sbc r23,r19 4228 28f4 8827 clr r24 4229 28f6 77FD sbrc r23,7 4230 28f8 8095 com r24 4231 28fa 982F mov r25,r24 4232 28fc 0E94 0000 call __floatsisf 4233 2900 9B01 movw r18,r22 4234 2902 AC01 movw r20,r24 4235 2904 C301 movw r24,r6 4236 2906 B201 movw r22,r4 4237 2908 0E94 0000 call __mulsf3 4238 290c 0E94 0000 call __fixsfsi 4239 2910 7093 0000 sts (DiffRoll)+1,r23 4240 2914 6093 0000 sts DiffRoll,r22 4241 2918 8091 0000 lds r24,DiffRoll 4242 291c 9091 0000 lds r25,(DiffRoll)+1 4243 2920 8C01 movw r16,r24 4244 2922 2227 clr r18 4245 2924 17FD sbrc r17,7 4246 2926 2095 com r18 4247 2928 322F mov r19,r18 4248 292a 8091 0000 lds r24,SummeRoll.2440 4249 292e 9091 0000 lds r25,(SummeRoll.2440)+1 4250 2932 A091 0000 lds r26,(SummeRoll.2440)+2 4251 2936 B091 0000 lds r27,(SummeRoll.2440)+3 4252 293a 080F add r16,r24 4253 293c 191F adc r17,r25 4254 293e 2A1F adc r18,r26 4255 2940 3B1F adc r19,r27 4256 2942 0093 0000 sts SummeRoll.2440,r16 4257 2946 1093 0000 sts (SummeRoll.2440)+1,r17 4258 294a 2093 0000 sts (SummeRoll.2440)+2,r18 4259 294e 3093 0000 sts (SummeRoll.2440)+3,r19 4260 2952 1016 cp __zero_reg__,r16 4261 2954 1106 cpc __zero_reg__,r17 4262 2956 1206 cpc __zero_reg__,r18 4263 2958 1306 cpc __zero_reg__,r19 4264 295a 04F4 brge .L638 4265 295c C801 movw r24,r16 4266 295e 17FF sbrs r17,7 4267 2960 00C0 rjmp .L640 4268 2962 9095 com r25 4269 2964 8195 neg r24 4270 2966 9F4F sbci r25,lo8(-1) 4271 .L640: 4272 2968 60E0 ldi r22,lo8(256) 4273 296a 71E0 ldi r23,hi8(256) 4274 296c 0E94 0000 call __divmodhi4 4275 2970 6F5F subi r22,lo8(-(1)) 4276 2972 7F4F sbci r23,hi8(-(1)) 4277 2974 8827 clr r24 4278 2976 77FD sbrc r23,7 4279 2978 8095 com r24 4280 297a 982F mov r25,r24 4281 297c 061B sub r16,r22 4282 297e 170B sbc r17,r23 4283 2980 280B sbc r18,r24 4284 2982 390B sbc r19,r25 4285 2984 00C0 rjmp .L667 4286 .L638: 4287 2986 C801 movw r24,r16 4288 2988 17FF sbrs r17,7 4289 298a 00C0 rjmp .L642 4290 298c 9095 com r25 4291 298e 8195 neg r24 4292 2990 9F4F sbci r25,lo8(-1) 4293 .L642: 4294 2992 60E0 ldi r22,lo8(256) 4295 2994 71E0 ldi r23,hi8(256) 4296 2996 0E94 0000 call __divmodhi4 4297 299a 6F5F subi r22,lo8(-(1)) 4298 299c 7F4F sbci r23,hi8(-(1)) 4299 299e 8827 clr r24 4300 29a0 77FD sbrc r23,7 4301 29a2 8095 com r24 4302 29a4 982F mov r25,r24 4303 29a6 060F add r16,r22 4304 29a8 171F adc r17,r23 4305 29aa 281F adc r18,r24 4306 29ac 391F adc r19,r25 4307 .L667: 4308 29ae 0093 0000 sts SummeRoll.2440,r16 4309 29b2 1093 0000 sts (SummeRoll.2440)+1,r17 4310 29b6 2093 0000 sts (SummeRoll.2440)+2,r18 4311 29ba 3093 0000 sts (SummeRoll.2440)+3,r19 4312 29be 8091 0000 lds r24,SummeRoll.2440 4313 29c2 9091 0000 lds r25,(SummeRoll.2440)+1 4314 29c6 A091 0000 lds r26,(SummeRoll.2440)+2 4315 29ca B091 0000 lds r27,(SummeRoll.2440)+3 4316 29ce 8138 cpi r24,lo8(16001) 4317 29d0 3EE3 ldi r19,hi8(16001) 4318 29d2 9307 cpc r25,r19 4319 29d4 30E0 ldi r19,hlo8(16001) 4320 29d6 A307 cpc r26,r19 4321 29d8 30E0 ldi r19,hhi8(16001) 4322 29da B307 cpc r27,r19 4323 29dc 04F0 brlt .L643 4324 29de 80E8 ldi r24,lo8(16000) 4325 29e0 9EE3 ldi r25,hi8(16000) 4326 29e2 A0E0 ldi r26,hlo8(16000) 4327 29e4 B0E0 ldi r27,hhi8(16000) 4328 29e6 00C0 rjmp .L668 4329 .L643: 4330 29e8 8058 subi r24,lo8(-16000) 4331 29ea 914C sbci r25,hi8(-16000) 4332 29ec AF4F sbci r26,hlo8(-16000) 4333 29ee BF4F sbci r27,hhi8(-16000) 4334 29f0 04F4 brge .L645 4335 29f2 80E8 ldi r24,lo8(-16000) 4336 29f4 91EC ldi r25,hi8(-16000) 4337 29f6 AFEF ldi r26,hlo8(-16000) 4338 29f8 BFEF ldi r27,hhi8(-16000) 4339 .L668: 4340 29fa 8093 0000 sts SummeRoll.2440,r24 4341 29fe 9093 0000 sts (SummeRoll.2440)+1,r25 4342 2a02 A093 0000 sts (SummeRoll.2440)+2,r26 4343 2a06 B093 0000 sts (SummeRoll.2440)+3,r27 4344 .L645: 4345 2a0a 6091 0000 lds r22,DiffRoll 4346 2a0e 7091 0000 lds r23,(DiffRoll)+1 4347 2a12 8827 clr r24 4348 2a14 77FD sbrc r23,7 4349 2a16 8095 com r24 4350 2a18 982F mov r25,r24 4351 2a1a 0E94 0000 call __floatsisf 4352 2a1e 7B01 movw r14,r22 4353 2a20 8C01 movw r16,r24 4354 2a22 6091 0000 lds r22,SummeRoll.2440 4355 2a26 7091 0000 lds r23,(SummeRoll.2440)+1 4356 2a2a 8091 0000 lds r24,(SummeRoll.2440)+2 4357 2a2e 9091 0000 lds r25,(SummeRoll.2440)+3 4358 2a32 0E94 0000 call __floatsisf 4359 2a36 9B01 movw r18,r22 4360 2a38 AC01 movw r20,r24 4361 2a3a C501 movw r24,r10 4362 2a3c B401 movw r22,r8 4363 2a3e 0E94 0000 call __mulsf3 4364 2a42 9B01 movw r18,r22 4365 2a44 AC01 movw r20,r24 4366 2a46 C801 movw r24,r16 4367 2a48 B701 movw r22,r14 4368 2a4a 0E94 0000 call __addsf3 4369 2a4e 0E94 0000 call __fixsfsi 4370 2a52 2981 ldd r18,Y+1 4371 2a54 3A81 ldd r19,Y+2 4372 2a56 260F add r18,r22 4373 2a58 371F adc r19,r23 4374 2a5a 2C19 sub r18,r12 4375 2a5c 3D09 sbc r19,r13 4376 2a5e 37FD sbrc r19,7 4377 2a60 00C0 rjmp .L649 4378 2a62 2220 tst r2 4379 2a64 01F0 breq .L647 4380 .L649: 4381 2a66 40E0 ldi r20,lo8(0) 4382 2a68 50E0 ldi r21,hi8(0) 4383 2a6a 00C0 rjmp .L650 4384 .L647: 4385 2a6c 8091 0000 lds r24,MAX_GAS 4386 2a70 482F mov r20,r24 4387 2a72 5527 clr r21 4388 2a74 2417 cp r18,r20 4389 2a76 3507 cpc r19,r21 4390 2a78 04F4 brge .L650 4391 2a7a A901 movw r20,r18 4392 .L650: 4393 2a7c 2B81 ldd r18,Y+3 4394 2a7e 3C81 ldd r19,Y+4 4395 2a80 2417 cp r18,r20 4396 2a82 3507 cpc r19,r21 4397 2a84 04F4 brge .L652 4398 2a86 9A01 movw r18,r20 4399 .L652: 4400 2a88 2093 0000 sts Motor_Links,r18 4401 2a8c 8981 ldd r24,Y+1 4402 2a8e 9A81 ldd r25,Y+2 4403 2a90 861B sub r24,r22 4404 2a92 970B sbc r25,r23 4405 2a94 BC01 movw r22,r24 4406 2a96 6C19 sub r22,r12 4407 2a98 7D09 sbc r23,r13 4408 2a9a 77FD sbrc r23,7 4409 2a9c 00C0 rjmp .L655 4410 2a9e 2220 tst r2 4411 2aa0 01F0 breq .L653 4412 .L655: 4413 2aa2 20E0 ldi r18,lo8(0) 4414 2aa4 30E0 ldi r19,hi8(0) 4415 2aa6 00C0 rjmp .L656 4416 .L653: 4417 2aa8 8091 0000 lds r24,MAX_GAS 4418 2aac 282F mov r18,r24 4419 2aae 3327 clr r19 4420 2ab0 6217 cp r22,r18 4421 2ab2 7307 cpc r23,r19 4422 2ab4 04F4 brge .L656 4423 2ab6 9B01 movw r18,r22 4424 .L656: 4425 2ab8 8B81 ldd r24,Y+3 4426 2aba 9C81 ldd r25,Y+4 4427 2abc 8217 cp r24,r18 4428 2abe 9307 cpc r25,r19 4429 2ac0 04F4 brge .L658 4430 2ac2 C901 movw r24,r18 4431 .L658: 4432 2ac4 8093 0000 sts Motor_Rechts,r24 4433 /* epilogue: frame size=4 */ 4434 2ac8 2496 adiw r28,4 4435 2aca 0FB6 in __tmp_reg__,__SREG__ 4436 2acc F894 cli 4437 2ace DEBF out __SP_H__,r29 4438 2ad0 0FBE out __SREG__,__tmp_reg__ 4439 2ad2 CDBF out __SP_L__,r28 4440 2ad4 DF91 pop r29 4441 2ad6 CF91 pop r28 4442 2ad8 1F91 pop r17 4443 2ada 0F91 pop r16 4444 2adc FF90 pop r15 4445 2ade EF90 pop r14 4446 2ae0 DF90 pop r13 4447 2ae2 CF90 pop r12 4448 2ae4 BF90 pop r11 4449 2ae6 AF90 pop r10 4450 2ae8 9F90 pop r9 4451 2aea 8F90 pop r8 4452 2aec 7F90 pop r7 4453 2aee 6F90 pop r6 4454 2af0 5F90 pop r5 4455 2af2 4F90 pop r4 4456 2af4 3F90 pop r3 4457 2af6 2F90 pop r2 4458 2af8 0895 ret 4459 /* epilogue end (size=25) */ 4460 /* function MotorRegler size 2856 (2805) */ 4462 .global Timeout 4463 .global Timeout 4464 .section .bss 4467 Timeout: 4468 0000 00 .skip 1,0 4469 .global AdNeutralNick 4470 .global AdNeutralNick 4473 AdNeutralNick: 4474 0001 0000 .skip 2,0 4475 .global AdNeutralRoll 4476 .global AdNeutralRoll 4479 AdNeutralRoll: 4480 0003 0000 .skip 2,0 4481 .global AdNeutralGier 4482 .global AdNeutralGier 4485 AdNeutralGier: 4486 0005 0000 .skip 2,0 4487 .global NeutralAccX 4488 .global NeutralAccX 4491 NeutralAccX: 4492 0007 0000 .skip 2,0 4493 .global NeutralAccY 4494 .global NeutralAccY 4497 NeutralAccY: 4498 0009 0000 .skip 2,0 4499 .global NeutralAccZ 4500 .global NeutralAccZ 4503 NeutralAccZ: 4504 000b 0000 0000 .skip 4,0 4505 .global CosinusNickWinkel 4506 .global CosinusNickWinkel 4509 CosinusNickWinkel: 4510 000f 00 .skip 1,0 4511 .global CosinusRollWinkel 4512 .global CosinusRollWinkel 4515 CosinusRollWinkel: 4516 0010 00 .skip 1,0 4517 .global IntegralNick 4518 .global IntegralNick 4521 IntegralNick: 4522 0011 0000 0000 .skip 4,0 4523 .global IntegralNick2 4524 .global IntegralNick2 4527 IntegralNick2: 4528 0015 0000 0000 .skip 4,0 4529 .global IntegralRoll 4530 .global IntegralRoll 4533 IntegralRoll: 4534 0019 0000 0000 .skip 4,0 4535 .global IntegralRoll2 4536 .global IntegralRoll2 4539 IntegralRoll2: 4540 001d 0000 0000 .skip 4,0 4541 .global Integral_Gier 4542 .global Integral_Gier 4545 Integral_Gier: 4546 0021 0000 0000 .skip 4,0 4547 .global Mess_IntegralNick 4548 .global Mess_IntegralNick 4551 Mess_IntegralNick: 4552 0025 0000 0000 .skip 4,0 4553 .global Mess_IntegralNick2 4554 .global Mess_IntegralNick2 4557 Mess_IntegralNick2: 4558 0029 0000 0000 .skip 4,0 4559 .global Mess_IntegralRoll 4560 .global Mess_IntegralRoll 4563 Mess_IntegralRoll: 4564 002d 0000 0000 .skip 4,0 4565 .global Mess_IntegralRoll2 4566 .global Mess_IntegralRoll2 4569 Mess_IntegralRoll2: 4570 0031 0000 0000 .skip 4,0 4571 .global Mess_Integral_Gier 4572 .global Mess_Integral_Gier 4575 Mess_Integral_Gier: 4576 0035 0000 0000 .skip 4,0 4577 .global Mess_Integral_Gier2 4578 .global Mess_Integral_Gier2 4581 Mess_Integral_Gier2: 4582 0039 0000 0000 .skip 4,0 4583 .global Mess_Integral_Hoch 4584 .global Mess_Integral_Hoch 4587 Mess_Integral_Hoch: 4588 003d 0000 0000 .skip 4,0 4589 .global KompassValue 4590 .global KompassValue 4593 KompassValue: 4594 0041 0000 .skip 2,0 4595 .global KompassStartwert 4596 .global KompassStartwert 4599 KompassStartwert: 4600 0043 0000 .skip 2,0 4601 .global KompassRichtung 4602 .global KompassRichtung 4605 KompassRichtung: 4606 0045 0000 .skip 2,0 4607 .global Notlandung 4608 .global Notlandung 4611 Notlandung: 4612 0047 00 .skip 1,0 4613 .global HoehenReglerAktiv 4614 .global HoehenReglerAktiv 4617 HoehenReglerAktiv: 4618 0048 00 .skip 1,0 4619 .global blinkcount_LED1 4620 .global blinkcount_LED1 4623 blinkcount_LED1: 4624 0049 00 .skip 1,0 4625 .global modell_fliegt_gps 4626 .global modell_fliegt_gps 4629 modell_fliegt_gps: 4630 004a 0000 .skip 2,0 4631 .global Limit_D_Anteil 4632 .global Limit_D_Anteil 4635 Limit_D_Anteil: 4636 004c 00 .skip 1,0 4637 .global Poti1 4638 .global Poti1 4641 Poti1: 4642 004d 0000 .skip 2,0 4643 .global Poti2 4644 .global Poti2 4647 Poti2: 4648 004f 0000 .skip 2,0 4649 .global Poti3 4650 .global Poti3 4653 Poti3: 4654 0051 0000 .skip 2,0 4655 .global Poti4 4656 .global Poti4 4659 Poti4: 4660 0053 0000 .skip 2,0 4661 .global Poti5 4662 .global Poti5 4665 Poti5: 4666 0055 0000 .skip 2,0 4667 .global Poti6 4668 .global Poti6 4671 Poti6: 4672 0057 0000 .skip 2,0 4673 .global Poti7 4674 .global Poti7 4677 Poti7: 4678 0059 0000 .skip 2,0 4679 .global Poti8 4680 .global Poti8 4683 Poti8: 4684 005b 0000 .skip 2,0 4685 .global SenderOkay 4686 .global SenderOkay 4689 SenderOkay: 4690 005d 00 .skip 1,0 4691 .global StickNick 4692 .global StickNick 4695 StickNick: 4696 005e 0000 .skip 2,0 4697 .global StickRoll 4698 .global StickRoll 4701 StickRoll: 4702 0060 0000 .skip 2,0 4703 .global StickGier 4704 .global StickGier 4707 StickGier: 4708 0062 0000 .skip 2,0 4709 .global MotorenEin 4710 .global MotorenEin 4713 MotorenEin: 4714 0064 00 .skip 1,0 4715 .global HoehenWert 4716 .global HoehenWert 4719 HoehenWert: 4720 0065 0000 .skip 2,0 4721 .global SollHoehe 4722 .global SollHoehe 4725 SollHoehe: 4726 0067 0000 .skip 2,0 4727 .global Kp 4728 .data 4731 Kp: 4732 0010 00 .byte 0 4733 0011 00 .byte 0 4734 0012 80 .byte -128 4735 0013 3F .byte 63 4736 .global Ki 4739 Ki: 4740 0014 17 .byte 23 4741 0015 B7 .byte -73 4742 0016 D1 .byte -47 4743 0017 38 .byte 56 4744 .global Parameter_Luftdruck_D 4747 Parameter_Luftdruck_D: 4748 0018 30 .byte 48 4749 .global Parameter_MaxHoehe 4752 Parameter_MaxHoehe: 4753 0019 FB .byte -5 4754 .global Parameter_Hoehe_P 4757 Parameter_Hoehe_P: 4758 001a 10 .byte 16 4759 .global Parameter_Hoehe_ACC_Wirkung 4762 Parameter_Hoehe_ACC_Wirkung: 4763 001b 3A .byte 58 4764 .global Parameter_KompassWirkung 4767 Parameter_KompassWirkung: 4768 001c 40 .byte 64 4769 .global Parameter_Gyro_P 4772 Parameter_Gyro_P: 4773 001d 32 .byte 50 4774 .global Parameter_Gyro_I 4777 Parameter_Gyro_I: 4778 001e 96 .byte -106 4779 .global Parameter_Gier_P 4782 Parameter_Gier_P: 4783 001f 02 .byte 2 4784 .global Parameter_I_Faktor 4787 Parameter_I_Faktor: 4788 0020 0A .byte 10 4789 .global Parameter_UserParam1 4790 .global Parameter_UserParam1 4791 .section .bss 4794 Parameter_UserParam1: 4795 0069 00 .skip 1,0 4796 .global Parameter_UserParam2 4797 .global Parameter_UserParam2 4800 Parameter_UserParam2: 4801 006a 00 .skip 1,0 4802 .global Parameter_UserParam3 4803 .global Parameter_UserParam3 4806 Parameter_UserParam3: 4807 006b 00 .skip 1,0 4808 .global Parameter_UserParam4 4809 .global Parameter_UserParam4 4812 Parameter_UserParam4: 4813 006c 00 .skip 1,0 4814 .global Parameter_ServoNickControl 4815 .data 4818 Parameter_ServoNickControl: 4819 0021 64 .byte 100 4820 .lcomm SignalSchlecht.2457,2 4821 .lcomm NeueKompassRichtungMerken.2453,1 4822 .lcomm TimerWerteausgabe.2452,1 4823 .lcomm hoehenregler.2451,2 4824 .lcomm modell_fliegt.2450,2 4825 .lcomm delay_ausschalten.2449,1 4826 .lcomm delay_einschalten.2448,1 4827 .lcomm delay_neutral.2447,1 4828 .lcomm RcLostTimer.2446,2 4829 .lcomm IntegralFehlerRoll.2445,2 4830 .lcomm IntegralFehlerNick.2444,2 4831 .lcomm tmp_long2.2443,4 4832 .lcomm tmp_long.2442,4 4833 .lcomm sollGier.2441,4 4834 .lcomm SummeRoll.2440,4 4835 .lcomm SummeNick.2439,4 4836 .comm DiffNick,2,1 4837 .comm DiffRoll,2,1 4838 .comm durchschnitt_northing,4,1 4839 .comm durchschnitt_easting,4,1 4840 .comm P_GPS_Verstaerkung,2,1 4841 .comm D_GPS_Verstaerkung,2,1 4842 .comm RemoteTasten,1,1 4843 .comm MesswertNick,2,1 4844 .comm MesswertRoll,2,1 4845 .comm MesswertGier,2,1 4846 .comm Mittelwert_AccNick,2,1 4847 .comm Mittelwert_AccRoll,2,1 4848 .comm Mittelwert_AccHoch,2,1 4849 .comm h,1,1 4850 .comm m,1,1 4851 .comm s,1,1 4852 .comm Motor_Vorne,1,1 4853 .comm Motor_Hinten,1,1 4854 .comm Motor_Rechts,1,1 4855 .comm Motor_Links,1,1 4856 .comm Count,1,1 4857 .comm MotorWert,5,1 4858 .comm EE_Parameter,58,1 4859 .comm MAX_GAS,1,1 4860 .comm MIN_GAS,1,1 4861 .comm GyroFaktor,4,1 4862 .comm IntegralFaktor,4,1 4863 /* File "fc.c": code 5545 = 0x15a9 (5463), prologues 38, epilogues 44 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:3 *ABS*:0000003f __SREG__ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4 *ABS*:0000003e __SP_H__ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:5 *ABS*:0000003d __SP_L__ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:6 *ABS*:00000000 __tmp_reg__ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:7 *ABS*:00000001 __zero_reg__ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:13 .text:00000000 Mittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000002 Mittelwert_AccHoch C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4575 .bss:00000035 Mess_Integral_Gier C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4545 .bss:00000021 Integral_Gier C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4551 .bss:00000025 Mess_IntegralNick C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4521 .bss:00000011 IntegralNick C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4563 .bss:0000002d Mess_IntegralRoll C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4533 .bss:00000019 IntegralRoll C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4557 .bss:00000029 Mess_IntegralNick2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4527 .bss:00000015 IntegralNick2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4569 .bss:00000031 Mess_IntegralRoll2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4539 .bss:0000001d IntegralRoll2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4641 .bss:0000004d Poti1 *COM*:0000003a EE_Parameter C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4647 .bss:0000004f Poti2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4653 .bss:00000051 Poti3 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4659 .bss:00000053 Poti4 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4665 .bss:00000055 Poti5 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4671 .bss:00000057 Poti6 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4677 .bss:00000059 Poti7 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4683 .bss:0000005b Poti8 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:760 .text:0000073a CalibrierMittelwert C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1286 .text:00000c2a ParameterZuordnung C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4752 .data:00000019 Parameter_MaxHoehe C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4747 .data:00000018 Parameter_Luftdruck_D C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4757 .data:0000001a Parameter_Hoehe_P C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4762 .data:0000001b Parameter_Hoehe_ACC_Wirkung C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4767 .data:0000001c Parameter_KompassWirkung C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4772 .data:0000001d Parameter_Gyro_P C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4777 .data:0000001e Parameter_Gyro_I C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4787 .data:00000020 Parameter_I_Faktor C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4794 .bss:00000069 Parameter_UserParam1 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4800 .bss:0000006a Parameter_UserParam2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4806 .bss:0000006b Parameter_UserParam3 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4812 .bss:0000006c Parameter_UserParam4 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4818 .data:00000021 Parameter_ServoNickControl C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4739 .data:00000014 Ki *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1852 .text:000010c4 DefaultKonstanten2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1937 .text:0000119c DefaultKonstanten1 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2020 .text:0000127c SendMotorData C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4713 .bss:00000064 MotorenEin *COM*:00000001 Motor_Hinten *COM*:00000001 Motor_Vorne *COM*:00000001 Motor_Rechts *COM*:00000001 Motor_Links C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2060 .text:000012d2 SetNeutral C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4491 .bss:00000007 NeutralAccX C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4497 .bss:00000009 NeutralAccY C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4503 .bss:0000000b NeutralAccZ C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4473 .bss:00000001 AdNeutralNick C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4479 .bss:00000003 AdNeutralRoll C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4485 .bss:00000005 AdNeutralGier C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4587 .bss:0000003d Mess_Integral_Hoch C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4593 .bss:00000041 KompassValue C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4599 .bss:00000043 KompassStartwert C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2232 .text:000014ca Piep C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2261 .text:000014f4 MotorRegler C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4689 .bss:0000005d SenderOkay C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4827 .bss:00000078 RcLostTimer.2446 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4611 .bss:00000047 Notlandung C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4823 .bss:00000073 modell_fliegt.2450 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4629 .bss:0000004a modell_fliegt_gps C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4834 .bss:0000008e SummeNick.2439 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4833 .bss:0000008a SummeRoll.2440 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4581 .bss:00000039 Mess_Integral_Gier2 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4826 .bss:00000077 delay_neutral.2447 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4825 .bss:00000076 delay_einschalten.2448 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4832 .bss:00000086 sollGier.2441 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4824 .bss:00000075 delay_ausschalten.2449 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4695 .bss:0000005e StickNick C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4701 .bss:00000060 StickRoll C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4707 .bss:00000062 StickGier *COM*:00000004 GyroFaktor *COM*:00000004 IntegralFaktor C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4623 .bss:00000049 blinkcount_LED1 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4829 .bss:0000007c IntegralFehlerNick.2444 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4828 .bss:0000007a IntegralFehlerRoll.2445 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4831 .bss:00000082 tmp_long.2442 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4830 .bss:0000007e tmp_long2.2443 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4820 .bss:0000006f NeueKompassRichtungMerken.2453 .bss:0000006d SignalSchlecht.2457 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4605 .bss:00000045 KompassRichtung *COM*:00000002 P_GPS_Verstaerkung *COM*:00000002 D_GPS_Verstaerkung C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4635 .bss:0000004c Limit_D_Anteil C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4821 .bss:00000070 TimerWerteausgabe.2452 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4719 .bss:00000065 HoehenWert C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4725 .bss:00000067 SollHoehe C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4617 .bss:00000048 HoehenReglerAktiv C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4822 .bss:00000071 hoehenregler.2451 C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4731 .data:00000010 Kp *COM*:00000002 DiffNick *COM*:00000002 DiffRoll C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4467 .bss:00000000 Timeout C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4509 .bss:0000000f CosinusNickWinkel C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4515 .bss:00000010 CosinusRollWinkel C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4782 .data:0000001f Parameter_Gier_P *COM*:00000004 durchschnitt_northing *COM*:00000004 durchschnitt_easting *COM*:00000001 RemoteTasten *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Count *COM*:00000005 MotorWert UNDEFINED SYMBOLS __do_copy_data __do_clear_bss MessanzahlNick AccumulateNick __divmodhi4 MessanzahlRoll AccumulateRoll MessanzahlGier AccumulateGier messanzahl_AccNick accumulate_AccNick __divmodsi4 messanzahl_AccRoll accumulate_AccRoll messanzahl_AccHoch accumulate_AccHoch PPM_in __floatsisf __addsf3 __mulsf3 MotorTest twi_state motor i2c_start SetDelay CheckDelay MessLuftdruck SucheLuftruckOffset Aktuell_az Luftdruck StartLuftdruck HoeheD beeptime Delay_ms PcZugriff EEPromArray __eeprom_write_byte_1F2021 GetActiveParamSetNumber ReadParameterSet NewPpmData PPM_diff __divsf3 __ltsf2 ZaehlMessungen __mulsi3 gps_main GPS_Nick GPS_Roll DebugOut GPS_Positionsabweichung_North GPS_Positionsabweichung_East P_Einfluss_East D_Einfluss_East P_Einfluss_North D_Einfluss_North GPS_Geschwindigkeit_North GPS_Geschwindigkeit_East Soll_Position_North Soll_Position_East __fixsfsi