1 .file "fc.c" 2 __SREG__ = 0x3f 3 __SP_H__ = 0x3e 4 __SP_L__ = 0x3d 5 __CCP__ = 0x34 6 __tmp_reg__ = 0 7 __zero_reg__ = 1 8 .text 9 .global CopyDebugValues 11 CopyDebugValues: 12 0000 EF92 push r14 13 0002 FF92 push r15 14 0004 0F93 push r16 15 0006 1F93 push r17 16 /* prologue: function */ 17 /* frame size = 0 */ 18 0008 E090 0000 lds r14,EE_Parameter+28 19 000c FF24 clr r15 20 000e EE0C lsl r14 21 0010 FF1C rol r15 22 0012 EE0C lsl r14 23 0014 FF1C rol r15 24 0016 0027 clr r16 25 0018 F7FC sbrc r15,7 26 001a 0095 com r16 27 001c 102F mov r17,r16 28 001e 6091 0000 lds r22,IntegralNick 29 0022 7091 0000 lds r23,(IntegralNick)+1 30 0026 8091 0000 lds r24,(IntegralNick)+2 31 002a 9091 0000 lds r25,(IntegralNick)+3 32 002e A801 movw r20,r16 33 0030 9701 movw r18,r14 34 0032 0E94 0000 call __divmodsi4 35 0036 3093 0000 sts (DebugOut+2)+1,r19 36 003a 2093 0000 sts DebugOut+2,r18 37 003e 6091 0000 lds r22,IntegralRoll 38 0042 7091 0000 lds r23,(IntegralRoll)+1 39 0046 8091 0000 lds r24,(IntegralRoll)+2 40 004a 9091 0000 lds r25,(IntegralRoll)+3 41 004e A801 movw r20,r16 42 0050 9701 movw r18,r14 43 0052 0E94 0000 call __divmodsi4 44 0056 3093 0000 sts (DebugOut+4)+1,r19 45 005a 2093 0000 sts DebugOut+4,r18 46 005e 8091 0000 lds r24,Mittelwert_AccNick 47 0062 9091 0000 lds r25,(Mittelwert_AccNick)+1 48 0066 64E0 ldi r22,lo8(4) 49 0068 70E0 ldi r23,hi8(4) 50 006a 0E94 0000 call __divmodhi4 51 006e 7093 0000 sts (DebugOut+6)+1,r23 52 0072 6093 0000 sts DebugOut+6,r22 53 0076 8091 0000 lds r24,Mittelwert_AccRoll 54 007a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 55 007e 64E0 ldi r22,lo8(4) 56 0080 70E0 ldi r23,hi8(4) 57 0082 0E94 0000 call __divmodhi4 58 0086 7093 0000 sts (DebugOut+8)+1,r23 59 008a 6093 0000 sts DebugOut+8,r22 60 008e 2091 0000 lds r18,AdWertGier 61 0092 3091 0000 lds r19,(AdWertGier)+1 62 0096 8091 0000 lds r24,AdNeutralGier 63 009a 9091 0000 lds r25,(AdNeutralGier)+1 64 009e 821B sub r24,r18 65 00a0 930B sbc r25,r19 66 00a2 9093 0000 sts (DebugOut+10)+1,r25 67 00a6 8093 0000 sts DebugOut+10,r24 68 00aa 6091 0000 lds r22,HoehenWert 69 00ae 7091 0000 lds r23,(HoehenWert)+1 70 00b2 8091 0000 lds r24,(HoehenWert)+2 71 00b6 9091 0000 lds r25,(HoehenWert)+3 72 00ba 25E0 ldi r18,lo8(5) 73 00bc 30E0 ldi r19,hi8(5) 74 00be 40E0 ldi r20,hlo8(5) 75 00c0 50E0 ldi r21,hhi8(5) 76 00c2 0E94 0000 call __divmodsi4 77 00c6 3093 0000 sts (DebugOut+12)+1,r19 78 00ca 2093 0000 sts DebugOut+12,r18 79 00ce 8091 0000 lds r24,AdWertAccHoch 80 00d2 9091 0000 lds r25,(AdWertAccHoch)+1 81 00d6 9093 0000 sts (DebugOut+14)+1,r25 82 00da 8093 0000 sts DebugOut+14,r24 83 00de 8091 0000 lds r24,KompassValue 84 00e2 9091 0000 lds r25,(KompassValue)+1 85 00e6 9093 0000 sts (DebugOut+18)+1,r25 86 00ea 8093 0000 sts DebugOut+18,r24 87 00ee 8091 0000 lds r24,UBat 88 00f2 9091 0000 lds r25,(UBat)+1 89 00f6 9093 0000 sts (DebugOut+20)+1,r25 90 00fa 8093 0000 sts DebugOut+20,r24 91 00fe 8091 0000 lds r24,SenderOkay 92 0102 00E0 ldi r16,lo8(DebugOut+22) 93 0104 10E0 ldi r17,hi8(DebugOut+22) 94 0106 8093 0000 sts DebugOut+22,r24 95 010a 1092 0000 sts DebugOut+23,__zero_reg__ 96 010e 6091 0000 lds r22,ErsatzKompass 97 0112 7091 0000 lds r23,(ErsatzKompass)+1 98 0116 8091 0000 lds r24,(ErsatzKompass)+2 99 011a 9091 0000 lds r25,(ErsatzKompass)+3 100 011e 2091 0000 lds r18,GIER_GRAD_FAKTOR 101 0122 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 102 0126 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 103 012a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 104 012e 0E94 0000 call __divmodsi4 105 0132 3093 0000 sts (DebugOut+24)+1,r19 106 0136 2093 0000 sts DebugOut+24,r18 107 013a 8091 0000 lds r24,Motor+1 108 013e 8093 0000 sts DebugOut+26,r24 109 0142 F801 movw r30,r16 110 0144 1582 std Z+5,__zero_reg__ 111 0146 8091 0000 lds r24,Motor+9 112 014a 8093 0000 sts DebugOut+28,r24 113 014e 1782 std Z+7,__zero_reg__ 114 0150 8091 0000 lds r24,Motor+17 115 0154 8093 0000 sts DebugOut+30,r24 116 0158 1186 std Z+9,__zero_reg__ 117 015a 8091 0000 lds r24,Motor+25 118 015e 8093 0000 sts DebugOut+32,r24 119 0162 1386 std Z+11,__zero_reg__ 120 0164 8091 0000 lds r24,ServoNickValue 121 0168 9091 0000 lds r25,(ServoNickValue)+1 122 016c 9093 0000 sts (DebugOut+42)+1,r25 123 0170 8093 0000 sts DebugOut+42,r24 124 0174 8091 0000 lds r24,Capacity 125 0178 9091 0000 lds r25,(Capacity)+1 126 017c 9093 0000 sts (DebugOut+46)+1,r25 127 0180 8093 0000 sts DebugOut+46,r24 128 0184 8091 0000 lds r24,Capacity+4 129 0188 9091 0000 lds r25,(Capacity+4)+1 130 018c 9093 0000 sts (DebugOut+48)+1,r25 131 0190 8093 0000 sts DebugOut+48,r24 132 0194 8091 0000 lds r24,Capacity+6 133 0198 8093 0000 sts DebugOut+60,r24 134 019c 17A2 std Z+39,__zero_reg__ 135 019e 8091 0000 lds r24,GPS_Nick 136 01a2 9091 0000 lds r25,(GPS_Nick)+1 137 01a6 9093 0000 sts (DebugOut+62)+1,r25 138 01aa 8093 0000 sts DebugOut+62,r24 139 01ae 8091 0000 lds r24,GPS_Roll 140 01b2 9091 0000 lds r25,(GPS_Roll)+1 141 01b6 9093 0000 sts (DebugOut+64)+1,r25 142 01ba 8093 0000 sts DebugOut+64,r24 143 01be 8091 0000 lds r24,VersionInfo+5 144 01c2 8823 tst r24 145 01c4 01F4 brne .L2 146 01c6 8091 0000 lds r24,VersionInfo+6 147 01ca 8823 tst r24 148 01cc 01F0 breq .L3 149 .L2: 150 01ce 8091 0000 lds r24,DebugOut+1 151 01d2 8160 ori r24,lo8(1) 152 01d4 00C0 rjmp .L6 153 .L3: 154 01d6 8091 0000 lds r24,DebugOut+1 155 01da 8E7F andi r24,lo8(-2) 156 .L6: 157 01dc 8093 0000 sts DebugOut+1,r24 158 /* epilogue start */ 159 01e0 1F91 pop r17 160 01e2 0F91 pop r16 161 01e4 FF90 pop r15 162 01e6 EF90 pop r14 163 01e8 0895 ret 165 .global Mittelwert 167 Mittelwert: 168 01ea ABE1 ldi r26,lo8(27) 169 01ec B0E0 ldi r27,hi8(27) 170 01ee E0E0 ldi r30,lo8(gs(1f)) 171 01f0 F0E0 ldi r31,hi8(gs(1f)) 172 01f2 0C94 0000 jmp __prologue_saves__+((18 - 18) * 2) 173 1: 174 /* prologue: function */ 175 /* frame size = 27 */ 176 01f6 8091 0000 lds r24,AdWertGier 177 01fa 9091 0000 lds r25,(AdWertGier)+1 178 01fe 2091 0000 lds r18,AdNeutralGier 179 0202 3091 0000 lds r19,(AdNeutralGier)+1 180 0206 281B sub r18,r24 181 0208 390B sbc r19,r25 182 020a 3B8F std Y+27,r19 183 020c 2A8F std Y+26,r18 184 020e 3093 0000 sts (MesswertGier)+1,r19 185 0212 2093 0000 sts MesswertGier,r18 186 0216 8091 0000 lds r24,AdWertNickFilter 187 021a 9091 0000 lds r25,(AdWertNickFilter)+1 188 021e 68E0 ldi r22,lo8(8) 189 0220 70E0 ldi r23,hi8(8) 190 0222 0E94 0000 call __divmodhi4 191 0226 6E8B std Y+22,r22 192 0228 7F8B std Y+23,r23 193 022a 8091 0000 lds r24,AdWertRollFilter 194 022e 9091 0000 lds r25,(AdWertRollFilter)+1 195 0232 68E0 ldi r22,lo8(8) 196 0234 70E0 ldi r23,hi8(8) 197 0236 0E94 0000 call __divmodhi4 198 023a 688F std Y+24,r22 199 023c 798F std Y+25,r23 200 023e 4E89 ldd r20,Y+22 201 0240 5F89 ldd r21,Y+23 202 0242 5093 0000 sts (RohMesswertNick)+1,r21 203 0246 4093 0000 sts RohMesswertNick,r20 204 024a 688D ldd r22,Y+24 205 024c 798D ldd r23,Y+25 206 024e 7093 0000 sts (RohMesswertRoll)+1,r23 207 0252 6093 0000 sts RohMesswertRoll,r22 208 0256 2091 0000 lds r18,AdWertAccNick 209 025a 3091 0000 lds r19,(AdWertAccNick)+1 210 025e C901 movw r24,r18 211 0260 880F lsl r24 212 0262 991F rol r25 213 0264 820F add r24,r18 214 0266 931F adc r25,r19 215 0268 880F lsl r24 216 026a 991F rol r25 217 026c 4091 0000 lds r20,Mittelwert_AccNick 218 0270 5091 0000 lds r21,(Mittelwert_AccNick)+1 219 0274 9A01 movw r18,r20 220 0276 220F lsl r18 221 0278 331F rol r19 222 027a 240F add r18,r20 223 027c 351F adc r19,r21 224 027e 820F add r24,r18 225 0280 931F adc r25,r19 226 0282 64E0 ldi r22,lo8(4) 227 0284 70E0 ldi r23,hi8(4) 228 0286 0E94 0000 call __divmodhi4 229 028a 7093 0000 sts (Mittelwert_AccNick)+1,r23 230 028e 6093 0000 sts Mittelwert_AccNick,r22 231 0292 2091 0000 lds r18,AdWertAccRoll 232 0296 3091 0000 lds r19,(AdWertAccRoll)+1 233 029a C901 movw r24,r18 234 029c 880F lsl r24 235 029e 991F rol r25 236 02a0 820F add r24,r18 237 02a2 931F adc r25,r19 238 02a4 880F lsl r24 239 02a6 991F rol r25 240 02a8 4091 0000 lds r20,Mittelwert_AccRoll 241 02ac 5091 0000 lds r21,(Mittelwert_AccRoll)+1 242 02b0 9A01 movw r18,r20 243 02b2 220F lsl r18 244 02b4 331F rol r19 245 02b6 240F add r18,r20 246 02b8 351F adc r19,r21 247 02ba 820F add r24,r18 248 02bc 931F adc r25,r19 249 02be 64E0 ldi r22,lo8(4) 250 02c0 70E0 ldi r23,hi8(4) 251 02c2 0E94 0000 call __divmodhi4 252 02c6 7093 0000 sts (Mittelwert_AccRoll)+1,r23 253 02ca 6093 0000 sts Mittelwert_AccRoll,r22 254 02ce 2091 0000 lds r18,AdWertAccNick 255 02d2 3091 0000 lds r19,(AdWertAccNick)+1 256 02d6 C901 movw r24,r18 257 02d8 880F lsl r24 258 02da 991F rol r25 259 02dc 820F add r24,r18 260 02de 931F adc r25,r19 261 02e0 880F lsl r24 262 02e2 991F rol r25 263 02e4 AA27 clr r26 264 02e6 97FD sbrc r25,7 265 02e8 A095 com r26 266 02ea BA2F mov r27,r26 267 02ec 2091 0000 lds r18,IntegralAccNick 268 02f0 3091 0000 lds r19,(IntegralAccNick)+1 269 02f4 4091 0000 lds r20,(IntegralAccNick)+2 270 02f8 5091 0000 lds r21,(IntegralAccNick)+3 271 02fc 280F add r18,r24 272 02fe 391F adc r19,r25 273 0300 4A1F adc r20,r26 274 0302 5B1F adc r21,r27 275 0304 2093 0000 sts IntegralAccNick,r18 276 0308 3093 0000 sts (IntegralAccNick)+1,r19 277 030c 4093 0000 sts (IntegralAccNick)+2,r20 278 0310 5093 0000 sts (IntegralAccNick)+3,r21 279 0314 2091 0000 lds r18,AdWertAccRoll 280 0318 3091 0000 lds r19,(AdWertAccRoll)+1 281 031c C901 movw r24,r18 282 031e 880F lsl r24 283 0320 991F rol r25 284 0322 820F add r24,r18 285 0324 931F adc r25,r19 286 0326 880F lsl r24 287 0328 991F rol r25 288 032a AA27 clr r26 289 032c 97FD sbrc r25,7 290 032e A095 com r26 291 0330 BA2F mov r27,r26 292 0332 2091 0000 lds r18,IntegralAccRoll 293 0336 3091 0000 lds r19,(IntegralAccRoll)+1 294 033a 4091 0000 lds r20,(IntegralAccRoll)+2 295 033e 5091 0000 lds r21,(IntegralAccRoll)+3 296 0342 280F add r18,r24 297 0344 391F adc r19,r25 298 0346 4A1F adc r20,r26 299 0348 5B1F adc r21,r27 300 034a 2093 0000 sts IntegralAccRoll,r18 301 034e 3093 0000 sts (IntegralAccRoll)+1,r19 302 0352 4093 0000 sts (IntegralAccRoll)+2,r20 303 0356 5093 0000 sts (IntegralAccRoll)+3,r21 304 035a 2091 0000 lds r18,AdWertAccNick 305 035e 3091 0000 lds r19,(AdWertAccNick)+1 306 0362 8091 0000 lds r24,NaviAccNick 307 0366 9091 0000 lds r25,(NaviAccNick)+1 308 036a 820F add r24,r18 309 036c 931F adc r25,r19 310 036e 9093 0000 sts (NaviAccNick)+1,r25 311 0372 8093 0000 sts NaviAccNick,r24 312 0376 2091 0000 lds r18,AdWertAccRoll 313 037a 3091 0000 lds r19,(AdWertAccRoll)+1 314 037e 8091 0000 lds r24,NaviAccRoll 315 0382 9091 0000 lds r25,(NaviAccRoll)+1 316 0386 820F add r24,r18 317 0388 931F adc r25,r19 318 038a 9093 0000 sts (NaviAccRoll)+1,r25 319 038e 8093 0000 sts NaviAccRoll,r24 320 0392 8091 0000 lds r24,NaviCntAcc 321 0396 9091 0000 lds r25,(NaviCntAcc)+1 322 039a 0196 adiw r24,1 323 039c 9093 0000 sts (NaviCntAcc)+1,r25 324 03a0 8093 0000 sts NaviCntAcc,r24 325 03a4 2091 0000 lds r18,Aktuell_az 326 03a8 3091 0000 lds r19,(Aktuell_az)+1 327 03ac 8091 0000 lds r24,NeutralAccZ 328 03b0 9091 0000 lds r25,(NeutralAccZ)+1 329 03b4 281B sub r18,r24 330 03b6 390B sbc r19,r25 331 03b8 4427 clr r20 332 03ba 37FD sbrc r19,7 333 03bc 4095 com r20 334 03be 542F mov r21,r20 335 03c0 8091 0000 lds r24,IntegralAccZ 336 03c4 9091 0000 lds r25,(IntegralAccZ)+1 337 03c8 A091 0000 lds r26,(IntegralAccZ)+2 338 03cc B091 0000 lds r27,(IntegralAccZ)+3 339 03d0 820F add r24,r18 340 03d2 931F adc r25,r19 341 03d4 A41F adc r26,r20 342 03d6 B51F adc r27,r21 343 03d8 8093 0000 sts IntegralAccZ,r24 344 03dc 9093 0000 sts (IntegralAccZ)+1,r25 345 03e0 A093 0000 sts (IntegralAccZ)+2,r26 346 03e4 B093 0000 sts (IntegralAccZ)+3,r27 347 03e8 8FEC ldi r24,lo8(-49) 348 03ea 8093 7A00 sts 122,r24 349 03ee 1092 0000 sts AdReady,__zero_reg__ 350 03f2 8091 0000 lds r24,Mess_IntegralRoll 351 03f6 9091 0000 lds r25,(Mess_IntegralRoll)+1 352 03fa A091 0000 lds r26,(Mess_IntegralRoll)+2 353 03fe B091 0000 lds r27,(Mess_IntegralRoll)+3 354 0402 8A8B std Y+18,r24 355 0404 9B8B std Y+19,r25 356 0406 AC8B std Y+20,r26 357 0408 BD8B std Y+21,r27 358 040a 2091 0000 lds r18,Mess_IntegralNick 359 040e 3091 0000 lds r19,(Mess_IntegralNick)+1 360 0412 4091 0000 lds r20,(Mess_IntegralNick)+2 361 0416 5091 0000 lds r21,(Mess_IntegralNick)+3 362 041a 2E87 std Y+14,r18 363 041c 3F87 std Y+15,r19 364 041e 488B std Y+16,r20 365 0420 598B std Y+17,r21 366 0422 4A8D ldd r20,Y+26 367 0424 5B8D ldd r21,Y+27 368 0426 6627 clr r22 369 0428 57FD sbrc r21,7 370 042a 6095 com r22 371 042c 762F mov r23,r22 372 042e 4A87 std Y+10,r20 373 0430 5B87 std Y+11,r21 374 0432 6C87 std Y+12,r22 375 0434 7D87 std Y+13,r23 376 0436 2090 0000 lds r2,Mess_Integral_Gier 377 043a 3090 0000 lds r3,(Mess_Integral_Gier)+1 378 043e 4090 0000 lds r4,(Mess_Integral_Gier)+2 379 0442 5090 0000 lds r5,(Mess_Integral_Gier)+3 380 0446 240E add r2,r20 381 0448 351E adc r3,r21 382 044a 461E adc r4,r22 383 044c 571E adc r5,r23 384 044e 2092 0000 sts Mess_Integral_Gier,r2 385 0452 3092 0000 sts (Mess_Integral_Gier)+1,r3 386 0456 4092 0000 sts (Mess_Integral_Gier)+2,r4 387 045a 5092 0000 sts (Mess_Integral_Gier)+3,r5 388 045e 6090 0000 lds r6,ErsatzKompass 389 0462 7090 0000 lds r7,(ErsatzKompass)+1 390 0466 8090 0000 lds r8,(ErsatzKompass)+2 391 046a 9090 0000 lds r9,(ErsatzKompass)+3 392 046e 640E add r6,r20 393 0470 751E adc r7,r21 394 0472 861E adc r8,r22 395 0474 971E adc r9,r23 396 0476 6092 0000 sts ErsatzKompass,r6 397 047a 7092 0000 sts (ErsatzKompass)+1,r7 398 047e 8092 0000 sts (ErsatzKompass)+2,r8 399 0482 9092 0000 sts (ErsatzKompass)+3,r9 400 0486 5091 0000 lds r21,Looping_Nick 401 048a 5987 std Y+9,r21 402 048c 5523 tst r21 403 048e 01F0 breq .+2 404 0490 00C0 rjmp .L8 405 0492 8091 0000 lds r24,Looping_Roll 406 0496 8823 tst r24 407 0498 01F0 breq .+2 408 049a 00C0 rjmp .L8 409 049c 8091 0000 lds r24,EE_Parameter+13 410 04a0 86FF sbrs r24,6 411 04a2 00C0 rjmp .L8 412 04a4 2A89 ldd r18,Y+18 413 04a6 3B89 ldd r19,Y+19 414 04a8 4C89 ldd r20,Y+20 415 04aa 5D89 ldd r21,Y+21 416 04ac 283B cpi r18,lo8(-93000) 417 04ae 64E9 ldi r22,hi8(-93000) 418 04b0 3607 cpc r19,r22 419 04b2 6EEF ldi r22,hlo8(-93000) 420 04b4 4607 cpc r20,r22 421 04b6 6FEF ldi r22,hhi8(-93000) 422 04b8 5607 cpc r21,r22 423 04ba 04F4 brge .L9 424 04bc 28EB ldi r18,lo8(-93000) 425 04be 34E9 ldi r19,hi8(-93000) 426 04c0 4EEF ldi r20,hlo8(-93000) 427 04c2 5FEF ldi r21,hhi8(-93000) 428 .L9: 429 04c4 2983 std Y+1,r18 430 04c6 3A83 std Y+2,r19 431 04c8 4B83 std Y+3,r20 432 04ca 5C83 std Y+4,r21 433 04cc 2954 subi r18,lo8(93001) 434 04ce 3B46 sbci r19,hi8(93001) 435 04d0 4140 sbci r20,hlo8(93001) 436 04d2 5040 sbci r21,hhi8(93001) 437 04d4 04F0 brlt .L10 438 04d6 88E4 ldi r24,lo8(93000) 439 04d8 9BE6 ldi r25,hi8(93000) 440 04da A1E0 ldi r26,hlo8(93000) 441 04dc B0E0 ldi r27,hhi8(93000) 442 04de 8983 std Y+1,r24 443 04e0 9A83 std Y+2,r25 444 04e2 AB83 std Y+3,r26 445 04e4 BC83 std Y+4,r27 446 .L10: 447 04e6 2E85 ldd r18,Y+14 448 04e8 3F85 ldd r19,Y+15 449 04ea 4889 ldd r20,Y+16 450 04ec 5989 ldd r21,Y+17 451 04ee 283B cpi r18,lo8(-93000) 452 04f0 94E9 ldi r25,hi8(-93000) 453 04f2 3907 cpc r19,r25 454 04f4 9EEF ldi r25,hlo8(-93000) 455 04f6 4907 cpc r20,r25 456 04f8 9FEF ldi r25,hhi8(-93000) 457 04fa 5907 cpc r21,r25 458 04fc 04F4 brge .L11 459 04fe 28EB ldi r18,lo8(-93000) 460 0500 34E9 ldi r19,hi8(-93000) 461 0502 4EEF ldi r20,hlo8(-93000) 462 0504 5FEF ldi r21,hhi8(-93000) 463 .L11: 464 0506 2D83 std Y+5,r18 465 0508 3E83 std Y+6,r19 466 050a 4F83 std Y+7,r20 467 050c 5887 std Y+8,r21 468 050e 2954 subi r18,lo8(93001) 469 0510 3B46 sbci r19,hi8(93001) 470 0512 4140 sbci r20,hlo8(93001) 471 0514 5040 sbci r21,hhi8(93001) 472 0516 04F0 brlt .L12 473 0518 28E4 ldi r18,lo8(93000) 474 051a 3BE6 ldi r19,hi8(93000) 475 051c 41E0 ldi r20,hlo8(93000) 476 051e 50E0 ldi r21,hhi8(93000) 477 0520 2D83 std Y+5,r18 478 0522 3E83 std Y+6,r19 479 0524 4F83 std Y+7,r20 480 0526 5887 std Y+8,r21 481 .L12: 482 0528 A090 0000 lds r10,Parameter_AchsKopplung2 483 052c BB24 clr r11 484 052e CC24 clr r12 485 0530 DD24 clr r13 486 0532 688D ldd r22,Y+24 487 0534 798D ldd r23,Y+25 488 0536 9B01 movw r18,r22 489 0538 4427 clr r20 490 053a 37FD sbrc r19,7 491 053c 4095 com r20 492 053e 542F mov r21,r20 493 0540 6D81 ldd r22,Y+5 494 0542 7E81 ldd r23,Y+6 495 0544 8F81 ldd r24,Y+7 496 0546 9885 ldd r25,Y+8 497 0548 0E94 0000 call __mulsi3 498 054c 20E0 ldi r18,lo8(2048) 499 054e 38E0 ldi r19,hi8(2048) 500 0550 40E0 ldi r20,hlo8(2048) 501 0552 50E0 ldi r21,hhi8(2048) 502 0554 0E94 0000 call __divmodsi4 503 0558 CA01 movw r24,r20 504 055a B901 movw r22,r18 505 055c A601 movw r20,r12 506 055e 9501 movw r18,r10 507 0560 0E94 0000 call __mulsi3 508 0564 20E0 ldi r18,lo8(4096) 509 0566 30E1 ldi r19,hi8(4096) 510 0568 40E0 ldi r20,hlo8(4096) 511 056a 50E0 ldi r21,hhi8(4096) 512 056c 0E94 0000 call __divmodsi4 513 0570 7901 movw r14,r18 514 0572 8A01 movw r16,r20 515 0574 E092 0000 sts tmpl3.2602,r14 516 0578 F092 0000 sts (tmpl3.2602)+1,r15 517 057c 0093 0000 sts (tmpl3.2602)+2,r16 518 0580 1093 0000 sts (tmpl3.2602)+3,r17 519 0584 8E89 ldd r24,Y+22 520 0586 9F89 ldd r25,Y+23 521 0588 9C01 movw r18,r24 522 058a 4427 clr r20 523 058c 37FD sbrc r19,7 524 058e 4095 com r20 525 0590 542F mov r21,r20 526 0592 6981 ldd r22,Y+1 527 0594 7A81 ldd r23,Y+2 528 0596 8B81 ldd r24,Y+3 529 0598 9C81 ldd r25,Y+4 530 059a 0E94 0000 call __mulsi3 531 059e 20E0 ldi r18,lo8(2048) 532 05a0 38E0 ldi r19,hi8(2048) 533 05a2 40E0 ldi r20,hlo8(2048) 534 05a4 50E0 ldi r21,hhi8(2048) 535 05a6 0E94 0000 call __divmodsi4 536 05aa CA01 movw r24,r20 537 05ac B901 movw r22,r18 538 05ae A601 movw r20,r12 539 05b0 9501 movw r18,r10 540 05b2 0E94 0000 call __mulsi3 541 05b6 20E0 ldi r18,lo8(4096) 542 05b8 30E1 ldi r19,hi8(4096) 543 05ba 40E0 ldi r20,hlo8(4096) 544 05bc 50E0 ldi r21,hhi8(4096) 545 05be 0E94 0000 call __divmodsi4 546 05c2 C901 movw r24,r18 547 05c4 DA01 movw r26,r20 548 05c6 F092 0000 sts (KopplungsteilNickRoll)+1,r15 549 05ca E092 0000 sts KopplungsteilNickRoll,r14 550 05ce 3093 0000 sts (KopplungsteilRollNick)+1,r19 551 05d2 2093 0000 sts KopplungsteilRollNick,r18 552 05d6 9C01 movw r18,r24 553 05d8 AD01 movw r20,r26 554 05da 2E19 sub r18,r14 555 05dc 3F09 sbc r19,r15 556 05de 400B sbc r20,r16 557 05e0 510B sbc r21,r17 558 05e2 7901 movw r14,r18 559 05e4 8A01 movw r16,r20 560 05e6 2093 0000 sts tmpl4.2603,r18 561 05ea 3093 0000 sts (tmpl4.2603)+1,r19 562 05ee 4093 0000 sts (tmpl4.2603)+2,r20 563 05f2 5093 0000 sts (tmpl4.2603)+3,r21 564 05f6 620E add r6,r18 565 05f8 731E adc r7,r19 566 05fa 841E adc r8,r20 567 05fc 951E adc r9,r21 568 05fe 6092 0000 sts ErsatzKompass,r6 569 0602 7092 0000 sts (ErsatzKompass)+1,r7 570 0606 8092 0000 sts (ErsatzKompass)+2,r8 571 060a 9092 0000 sts (ErsatzKompass)+3,r9 572 060e 8091 0000 lds r24,Parameter_CouplingYawCorrection 573 0612 8823 tst r24 574 0614 01F4 brne .L13 575 0616 CA01 movw r24,r20 576 0618 B901 movw r22,r18 577 061a 22E0 ldi r18,lo8(2) 578 061c 30E0 ldi r19,hi8(2) 579 061e 40E0 ldi r20,hlo8(2) 580 0620 50E0 ldi r21,hhi8(2) 581 0622 0E94 0000 call __divmodsi4 582 0626 221A sub r2,r18 583 0628 330A sbc r3,r19 584 062a 440A sbc r4,r20 585 062c 550A sbc r5,r21 586 062e 2092 0000 sts Mess_Integral_Gier,r2 587 0632 3092 0000 sts (Mess_Integral_Gier)+1,r3 588 0636 4092 0000 sts (Mess_Integral_Gier)+2,r4 589 063a 5092 0000 sts (Mess_Integral_Gier)+3,r5 590 .L13: 591 063e AA84 ldd r10,Y+10 592 0640 BB84 ldd r11,Y+11 593 0642 CC84 ldd r12,Y+12 594 0644 DD84 ldd r13,Y+13 595 0646 AE0C add r10,r14 596 0648 BF1C adc r11,r15 597 064a C01E adc r12,r16 598 064c D11E adc r13,r17 599 064e E090 0000 lds r14,Parameter_AchsKopplung1 600 0652 FF24 clr r15 601 0654 00E0 ldi r16,lo8(0) 602 0656 10E0 ldi r17,hi8(0) 603 0658 C601 movw r24,r12 604 065a B501 movw r22,r10 605 065c 2D81 ldd r18,Y+5 606 065e 3E81 ldd r19,Y+6 607 0660 4F81 ldd r20,Y+7 608 0662 5885 ldd r21,Y+8 609 0664 0E94 0000 call __mulsi3 610 0668 20E0 ldi r18,lo8(2048) 611 066a 38E0 ldi r19,hi8(2048) 612 066c 40E0 ldi r20,hlo8(2048) 613 066e 50E0 ldi r21,hhi8(2048) 614 0670 0E94 0000 call __divmodsi4 615 0674 CA01 movw r24,r20 616 0676 B901 movw r22,r18 617 0678 A801 movw r20,r16 618 067a 9701 movw r18,r14 619 067c 0E94 0000 call __mulsi3 620 0680 20E0 ldi r18,lo8(4096) 621 0682 30E1 ldi r19,hi8(4096) 622 0684 40E0 ldi r20,hlo8(4096) 623 0686 50E0 ldi r21,hhi8(4096) 624 0688 0E94 0000 call __divmodsi4 625 068c 922E mov r9,r18 626 068e 832E mov r8,r19 627 0690 742E mov r7,r20 628 0692 652E mov r6,r21 629 0694 2093 0000 sts tmpl.2600,r18 630 0698 3093 0000 sts tmpl.2600+1,r19 631 069c 4093 0000 sts tmpl.2600+2,r20 632 06a0 5093 0000 sts tmpl.2600+3,r21 633 06a4 C601 movw r24,r12 634 06a6 B501 movw r22,r10 635 06a8 2981 ldd r18,Y+1 636 06aa 3A81 ldd r19,Y+2 637 06ac 4B81 ldd r20,Y+3 638 06ae 5C81 ldd r21,Y+4 639 06b0 0E94 0000 call __mulsi3 640 06b4 20E0 ldi r18,lo8(2048) 641 06b6 38E0 ldi r19,hi8(2048) 642 06b8 40E0 ldi r20,hlo8(2048) 643 06ba 50E0 ldi r21,hhi8(2048) 644 06bc 0E94 0000 call __divmodsi4 645 06c0 CA01 movw r24,r20 646 06c2 B901 movw r22,r18 647 06c4 A801 movw r20,r16 648 06c6 9701 movw r18,r14 649 06c8 0E94 0000 call __mulsi3 650 06cc 20E0 ldi r18,lo8(4096) 651 06ce 30E1 ldi r19,hi8(4096) 652 06d0 40E0 ldi r20,hlo8(4096) 653 06d2 50E0 ldi r21,hhi8(4096) 654 06d4 0E94 0000 call __divmodsi4 655 06d8 B901 movw r22,r18 656 06da FA01 movw r30,r20 657 06dc 2093 0000 sts tmpl2.2601,r18 658 06e0 7093 0000 sts tmpl2.2601+1,r23 659 06e4 4093 0000 sts tmpl2.2601+2,r20 660 06e8 F093 0000 sts tmpl2.2601+3,r31 661 06ec 8A8D ldd r24,Y+26 662 06ee 9B8D ldd r25,Y+27 663 06f0 97FF sbrs r25,7 664 06f2 00C0 rjmp .L15 665 06f4 9095 com r25 666 06f6 8195 neg r24 667 06f8 9F4F sbci r25,lo8(-1) 668 .L15: 669 06fa 8134 cpi r24,65 670 06fc 9105 cpc r25,__zero_reg__ 671 06fe 04F4 brge .+2 672 0700 00C0 rjmp .L14 673 0702 292D mov r18,r9 674 0704 382D mov r19,r8 675 0706 472D mov r20,r7 676 0708 562D mov r21,r6 677 070a C901 movw r24,r18 678 070c DA01 movw r26,r20 679 070e B7FF sbrs r27,7 680 0710 00C0 rjmp .L17 681 0712 B095 com r27 682 0714 A095 com r26 683 0716 9095 com r25 684 0718 8195 neg r24 685 071a 9F4F sbci r25,lo8(-1) 686 071c AF4F sbci r26,lo8(-1) 687 071e BF4F sbci r27,lo8(-1) 688 .L17: 689 0720 8138 cpi r24,lo8(129) 690 0722 9105 cpc r25,__zero_reg__ 691 0724 A105 cpc r26,__zero_reg__ 692 0726 B105 cpc r27,__zero_reg__ 693 0728 04F4 brge .L16 694 072a CB01 movw r24,r22 695 072c DF01 movw r26,r30 696 072e B7FF sbrs r27,7 697 0730 00C0 rjmp .L18 698 0732 B095 com r27 699 0734 A095 com r26 700 0736 9095 com r25 701 0738 8195 neg r24 702 073a 9F4F sbci r25,lo8(-1) 703 073c AF4F sbci r26,lo8(-1) 704 073e BF4F sbci r27,lo8(-1) 705 .L18: 706 0740 8138 cpi r24,lo8(129) 707 0742 9105 cpc r25,__zero_reg__ 708 0744 A105 cpc r26,__zero_reg__ 709 0746 B105 cpc r27,__zero_reg__ 710 0748 04F0 brlt .L14 711 .L16: 712 074a 81E0 ldi r24,lo8(1) 713 074c 8093 0000 sts TrichterFlug,r24 714 0750 00C0 rjmp .L14 715 .L8: 716 0752 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 717 0756 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 718 075a 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 719 075e 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 720 0762 1092 0000 sts tmpl2.2601,__zero_reg__ 721 0766 1092 0000 sts (tmpl2.2601)+1,__zero_reg__ 722 076a 1092 0000 sts (tmpl2.2601)+2,__zero_reg__ 723 076e 1092 0000 sts (tmpl2.2601)+3,__zero_reg__ 724 0772 1092 0000 sts tmpl.2600,__zero_reg__ 725 0776 1092 0000 sts (tmpl.2600)+1,__zero_reg__ 726 077a 1092 0000 sts (tmpl.2600)+2,__zero_reg__ 727 077e 1092 0000 sts (tmpl.2600)+3,__zero_reg__ 728 .L14: 729 0782 E090 0000 lds r14,tmpl.2600 730 0786 F090 0000 lds r15,(tmpl.2600)+1 731 078a 0091 0000 lds r16,(tmpl.2600)+2 732 078e 1091 0000 lds r17,(tmpl.2600)+3 733 0792 A090 0000 lds r10,tmpl2.2601 734 0796 B090 0000 lds r11,(tmpl2.2601)+1 735 079a C090 0000 lds r12,(tmpl2.2601)+2 736 079e D090 0000 lds r13,(tmpl2.2601)+3 737 07a2 C601 movw r24,r12 738 07a4 B501 movw r22,r10 739 07a6 2CE9 ldi r18,lo8(-100) 740 07a8 3FEF ldi r19,hi8(-100) 741 07aa 4FEF ldi r20,hlo8(-100) 742 07ac 5FEF ldi r21,hhi8(-100) 743 07ae 0E94 0000 call __divmodsi4 744 07b2 2901 movw r4,r18 745 07b4 4E0C add r4,r14 746 07b6 5F1C adc r5,r15 747 07b8 5092 0000 sts (TrimRoll)+1,r5 748 07bc 4092 0000 sts TrimRoll,r4 749 07c0 C801 movw r24,r16 750 07c2 B701 movw r22,r14 751 07c4 24E6 ldi r18,lo8(100) 752 07c6 30E0 ldi r19,hi8(100) 753 07c8 40E0 ldi r20,hlo8(100) 754 07ca 50E0 ldi r21,hhi8(100) 755 07cc 0E94 0000 call __divmodsi4 756 07d0 1901 movw r2,r18 757 07d2 2A18 sub r2,r10 758 07d4 3B08 sbc r3,r11 759 07d6 3092 0000 sts (TrimNick)+1,r3 760 07da 2092 0000 sts TrimNick,r2 761 07de E090 0000 lds r14,ErsatzKompass 762 07e2 F090 0000 lds r15,(ErsatzKompass)+1 763 07e6 0091 0000 lds r16,(ErsatzKompass)+2 764 07ea 1091 0000 lds r17,(ErsatzKompass)+3 765 07ee A090 0000 lds r10,GIER_GRAD_FAKTOR 766 07f2 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+1 767 07f6 C090 0000 lds r12,(GIER_GRAD_FAKTOR)+2 768 07fa D090 0000 lds r13,(GIER_GRAD_FAKTOR)+3 769 07fe C601 movw r24,r12 770 0800 B501 movw r22,r10 771 0802 28E6 ldi r18,lo8(360) 772 0804 31E0 ldi r19,hi8(360) 773 0806 40E0 ldi r20,hlo8(360) 774 0808 50E0 ldi r21,hhi8(360) 775 080a 0E94 0000 call __mulsi3 776 080e 3B01 movw r6,r22 777 0810 4C01 movw r8,r24 778 0812 E616 cp r14,r22 779 0814 F706 cpc r15,r23 780 0816 0807 cpc r16,r24 781 0818 1907 cpc r17,r25 782 081a 04F0 brlt .L19 783 081c C601 movw r24,r12 784 081e B501 movw r22,r10 785 0820 28E9 ldi r18,lo8(-360) 786 0822 3EEF ldi r19,hi8(-360) 787 0824 4FEF ldi r20,hlo8(-360) 788 0826 5FEF ldi r21,hhi8(-360) 789 0828 0E94 0000 call __mulsi3 790 082c E60E add r14,r22 791 082e F71E adc r15,r23 792 0830 081F adc r16,r24 793 0832 191F adc r17,r25 794 0834 E092 0000 sts ErsatzKompass,r14 795 0838 F092 0000 sts (ErsatzKompass)+1,r15 796 083c 0093 0000 sts (ErsatzKompass)+2,r16 797 0840 1093 0000 sts (ErsatzKompass)+3,r17 798 .L19: 799 0844 8091 0000 lds r24,ErsatzKompass 800 0848 9091 0000 lds r25,(ErsatzKompass)+1 801 084c A091 0000 lds r26,(ErsatzKompass)+2 802 0850 B091 0000 lds r27,(ErsatzKompass)+3 803 0854 B7FF sbrs r27,7 804 0856 00C0 rjmp .L20 805 0858 860D add r24,r6 806 085a 971D adc r25,r7 807 085c A81D adc r26,r8 808 085e B91D adc r27,r9 809 0860 8093 0000 sts ErsatzKompass,r24 810 0864 9093 0000 sts (ErsatzKompass)+1,r25 811 0868 A093 0000 sts (ErsatzKompass)+2,r26 812 086c B093 0000 sts (ErsatzKompass)+3,r27 813 .L20: 814 0870 288D ldd r18,Y+24 815 0872 398D ldd r19,Y+25 816 0874 240D add r18,r4 817 0876 351D adc r19,r5 818 0878 7901 movw r14,r18 819 087a 0027 clr r16 820 087c F7FC sbrc r15,7 821 087e 0095 com r16 822 0880 102F mov r17,r16 823 0882 8091 0000 lds r24,Mess_IntegralRoll2 824 0886 9091 0000 lds r25,(Mess_IntegralRoll2)+1 825 088a A091 0000 lds r26,(Mess_IntegralRoll2)+2 826 088e B091 0000 lds r27,(Mess_IntegralRoll2)+3 827 0892 8E0D add r24,r14 828 0894 9F1D adc r25,r15 829 0896 A01F adc r26,r16 830 0898 B11F adc r27,r17 831 089a 8093 0000 sts Mess_IntegralRoll2,r24 832 089e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 833 08a2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 834 08a6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 835 08aa 8091 0000 lds r24,LageKorrekturRoll 836 08ae 9091 0000 lds r25,(LageKorrekturRoll)+1 837 08b2 281B sub r18,r24 838 08b4 390B sbc r19,r25 839 08b6 4427 clr r20 840 08b8 37FD sbrc r19,7 841 08ba 4095 com r20 842 08bc 542F mov r21,r20 843 08be 6A89 ldd r22,Y+18 844 08c0 7B89 ldd r23,Y+19 845 08c2 8C89 ldd r24,Y+20 846 08c4 9D89 ldd r25,Y+21 847 08c6 260F add r18,r22 848 08c8 371F adc r19,r23 849 08ca 481F adc r20,r24 850 08cc 591F adc r21,r25 851 08ce 2093 0000 sts Mess_IntegralRoll,r18 852 08d2 3093 0000 sts (Mess_IntegralRoll)+1,r19 853 08d6 4093 0000 sts (Mess_IntegralRoll)+2,r20 854 08da 5093 0000 sts (Mess_IntegralRoll)+3,r21 855 08de E090 0000 lds r14,Umschlag180Roll 856 08e2 F090 0000 lds r15,(Umschlag180Roll)+1 857 08e6 0091 0000 lds r16,(Umschlag180Roll)+2 858 08ea 1091 0000 lds r17,(Umschlag180Roll)+3 859 08ee E216 cp r14,r18 860 08f0 F306 cpc r15,r19 861 08f2 0407 cpc r16,r20 862 08f4 1507 cpc r17,r21 863 08f6 04F4 brge .L21 864 08f8 88EA ldi r24,lo8(25000) 865 08fa 91E6 ldi r25,hi8(25000) 866 08fc A0E0 ldi r26,hlo8(25000) 867 08fe B0E0 ldi r27,hhi8(25000) 868 0900 8E19 sub r24,r14 869 0902 9F09 sbc r25,r15 870 0904 A00B sbc r26,r16 871 0906 B10B sbc r27,r17 872 0908 8093 0000 sts Mess_IntegralRoll,r24 873 090c 9093 0000 sts (Mess_IntegralRoll)+1,r25 874 0910 A093 0000 sts (Mess_IntegralRoll)+2,r26 875 0914 B093 0000 sts (Mess_IntegralRoll)+3,r27 876 0918 8093 0000 sts Mess_IntegralRoll2,r24 877 091c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 878 0920 A093 0000 sts (Mess_IntegralRoll2)+2,r26 879 0924 B093 0000 sts (Mess_IntegralRoll2)+3,r27 880 .L21: 881 0928 2227 clr r18 882 092a 3327 clr r19 883 092c A901 movw r20,r18 884 092e 2E19 sub r18,r14 885 0930 3F09 sbc r19,r15 886 0932 400B sbc r20,r16 887 0934 510B sbc r21,r17 888 0936 8091 0000 lds r24,Mess_IntegralRoll 889 093a 9091 0000 lds r25,(Mess_IntegralRoll)+1 890 093e A091 0000 lds r26,(Mess_IntegralRoll)+2 891 0942 B091 0000 lds r27,(Mess_IntegralRoll)+3 892 0946 8217 cp r24,r18 893 0948 9307 cpc r25,r19 894 094a A407 cpc r26,r20 895 094c B507 cpc r27,r21 896 094e 04F4 brge .L22 897 0950 D801 movw r26,r16 898 0952 C701 movw r24,r14 899 0954 885A subi r24,lo8(-(-25000)) 900 0956 9146 sbci r25,hi8(-(-25000)) 901 0958 A040 sbci r26,hlo8(-(-25000)) 902 095a B040 sbci r27,hhi8(-(-25000)) 903 095c 8093 0000 sts Mess_IntegralRoll,r24 904 0960 9093 0000 sts (Mess_IntegralRoll)+1,r25 905 0964 A093 0000 sts (Mess_IntegralRoll)+2,r26 906 0968 B093 0000 sts (Mess_IntegralRoll)+3,r27 907 096c 8093 0000 sts Mess_IntegralRoll2,r24 908 0970 9093 0000 sts (Mess_IntegralRoll2)+1,r25 909 0974 A093 0000 sts (Mess_IntegralRoll2)+2,r26 910 0978 B093 0000 sts (Mess_IntegralRoll2)+3,r27 911 .L22: 912 097c 2E89 ldd r18,Y+22 913 097e 3F89 ldd r19,Y+23 914 0980 220D add r18,r2 915 0982 331D adc r19,r3 916 0984 7901 movw r14,r18 917 0986 0027 clr r16 918 0988 F7FC sbrc r15,7 919 098a 0095 com r16 920 098c 102F mov r17,r16 921 098e 8091 0000 lds r24,Mess_IntegralNick2 922 0992 9091 0000 lds r25,(Mess_IntegralNick2)+1 923 0996 A091 0000 lds r26,(Mess_IntegralNick2)+2 924 099a B091 0000 lds r27,(Mess_IntegralNick2)+3 925 099e 8E0D add r24,r14 926 09a0 9F1D adc r25,r15 927 09a2 A01F adc r26,r16 928 09a4 B11F adc r27,r17 929 09a6 8093 0000 sts Mess_IntegralNick2,r24 930 09aa 9093 0000 sts (Mess_IntegralNick2)+1,r25 931 09ae A093 0000 sts (Mess_IntegralNick2)+2,r26 932 09b2 B093 0000 sts (Mess_IntegralNick2)+3,r27 933 09b6 8091 0000 lds r24,LageKorrekturNick 934 09ba 9091 0000 lds r25,(LageKorrekturNick)+1 935 09be 281B sub r18,r24 936 09c0 390B sbc r19,r25 937 09c2 4427 clr r20 938 09c4 37FD sbrc r19,7 939 09c6 4095 com r20 940 09c8 542F mov r21,r20 941 09ca 8E85 ldd r24,Y+14 942 09cc 9F85 ldd r25,Y+15 943 09ce A889 ldd r26,Y+16 944 09d0 B989 ldd r27,Y+17 945 09d2 280F add r18,r24 946 09d4 391F adc r19,r25 947 09d6 4A1F adc r20,r26 948 09d8 5B1F adc r21,r27 949 09da 2093 0000 sts Mess_IntegralNick,r18 950 09de 3093 0000 sts (Mess_IntegralNick)+1,r19 951 09e2 4093 0000 sts (Mess_IntegralNick)+2,r20 952 09e6 5093 0000 sts (Mess_IntegralNick)+3,r21 953 09ea E090 0000 lds r14,Umschlag180Nick 954 09ee F090 0000 lds r15,(Umschlag180Nick)+1 955 09f2 0091 0000 lds r16,(Umschlag180Nick)+2 956 09f6 1091 0000 lds r17,(Umschlag180Nick)+3 957 09fa E216 cp r14,r18 958 09fc F306 cpc r15,r19 959 09fe 0407 cpc r16,r20 960 0a00 1507 cpc r17,r21 961 0a02 04F4 brge .L23 962 0a04 88EA ldi r24,lo8(25000) 963 0a06 91E6 ldi r25,hi8(25000) 964 0a08 A0E0 ldi r26,hlo8(25000) 965 0a0a B0E0 ldi r27,hhi8(25000) 966 0a0c 8E19 sub r24,r14 967 0a0e 9F09 sbc r25,r15 968 0a10 A00B sbc r26,r16 969 0a12 B10B sbc r27,r17 970 0a14 8093 0000 sts Mess_IntegralNick,r24 971 0a18 9093 0000 sts (Mess_IntegralNick)+1,r25 972 0a1c A093 0000 sts (Mess_IntegralNick)+2,r26 973 0a20 B093 0000 sts (Mess_IntegralNick)+3,r27 974 0a24 8093 0000 sts Mess_IntegralNick2,r24 975 0a28 9093 0000 sts (Mess_IntegralNick2)+1,r25 976 0a2c A093 0000 sts (Mess_IntegralNick2)+2,r26 977 0a30 B093 0000 sts (Mess_IntegralNick2)+3,r27 978 .L23: 979 0a34 2227 clr r18 980 0a36 3327 clr r19 981 0a38 A901 movw r20,r18 982 0a3a 2E19 sub r18,r14 983 0a3c 3F09 sbc r19,r15 984 0a3e 400B sbc r20,r16 985 0a40 510B sbc r21,r17 986 0a42 8091 0000 lds r24,Mess_IntegralNick 987 0a46 9091 0000 lds r25,(Mess_IntegralNick)+1 988 0a4a A091 0000 lds r26,(Mess_IntegralNick)+2 989 0a4e B091 0000 lds r27,(Mess_IntegralNick)+3 990 0a52 8217 cp r24,r18 991 0a54 9307 cpc r25,r19 992 0a56 A407 cpc r26,r20 993 0a58 B507 cpc r27,r21 994 0a5a 04F4 brge .L24 995 0a5c D801 movw r26,r16 996 0a5e C701 movw r24,r14 997 0a60 885A subi r24,lo8(-(-25000)) 998 0a62 9146 sbci r25,hi8(-(-25000)) 999 0a64 A040 sbci r26,hlo8(-(-25000)) 1000 0a66 B040 sbci r27,hhi8(-(-25000)) 1001 0a68 8093 0000 sts Mess_IntegralNick,r24 1002 0a6c 9093 0000 sts (Mess_IntegralNick)+1,r25 1003 0a70 A093 0000 sts (Mess_IntegralNick)+2,r26 1004 0a74 B093 0000 sts (Mess_IntegralNick)+3,r27 1005 0a78 8093 0000 sts Mess_IntegralNick2,r24 1006 0a7c 9093 0000 sts (Mess_IntegralNick2)+1,r25 1007 0a80 A093 0000 sts (Mess_IntegralNick2)+2,r26 1008 0a84 B093 0000 sts (Mess_IntegralNick2)+3,r27 1009 .L24: 1010 0a88 8091 0000 lds r24,Mess_Integral_Gier 1011 0a8c 9091 0000 lds r25,(Mess_Integral_Gier)+1 1012 0a90 A091 0000 lds r26,(Mess_Integral_Gier)+2 1013 0a94 B091 0000 lds r27,(Mess_Integral_Gier)+3 1014 0a98 8093 0000 sts Integral_Gier,r24 1015 0a9c 9093 0000 sts (Integral_Gier)+1,r25 1016 0aa0 A093 0000 sts (Integral_Gier)+2,r26 1017 0aa4 B093 0000 sts (Integral_Gier)+3,r27 1018 0aa8 8091 0000 lds r24,Mess_IntegralNick 1019 0aac 9091 0000 lds r25,(Mess_IntegralNick)+1 1020 0ab0 A091 0000 lds r26,(Mess_IntegralNick)+2 1021 0ab4 B091 0000 lds r27,(Mess_IntegralNick)+3 1022 0ab8 8093 0000 sts IntegralNick,r24 1023 0abc 9093 0000 sts (IntegralNick)+1,r25 1024 0ac0 A093 0000 sts (IntegralNick)+2,r26 1025 0ac4 B093 0000 sts (IntegralNick)+3,r27 1026 0ac8 8091 0000 lds r24,Mess_IntegralRoll 1027 0acc 9091 0000 lds r25,(Mess_IntegralRoll)+1 1028 0ad0 A091 0000 lds r26,(Mess_IntegralRoll)+2 1029 0ad4 B091 0000 lds r27,(Mess_IntegralRoll)+3 1030 0ad8 8093 0000 sts IntegralRoll,r24 1031 0adc 9093 0000 sts (IntegralRoll)+1,r25 1032 0ae0 A093 0000 sts (IntegralRoll)+2,r26 1033 0ae4 B093 0000 sts (IntegralRoll)+3,r27 1034 0ae8 8091 0000 lds r24,Mess_IntegralNick2 1035 0aec 9091 0000 lds r25,(Mess_IntegralNick2)+1 1036 0af0 A091 0000 lds r26,(Mess_IntegralNick2)+2 1037 0af4 B091 0000 lds r27,(Mess_IntegralNick2)+3 1038 0af8 8093 0000 sts IntegralNick2,r24 1039 0afc 9093 0000 sts (IntegralNick2)+1,r25 1040 0b00 A093 0000 sts (IntegralNick2)+2,r26 1041 0b04 B093 0000 sts (IntegralNick2)+3,r27 1042 0b08 8091 0000 lds r24,Mess_IntegralRoll2 1043 0b0c 9091 0000 lds r25,(Mess_IntegralRoll2)+1 1044 0b10 A091 0000 lds r26,(Mess_IntegralRoll2)+2 1045 0b14 B091 0000 lds r27,(Mess_IntegralRoll2)+3 1046 0b18 8093 0000 sts IntegralRoll2,r24 1047 0b1c 9093 0000 sts (IntegralRoll2)+1,r25 1048 0b20 A093 0000 sts (IntegralRoll2)+2,r26 1049 0b24 B093 0000 sts (IntegralRoll2)+3,r27 1050 0b28 8091 0000 lds r24,HiResNick 1051 0b2c 9091 0000 lds r25,(HiResNick)+1 1052 0b30 68E0 ldi r22,lo8(8) 1053 0b32 70E0 ldi r23,hi8(8) 1054 0b34 0E94 0000 call __divmodhi4 1055 0b38 7093 0000 sts (MesswertNick)+1,r23 1056 0b3c 6093 0000 sts MesswertNick,r22 1057 0b40 8091 0000 lds r24,HiResRoll 1058 0b44 9091 0000 lds r25,(HiResRoll)+1 1059 0b48 68E0 ldi r22,lo8(8) 1060 0b4a 70E0 ldi r23,hi8(8) 1061 0b4c 0E94 0000 call __divmodhi4 1062 0b50 7093 0000 sts (MesswertRoll)+1,r23 1063 0b54 6093 0000 sts MesswertRoll,r22 1064 0b58 8091 0000 lds r24,AdWertNick 1065 0b5c 9091 0000 lds r25,(AdWertNick)+1 1066 0b60 0F97 sbiw r24,15 1067 0b62 04F4 brge .L25 1068 0b64 88E1 ldi r24,lo8(-1000) 1069 0b66 9CEF ldi r25,hi8(-1000) 1070 0b68 9093 0000 sts (MesswertNick)+1,r25 1071 0b6c 8093 0000 sts MesswertNick,r24 1072 .L25: 1073 0b70 8091 0000 lds r24,AdWertNick 1074 0b74 9091 0000 lds r25,(AdWertNick)+1 1075 0b78 0797 sbiw r24,7 1076 0b7a 04F4 brge .L26 1077 0b7c 80E3 ldi r24,lo8(-2000) 1078 0b7e 98EF ldi r25,hi8(-2000) 1079 0b80 9093 0000 sts (MesswertNick)+1,r25 1080 0b84 8093 0000 sts MesswertNick,r24 1081 .L26: 1082 0b88 2091 0000 lds r18,PlatinenVersion 1083 0b8c 2A30 cpi r18,lo8(10) 1084 0b8e 01F4 brne .L27 1085 0b90 8091 0000 lds r24,AdWertNick 1086 0b94 9091 0000 lds r25,(AdWertNick)+1 1087 0b98 835F subi r24,lo8(1011) 1088 0b9a 9340 sbci r25,hi8(1011) 1089 0b9c 04F0 brlt .L28 1090 0b9e 88EE ldi r24,lo8(1000) 1091 0ba0 93E0 ldi r25,hi8(1000) 1092 0ba2 9093 0000 sts (MesswertNick)+1,r25 1093 0ba6 8093 0000 sts MesswertNick,r24 1094 .L28: 1095 0baa 8091 0000 lds r24,AdWertNick 1096 0bae 9091 0000 lds r25,(AdWertNick)+1 1097 0bb2 8A5F subi r24,lo8(1018) 1098 0bb4 9340 sbci r25,hi8(1018) 1099 0bb6 04F0 brlt .L29 1100 0bb8 00C0 rjmp .L62 1101 .L27: 1102 0bba 8091 0000 lds r24,AdWertNick 1103 0bbe 9091 0000 lds r25,(AdWertNick)+1 1104 0bc2 815D subi r24,lo8(2001) 1105 0bc4 9740 sbci r25,hi8(2001) 1106 0bc6 04F0 brlt .L30 1107 0bc8 88EE ldi r24,lo8(1000) 1108 0bca 93E0 ldi r25,hi8(1000) 1109 0bcc 9093 0000 sts (MesswertNick)+1,r25 1110 0bd0 8093 0000 sts MesswertNick,r24 1111 .L30: 1112 0bd4 8091 0000 lds r24,AdWertNick 1113 0bd8 9091 0000 lds r25,(AdWertNick)+1 1114 0bdc 805E subi r24,lo8(2016) 1115 0bde 9740 sbci r25,hi8(2016) 1116 0be0 04F0 brlt .L29 1117 .L62: 1118 0be2 80ED ldi r24,lo8(2000) 1119 0be4 97E0 ldi r25,hi8(2000) 1120 0be6 9093 0000 sts (MesswertNick)+1,r25 1121 0bea 8093 0000 sts MesswertNick,r24 1122 .L29: 1123 0bee 8091 0000 lds r24,AdWertRoll 1124 0bf2 9091 0000 lds r25,(AdWertRoll)+1 1125 0bf6 0F97 sbiw r24,15 1126 0bf8 04F4 brge .L31 1127 0bfa 88E1 ldi r24,lo8(-1000) 1128 0bfc 9CEF ldi r25,hi8(-1000) 1129 0bfe 9093 0000 sts (MesswertRoll)+1,r25 1130 0c02 8093 0000 sts MesswertRoll,r24 1131 .L31: 1132 0c06 8091 0000 lds r24,AdWertRoll 1133 0c0a 9091 0000 lds r25,(AdWertRoll)+1 1134 0c0e 0797 sbiw r24,7 1135 0c10 04F4 brge .L32 1136 0c12 80E3 ldi r24,lo8(-2000) 1137 0c14 98EF ldi r25,hi8(-2000) 1138 0c16 9093 0000 sts (MesswertRoll)+1,r25 1139 0c1a 8093 0000 sts MesswertRoll,r24 1140 .L32: 1141 0c1e 2A30 cpi r18,lo8(10) 1142 0c20 01F4 brne .L33 1143 0c22 8091 0000 lds r24,AdWertRoll 1144 0c26 9091 0000 lds r25,(AdWertRoll)+1 1145 0c2a 835F subi r24,lo8(1011) 1146 0c2c 9340 sbci r25,hi8(1011) 1147 0c2e 04F0 brlt .L34 1148 0c30 88EE ldi r24,lo8(1000) 1149 0c32 93E0 ldi r25,hi8(1000) 1150 0c34 9093 0000 sts (MesswertRoll)+1,r25 1151 0c38 8093 0000 sts MesswertRoll,r24 1152 .L34: 1153 0c3c 8091 0000 lds r24,AdWertRoll 1154 0c40 9091 0000 lds r25,(AdWertRoll)+1 1155 0c44 8A5F subi r24,lo8(1018) 1156 0c46 9340 sbci r25,hi8(1018) 1157 0c48 04F0 brlt .L35 1158 0c4a 00C0 rjmp .L63 1159 .L33: 1160 0c4c 8091 0000 lds r24,AdWertRoll 1161 0c50 9091 0000 lds r25,(AdWertRoll)+1 1162 0c54 815D subi r24,lo8(2001) 1163 0c56 9740 sbci r25,hi8(2001) 1164 0c58 04F0 brlt .L36 1165 0c5a 88EE ldi r24,lo8(1000) 1166 0c5c 93E0 ldi r25,hi8(1000) 1167 0c5e 9093 0000 sts (MesswertRoll)+1,r25 1168 0c62 8093 0000 sts MesswertRoll,r24 1169 .L36: 1170 0c66 8091 0000 lds r24,AdWertRoll 1171 0c6a 9091 0000 lds r25,(AdWertRoll)+1 1172 0c6e 805E subi r24,lo8(2016) 1173 0c70 9740 sbci r25,hi8(2016) 1174 0c72 04F0 brlt .L35 1175 .L63: 1176 0c74 80ED ldi r24,lo8(2000) 1177 0c76 97E0 ldi r25,hi8(2000) 1178 0c78 9093 0000 sts (MesswertRoll)+1,r25 1179 0c7c 8093 0000 sts MesswertRoll,r24 1180 .L35: 1181 0c80 4091 0000 lds r20,Parameter_Gyro_D 1182 0c84 4423 tst r20 1183 0c86 01F4 brne .+2 1184 0c88 00C0 rjmp .L37 1185 0c8a E091 0000 lds r30,HiResNick 1186 0c8e F091 0000 lds r31,(HiResNick)+1 1187 0c92 2091 0000 lds r18,oldNick.2604 1188 0c96 3091 0000 lds r19,(oldNick.2604)+1 1189 0c9a E21B sub r30,r18 1190 0c9c F30B sbc r31,r19 1191 0c9e F093 0000 sts (d2Nick.2607)+1,r31 1192 0ca2 E093 0000 sts d2Nick.2607,r30 1193 0ca6 8091 0000 lds r24,HiResNick 1194 0caa 9091 0000 lds r25,(HiResNick)+1 1195 0cae 820F add r24,r18 1196 0cb0 931F adc r25,r19 1197 0cb2 62E0 ldi r22,lo8(2) 1198 0cb4 70E0 ldi r23,hi8(2) 1199 0cb6 0E94 0000 call __divmodhi4 1200 0cba 7093 0000 sts (oldNick.2604)+1,r23 1201 0cbe 6093 0000 sts oldNick.2604,r22 1202 0cc2 E138 cpi r30,129 1203 0cc4 F105 cpc r31,__zero_reg__ 1204 0cc6 04F0 brlt .L38 1205 0cc8 80E8 ldi r24,lo8(128) 1206 0cca 90E0 ldi r25,hi8(128) 1207 0ccc 00C0 rjmp .L64 1208 .L38: 1209 0cce E058 subi r30,lo8(-128) 1210 0cd0 FF4F sbci r31,hi8(-128) 1211 0cd2 04F4 brge .L39 1212 0cd4 80E8 ldi r24,lo8(-128) 1213 0cd6 9FEF ldi r25,hi8(-128) 1214 .L64: 1215 0cd8 9093 0000 sts (d2Nick.2607)+1,r25 1216 0cdc 8093 0000 sts d2Nick.2607,r24 1217 .L39: 1218 0ce0 042F mov r16,r20 1219 0ce2 10E0 ldi r17,lo8(0) 1220 0ce4 8091 0000 lds r24,d2Nick.2607 1221 0ce8 9091 0000 lds r25,(d2Nick.2607)+1 1222 0cec 089F mul r16,r24 1223 0cee 7001 movw r14,r0 1224 0cf0 099F mul r16,r25 1225 0cf2 F00C add r15,r0 1226 0cf4 189F mul r17,r24 1227 0cf6 F00C add r15,r0 1228 0cf8 1124 clr r1 1229 0cfa C701 movw r24,r14 1230 0cfc 60E1 ldi r22,lo8(16) 1231 0cfe 70E0 ldi r23,hi8(16) 1232 0d00 0E94 0000 call __divmodhi4 1233 0d04 8091 0000 lds r24,MesswertNick 1234 0d08 9091 0000 lds r25,(MesswertNick)+1 1235 0d0c 860F add r24,r22 1236 0d0e 971F adc r25,r23 1237 0d10 9093 0000 sts (MesswertNick)+1,r25 1238 0d14 8093 0000 sts MesswertNick,r24 1239 0d18 E091 0000 lds r30,HiResRoll 1240 0d1c F091 0000 lds r31,(HiResRoll)+1 1241 0d20 2091 0000 lds r18,oldRoll.2605 1242 0d24 3091 0000 lds r19,(oldRoll.2605)+1 1243 0d28 E21B sub r30,r18 1244 0d2a F30B sbc r31,r19 1245 0d2c F093 0000 sts (d2Roll.2606)+1,r31 1246 0d30 E093 0000 sts d2Roll.2606,r30 1247 0d34 8091 0000 lds r24,HiResRoll 1248 0d38 9091 0000 lds r25,(HiResRoll)+1 1249 0d3c 820F add r24,r18 1250 0d3e 931F adc r25,r19 1251 0d40 62E0 ldi r22,lo8(2) 1252 0d42 70E0 ldi r23,hi8(2) 1253 0d44 0E94 0000 call __divmodhi4 1254 0d48 7093 0000 sts (oldRoll.2605)+1,r23 1255 0d4c 6093 0000 sts oldRoll.2605,r22 1256 0d50 E138 cpi r30,129 1257 0d52 F105 cpc r31,__zero_reg__ 1258 0d54 04F0 brlt .L40 1259 0d56 80E8 ldi r24,lo8(128) 1260 0d58 90E0 ldi r25,hi8(128) 1261 0d5a 00C0 rjmp .L65 1262 .L40: 1263 0d5c E058 subi r30,lo8(-128) 1264 0d5e FF4F sbci r31,hi8(-128) 1265 0d60 04F4 brge .L41 1266 0d62 80E8 ldi r24,lo8(-128) 1267 0d64 9FEF ldi r25,hi8(-128) 1268 .L65: 1269 0d66 9093 0000 sts (d2Roll.2606)+1,r25 1270 0d6a 8093 0000 sts d2Roll.2606,r24 1271 .L41: 1272 0d6e 8091 0000 lds r24,d2Roll.2606 1273 0d72 9091 0000 lds r25,(d2Roll.2606)+1 1274 0d76 089F mul r16,r24 1275 0d78 9001 movw r18,r0 1276 0d7a 099F mul r16,r25 1277 0d7c 300D add r19,r0 1278 0d7e 189F mul r17,r24 1279 0d80 300D add r19,r0 1280 0d82 1124 clr r1 1281 0d84 C901 movw r24,r18 1282 0d86 60E1 ldi r22,lo8(16) 1283 0d88 70E0 ldi r23,hi8(16) 1284 0d8a 0E94 0000 call __divmodhi4 1285 0d8e 8091 0000 lds r24,MesswertRoll 1286 0d92 9091 0000 lds r25,(MesswertRoll)+1 1287 0d96 860F add r24,r22 1288 0d98 971F adc r25,r23 1289 0d9a 9093 0000 sts (MesswertRoll)+1,r25 1290 0d9e 8093 0000 sts MesswertRoll,r24 1291 0da2 8091 0000 lds r24,HiResNick 1292 0da6 9091 0000 lds r25,(HiResNick)+1 1293 0daa E80E add r14,r24 1294 0dac F91E adc r15,r25 1295 0dae F092 0000 sts (HiResNick)+1,r15 1296 0db2 E092 0000 sts HiResNick,r14 1297 0db6 8091 0000 lds r24,HiResRoll 1298 0dba 9091 0000 lds r25,(HiResRoll)+1 1299 0dbe 280F add r18,r24 1300 0dc0 391F adc r19,r25 1301 0dc2 3093 0000 sts (HiResRoll)+1,r19 1302 0dc6 2093 0000 sts HiResRoll,r18 1303 .L37: 1304 0dca 2091 0000 lds r18,KopplungsteilNickRoll 1305 0dce 3091 0000 lds r19,KopplungsteilNickRoll+1 1306 0dd2 888D ldd r24,Y+24 1307 0dd4 998D ldd r25,Y+25 1308 0dd6 1816 cp __zero_reg__,r24 1309 0dd8 1906 cpc __zero_reg__,r25 1310 0dda 04F4 brge .L42 1311 0ddc C901 movw r24,r18 1312 0dde 9C01 movw r18,r24 1313 0de0 97FF sbrs r25,7 1314 0de2 00C0 rjmp .L43 1315 0de4 3095 com r19 1316 0de6 2195 neg r18 1317 0de8 3F4F sbci r19,lo8(-1) 1318 .L43: 1319 0dea B901 movw r22,r18 1320 0dec 8827 clr r24 1321 0dee 77FD sbrc r23,7 1322 0df0 8095 com r24 1323 0df2 982F mov r25,r24 1324 0df4 2091 0000 lds r18,Parameter_CouplingYawCorrection 1325 0df8 30E0 ldi r19,lo8(0) 1326 0dfa 40E0 ldi r20,lo8(0) 1327 0dfc 50E0 ldi r21,hi8(0) 1328 0dfe 0E94 0000 call __mulsi3 1329 0e02 20E4 ldi r18,lo8(64) 1330 0e04 30E0 ldi r19,hi8(64) 1331 0e06 40E0 ldi r20,hlo8(64) 1332 0e08 50E0 ldi r21,hhi8(64) 1333 0e0a 0E94 0000 call __divmodsi4 1334 0e0e 00C0 rjmp .L66 1335 .L42: 1336 0e10 C901 movw r24,r18 1337 0e12 9C01 movw r18,r24 1338 0e14 97FF sbrs r25,7 1339 0e16 00C0 rjmp .L45 1340 0e18 3095 com r19 1341 0e1a 2195 neg r18 1342 0e1c 3F4F sbci r19,lo8(-1) 1343 .L45: 1344 0e1e B901 movw r22,r18 1345 0e20 8827 clr r24 1346 0e22 77FD sbrc r23,7 1347 0e24 8095 com r24 1348 0e26 982F mov r25,r24 1349 0e28 2091 0000 lds r18,Parameter_CouplingYawCorrection 1350 0e2c 30E0 ldi r19,lo8(0) 1351 0e2e 40E0 ldi r20,lo8(0) 1352 0e30 50E0 ldi r21,hi8(0) 1353 0e32 0E94 0000 call __mulsi3 1354 0e36 20E4 ldi r18,lo8(64) 1355 0e38 30E0 ldi r19,hi8(64) 1356 0e3a 40E0 ldi r20,hlo8(64) 1357 0e3c 50E0 ldi r21,hhi8(64) 1358 0e3e 0E94 0000 call __divmodsi4 1359 0e42 5095 com r21 1360 0e44 4095 com r20 1361 0e46 3095 com r19 1362 0e48 2195 neg r18 1363 0e4a 3F4F sbci r19,lo8(-1) 1364 0e4c 4F4F sbci r20,lo8(-1) 1365 0e4e 5F4F sbci r21,lo8(-1) 1366 .L66: 1367 0e50 420E add r4,r18 1368 0e52 531E adc r5,r19 1369 0e54 5092 0000 sts (TrimRoll)+1,r5 1370 0e58 4092 0000 sts TrimRoll,r4 1371 0e5c 2091 0000 lds r18,KopplungsteilRollNick 1372 0e60 3091 0000 lds r19,KopplungsteilRollNick+1 1373 0e64 AE89 ldd r26,Y+22 1374 0e66 BF89 ldd r27,Y+23 1375 0e68 1A16 cp __zero_reg__,r26 1376 0e6a 1B06 cpc __zero_reg__,r27 1377 0e6c 04F4 brge .L46 1378 0e6e C901 movw r24,r18 1379 0e70 9C01 movw r18,r24 1380 0e72 97FF sbrs r25,7 1381 0e74 00C0 rjmp .L47 1382 0e76 3095 com r19 1383 0e78 2195 neg r18 1384 0e7a 3F4F sbci r19,lo8(-1) 1385 .L47: 1386 0e7c B901 movw r22,r18 1387 0e7e 8827 clr r24 1388 0e80 77FD sbrc r23,7 1389 0e82 8095 com r24 1390 0e84 982F mov r25,r24 1391 0e86 2091 0000 lds r18,Parameter_CouplingYawCorrection 1392 0e8a 30E0 ldi r19,lo8(0) 1393 0e8c 40E0 ldi r20,lo8(0) 1394 0e8e 50E0 ldi r21,hi8(0) 1395 0e90 0E94 0000 call __mulsi3 1396 0e94 20E4 ldi r18,lo8(64) 1397 0e96 30E0 ldi r19,hi8(64) 1398 0e98 40E0 ldi r20,hlo8(64) 1399 0e9a 50E0 ldi r21,hhi8(64) 1400 0e9c 0E94 0000 call __divmodsi4 1401 0ea0 00C0 rjmp .L67 1402 .L46: 1403 0ea2 C901 movw r24,r18 1404 0ea4 9C01 movw r18,r24 1405 0ea6 97FF sbrs r25,7 1406 0ea8 00C0 rjmp .L49 1407 0eaa 3095 com r19 1408 0eac 2195 neg r18 1409 0eae 3F4F sbci r19,lo8(-1) 1410 .L49: 1411 0eb0 B901 movw r22,r18 1412 0eb2 8827 clr r24 1413 0eb4 77FD sbrc r23,7 1414 0eb6 8095 com r24 1415 0eb8 982F mov r25,r24 1416 0eba 2091 0000 lds r18,Parameter_CouplingYawCorrection 1417 0ebe 30E0 ldi r19,lo8(0) 1418 0ec0 40E0 ldi r20,lo8(0) 1419 0ec2 50E0 ldi r21,hi8(0) 1420 0ec4 0E94 0000 call __mulsi3 1421 0ec8 20E4 ldi r18,lo8(64) 1422 0eca 30E0 ldi r19,hi8(64) 1423 0ecc 40E0 ldi r20,hlo8(64) 1424 0ece 50E0 ldi r21,hhi8(64) 1425 0ed0 0E94 0000 call __divmodsi4 1426 0ed4 5095 com r21 1427 0ed6 4095 com r20 1428 0ed8 3095 com r19 1429 0eda 2195 neg r18 1430 0edc 3F4F sbci r19,lo8(-1) 1431 0ede 4F4F sbci r20,lo8(-1) 1432 0ee0 5F4F sbci r21,lo8(-1) 1433 .L67: 1434 0ee2 220E add r2,r18 1435 0ee4 331E adc r3,r19 1436 0ee6 3092 0000 sts (TrimNick)+1,r3 1437 0eea 2092 0000 sts TrimNick,r2 1438 0eee 8091 0000 lds r24,EE_Parameter+13 1439 0ef2 87FF sbrs r24,7 1440 0ef4 00C0 rjmp .L50 1441 0ef6 B985 ldd r27,Y+9 1442 0ef8 BB23 tst r27 1443 0efa 01F0 breq .L51 1444 .L50: 1445 0efc 20E0 ldi r18,lo8(EE_Parameter+5) 1446 0efe 30E0 ldi r19,hi8(EE_Parameter+5) 1447 0f00 00E0 ldi r16,lo8(Poti) 1448 0f02 10E0 ldi r17,hi8(Poti) 1449 0f04 00C0 rjmp .L52 1450 .L51: 1451 0f06 8091 0000 lds r24,Looping_Roll 1452 0f0a 8823 tst r24 1453 0f0c 01F4 brne .L50 1454 0f0e EE89 ldd r30,Y+22 1455 0f10 FF89 ldd r31,Y+23 1456 0f12 21E0 ldi r18,hi8(257) 1457 0f14 E130 cpi r30,lo8(257) 1458 0f16 F207 cpc r31,r18 1459 0f18 04F0 brlt .L53 1460 0f1a 8091 0000 lds r24,MesswertNick 1461 0f1e 9091 0000 lds r25,(MesswertNick)+1 1462 0f22 8050 subi r24,lo8(-(-256)) 1463 0f24 9140 sbci r25,hi8(-(-256)) 1464 0f26 8E0F add r24,r30 1465 0f28 9F1F adc r25,r31 1466 0f2a 00C0 rjmp .L69 1467 .L53: 1468 0f2c 4E89 ldd r20,Y+22 1469 0f2e 5F89 ldd r21,Y+23 1470 0f30 6FEF ldi r22,hi8(-256) 1471 0f32 4030 cpi r20,lo8(-256) 1472 0f34 5607 cpc r21,r22 1473 0f36 04F4 brge .L54 1474 0f38 8091 0000 lds r24,MesswertNick 1475 0f3c 9091 0000 lds r25,(MesswertNick)+1 1476 0f40 8050 subi r24,lo8(-(256)) 1477 0f42 9F4F sbci r25,hi8(-(256)) 1478 0f44 840F add r24,r20 1479 0f46 951F adc r25,r21 1480 .L69: 1481 0f48 9093 0000 sts (MesswertNick)+1,r25 1482 0f4c 8093 0000 sts MesswertNick,r24 1483 .L54: 1484 0f50 888D ldd r24,Y+24 1485 0f52 998D ldd r25,Y+25 1486 0f54 8150 subi r24,lo8(257) 1487 0f56 9140 sbci r25,hi8(257) 1488 0f58 04F0 brlt .L55 1489 0f5a 8091 0000 lds r24,MesswertRoll 1490 0f5e 9091 0000 lds r25,(MesswertRoll)+1 1491 0f62 8050 subi r24,lo8(-(-256)) 1492 0f64 9140 sbci r25,hi8(-(-256)) 1493 0f66 E88D ldd r30,Y+24 1494 0f68 F98D ldd r31,Y+25 1495 0f6a 8E0F add r24,r30 1496 0f6c 9F1F adc r25,r31 1497 0f6e 00C0 rjmp .L68 1498 .L55: 1499 0f70 288D ldd r18,Y+24 1500 0f72 398D ldd r19,Y+25 1501 0f74 4FEF ldi r20,hi8(-256) 1502 0f76 2030 cpi r18,lo8(-256) 1503 0f78 3407 cpc r19,r20 1504 0f7a 04F0 brlt .+2 1505 0f7c 00C0 rjmp .L50 1506 0f7e 8091 0000 lds r24,MesswertRoll 1507 0f82 9091 0000 lds r25,(MesswertRoll)+1 1508 0f86 8050 subi r24,lo8(-(256)) 1509 0f88 9F4F sbci r25,hi8(-(256)) 1510 0f8a 820F add r24,r18 1511 0f8c 931F adc r25,r19 1512 .L68: 1513 0f8e 9093 0000 sts (MesswertRoll)+1,r25 1514 0f92 8093 0000 sts MesswertRoll,r24 1515 0f96 00C0 rjmp .L50 1516 .L52: 1517 0f98 D901 movw r26,r18 1518 0f9a EC91 ld r30,X 1519 0f9c F0E0 ldi r31,lo8(0) 1520 0f9e EE0F lsl r30 1521 0fa0 FF1F rol r31 1522 0fa2 E050 subi r30,lo8(-(PPM_in)) 1523 0fa4 F040 sbci r31,hi8(-(PPM_in)) 1524 0fa6 8081 ld r24,Z 1525 0fa8 9181 ldd r25,Z+1 1526 0faa 8259 subi r24,lo8(-(110)) 1527 0fac 9F4F sbci r25,hi8(-(110)) 1528 0fae 97FF sbrs r25,7 1529 0fb0 00C0 rjmp .L56 1530 0fb2 80E0 ldi r24,lo8(0) 1531 0fb4 90E0 ldi r25,hi8(0) 1532 .L56: 1533 0fb6 FC01 movw r30,r24 1534 0fb8 8F3F cpi r24,255 1535 0fba 9105 cpc r25,__zero_reg__ 1536 0fbc 01F0 breq .L57 1537 0fbe 04F0 brlt .L57 1538 0fc0 EFEF ldi r30,lo8(255) 1539 0fc2 F0E0 ldi r31,hi8(255) 1540 .L57: 1541 0fc4 D801 movw r26,r16 1542 0fc6 4C91 ld r20,X 1543 0fc8 842F mov r24,r20 1544 0fca 90E0 ldi r25,lo8(0) 1545 0fcc E817 cp r30,r24 1546 0fce F907 cpc r31,r25 1547 0fd0 01F0 breq .L58 1548 0fd2 BF01 movw r22,r30 1549 0fd4 681B sub r22,r24 1550 0fd6 790B sbc r23,r25 1551 0fd8 CB01 movw r24,r22 1552 0fda 68E0 ldi r22,lo8(8) 1553 0fdc 70E0 ldi r23,hi8(8) 1554 0fde 0E94 0000 call __divmodhi4 1555 0fe2 640F add r22,r20 1556 0fe4 D801 movw r26,r16 1557 0fe6 6C93 st X,r22 1558 0fe8 862F mov r24,r22 1559 0fea 90E0 ldi r25,lo8(0) 1560 0fec E817 cp r30,r24 1561 0fee F907 cpc r31,r25 1562 0ff0 04F4 brge .L59 1563 0ff2 6150 subi r22,lo8(-(-1)) 1564 0ff4 6C93 st X,r22 1565 0ff6 00C0 rjmp .L58 1566 .L59: 1567 0ff8 6F5F subi r22,lo8(-(1)) 1568 0ffa F801 movw r30,r16 1569 0ffc 6083 st Z,r22 1570 .L58: 1571 0ffe 2F5F subi r18,lo8(-(1)) 1572 1000 3F4F sbci r19,hi8(-(1)) 1573 1002 0F5F subi r16,lo8(-(1)) 1574 1004 1F4F sbci r17,hi8(-(1)) 1575 1006 F0E0 ldi r31,hi8(EE_Parameter+13) 1576 1008 2030 cpi r18,lo8(EE_Parameter+13) 1577 100a 3F07 cpc r19,r31 1578 100c 01F4 brne .L52 1579 /* epilogue start */ 1580 100e 6B96 adiw r28,27 1581 1010 E2E1 ldi r30, lo8(18) 1582 1012 0C94 0000 jmp __epilogue_restores__ + ((18 - 18) * 2) 1584 .global SendMotorData 1586 SendMotorData: 1587 /* prologue: function */ 1588 /* frame size = 0 */ 1589 1016 8091 0000 lds r24,MotorenEin 1590 101a 8823 tst r24 1591 101c 01F4 brne .L71 1592 101e 8091 0000 lds r24,FCFlags 1593 1022 8C7F andi r24,lo8(-4) 1594 1024 8093 0000 sts FCFlags,r24 1595 1028 A0E0 ldi r26,lo8(MotorTest) 1596 102a B0E0 ldi r27,hi8(MotorTest) 1597 102c E0E0 ldi r30,lo8(Motor+1) 1598 102e F0E0 ldi r31,hi8(Motor+1) 1599 .L73: 1600 1030 8091 0000 lds r24,PC_MotortestActive 1601 1034 8823 tst r24 1602 1036 01F4 brne .L72 1603 1038 1C92 st X,__zero_reg__ 1604 .L72: 1605 103a 8D91 ld r24,X+ 1606 103c 8083 st Z,r24 1607 103e 1182 std Z+1,__zero_reg__ 1608 1040 3896 adiw r30,8 1609 1042 80E0 ldi r24,hi8(MotorTest+12) 1610 1044 A030 cpi r26,lo8(MotorTest+12) 1611 1046 B807 cpc r27,r24 1612 1048 01F4 brne .L73 1613 104a 8091 0000 lds r24,PC_MotortestActive 1614 104e 8823 tst r24 1615 1050 01F0 breq .L74 1616 1052 8091 0000 lds r24,PC_MotortestActive 1617 1056 8150 subi r24,lo8(-(-1)) 1618 1058 8093 0000 sts PC_MotortestActive,r24 1619 105c 00C0 rjmp .L74 1620 .L71: 1621 105e 8091 0000 lds r24,FCFlags 1622 1062 8160 ori r24,lo8(1) 1623 1064 8093 0000 sts FCFlags,r24 1624 .L74: 1625 1068 1092 0000 sts motor_write,__zero_reg__ 1626 106c 1092 0000 sts twi_state,__zero_reg__ 1627 1070 8091 0000 lds r24,BLFlags 1628 1074 8E7F andi r24,lo8(-2) 1629 1076 8093 0000 sts BLFlags,r24 1630 107a 85EA ldi r24,lo8(-91) 1631 107c 8093 BC00 sts 188,r24 1632 /* epilogue start */ 1633 1080 0895 ret 1635 .global ParameterZuordnung 1637 ParameterZuordnung: 1638 /* prologue: function */ 1639 /* frame size = 0 */ 1640 1082 8091 0000 lds r24,EE_Parameter+15 1641 1086 883F cpi r24,lo8(-8) 1642 1088 00F0 brlo .L161 1643 .L78: 1644 108a EFEF ldi r30,lo8(255) 1645 108c F0E0 ldi r31,hi8(255) 1646 108e E81B sub r30,r24 1647 1090 F109 sbc r31,__zero_reg__ 1648 1092 E050 subi r30,lo8(-(Poti)) 1649 1094 F040 sbci r31,hi8(-(Poti)) 1650 1096 8081 ld r24,Z 1651 .L161: 1652 1098 8093 0000 sts Parameter_Luftdruck_D,r24 1653 109c 8091 0000 lds r24,Parameter_Luftdruck_D 1654 10a0 8823 tst r24 1655 10a2 01F4 brne .L80 1656 10a4 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ 1657 10a8 00C0 rjmp .L81 1658 .L80: 1659 10aa 8436 cpi r24,lo8(100) 1660 10ac 00F0 brlo .L81 1661 10ae 84E6 ldi r24,lo8(100) 1662 10b0 8093 0000 sts Parameter_Luftdruck_D,r24 1663 .L81: 1664 10b4 8091 0000 lds r24,EE_Parameter+17 1665 10b8 883F cpi r24,lo8(-8) 1666 10ba 00F0 brlo .L162 1667 .L82: 1668 10bc EFEF ldi r30,lo8(255) 1669 10be F0E0 ldi r31,hi8(255) 1670 10c0 E81B sub r30,r24 1671 10c2 F109 sbc r31,__zero_reg__ 1672 10c4 E050 subi r30,lo8(-(Poti)) 1673 10c6 F040 sbci r31,hi8(-(Poti)) 1674 10c8 8081 ld r24,Z 1675 .L162: 1676 10ca 8093 0000 sts Parameter_Hoehe_P,r24 1677 10ce 8091 0000 lds r24,Parameter_Hoehe_P 1678 10d2 8823 tst r24 1679 10d4 01F4 brne .L84 1680 10d6 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ 1681 10da 00C0 rjmp .L85 1682 .L84: 1683 10dc 8436 cpi r24,lo8(100) 1684 10de 00F0 brlo .L85 1685 10e0 84E6 ldi r24,lo8(100) 1686 10e2 8093 0000 sts Parameter_Hoehe_P,r24 1687 .L85: 1688 10e6 8091 0000 lds r24,EE_Parameter+30 1689 10ea 883F cpi r24,lo8(-8) 1690 10ec 00F0 brlo .L163 1691 .L86: 1692 10ee EFEF ldi r30,lo8(255) 1693 10f0 F0E0 ldi r31,hi8(255) 1694 10f2 E81B sub r30,r24 1695 10f4 F109 sbc r31,__zero_reg__ 1696 10f6 E050 subi r30,lo8(-(Poti)) 1697 10f8 F040 sbci r31,hi8(-(Poti)) 1698 10fa 8081 ld r24,Z 1699 .L163: 1700 10fc 8093 0000 sts Parameter_Gyro_P,r24 1701 1100 8091 0000 lds r24,Parameter_Gyro_P 1702 1104 8B30 cpi r24,lo8(11) 1703 1106 00F4 brsh .L88 1704 1108 8AE0 ldi r24,lo8(10) 1705 110a 00C0 rjmp .L164 1706 .L88: 1707 110c 8F3F cpi r24,lo8(-1) 1708 110e 01F4 brne .L89 1709 .L164: 1710 1110 8093 0000 sts Parameter_Gyro_P,r24 1711 .L89: 1712 1114 8091 0000 lds r24,EE_Parameter+73 1713 1118 883F cpi r24,lo8(-8) 1714 111a 00F0 brlo .L165 1715 .L90: 1716 111c EFEF ldi r30,lo8(255) 1717 111e F0E0 ldi r31,hi8(255) 1718 1120 E81B sub r30,r24 1719 1122 F109 sbc r31,__zero_reg__ 1720 1124 E050 subi r30,lo8(-(Poti)) 1721 1126 F040 sbci r31,hi8(-(Poti)) 1722 1128 8081 ld r24,Z 1723 .L165: 1724 112a 8093 0000 sts Parameter_J16Timing,r24 1725 112e 8091 0000 lds r24,Parameter_J16Timing 1726 1132 8230 cpi r24,lo8(2) 1727 1134 00F4 brsh .L92 1728 1136 81E0 ldi r24,lo8(1) 1729 1138 00C0 rjmp .L166 1730 .L92: 1731 113a 8F3F cpi r24,lo8(-1) 1732 113c 01F4 brne .L93 1733 .L166: 1734 113e 8093 0000 sts Parameter_J16Timing,r24 1735 .L93: 1736 1142 8091 0000 lds r24,EE_Parameter+75 1737 1146 883F cpi r24,lo8(-8) 1738 1148 00F0 brlo .L167 1739 .L94: 1740 114a EFEF ldi r30,lo8(255) 1741 114c F0E0 ldi r31,hi8(255) 1742 114e E81B sub r30,r24 1743 1150 F109 sbc r31,__zero_reg__ 1744 1152 E050 subi r30,lo8(-(Poti)) 1745 1154 F040 sbci r31,hi8(-(Poti)) 1746 1156 8081 ld r24,Z 1747 .L167: 1748 1158 8093 0000 sts Parameter_J17Timing,r24 1749 115c 8091 0000 lds r24,Parameter_J17Timing 1750 1160 8230 cpi r24,lo8(2) 1751 1162 00F4 brsh .L96 1752 1164 81E0 ldi r24,lo8(1) 1753 1166 00C0 rjmp .L168 1754 .L96: 1755 1168 8F3F cpi r24,lo8(-1) 1756 116a 01F4 brne .L97 1757 .L168: 1758 116c 8093 0000 sts Parameter_J17Timing,r24 1759 .L97: 1760 1170 8091 0000 lds r24,EE_Parameter+54 1761 1174 883F cpi r24,lo8(-8) 1762 1176 00F0 brlo .L169 1763 .L98: 1764 1178 EFEF ldi r30,lo8(255) 1765 117a F0E0 ldi r31,hi8(255) 1766 117c E81B sub r30,r24 1767 117e F109 sbc r31,__zero_reg__ 1768 1180 E050 subi r30,lo8(-(Poti)) 1769 1182 F040 sbci r31,hi8(-(Poti)) 1770 1184 8081 ld r24,Z 1771 .L169: 1772 1186 8093 0000 sts Parameter_Servo3,r24 1773 118a 8091 0000 lds r24,EE_Parameter+55 1774 118e 883F cpi r24,lo8(-8) 1775 1190 00F0 brlo .L170 1776 .L100: 1777 1192 EFEF ldi r30,lo8(255) 1778 1194 F0E0 ldi r31,hi8(255) 1779 1196 E81B sub r30,r24 1780 1198 F109 sbc r31,__zero_reg__ 1781 119a E050 subi r30,lo8(-(Poti)) 1782 119c F040 sbci r31,hi8(-(Poti)) 1783 119e 8081 ld r24,Z 1784 .L170: 1785 11a0 8093 0000 sts Parameter_Servo4,r24 1786 11a4 8091 0000 lds r24,EE_Parameter+56 1787 11a8 883F cpi r24,lo8(-8) 1788 11aa 00F0 brlo .L171 1789 .L102: 1790 11ac EFEF ldi r30,lo8(255) 1791 11ae F0E0 ldi r31,hi8(255) 1792 11b0 E81B sub r30,r24 1793 11b2 F109 sbc r31,__zero_reg__ 1794 11b4 E050 subi r30,lo8(-(Poti)) 1795 11b6 F040 sbci r31,hi8(-(Poti)) 1796 11b8 8081 ld r24,Z 1797 .L171: 1798 11ba 8093 0000 sts Parameter_Servo5,r24 1799 11be 8091 0000 lds r24,EE_Parameter+16 1800 11c2 883F cpi r24,lo8(-8) 1801 11c4 00F0 brlo .L172 1802 .L104: 1803 11c6 EFEF ldi r30,lo8(255) 1804 11c8 F0E0 ldi r31,hi8(255) 1805 11ca E81B sub r30,r24 1806 11cc F109 sbc r31,__zero_reg__ 1807 11ce E050 subi r30,lo8(-(Poti)) 1808 11d0 F040 sbci r31,hi8(-(Poti)) 1809 11d2 8081 ld r24,Z 1810 .L172: 1811 11d4 8093 0000 sts Parameter_MaxHoehe,r24 1812 11d8 8091 0000 lds r24,EE_Parameter+19 1813 11dc 883F cpi r24,lo8(-8) 1814 11de 00F0 brlo .L173 1815 .L106: 1816 11e0 EFEF ldi r30,lo8(255) 1817 11e2 F0E0 ldi r31,hi8(255) 1818 11e4 E81B sub r30,r24 1819 11e6 F109 sbc r31,__zero_reg__ 1820 11e8 E050 subi r30,lo8(-(Poti)) 1821 11ea F040 sbci r31,hi8(-(Poti)) 1822 11ec 8081 ld r24,Z 1823 .L173: 1824 11ee 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 1825 11f2 8091 0000 lds r24,EE_Parameter+21 1826 11f6 883F cpi r24,lo8(-8) 1827 11f8 00F0 brlo .L174 1828 .L108: 1829 11fa EFEF ldi r30,lo8(255) 1830 11fc F0E0 ldi r31,hi8(255) 1831 11fe E81B sub r30,r24 1832 1200 F109 sbc r31,__zero_reg__ 1833 1202 E050 subi r30,lo8(-(Poti)) 1834 1204 F040 sbci r31,hi8(-(Poti)) 1835 1206 8081 ld r24,Z 1836 .L174: 1837 1208 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 1838 120c 8091 0000 lds r24,EE_Parameter+29 1839 1210 883F cpi r24,lo8(-8) 1840 1212 00F0 brlo .L175 1841 .L110: 1842 1214 EFEF ldi r30,lo8(255) 1843 1216 F0E0 ldi r31,hi8(255) 1844 1218 E81B sub r30,r24 1845 121a F109 sbc r31,__zero_reg__ 1846 121c E050 subi r30,lo8(-(Poti)) 1847 121e F040 sbci r31,hi8(-(Poti)) 1848 1220 8081 ld r24,Z 1849 .L175: 1850 1222 8093 0000 sts Parameter_KompassWirkung,r24 1851 1226 8091 0000 lds r24,EE_Parameter+31 1852 122a 883F cpi r24,lo8(-8) 1853 122c 00F0 brlo .L176 1854 .L112: 1855 122e EFEF ldi r30,lo8(255) 1856 1230 F0E0 ldi r31,hi8(255) 1857 1232 E81B sub r30,r24 1858 1234 F109 sbc r31,__zero_reg__ 1859 1236 E050 subi r30,lo8(-(Poti)) 1860 1238 F040 sbci r31,hi8(-(Poti)) 1861 123a 8081 ld r24,Z 1862 .L176: 1863 123c 8093 0000 sts Parameter_Gyro_I,r24 1864 1240 8091 0000 lds r24,EE_Parameter+32 1865 1244 883F cpi r24,lo8(-8) 1866 1246 00F0 brlo .L177 1867 .L114: 1868 1248 EFEF ldi r30,lo8(255) 1869 124a F0E0 ldi r31,hi8(255) 1870 124c E81B sub r30,r24 1871 124e F109 sbc r31,__zero_reg__ 1872 1250 E050 subi r30,lo8(-(Poti)) 1873 1252 F040 sbci r31,hi8(-(Poti)) 1874 1254 8081 ld r24,Z 1875 .L177: 1876 1256 8093 0000 sts Parameter_Gyro_D,r24 1877 125a 8091 0000 lds r24,EE_Parameter+33 1878 125e 883F cpi r24,lo8(-8) 1879 1260 00F0 brlo .L178 1880 .L116: 1881 1262 EFEF ldi r30,lo8(255) 1882 1264 F0E0 ldi r31,hi8(255) 1883 1266 E81B sub r30,r24 1884 1268 F109 sbc r31,__zero_reg__ 1885 126a E050 subi r30,lo8(-(Poti)) 1886 126c F040 sbci r31,hi8(-(Poti)) 1887 126e 8081 ld r24,Z 1888 .L178: 1889 1270 8093 0000 sts Parameter_Gyro_Gier_P,r24 1890 1274 8091 0000 lds r24,EE_Parameter+34 1891 1278 883F cpi r24,lo8(-8) 1892 127a 00F0 brlo .L179 1893 .L118: 1894 127c EFEF ldi r30,lo8(255) 1895 127e F0E0 ldi r31,hi8(255) 1896 1280 E81B sub r30,r24 1897 1282 F109 sbc r31,__zero_reg__ 1898 1284 E050 subi r30,lo8(-(Poti)) 1899 1286 F040 sbci r31,hi8(-(Poti)) 1900 1288 8081 ld r24,Z 1901 .L179: 1902 128a 8093 0000 sts Parameter_Gyro_Gier_I,r24 1903 128e 8091 0000 lds r24,EE_Parameter+40 1904 1292 883F cpi r24,lo8(-8) 1905 1294 00F0 brlo .L180 1906 .L120: 1907 1296 EFEF ldi r30,lo8(255) 1908 1298 F0E0 ldi r31,hi8(255) 1909 129a E81B sub r30,r24 1910 129c F109 sbc r31,__zero_reg__ 1911 129e E050 subi r30,lo8(-(Poti)) 1912 12a0 F040 sbci r31,hi8(-(Poti)) 1913 12a2 8081 ld r24,Z 1914 .L180: 1915 12a4 8093 0000 sts Parameter_I_Faktor,r24 1916 12a8 8091 0000 lds r24,EE_Parameter+41 1917 12ac 883F cpi r24,lo8(-8) 1918 12ae 00F0 brlo .L181 1919 .L122: 1920 12b0 EFEF ldi r30,lo8(255) 1921 12b2 F0E0 ldi r31,hi8(255) 1922 12b4 E81B sub r30,r24 1923 12b6 F109 sbc r31,__zero_reg__ 1924 12b8 E050 subi r30,lo8(-(Poti)) 1925 12ba F040 sbci r31,hi8(-(Poti)) 1926 12bc 8081 ld r24,Z 1927 .L181: 1928 12be 8093 0000 sts Parameter_UserParam1,r24 1929 12c2 8091 0000 lds r24,EE_Parameter+42 1930 12c6 883F cpi r24,lo8(-8) 1931 12c8 00F0 brlo .L182 1932 .L124: 1933 12ca EFEF ldi r30,lo8(255) 1934 12cc F0E0 ldi r31,hi8(255) 1935 12ce E81B sub r30,r24 1936 12d0 F109 sbc r31,__zero_reg__ 1937 12d2 E050 subi r30,lo8(-(Poti)) 1938 12d4 F040 sbci r31,hi8(-(Poti)) 1939 12d6 8081 ld r24,Z 1940 .L182: 1941 12d8 8093 0000 sts Parameter_UserParam2,r24 1942 12dc 8091 0000 lds r24,EE_Parameter+43 1943 12e0 883F cpi r24,lo8(-8) 1944 12e2 00F0 brlo .L183 1945 .L126: 1946 12e4 EFEF ldi r30,lo8(255) 1947 12e6 F0E0 ldi r31,hi8(255) 1948 12e8 E81B sub r30,r24 1949 12ea F109 sbc r31,__zero_reg__ 1950 12ec E050 subi r30,lo8(-(Poti)) 1951 12ee F040 sbci r31,hi8(-(Poti)) 1952 12f0 8081 ld r24,Z 1953 .L183: 1954 12f2 8093 0000 sts Parameter_UserParam3,r24 1955 12f6 8091 0000 lds r24,EE_Parameter+44 1956 12fa 883F cpi r24,lo8(-8) 1957 12fc 00F0 brlo .L184 1958 .L128: 1959 12fe EFEF ldi r30,lo8(255) 1960 1300 F0E0 ldi r31,hi8(255) 1961 1302 E81B sub r30,r24 1962 1304 F109 sbc r31,__zero_reg__ 1963 1306 E050 subi r30,lo8(-(Poti)) 1964 1308 F040 sbci r31,hi8(-(Poti)) 1965 130a 8081 ld r24,Z 1966 .L184: 1967 130c 8093 0000 sts Parameter_UserParam4,r24 1968 1310 8091 0000 lds r24,EE_Parameter+68 1969 1314 883F cpi r24,lo8(-8) 1970 1316 00F0 brlo .L185 1971 .L130: 1972 1318 EFEF ldi r30,lo8(255) 1973 131a F0E0 ldi r31,hi8(255) 1974 131c E81B sub r30,r24 1975 131e F109 sbc r31,__zero_reg__ 1976 1320 E050 subi r30,lo8(-(Poti)) 1977 1322 F040 sbci r31,hi8(-(Poti)) 1978 1324 8081 ld r24,Z 1979 .L185: 1980 1326 8093 0000 sts Parameter_UserParam5,r24 1981 132a 8091 0000 lds r24,EE_Parameter+69 1982 132e 883F cpi r24,lo8(-8) 1983 1330 00F0 brlo .L186 1984 .L132: 1985 1332 EFEF ldi r30,lo8(255) 1986 1334 F0E0 ldi r31,hi8(255) 1987 1336 E81B sub r30,r24 1988 1338 F109 sbc r31,__zero_reg__ 1989 133a E050 subi r30,lo8(-(Poti)) 1990 133c F040 sbci r31,hi8(-(Poti)) 1991 133e 8081 ld r24,Z 1992 .L186: 1993 1340 8093 0000 sts Parameter_UserParam6,r24 1994 1344 8091 0000 lds r24,EE_Parameter+70 1995 1348 883F cpi r24,lo8(-8) 1996 134a 00F0 brlo .L187 1997 .L134: 1998 134c EFEF ldi r30,lo8(255) 1999 134e F0E0 ldi r31,hi8(255) 2000 1350 E81B sub r30,r24 2001 1352 F109 sbc r31,__zero_reg__ 2002 1354 E050 subi r30,lo8(-(Poti)) 2003 1356 F040 sbci r31,hi8(-(Poti)) 2004 1358 8081 ld r24,Z 2005 .L187: 2006 135a 8093 0000 sts Parameter_UserParam7,r24 2007 135e 8091 0000 lds r24,EE_Parameter+71 2008 1362 883F cpi r24,lo8(-8) 2009 1364 00F0 brlo .L188 2010 .L136: 2011 1366 EFEF ldi r30,lo8(255) 2012 1368 F0E0 ldi r31,hi8(255) 2013 136a E81B sub r30,r24 2014 136c F109 sbc r31,__zero_reg__ 2015 136e E050 subi r30,lo8(-(Poti)) 2016 1370 F040 sbci r31,hi8(-(Poti)) 2017 1372 8081 ld r24,Z 2018 .L188: 2019 1374 8093 0000 sts Parameter_UserParam8,r24 2020 1378 8091 0000 lds r24,EE_Parameter+45 2021 137c 883F cpi r24,lo8(-8) 2022 137e 00F0 brlo .L189 2023 .L138: 2024 1380 EFEF ldi r30,lo8(255) 2025 1382 F0E0 ldi r31,hi8(255) 2026 1384 E81B sub r30,r24 2027 1386 F109 sbc r31,__zero_reg__ 2028 1388 E050 subi r30,lo8(-(Poti)) 2029 138a F040 sbci r31,hi8(-(Poti)) 2030 138c 8081 ld r24,Z 2031 .L189: 2032 138e 8093 0000 sts Parameter_ServoNickControl,r24 2033 1392 8091 0000 lds r24,EE_Parameter+49 2034 1396 883F cpi r24,lo8(-8) 2035 1398 00F0 brlo .L190 2036 .L140: 2037 139a EFEF ldi r30,lo8(255) 2038 139c F0E0 ldi r31,hi8(255) 2039 139e E81B sub r30,r24 2040 13a0 F109 sbc r31,__zero_reg__ 2041 13a2 E050 subi r30,lo8(-(Poti)) 2042 13a4 F040 sbci r31,hi8(-(Poti)) 2043 13a6 8081 ld r24,Z 2044 .L190: 2045 13a8 8093 0000 sts Parameter_ServoRollControl,r24 2046 13ac 8091 0000 lds r24,EE_Parameter+57 2047 13b0 883F cpi r24,lo8(-8) 2048 13b2 00F0 brlo .L191 2049 .L142: 2050 13b4 EFEF ldi r30,lo8(255) 2051 13b6 F0E0 ldi r31,hi8(255) 2052 13b8 E81B sub r30,r24 2053 13ba F109 sbc r31,__zero_reg__ 2054 13bc E050 subi r30,lo8(-(Poti)) 2055 13be F040 sbci r31,hi8(-(Poti)) 2056 13c0 8081 ld r24,Z 2057 .L191: 2058 13c2 8093 0000 sts Parameter_LoopGasLimit,r24 2059 13c6 8091 0000 lds r24,EE_Parameter+60 2060 13ca 883F cpi r24,lo8(-8) 2061 13cc 00F0 brlo .L192 2062 .L144: 2063 13ce EFEF ldi r30,lo8(255) 2064 13d0 F0E0 ldi r31,hi8(255) 2065 13d2 E81B sub r30,r24 2066 13d4 F109 sbc r31,__zero_reg__ 2067 13d6 E050 subi r30,lo8(-(Poti)) 2068 13d8 F040 sbci r31,hi8(-(Poti)) 2069 13da 8081 ld r24,Z 2070 .L192: 2071 13dc 8093 0000 sts Parameter_AchsKopplung1,r24 2072 13e0 8091 0000 lds r24,EE_Parameter+61 2073 13e4 883F cpi r24,lo8(-8) 2074 13e6 00F0 brlo .L193 2075 .L146: 2076 13e8 EFEF ldi r30,lo8(255) 2077 13ea F0E0 ldi r31,hi8(255) 2078 13ec E81B sub r30,r24 2079 13ee F109 sbc r31,__zero_reg__ 2080 13f0 E050 subi r30,lo8(-(Poti)) 2081 13f2 F040 sbci r31,hi8(-(Poti)) 2082 13f4 8081 ld r24,Z 2083 .L193: 2084 13f6 8093 0000 sts Parameter_AchsKopplung2,r24 2085 13fa 8091 0000 lds r24,EE_Parameter+62 2086 13fe 883F cpi r24,lo8(-8) 2087 1400 00F0 brlo .L194 2088 .L148: 2089 1402 EFEF ldi r30,lo8(255) 2090 1404 F0E0 ldi r31,hi8(255) 2091 1406 E81B sub r30,r24 2092 1408 F109 sbc r31,__zero_reg__ 2093 140a E050 subi r30,lo8(-(Poti)) 2094 140c F040 sbci r31,hi8(-(Poti)) 2095 140e 8081 ld r24,Z 2096 .L194: 2097 1410 8093 0000 sts Parameter_CouplingYawCorrection,r24 2098 1414 8091 0000 lds r24,EE_Parameter+67 2099 1418 883F cpi r24,lo8(-8) 2100 141a 00F0 brlo .L195 2101 .L150: 2102 141c EFEF ldi r30,lo8(255) 2103 141e F0E0 ldi r31,hi8(255) 2104 1420 E81B sub r30,r24 2105 1422 F109 sbc r31,__zero_reg__ 2106 1424 E050 subi r30,lo8(-(Poti)) 2107 1426 F040 sbci r31,hi8(-(Poti)) 2108 1428 8081 ld r24,Z 2109 .L195: 2110 142a 8093 0000 sts Parameter_DynamicStability,r24 2111 142e 8091 0000 lds r24,EE_Parameter+94 2112 1432 883F cpi r24,lo8(-8) 2113 1434 00F0 brlo .L196 2114 .L152: 2115 1436 EFEF ldi r30,lo8(255) 2116 1438 F0E0 ldi r31,hi8(255) 2117 143a E81B sub r30,r24 2118 143c F109 sbc r31,__zero_reg__ 2119 143e E050 subi r30,lo8(-(Poti)) 2120 1440 F040 sbci r31,hi8(-(Poti)) 2121 1442 8081 ld r24,Z 2122 .L196: 2123 1444 8093 0000 sts Parameter_ExternalControl,r24 2124 1448 6091 0000 lds r22,Parameter_I_Faktor 2125 144c 70E0 ldi r23,lo8(0) 2126 144e 6F5F subi r22,lo8(-(1)) 2127 1450 7F4F sbci r23,hi8(-(1)) 2128 1452 8CE3 ldi r24,lo8(10300) 2129 1454 98E2 ldi r25,hi8(10300) 2130 1456 0E94 0000 call __divmodhi4 2131 145a 7093 0000 sts (Ki)+1,r23 2132 145e 6093 0000 sts Ki,r22 2133 1462 8091 0000 lds r24,EE_Parameter+27 2134 1466 8093 0000 sts MAX_GAS,r24 2135 146a 8091 0000 lds r24,EE_Parameter+26 2136 146e 8093 0000 sts MIN_GAS,r24 2137 1472 9091 0000 lds r25,EE_Parameter+96 2138 1476 9333 cpi r25,lo8(51) 2139 1478 00F0 brlo .L154 2140 147a 81E0 ldi r24,lo8(1) 2141 147c 8093 0000 sts CareFree,r24 2142 1480 983F cpi r25,lo8(-8) 2143 1482 00F0 brlo .L155 2144 1484 EFEF ldi r30,lo8(255) 2145 1486 F0E0 ldi r31,hi8(255) 2146 1488 E91B sub r30,r25 2147 148a F109 sbc r31,__zero_reg__ 2148 148c E050 subi r30,lo8(-(Poti)) 2149 148e F040 sbci r31,hi8(-(Poti)) 2150 1490 8081 ld r24,Z 2151 1492 8233 cpi r24,lo8(50) 2152 1494 00F4 brsh .L155 2153 1496 1092 0000 sts CareFree,__zero_reg__ 2154 .L155: 2155 149a 8091 0000 lds r24,FromNaviCtrl+7 2156 149e 9091 0000 lds r25,(FromNaviCtrl+7)+1 2157 14a2 97FF sbrs r25,7 2158 14a4 00C0 rjmp .L156 2159 14a6 8091 0000 lds r24,CareFree 2160 14aa 8823 tst r24 2161 14ac 01F0 breq .L156 2162 14ae 8091 0000 lds r24,VersionInfo+5 2163 14b2 8068 ori r24,lo8(-128) 2164 14b4 00C0 rjmp .L197 2165 .L156: 2166 14b6 8091 0000 lds r24,VersionInfo+5 2167 14ba 8F77 andi r24,lo8(127) 2168 .L197: 2169 14bc 8093 0000 sts VersionInfo+5,r24 2170 14c0 00C0 rjmp .L157 2171 .L154: 2172 14c2 1092 0000 sts CareFree,__zero_reg__ 2173 .L157: 2174 14c6 8091 0000 lds r24,FromNaviCtrl+7 2175 14ca 9091 0000 lds r25,(FromNaviCtrl+7)+1 2176 14ce 97FF sbrs r25,7 2177 14d0 00C0 rjmp .L158 2178 14d2 8091 0000 lds r24,MotorenEin 2179 14d6 8823 tst r24 2180 14d8 01F0 breq .L158 2181 14da 8091 0000 lds r24,CareFree 2182 14de 8823 tst r24 2183 14e0 01F0 breq .L158 2184 14e2 8091 0000 lds r24,BeepMuster 2185 14e6 9091 0000 lds r25,(BeepMuster)+1 2186 14ea 8F5F subi r24,lo8(-1) 2187 14ec 9F4F sbci r25,hi8(-1) 2188 14ee 01F4 brne .L158 2189 14f0 88E9 ldi r24,lo8(15000) 2190 14f2 9AE3 ldi r25,hi8(15000) 2191 14f4 9093 0000 sts (beeptime)+1,r25 2192 14f8 8093 0000 sts beeptime,r24 2193 14fc 80E0 ldi r24,lo8(-23552) 2194 14fe 94EA ldi r25,hi8(-23552) 2195 1500 9093 0000 sts (BeepMuster)+1,r25 2196 1504 8093 0000 sts BeepMuster,r24 2197 1508 1092 0000 sts CareFree,__zero_reg__ 2198 .L158: 2199 150c 8091 0000 lds r24,CareFree 2200 1510 8823 tst r24 2201 1512 01F0 breq .L160 2202 1514 8091 0000 lds r24,Parameter_AchsKopplung1 2203 1518 823D cpi r24,lo8(-46) 2204 151a 00F4 brsh .L160 2205 151c 825E subi r24,lo8(-(30)) 2206 151e 8093 0000 sts Parameter_AchsKopplung1,r24 2207 .L160: 2208 1522 0895 ret 2210 .global CalibrierMittelwert 2212 CalibrierMittelwert: 2213 1524 CF93 push r28 2214 1526 DF93 push r29 2215 /* prologue: function */ 2216 /* frame size = 0 */ 2217 1528 8091 0000 lds r24,PlatinenVersion 2218 152c 8D30 cpi r24,lo8(13) 2219 152e 01F4 brne .L199 2220 1530 0E94 0000 call SucheGyroOffset 2221 .L199: 2222 1534 1092 7A00 sts 122,__zero_reg__ 2223 1538 8091 0000 lds r24,AdWertNick 2224 153c 9091 0000 lds r25,(AdWertNick)+1 2225 1540 9093 0000 sts (MesswertNick)+1,r25 2226 1544 8093 0000 sts MesswertNick,r24 2227 1548 8091 0000 lds r24,AdWertRoll 2228 154c 9091 0000 lds r25,(AdWertRoll)+1 2229 1550 9093 0000 sts (MesswertRoll)+1,r25 2230 1554 8093 0000 sts MesswertRoll,r24 2231 1558 8091 0000 lds r24,AdWertGier 2232 155c 9091 0000 lds r25,(AdWertGier)+1 2233 1560 9093 0000 sts (MesswertGier)+1,r25 2234 1564 8093 0000 sts MesswertGier,r24 2235 1568 2091 0000 lds r18,AdWertAccNick 2236 156c 3091 0000 lds r19,(AdWertAccNick)+1 2237 1570 C901 movw r24,r18 2238 1572 880F lsl r24 2239 1574 991F rol r25 2240 1576 820F add r24,r18 2241 1578 931F adc r25,r19 2242 157a 880F lsl r24 2243 157c 991F rol r25 2244 157e 9093 0000 sts (Mittelwert_AccNick)+1,r25 2245 1582 8093 0000 sts Mittelwert_AccNick,r24 2246 1586 2091 0000 lds r18,AdWertAccRoll 2247 158a 3091 0000 lds r19,(AdWertAccRoll)+1 2248 158e C901 movw r24,r18 2249 1590 880F lsl r24 2250 1592 991F rol r25 2251 1594 820F add r24,r18 2252 1596 931F adc r25,r19 2253 1598 880F lsl r24 2254 159a 991F rol r25 2255 159c 9093 0000 sts (Mittelwert_AccRoll)+1,r25 2256 15a0 8093 0000 sts Mittelwert_AccRoll,r24 2257 15a4 8FEC ldi r24,lo8(-49) 2258 15a6 8093 7A00 sts 122,r24 2259 15aa C0E0 ldi r28,lo8(EE_Parameter+5) 2260 15ac D0E0 ldi r29,hi8(EE_Parameter+5) 2261 15ae A0E0 ldi r26,lo8(Poti) 2262 15b0 B0E0 ldi r27,hi8(Poti) 2263 .L204: 2264 15b2 E881 ld r30,Y 2265 15b4 F0E0 ldi r31,lo8(0) 2266 15b6 EE0F lsl r30 2267 15b8 FF1F rol r31 2268 15ba E050 subi r30,lo8(-(PPM_in)) 2269 15bc F040 sbci r31,hi8(-(PPM_in)) 2270 15be 0190 ld __tmp_reg__,Z+ 2271 15c0 F081 ld r31,Z 2272 15c2 E02D mov r30,__tmp_reg__ 2273 15c4 E259 subi r30,lo8(-(110)) 2274 15c6 FF4F sbci r31,hi8(-(110)) 2275 15c8 1E16 cp __zero_reg__,r30 2276 15ca 1F06 cpc __zero_reg__,r31 2277 15cc 04F0 brlt .L200 2278 15ce E0E0 ldi r30,lo8(0) 2279 15d0 F0E0 ldi r31,hi8(0) 2280 15d2 00C0 rjmp .L201 2281 .L200: 2282 15d4 EF3F cpi r30,255 2283 15d6 F105 cpc r31,__zero_reg__ 2284 15d8 04F0 brlt .L201 2285 15da EFEF ldi r30,lo8(255) 2286 15dc F0E0 ldi r31,hi8(255) 2287 .L201: 2288 15de 8C91 ld r24,X 2289 15e0 282F mov r18,r24 2290 15e2 30E0 ldi r19,lo8(0) 2291 15e4 E217 cp r30,r18 2292 15e6 F307 cpc r31,r19 2293 15e8 04F4 brge .L202 2294 15ea 8150 subi r24,lo8(-(-1)) 2295 15ec 00C0 rjmp .L207 2296 .L202: 2297 15ee 2E17 cp r18,r30 2298 15f0 3F07 cpc r19,r31 2299 15f2 04F4 brge .L203 2300 15f4 8F5F subi r24,lo8(-(1)) 2301 .L207: 2302 15f6 8C93 st X,r24 2303 .L203: 2304 15f8 2196 adiw r28,1 2305 15fa 1196 adiw r26,1 2306 15fc 80E0 ldi r24,hi8(EE_Parameter+13) 2307 15fe C030 cpi r28,lo8(EE_Parameter+13) 2308 1600 D807 cpc r29,r24 2309 1602 01F4 brne .L204 2310 1604 6AA9 ldd r22,Y+50 2311 1606 70E0 ldi r23,lo8(0) 2312 1608 80E0 ldi r24,lo8(0) 2313 160a 90E0 ldi r25,hi8(0) 2314 160c 24EC ldi r18,lo8(2500) 2315 160e 39E0 ldi r19,hi8(2500) 2316 1610 40E0 ldi r20,hlo8(2500) 2317 1612 50E0 ldi r21,hhi8(2500) 2318 1614 0E94 0000 call __mulsi3 2319 1618 6093 0000 sts Umschlag180Nick,r22 2320 161c 7093 0000 sts (Umschlag180Nick)+1,r23 2321 1620 8093 0000 sts (Umschlag180Nick)+2,r24 2322 1624 9093 0000 sts (Umschlag180Nick)+3,r25 2323 1628 6BA9 ldd r22,Y+51 2324 162a 70E0 ldi r23,lo8(0) 2325 162c 80E0 ldi r24,lo8(0) 2326 162e 90E0 ldi r25,hi8(0) 2327 1630 0E94 0000 call __mulsi3 2328 1634 6093 0000 sts Umschlag180Roll,r22 2329 1638 7093 0000 sts (Umschlag180Roll)+1,r23 2330 163c 8093 0000 sts (Umschlag180Roll)+2,r24 2331 1640 9093 0000 sts (Umschlag180Roll)+3,r25 2332 /* epilogue start */ 2333 1644 DF91 pop r29 2334 1646 CF91 pop r28 2335 1648 0895 ret 2337 .global SetNeutral 2339 SetNeutral: 2340 164a A0E0 ldi r26,lo8(0) 2341 164c B0E0 ldi r27,hi8(0) 2342 164e E0E0 ldi r30,lo8(gs(1f)) 2343 1650 F0E0 ldi r31,hi8(gs(1f)) 2344 1652 0C94 0000 jmp __prologue_saves__+((18 - 14) * 2) 2345 1: 2346 /* prologue: function */ 2347 /* frame size = 0 */ 2348 1656 682E mov r6,r24 2349 1658 1092 0000 sts VersionInfo+5,__zero_reg__ 2350 165c 469A sbi 40-32,6 2351 165e 1092 0000 sts (NeutralAccX)+1,__zero_reg__ 2352 1662 1092 0000 sts NeutralAccX,__zero_reg__ 2353 1666 1092 0000 sts (NeutralAccY)+1,__zero_reg__ 2354 166a 1092 0000 sts NeutralAccY,__zero_reg__ 2355 166e 1092 0000 sts (NeutralAccZ)+1,__zero_reg__ 2356 1672 1092 0000 sts NeutralAccZ,__zero_reg__ 2357 1676 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ 2358 167a 1092 0000 sts AdNeutralNick,__zero_reg__ 2359 167e 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ 2360 1682 1092 0000 sts AdNeutralRoll,__zero_reg__ 2361 1686 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ 2362 168a 1092 0000 sts AdNeutralGier,__zero_reg__ 2363 168e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 2364 1692 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 2365 1696 1092 0000 sts ExpandBaro,__zero_reg__ 2366 169a 0E94 0000 call CalibrierMittelwert 2367 169e 84E6 ldi r24,lo8(100) 2368 16a0 90E0 ldi r25,hi8(100) 2369 16a2 0E94 0000 call Delay_ms_Mess 2370 16a6 0E94 0000 call CalibrierMittelwert 2371 16aa 8091 0000 lds r24,EE_Parameter+13 2372 16ae 80FF sbrs r24,0 2373 16b0 00C0 rjmp .L209 2374 16b2 8091 0000 lds r24,MessLuftdruck 2375 16b6 9091 0000 lds r25,(MessLuftdruck)+1 2376 16ba 875B subi r24,lo8(951) 2377 16bc 9340 sbci r25,hi8(951) 2378 16be 00F4 brsh .L210 2379 16c0 8091 0000 lds r24,MessLuftdruck 2380 16c4 9091 0000 lds r25,(MessLuftdruck)+1 2381 16c8 8E5E subi r24,lo8(750) 2382 16ca 9240 sbci r25,hi8(750) 2383 16cc 00F4 brsh .L209 2384 .L210: 2385 16ce 0E94 0000 call SucheLuftruckOffset 2386 .L209: 2387 16d2 AA24 clr r10 2388 16d4 C0E0 ldi r28,lo8(0) 2389 16d6 D0E0 ldi r29,hi8(0) 2390 16d8 00E0 ldi r16,lo8(0) 2391 16da 10E0 ldi r17,hi8(0) 2392 16dc EE24 clr r14 2393 16de FF24 clr r15 2394 .L211: 2395 16e0 8AE0 ldi r24,lo8(10) 2396 16e2 90E0 ldi r25,hi8(10) 2397 16e4 0E94 0000 call Delay_ms_Mess 2398 16e8 8091 0000 lds r24,AdWertGier 2399 16ec 9091 0000 lds r25,(AdWertGier)+1 2400 16f0 C80F add r28,r24 2401 16f2 D91F adc r29,r25 2402 16f4 8091 0000 lds r24,AdWertNick 2403 16f8 9091 0000 lds r25,(AdWertNick)+1 2404 16fc 080F add r16,r24 2405 16fe 191F adc r17,r25 2406 1700 8091 0000 lds r24,AdWertRoll 2407 1704 9091 0000 lds r25,(AdWertRoll)+1 2408 1708 E80E add r14,r24 2409 170a F91E adc r15,r25 2410 170c A394 inc r10 2411 170e 80E2 ldi r24,lo8(32) 2412 1710 A816 cp r10,r24 2413 1712 01F4 brne .L211 2414 1714 9801 movw r18,r16 2415 1716 205F subi r18,lo8(-(16)) 2416 1718 3F4F sbci r19,hi8(-(16)) 2417 171a 3695 lsr r19 2418 171c 2795 ror r18 2419 171e 3695 lsr r19 2420 1720 2795 ror r18 2421 1722 3093 0000 sts (AdNeutralNick)+1,r19 2422 1726 2093 0000 sts AdNeutralNick,r18 2423 172a C701 movw r24,r14 2424 172c 4096 adiw r24,16 2425 172e 9695 lsr r25 2426 1730 8795 ror r24 2427 1732 9695 lsr r25 2428 1734 8795 ror r24 2429 1736 9093 0000 sts (AdNeutralRoll)+1,r25 2430 173a 8093 0000 sts AdNeutralRoll,r24 2431 173e 6096 adiw r28,16 2432 1740 15E0 ldi r17,5 2433 1742 D695 1: lsr r29 2434 1744 C795 ror r28 2435 1746 1A95 dec r17 2436 1748 01F4 brne 1b 2437 174a D093 0000 sts (AdNeutralGier)+1,r29 2438 174e C093 0000 sts AdNeutralGier,r28 2439 1752 9093 0000 sts (StartNeutralRoll)+1,r25 2440 1756 8093 0000 sts StartNeutralRoll,r24 2441 175a 3093 0000 sts (StartNeutralNick)+1,r19 2442 175e 2093 0000 sts StartNeutralNick,r18 2443 1762 6620 tst r6 2444 1764 01F4 brne .+2 2445 1766 00C0 rjmp .L212 2446 1768 8091 0000 lds r24,Mittelwert_AccNick 2447 176c 9091 0000 lds r25,(Mittelwert_AccNick)+1 2448 1770 97FF sbrs r25,7 2449 1772 00C0 rjmp .L213 2450 1774 9095 com r25 2451 1776 8195 neg r24 2452 1778 9F4F sbci r25,lo8(-1) 2453 .L213: 2454 177a 6CE0 ldi r22,lo8(12) 2455 177c 70E0 ldi r23,hi8(12) 2456 177e 0E94 0000 call __divmodhi4 2457 1782 9B01 movw r18,r22 2458 1784 6093 0000 sts NeutralAccX,r22 2459 1788 3093 0000 sts NeutralAccX+1,r19 2460 178c 8091 0000 lds r24,Mittelwert_AccRoll 2461 1790 9091 0000 lds r25,(Mittelwert_AccRoll)+1 2462 1794 97FF sbrs r25,7 2463 1796 00C0 rjmp .L214 2464 1798 9095 com r25 2465 179a 8195 neg r24 2466 179c 9F4F sbci r25,lo8(-1) 2467 .L214: 2468 179e 6CE0 ldi r22,lo8(12) 2469 17a0 70E0 ldi r23,hi8(12) 2470 17a2 0E94 0000 call __divmodhi4 2471 17a6 7093 0000 sts (NeutralAccY)+1,r23 2472 17aa 6093 0000 sts NeutralAccY,r22 2473 17ae 8091 0000 lds r24,Aktuell_az 2474 17b2 9091 0000 lds r25,(Aktuell_az)+1 2475 17b6 9093 0000 sts (NeutralAccZ)+1,r25 2476 17ba 8093 0000 sts NeutralAccZ,r24 2477 17be 84E0 ldi r24,lo8(4) 2478 17c0 90E0 ldi r25,hi8(4) 2479 17c2 B901 movw r22,r18 2480 17c4 0E94 0000 call SetParamWord 2481 17c8 6091 0000 lds r22,NeutralAccY 2482 17cc 7091 0000 lds r23,(NeutralAccY)+1 2483 17d0 86E0 ldi r24,lo8(6) 2484 17d2 90E0 ldi r25,hi8(6) 2485 17d4 0E94 0000 call SetParamWord 2486 17d8 6091 0000 lds r22,NeutralAccZ 2487 17dc 7091 0000 lds r23,(NeutralAccZ)+1 2488 17e0 88E0 ldi r24,lo8(8) 2489 17e2 90E0 ldi r25,hi8(8) 2490 17e4 0E94 0000 call SetParamWord 2491 17e8 00C0 rjmp .L215 2492 .L212: 2493 17ea 84E0 ldi r24,lo8(4) 2494 17ec 90E0 ldi r25,hi8(4) 2495 17ee 0E94 0000 call GetParamWord 2496 17f2 9093 0000 sts (NeutralAccX)+1,r25 2497 17f6 8093 0000 sts NeutralAccX,r24 2498 17fa 86E0 ldi r24,lo8(6) 2499 17fc 90E0 ldi r25,hi8(6) 2500 17fe 0E94 0000 call GetParamWord 2501 1802 9093 0000 sts (NeutralAccY)+1,r25 2502 1806 8093 0000 sts NeutralAccY,r24 2503 180a 88E0 ldi r24,lo8(8) 2504 180c 90E0 ldi r25,hi8(8) 2505 180e 0E94 0000 call GetParamWord 2506 1812 9C01 movw r18,r24 2507 1814 9093 0000 sts (NeutralAccZ)+1,r25 2508 1818 8093 0000 sts NeutralAccZ,r24 2509 181c 8091 0000 lds r24,NeutralAccX 2510 1820 9091 0000 lds r25,(NeutralAccX)+1 2511 1824 8150 subi r24,lo8(2049) 2512 1826 9840 sbci r25,hi8(2049) 2513 1828 00F4 brsh .L216 2514 182a 8091 0000 lds r24,NeutralAccY 2515 182e 9091 0000 lds r25,(NeutralAccY)+1 2516 1832 8150 subi r24,lo8(2049) 2517 1834 9840 sbci r25,hi8(2049) 2518 1836 00F4 brsh .L216 2519 1838 2150 subi r18,lo8(1025) 2520 183a 3440 sbci r19,hi8(1025) 2521 183c 00F4 brsh .+2 2522 183e 00C0 rjmp .L215 2523 .L216: 2524 1840 00D0 rcall . 2525 1842 00D0 rcall . 2526 1844 80E0 ldi r24,lo8(gs(uart_putchar)) 2527 1846 90E0 ldi r25,hi8(gs(uart_putchar)) 2528 1848 EDB7 in r30,__SP_L__ 2529 184a FEB7 in r31,__SP_H__ 2530 184c 9283 std Z+2,r25 2531 184e 8183 std Z+1,r24 2532 1850 80E0 ldi r24,lo8(__c.2485) 2533 1852 90E0 ldi r25,hi8(__c.2485) 2534 1854 9483 std Z+4,r25 2535 1856 8383 std Z+3,r24 2536 1858 E091 0000 lds r30,_printf_P 2537 185c F091 0000 lds r31,(_printf_P)+1 2538 1860 0995 icall 2539 1862 8091 0000 lds r24,Mittelwert_AccNick 2540 1866 9091 0000 lds r25,(Mittelwert_AccNick)+1 2541 186a 97FF sbrs r25,7 2542 186c 00C0 rjmp .L217 2543 186e 9095 com r25 2544 1870 8195 neg r24 2545 1872 9F4F sbci r25,lo8(-1) 2546 .L217: 2547 1874 6CE0 ldi r22,lo8(12) 2548 1876 70E0 ldi r23,hi8(12) 2549 1878 0E94 0000 call __divmodhi4 2550 187c 7093 0000 sts (NeutralAccX)+1,r23 2551 1880 6093 0000 sts NeutralAccX,r22 2552 1884 8091 0000 lds r24,Mittelwert_AccRoll 2553 1888 9091 0000 lds r25,(Mittelwert_AccRoll)+1 2554 188c 97FF sbrs r25,7 2555 188e 00C0 rjmp .L218 2556 1890 9095 com r25 2557 1892 8195 neg r24 2558 1894 9F4F sbci r25,lo8(-1) 2559 .L218: 2560 1896 6CE0 ldi r22,lo8(12) 2561 1898 70E0 ldi r23,hi8(12) 2562 189a 0E94 0000 call __divmodhi4 2563 189e 7093 0000 sts (NeutralAccY)+1,r23 2564 18a2 6093 0000 sts NeutralAccY,r22 2565 18a6 8091 0000 lds r24,Aktuell_az 2566 18aa 9091 0000 lds r25,(Aktuell_az)+1 2567 18ae 9093 0000 sts (NeutralAccZ)+1,r25 2568 18b2 8093 0000 sts NeutralAccZ,r24 2569 18b6 0F90 pop __tmp_reg__ 2570 18b8 0F90 pop __tmp_reg__ 2571 18ba 0F90 pop __tmp_reg__ 2572 18bc 0F90 pop __tmp_reg__ 2573 .L215: 2574 18be 1092 0000 sts (MesswertNick)+1,__zero_reg__ 2575 18c2 1092 0000 sts MesswertNick,__zero_reg__ 2576 18c6 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 2577 18ca 1092 0000 sts MesswertRoll,__zero_reg__ 2578 18ce 1092 0000 sts (MesswertGier)+1,__zero_reg__ 2579 18d2 1092 0000 sts MesswertGier,__zero_reg__ 2580 18d6 84E6 ldi r24,lo8(100) 2581 18d8 90E0 ldi r25,hi8(100) 2582 18da 0E94 0000 call Delay_ms_Mess 2583 18de 2091 0000 lds r18,AdWertAccNick 2584 18e2 3091 0000 lds r19,(AdWertAccNick)+1 2585 18e6 B901 movw r22,r18 2586 18e8 660F lsl r22 2587 18ea 771F rol r23 2588 18ec 620F add r22,r18 2589 18ee 731F adc r23,r19 2590 18f0 660F lsl r22 2591 18f2 771F rol r23 2592 18f4 7093 0000 sts (Mittelwert_AccNick)+1,r23 2593 18f8 6093 0000 sts Mittelwert_AccNick,r22 2594 18fc 2091 0000 lds r18,AdWertAccRoll 2595 1900 3091 0000 lds r19,(AdWertAccRoll)+1 2596 1904 7901 movw r14,r18 2597 1906 EE0C lsl r14 2598 1908 FF1C rol r15 2599 190a E20E add r14,r18 2600 190c F31E adc r15,r19 2601 190e EE0C lsl r14 2602 1910 FF1C rol r15 2603 1912 F092 0000 sts (Mittelwert_AccRoll)+1,r15 2604 1916 E092 0000 sts Mittelwert_AccRoll,r14 2605 191a A090 0000 lds r10,EE_Parameter+28 2606 191e BB24 clr r11 2607 1920 CC24 clr r12 2608 1922 DD24 clr r13 2609 1924 8827 clr r24 2610 1926 77FD sbrc r23,7 2611 1928 8095 com r24 2612 192a 982F mov r25,r24 2613 192c A601 movw r20,r12 2614 192e 9501 movw r18,r10 2615 1930 0E94 0000 call __mulsi3 2616 1934 3B01 movw r6,r22 2617 1936 4C01 movw r8,r24 2618 1938 6093 0000 sts IntegralNick,r22 2619 193c 7093 0000 sts (IntegralNick)+1,r23 2620 1940 8093 0000 sts (IntegralNick)+2,r24 2621 1944 9093 0000 sts (IntegralNick)+3,r25 2622 1948 0027 clr r16 2623 194a F7FC sbrc r15,7 2624 194c 0095 com r16 2625 194e 102F mov r17,r16 2626 1950 C801 movw r24,r16 2627 1952 B701 movw r22,r14 2628 1954 0E94 0000 call __mulsi3 2629 1958 6093 0000 sts IntegralRoll,r22 2630 195c 7093 0000 sts (IntegralRoll)+1,r23 2631 1960 8093 0000 sts (IntegralRoll)+2,r24 2632 1964 9093 0000 sts (IntegralRoll)+3,r25 2633 1968 6092 0000 sts Mess_IntegralNick2,r6 2634 196c 7092 0000 sts (Mess_IntegralNick2)+1,r7 2635 1970 8092 0000 sts (Mess_IntegralNick2)+2,r8 2636 1974 9092 0000 sts (Mess_IntegralNick2)+3,r9 2637 1978 6093 0000 sts Mess_IntegralRoll2,r22 2638 197c 7093 0000 sts (Mess_IntegralRoll2)+1,r23 2639 1980 8093 0000 sts (Mess_IntegralRoll2)+2,r24 2640 1984 9093 0000 sts (Mess_IntegralRoll2)+3,r25 2641 1988 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 2642 198c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 2643 1990 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 2644 1994 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 2645 1998 8091 0000 lds r24,Luftdruck 2646 199c 9091 0000 lds r25,(Luftdruck)+1 2647 19a0 A091 0000 lds r26,(Luftdruck)+2 2648 19a4 B091 0000 lds r27,(Luftdruck)+3 2649 19a8 9093 0000 sts (StartLuftdruck)+1,r25 2650 19ac 8093 0000 sts StartLuftdruck,r24 2651 19b0 1092 0000 sts (VarioMeter)+1,__zero_reg__ 2652 19b4 1092 0000 sts VarioMeter,__zero_reg__ 2653 19b8 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 2654 19bc 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 2655 19c0 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 2656 19c4 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 2657 19c8 8091 0000 lds r24,KompassValue 2658 19cc 9091 0000 lds r25,(KompassValue)+1 2659 19d0 9093 0000 sts (KompassStartwert)+1,r25 2660 19d4 8093 0000 sts KompassStartwert,r24 2661 19d8 0E94 0000 call GPS_Neutral 2662 19dc 82E3 ldi r24,lo8(50) 2663 19de 90E0 ldi r25,hi8(50) 2664 19e0 9093 0000 sts (beeptime)+1,r25 2665 19e4 8093 0000 sts beeptime,r24 2666 19e8 6091 0000 lds r22,EE_Parameter+63 2667 19ec 70E0 ldi r23,lo8(0) 2668 19ee 80E0 ldi r24,lo8(0) 2669 19f0 90E0 ldi r25,hi8(0) 2670 19f2 24EC ldi r18,lo8(2500) 2671 19f4 39E0 ldi r19,hi8(2500) 2672 19f6 40E0 ldi r20,hlo8(2500) 2673 19f8 50E0 ldi r21,hhi8(2500) 2674 19fa 0E94 0000 call __mulsi3 2675 19fe 6856 subi r22,lo8(-(15000)) 2676 1a00 754C sbci r23,hi8(-(15000)) 2677 1a02 8F4F sbci r24,hlo8(-(15000)) 2678 1a04 9F4F sbci r25,hhi8(-(15000)) 2679 1a06 6093 0000 sts Umschlag180Nick,r22 2680 1a0a 7093 0000 sts (Umschlag180Nick)+1,r23 2681 1a0e 8093 0000 sts (Umschlag180Nick)+2,r24 2682 1a12 9093 0000 sts (Umschlag180Nick)+3,r25 2683 1a16 6091 0000 lds r22,EE_Parameter+64 2684 1a1a 70E0 ldi r23,lo8(0) 2685 1a1c 80E0 ldi r24,lo8(0) 2686 1a1e 90E0 ldi r25,hi8(0) 2687 1a20 0E94 0000 call __mulsi3 2688 1a24 6856 subi r22,lo8(-(15000)) 2689 1a26 754C sbci r23,hi8(-(15000)) 2690 1a28 8F4F sbci r24,hlo8(-(15000)) 2691 1a2a 9F4F sbci r25,hhi8(-(15000)) 2692 1a2c 6093 0000 sts Umschlag180Roll,r22 2693 1a30 7093 0000 sts (Umschlag180Roll)+1,r23 2694 1a34 8093 0000 sts (Umschlag180Roll)+2,r24 2695 1a38 9093 0000 sts (Umschlag180Roll)+3,r25 2696 1a3c 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 2697 1a40 1092 0000 sts ExternHoehenValue,__zero_reg__ 2698 1a44 6091 0000 lds r22,KompassValue 2699 1a48 7091 0000 lds r23,(KompassValue)+1 2700 1a4c 8827 clr r24 2701 1a4e 77FD sbrc r23,7 2702 1a50 8095 com r24 2703 1a52 982F mov r25,r24 2704 1a54 2091 0000 lds r18,GIER_GRAD_FAKTOR 2705 1a58 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 2706 1a5c 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 2707 1a60 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 2708 1a64 0E94 0000 call __mulsi3 2709 1a68 6093 0000 sts ErsatzKompass,r22 2710 1a6c 7093 0000 sts (ErsatzKompass)+1,r23 2711 1a70 8093 0000 sts (ErsatzKompass)+2,r24 2712 1a74 9093 0000 sts (ErsatzKompass)+3,r25 2713 1a78 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 2714 1a7c 1092 0000 sts GierGyroFehler,__zero_reg__ 2715 1a80 81E0 ldi r24,lo8(1) 2716 1a82 8093 0000 sts SendVersionToNavi,r24 2717 1a86 0E94 0000 call LED_Init 2718 1a8a 8091 0000 lds r24,FCFlags 2719 1a8e 8460 ori r24,lo8(4) 2720 1a90 8093 0000 sts FCFlags,r24 2721 1a94 8FEF ldi r24,lo8(-1) 2722 1a96 8093 0000 sts FromNaviCtrl_Value,r24 2723 1a9a 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 2724 1a9e 80E2 ldi r24,lo8(32) 2725 1aa0 8093 0000 sts FromNaviCtrl_Value+2,r24 2726 1aa4 A0E0 ldi r26,lo8(EE_Parameter+5) 2727 1aa6 B0E0 ldi r27,hi8(EE_Parameter+5) 2728 1aa8 C0E0 ldi r28,lo8(Poti) 2729 1aaa D0E0 ldi r29,hi8(Poti) 2730 .L219: 2731 1aac ED91 ld r30,X+ 2732 1aae F0E0 ldi r31,lo8(0) 2733 1ab0 EE0F lsl r30 2734 1ab2 FF1F rol r31 2735 1ab4 E050 subi r30,lo8(-(PPM_in)) 2736 1ab6 F040 sbci r31,hi8(-(PPM_in)) 2737 1ab8 8081 ld r24,Z 2738 1aba 9181 ldd r25,Z+1 2739 1abc 8259 subi r24,lo8(-(110)) 2740 1abe 8993 st Y+,r24 2741 1ac0 F0E0 ldi r31,hi8(EE_Parameter+13) 2742 1ac2 A030 cpi r26,lo8(EE_Parameter+13) 2743 1ac4 BF07 cpc r27,r31 2744 1ac6 01F4 brne .L219 2745 1ac8 84E6 ldi r24,lo8(100) 2746 1aca 8093 0000 sts SenderOkay,r24 2747 1ace 8091 0000 lds r24,ServoActive 2748 1ad2 8823 tst r24 2749 1ad4 01F0 breq .L220 2750 1ad6 469A sbi 40-32,6 2751 1ad8 579A sbi 42-32,7 2752 .L220: 2753 1ada 8091 0000 lds r24,AdNeutralNick 2754 1ade 9091 0000 lds r25,(AdNeutralNick)+1 2755 1ae2 8056 subi r24,lo8(-(-2400)) 2756 1ae4 9940 sbci r25,hi8(-(-2400)) 2757 1ae6 815C subi r24,lo8(11201) 2758 1ae8 9B42 sbci r25,hi8(11201) 2759 1aea 00F0 brlo .L221 2760 1aec 8091 0000 lds r24,VersionInfo+5 2761 1af0 8160 ori r24,lo8(1) 2762 1af2 8093 0000 sts VersionInfo+5,r24 2763 .L221: 2764 1af6 8091 0000 lds r24,AdNeutralRoll 2765 1afa 9091 0000 lds r25,(AdNeutralRoll)+1 2766 1afe 8056 subi r24,lo8(-(-2400)) 2767 1b00 9940 sbci r25,hi8(-(-2400)) 2768 1b02 815C subi r24,lo8(11201) 2769 1b04 9B42 sbci r25,hi8(11201) 2770 1b06 00F0 brlo .L222 2771 1b08 8091 0000 lds r24,VersionInfo+5 2772 1b0c 8260 ori r24,lo8(2) 2773 1b0e 8093 0000 sts VersionInfo+5,r24 2774 .L222: 2775 1b12 8091 0000 lds r24,AdNeutralGier 2776 1b16 9091 0000 lds r25,(AdNeutralGier)+1 2777 1b1a 8C52 subi r24,lo8(-(-300)) 2778 1b1c 9140 sbci r25,hi8(-(-300)) 2779 1b1e 8957 subi r24,lo8(1401) 2780 1b20 9540 sbci r25,hi8(1401) 2781 1b22 00F0 brlo .L223 2782 1b24 8091 0000 lds r24,VersionInfo+5 2783 1b28 8460 ori r24,lo8(4) 2784 1b2a 8093 0000 sts VersionInfo+5,r24 2785 .L223: 2786 1b2e 8091 0000 lds r24,NeutralAccX 2787 1b32 9091 0000 lds r25,(NeutralAccX)+1 2788 1b36 8C52 subi r24,lo8(-(-300)) 2789 1b38 9140 sbci r25,hi8(-(-300)) 2790 1b3a 835C subi r24,lo8(451) 2791 1b3c 9140 sbci r25,hi8(451) 2792 1b3e 00F0 brlo .L224 2793 1b40 8091 0000 lds r24,VersionInfo+5 2794 1b44 8860 ori r24,lo8(8) 2795 1b46 8093 0000 sts VersionInfo+5,r24 2796 .L224: 2797 1b4a 8091 0000 lds r24,NeutralAccY 2798 1b4e 9091 0000 lds r25,(NeutralAccY)+1 2799 1b52 8C52 subi r24,lo8(-(-300)) 2800 1b54 9140 sbci r25,hi8(-(-300)) 2801 1b56 835C subi r24,lo8(451) 2802 1b58 9140 sbci r25,hi8(451) 2803 1b5a 00F0 brlo .L225 2804 1b5c 8091 0000 lds r24,VersionInfo+5 2805 1b60 8061 ori r24,lo8(16) 2806 1b62 8093 0000 sts VersionInfo+5,r24 2807 .L225: 2808 1b66 8091 0000 lds r24,NeutralAccZ 2809 1b6a 9091 0000 lds r25,(NeutralAccZ)+1 2810 1b6e 8050 subi r24,lo8(-(-512)) 2811 1b70 9240 sbci r25,hi8(-(-512)) 2812 1b72 8355 subi r24,lo8(339) 2813 1b74 9140 sbci r25,hi8(339) 2814 1b76 00F0 brlo .L227 2815 1b78 8091 0000 lds r24,VersionInfo+5 2816 1b7c 8062 ori r24,lo8(32) 2817 1b7e 8093 0000 sts VersionInfo+5,r24 2818 .L227: 2819 /* epilogue start */ 2820 1b82 CDB7 in r28,__SP_L__ 2821 1b84 DEB7 in r29,__SP_H__ 2822 1b86 EEE0 ldi r30, lo8(14) 2823 1b88 0C94 0000 jmp __epilogue_restores__ + ((18 - 14) * 2) 2825 .global Piep 2827 Piep: 2828 1b8c EF92 push r14 2829 1b8e FF92 push r15 2830 1b90 1F93 push r17 2831 1b92 CF93 push r28 2832 1b94 DF93 push r29 2833 /* prologue: function */ 2834 /* frame size = 0 */ 2835 1b96 182F mov r17,r24 2836 1b98 EB01 movw r28,r22 2837 1b9a 8091 0000 lds r24,MotorenEin 2838 1b9e 8823 tst r24 2839 1ba0 01F4 brne .L235 2840 1ba2 7B01 movw r14,r22 2841 1ba4 EE0C lsl r14 2842 1ba6 FF1C rol r15 2843 1ba8 00C0 rjmp .L232 2844 .L234: 2845 1baa D093 0000 sts (beeptime)+1,r29 2846 1bae C093 0000 sts beeptime,r28 2847 .L233: 2848 1bb2 8091 0000 lds r24,beeptime 2849 1bb6 9091 0000 lds r25,(beeptime)+1 2850 1bba 892B or r24,r25 2851 1bbc 01F4 brne .L233 2852 1bbe C701 movw r24,r14 2853 1bc0 0E94 0000 call Delay_ms 2854 1bc4 1150 subi r17,lo8(-(-1)) 2855 .L232: 2856 1bc6 1123 tst r17 2857 1bc8 01F4 brne .L234 2858 .L235: 2859 /* epilogue start */ 2860 1bca DF91 pop r29 2861 1bcc CF91 pop r28 2862 1bce 1F91 pop r17 2863 1bd0 FF90 pop r15 2864 1bd2 EF90 pop r14 2865 1bd4 0895 ret 2867 .global MotorRegler 2869 MotorRegler: 2870 1bd6 A5E4 ldi r26,lo8(69) 2871 1bd8 B0E0 ldi r27,hi8(69) 2872 1bda E0E0 ldi r30,lo8(gs(1f)) 2873 1bdc F0E0 ldi r31,hi8(gs(1f)) 2874 1bde 0C94 0000 jmp __prologue_saves__+((18 - 18) * 2) 2875 1: 2876 /* prologue: function */ 2877 /* frame size = 69 */ 2878 1be2 0E94 0000 call Mittelwert 2879 1be6 8091 0000 lds r24,PlatinenVersion 2880 1bea 8C30 cpi r24,lo8(12) 2881 1bec 00F4 brsh .L238 2882 1bee 299A sbi 37-32,1 2883 1bf0 00C0 rjmp .L239 2884 .L238: 2885 1bf2 2998 cbi 37-32,1 2886 .L239: 2887 1bf4 2091 0000 lds r18,StickGas 2888 1bf8 3091 0000 lds r19,(StickGas)+1 2889 1bfc 3FA3 std Y+39,r19 2890 1bfe 2EA3 std Y+38,r18 2891 1c00 8091 0000 lds r24,MIN_GAS 2892 1c04 282F mov r18,r24 2893 1c06 30E0 ldi r19,lo8(0) 2894 1c08 C901 movw r24,r18 2895 1c0a 0996 adiw r24,9 2896 1c0c 4EA1 ldd r20,Y+38 2897 1c0e 5FA1 ldd r21,Y+39 2898 1c10 8417 cp r24,r20 2899 1c12 9507 cpc r25,r21 2900 1c14 04F0 brlt .L240 2901 1c16 B901 movw r22,r18 2902 1c18 665F subi r22,lo8(-(10)) 2903 1c1a 7F4F sbci r23,hi8(-(10)) 2904 1c1c 7FA3 std Y+39,r23 2905 1c1e 6EA3 std Y+38,r22 2906 .L240: 2907 1c20 8091 0000 lds r24,SenderOkay 2908 1c24 8436 cpi r24,lo8(100) 2909 1c26 00F0 brlo .+2 2910 1c28 00C0 rjmp .L241 2911 1c2a 8091 0000 lds r24,RcLostTimer.3047 2912 1c2e 9091 0000 lds r25,(RcLostTimer.3047)+1 2913 1c32 0097 sbiw r24,0 2914 1c34 01F0 breq .L242 2915 1c36 0197 sbiw r24,1 2916 1c38 9093 0000 sts (RcLostTimer.3047)+1,r25 2917 1c3c 8093 0000 sts RcLostTimer.3047,r24 2918 1c40 00C0 rjmp .L243 2919 .L242: 2920 1c42 1092 0000 sts MotorenEin,__zero_reg__ 2921 1c46 8091 0000 lds r24,FCFlags 2922 1c4a 8F7E andi r24,lo8(-17) 2923 1c4c 8093 0000 sts FCFlags,r24 2924 .L243: 2925 1c50 8091 0000 lds r24,PlatinenVersion 2926 1c54 8A30 cpi r24,lo8(10) 2927 1c56 01F0 breq .L244 2928 1c58 8431 cpi r24,lo8(20) 2929 1c5a 00F0 brlo .L245 2930 .L244: 2931 1c5c 289A sbi 37-32,0 2932 1c5e 00C0 rjmp .L246 2933 .L245: 2934 1c60 2898 cbi 37-32,0 2935 .L246: 2936 1c62 8091 0000 lds r24,modell_fliegt 2937 1c66 9091 0000 lds r25,(modell_fliegt)+1 2938 1c6a 895E subi r24,lo8(1001) 2939 1c6c 9340 sbci r25,hi8(1001) 2940 1c6e 00F0 brlo .L247 2941 1c70 8091 0000 lds r24,EE_Parameter+37 2942 1c74 A82F mov r26,r24 2943 1c76 B0E0 ldi r27,lo8(0) 2944 1c78 BFA3 std Y+39,r27 2945 1c7a AEA3 std Y+38,r26 2946 1c7c 8091 0000 lds r24,FCFlags 2947 1c80 8061 ori r24,lo8(16) 2948 1c82 8093 0000 sts FCFlags,r24 2949 1c86 A091 0000 lds r26,EE_Parameter+1 2950 1c8a B0E0 ldi r27,lo8(0) 2951 1c8c AA0F lsl r26 2952 1c8e BB1F rol r27 2953 1c90 FD01 movw r30,r26 2954 1c92 E050 subi r30,lo8(-(PPM_diff)) 2955 1c94 F040 sbci r31,hi8(-(PPM_diff)) 2956 1c96 1182 std Z+1,__zero_reg__ 2957 1c98 1082 st Z,__zero_reg__ 2958 1c9a E091 0000 lds r30,EE_Parameter+2 2959 1c9e 2E2F mov r18,r30 2960 1ca0 30E0 ldi r19,lo8(0) 2961 1ca2 220F lsl r18 2962 1ca4 331F rol r19 2963 1ca6 C901 movw r24,r18 2964 1ca8 8050 subi r24,lo8(-(PPM_diff)) 2965 1caa 9040 sbci r25,hi8(-(PPM_diff)) 2966 1cac FC01 movw r30,r24 2967 1cae 1182 std Z+1,__zero_reg__ 2968 1cb0 1082 st Z,__zero_reg__ 2969 1cb2 A050 subi r26,lo8(-(PPM_in)) 2970 1cb4 B040 sbci r27,hi8(-(PPM_in)) 2971 1cb6 1196 adiw r26,1 2972 1cb8 1C92 st X,__zero_reg__ 2973 1cba 1E92 st -X,__zero_reg__ 2974 1cbc 2050 subi r18,lo8(-(PPM_in)) 2975 1cbe 3040 sbci r19,hi8(-(PPM_in)) 2976 1cc0 D901 movw r26,r18 2977 1cc2 1196 adiw r26,1 2978 1cc4 1C92 st X,__zero_reg__ 2979 1cc6 1E92 st -X,__zero_reg__ 2980 1cc8 E091 0000 lds r30,EE_Parameter+4 2981 1ccc F0E0 ldi r31,lo8(0) 2982 1cce EE0F lsl r30 2983 1cd0 FF1F rol r31 2984 1cd2 E050 subi r30,lo8(-(PPM_in)) 2985 1cd4 F040 sbci r31,hi8(-(PPM_in)) 2986 1cd6 1182 std Z+1,__zero_reg__ 2987 1cd8 1082 st Z,__zero_reg__ 2988 1cda 00C0 rjmp .L248 2989 .L247: 2990 1cdc 1092 0000 sts MotorenEin,__zero_reg__ 2991 1ce0 00C0 rjmp .L248 2992 .L241: 2993 1ce2 8091 0000 lds r24,SenderOkay 2994 1ce6 8D38 cpi r24,lo8(-115) 2995 1ce8 00F4 brsh .+2 2996 1cea 00C0 rjmp .L248 2997 1cec 8091 0000 lds r24,FCFlags 2998 1cf0 8F7E andi r24,lo8(-17) 2999 1cf2 8093 0000 sts FCFlags,r24 3000 1cf6 8091 0000 lds r24,EE_Parameter+38 3001 1cfa 22E3 ldi r18,lo8(50) 3002 1cfc 829F mul r24,r18 3003 1cfe C001 movw r24,r0 3004 1d00 1124 clr r1 3005 1d02 9093 0000 sts (RcLostTimer.3047)+1,r25 3006 1d06 8093 0000 sts RcLostTimer.3047,r24 3007 1d0a EEA1 ldd r30,Y+38 3008 1d0c FFA1 ldd r31,Y+39 3009 1d0e B997 sbiw r30,41 3010 1d10 04F0 brlt .L249 3011 1d12 8091 0000 lds r24,MotorenEin 3012 1d16 8823 tst r24 3013 1d18 01F0 breq .L249 3014 1d1a 8091 0000 lds r24,modell_fliegt 3015 1d1e 9091 0000 lds r25,(modell_fliegt)+1 3016 1d22 FFEF ldi r31,hi8(-1) 3017 1d24 8F3F cpi r24,lo8(-1) 3018 1d26 9F07 cpc r25,r31 3019 1d28 01F0 breq .L249 3020 1d2a 0196 adiw r24,1 3021 1d2c 9093 0000 sts (modell_fliegt)+1,r25 3022 1d30 8093 0000 sts modell_fliegt,r24 3023 .L249: 3024 1d34 8091 0000 lds r24,modell_fliegt 3025 1d38 9091 0000 lds r25,(modell_fliegt)+1 3026 1d3c 8F3F cpi r24,255 3027 1d3e 9105 cpc r25,__zero_reg__ 3028 1d40 01F0 breq .+2 3029 1d42 00F4 brsh .L250 3030 1d44 1092 0000 sts SummeNick,__zero_reg__ 3031 1d48 1092 0000 sts (SummeNick)+1,__zero_reg__ 3032 1d4c 1092 0000 sts (SummeNick)+2,__zero_reg__ 3033 1d50 1092 0000 sts (SummeNick)+3,__zero_reg__ 3034 1d54 1092 0000 sts SummeRoll,__zero_reg__ 3035 1d58 1092 0000 sts (SummeRoll)+1,__zero_reg__ 3036 1d5c 1092 0000 sts (SummeRoll)+2,__zero_reg__ 3037 1d60 1092 0000 sts (SummeRoll)+3,__zero_reg__ 3038 1d64 1092 0000 sts sollGier.3042,__zero_reg__ 3039 1d68 1092 0000 sts (sollGier.3042)+1,__zero_reg__ 3040 1d6c 1092 0000 sts (sollGier.3042)+2,__zero_reg__ 3041 1d70 1092 0000 sts (sollGier.3042)+3,__zero_reg__ 3042 1d74 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 3043 1d78 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 3044 1d7c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 3045 1d80 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 3046 1d84 8A3F cpi r24,250 3047 1d86 9105 cpc r25,__zero_reg__ 3048 1d88 01F4 brne .L251 3049 1d8a 81E0 ldi r24,lo8(1) 3050 1d8c 8093 0000 sts NeueKompassRichtungMerken.3052,r24 3051 1d90 00C0 rjmp .L251 3052 .L250: 3053 1d92 8091 0000 lds r24,FCFlags 3054 1d96 8260 ori r24,lo8(2) 3055 1d98 8093 0000 sts FCFlags,r24 3056 .L251: 3057 1d9c E091 0000 lds r30,EE_Parameter+3 3058 1da0 F0E0 ldi r31,lo8(0) 3059 1da2 EE0F lsl r30 3060 1da4 FF1F rol r31 3061 1da6 E050 subi r30,lo8(-(PPM_in)) 3062 1da8 F040 sbci r31,hi8(-(PPM_in)) 3063 1daa 8081 ld r24,Z 3064 1dac 9181 ldd r25,Z+1 3065 1dae 8135 cpi r24,81 3066 1db0 9105 cpc r25,__zero_reg__ 3067 1db2 04F4 brge .+2 3068 1db4 00C0 rjmp .L252 3069 1db6 8091 0000 lds r24,MotorenEin 3070 1dba 8823 tst r24 3071 1dbc 01F0 breq .+2 3072 1dbe 00C0 rjmp .L252 3073 1dc0 8091 0000 lds r24,EE_Parameter+4 3074 1dc4 E82F mov r30,r24 3075 1dc6 F0E0 ldi r31,lo8(0) 3076 1dc8 EE0F lsl r30 3077 1dca FF1F rol r31 3078 1dcc E050 subi r30,lo8(-(PPM_in)) 3079 1dce F040 sbci r31,hi8(-(PPM_in)) 3080 1dd0 8081 ld r24,Z 3081 1dd2 9181 ldd r25,Z+1 3082 1dd4 8C34 cpi r24,76 3083 1dd6 9105 cpc r25,__zero_reg__ 3084 1dd8 04F4 brge .+2 3085 1dda 00C0 rjmp .L253 3086 1ddc 8091 0000 lds r24,delay_neutral.3048 3087 1de0 8F5F subi r24,lo8(-(1)) 3088 1de2 8093 0000 sts delay_neutral.3048,r24 3089 1de6 893C cpi r24,lo8(-55) 3090 1de8 00F4 brsh .+2 3091 1dea 00C0 rjmp .L252 3092 1dec 8091 0000 lds r24,PlatinenVersion 3093 1df0 8C30 cpi r24,lo8(12) 3094 1df2 00F4 brsh .L254 3095 1df4 2998 cbi 37-32,1 3096 1df6 00C0 rjmp .L255 3097 .L254: 3098 1df8 299A sbi 37-32,1 3099 .L255: 3100 1dfa 1092 0000 sts MotorenEin,__zero_reg__ 3101 1dfe 1092 0000 sts delay_neutral.3048,__zero_reg__ 3102 1e02 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 3103 1e06 1092 0000 sts modell_fliegt,__zero_reg__ 3104 1e0a 8091 0000 lds r24,EE_Parameter+1 3105 1e0e 282F mov r18,r24 3106 1e10 30E0 ldi r19,lo8(0) 3107 1e12 F901 movw r30,r18 3108 1e14 EE0F lsl r30 3109 1e16 FF1F rol r31 3110 1e18 E050 subi r30,lo8(-(PPM_in)) 3111 1e1a F040 sbci r31,hi8(-(PPM_in)) 3112 1e1c 8081 ld r24,Z 3113 1e1e 9181 ldd r25,Z+1 3114 1e20 8734 cpi r24,71 3115 1e22 9105 cpc r25,__zero_reg__ 3116 1e24 04F4 brge .L256 3117 1e26 E091 0000 lds r30,EE_Parameter+2 3118 1e2a F0E0 ldi r31,lo8(0) 3119 1e2c EE0F lsl r30 3120 1e2e FF1F rol r31 3121 1e30 E050 subi r30,lo8(-(PPM_in)) 3122 1e32 F040 sbci r31,hi8(-(PPM_in)) 3123 1e34 0190 ld __tmp_reg__,Z+ 3124 1e36 F081 ld r31,Z 3125 1e38 E02D mov r30,__tmp_reg__ 3126 1e3a F7FF sbrs r31,7 3127 1e3c 00C0 rjmp .L258 3128 1e3e F095 com r31 3129 1e40 E195 neg r30 3130 1e42 FF4F sbci r31,lo8(-1) 3131 .L258: 3132 1e44 E734 cpi r30,71 3133 1e46 F105 cpc r31,__zero_reg__ 3134 1e48 04F4 brge .+2 3135 1e4a 00C0 rjmp .L257 3136 .L256: 3137 1e4c 8091 0000 lds r24,EE_Parameter+2 3138 1e50 A82F mov r26,r24 3139 1e52 B0E0 ldi r27,lo8(0) 3140 1e54 FD01 movw r30,r26 3141 1e56 EE0F lsl r30 3142 1e58 FF1F rol r31 3143 1e5a E050 subi r30,lo8(-(PPM_in)) 3144 1e5c F040 sbci r31,hi8(-(PPM_in)) 3145 1e5e 8081 ld r24,Z 3146 1e60 9181 ldd r25,Z+1 3147 1e62 8734 cpi r24,71 3148 1e64 9105 cpc r25,__zero_reg__ 3149 1e66 04F0 brlt .L259 3150 1e68 F901 movw r30,r18 3151 1e6a EE0F lsl r30 3152 1e6c FF1F rol r31 3153 1e6e E050 subi r30,lo8(-(PPM_in)) 3154 1e70 F040 sbci r31,hi8(-(PPM_in)) 3155 1e72 0190 ld __tmp_reg__,Z+ 3156 1e74 F081 ld r31,Z 3157 1e76 E02D mov r30,__tmp_reg__ 3158 .L259: 3159 1e78 FD01 movw r30,r26 3160 1e7a EE0F lsl r30 3161 1e7c FF1F rol r31 3162 1e7e E050 subi r30,lo8(-(PPM_in)) 3163 1e80 F040 sbci r31,hi8(-(PPM_in)) 3164 1e82 8081 ld r24,Z 3165 1e84 9181 ldd r25,Z+1 3166 1e86 8734 cpi r24,71 3167 1e88 9105 cpc r25,__zero_reg__ 3168 1e8a 04F0 brlt .L260 3169 1e8c F901 movw r30,r18 3170 1e8e EE0F lsl r30 3171 1e90 FF1F rol r31 3172 1e92 E050 subi r30,lo8(-(PPM_in)) 3173 1e94 F040 sbci r31,hi8(-(PPM_in)) 3174 1e96 8081 ld r24,Z 3175 1e98 9181 ldd r25,Z+1 3176 1e9a 8734 cpi r24,71 3177 1e9c 9105 cpc r25,__zero_reg__ 3178 1e9e 04F0 brlt .L260 3179 1ea0 42E0 ldi r20,lo8(2) 3180 1ea2 00C0 rjmp .L261 3181 .L260: 3182 1ea4 41E0 ldi r20,lo8(1) 3183 .L261: 3184 1ea6 FD01 movw r30,r26 3185 1ea8 EE0F lsl r30 3186 1eaa FF1F rol r31 3187 1eac E050 subi r30,lo8(-(PPM_in)) 3188 1eae F040 sbci r31,hi8(-(PPM_in)) 3189 1eb0 8081 ld r24,Z 3190 1eb2 9181 ldd r25,Z+1 3191 1eb4 8634 cpi r24,70 3192 1eb6 9105 cpc r25,__zero_reg__ 3193 1eb8 04F4 brge .L262 3194 1eba F901 movw r30,r18 3195 1ebc EE0F lsl r30 3196 1ebe FF1F rol r31 3197 1ec0 E050 subi r30,lo8(-(PPM_in)) 3198 1ec2 F040 sbci r31,hi8(-(PPM_in)) 3199 1ec4 8081 ld r24,Z 3200 1ec6 9181 ldd r25,Z+1 3201 1ec8 8734 cpi r24,71 3202 1eca 9105 cpc r25,__zero_reg__ 3203 1ecc 04F0 brlt .L262 3204 1ece 43E0 ldi r20,lo8(3) 3205 .L262: 3206 1ed0 FD01 movw r30,r26 3207 1ed2 EE0F lsl r30 3208 1ed4 FF1F rol r31 3209 1ed6 E050 subi r30,lo8(-(PPM_in)) 3210 1ed8 F040 sbci r31,hi8(-(PPM_in)) 3211 1eda 8081 ld r24,Z 3212 1edc 9181 ldd r25,Z+1 3213 1ede 8A5B subi r24,lo8(-70) 3214 1ee0 9F4F sbci r25,hi8(-70) 3215 1ee2 04F4 brge .L263 3216 1ee4 F901 movw r30,r18 3217 1ee6 EE0F lsl r30 3218 1ee8 FF1F rol r31 3219 1eea E050 subi r30,lo8(-(PPM_in)) 3220 1eec F040 sbci r31,hi8(-(PPM_in)) 3221 1eee 8081 ld r24,Z 3222 1ef0 9181 ldd r25,Z+1 3223 1ef2 8734 cpi r24,71 3224 1ef4 9105 cpc r25,__zero_reg__ 3225 1ef6 04F0 brlt .L263 3226 1ef8 44E0 ldi r20,lo8(4) 3227 .L263: 3228 1efa AA0F lsl r26 3229 1efc BB1F rol r27 3230 1efe A050 subi r26,lo8(-(PPM_in)) 3231 1f00 B040 sbci r27,hi8(-(PPM_in)) 3232 1f02 8D91 ld r24,X+ 3233 1f04 9C91 ld r25,X 3234 1f06 8A5B subi r24,lo8(-70) 3235 1f08 9F4F sbci r25,hi8(-70) 3236 1f0a 04F4 brge .L264 3237 1f0c 220F lsl r18 3238 1f0e 331F rol r19 3239 1f10 2050 subi r18,lo8(-(PPM_in)) 3240 1f12 3040 sbci r19,hi8(-(PPM_in)) 3241 1f14 D901 movw r26,r18 3242 1f16 8D91 ld r24,X+ 3243 1f18 9C91 ld r25,X 3244 1f1a 8634 cpi r24,70 3245 1f1c 9105 cpc r25,__zero_reg__ 3246 1f1e 04F4 brge .L264 3247 1f20 45E0 ldi r20,lo8(5) 3248 .L264: 3249 1f22 842F mov r24,r20 3250 1f24 0E94 0000 call SetActiveParamSet 3251 .L257: 3252 1f28 E091 0000 lds r30,EE_Parameter+2 3253 1f2c F0E0 ldi r31,lo8(0) 3254 1f2e EE0F lsl r30 3255 1f30 FF1F rol r31 3256 1f32 E050 subi r30,lo8(-(PPM_in)) 3257 1f34 F040 sbci r31,hi8(-(PPM_in)) 3258 1f36 0190 ld __tmp_reg__,Z+ 3259 1f38 F081 ld r31,Z 3260 1f3a E02D mov r30,__tmp_reg__ 3261 1f3c F7FF sbrs r31,7 3262 1f3e 00C0 rjmp .L266 3263 1f40 F095 com r31 3264 1f42 E195 neg r30 3265 1f44 FF4F sbci r31,lo8(-1) 3266 .L266: 3267 1f46 7E97 sbiw r30,30 3268 1f48 04F4 brge .L265 3269 1f4a E091 0000 lds r30,EE_Parameter+1 3270 1f4e F0E0 ldi r31,lo8(0) 3271 1f50 EE0F lsl r30 3272 1f52 FF1F rol r31 3273 1f54 E050 subi r30,lo8(-(PPM_in)) 3274 1f56 F040 sbci r31,hi8(-(PPM_in)) 3275 1f58 8081 ld r24,Z 3276 1f5a 9181 ldd r25,Z+1 3277 1f5c 8A5B subi r24,lo8(-70) 3278 1f5e 9F4F sbci r25,hi8(-70) 3279 1f60 04F4 brge .L265 3280 1f62 81E0 ldi r24,lo8(1) 3281 1f64 8093 0000 sts WinkelOut+6,r24 3282 1f68 88EE ldi r24,lo8(1000) 3283 1f6a 93E0 ldi r25,hi8(1000) 3284 1f6c 9093 0000 sts (beeptime)+1,r25 3285 1f70 8093 0000 sts beeptime,r24 3286 1f74 00C0 rjmp .L252 3287 .L265: 3288 1f76 0E94 0000 call GetActiveParamSet 3289 1f7a 0E94 0000 call ParamSet_ReadFromEEProm 3290 1f7e 80E0 ldi r24,lo8(0) 3291 1f80 0E94 0000 call LipoDetection 3292 1f84 8091 0000 lds r24,EE_Parameter+39 3293 1f88 0E94 0000 call LIBFC_ReceiverInit 3294 1f8c 8091 0000 lds r24,EE_Parameter+13 3295 1f90 80FF sbrs r24,0 3296 1f92 00C0 rjmp .L267 3297 1f94 8091 0000 lds r24,MessLuftdruck 3298 1f98 9091 0000 lds r25,(MessLuftdruck)+1 3299 1f9c 875B subi r24,lo8(951) 3300 1f9e 9340 sbci r25,hi8(951) 3301 1fa0 00F4 brsh .L268 3302 1fa2 8091 0000 lds r24,MessLuftdruck 3303 1fa6 9091 0000 lds r25,(MessLuftdruck)+1 3304 1faa 8E5E subi r24,lo8(750) 3305 1fac 9240 sbci r25,hi8(750) 3306 1fae 00F4 brsh .L267 3307 .L268: 3308 1fb0 0E94 0000 call SucheLuftruckOffset 3309 .L267: 3310 1fb4 1092 0000 sts ServoActive,__zero_reg__ 3311 1fb8 80E0 ldi r24,lo8(0) 3312 1fba 0E94 0000 call SetNeutral 3313 1fbe 81E0 ldi r24,lo8(1) 3314 1fc0 8093 0000 sts calibration_done.3051,r24 3315 1fc4 8093 0000 sts ServoActive,r24 3316 1fc8 579A sbi 42-32,7 3317 1fca 00C0 rjmp .L529 3318 .L253: 3319 1fcc 8081 ld r24,Z 3320 1fce 9181 ldd r25,Z+1 3321 1fd0 855B subi r24,lo8(-75) 3322 1fd2 9F4F sbci r25,hi8(-75) 3323 1fd4 04F4 brge .L269 3324 1fd6 8091 0000 lds r24,delay_neutral.3048 3325 1fda 8F5F subi r24,lo8(-(1)) 3326 1fdc 8093 0000 sts delay_neutral.3048,r24 3327 1fe0 893C cpi r24,lo8(-55) 3328 1fe2 00F0 brlo .L252 3329 1fe4 8091 0000 lds r24,PlatinenVersion 3330 1fe8 8C30 cpi r24,lo8(12) 3331 1fea 00F4 brsh .L270 3332 1fec 2998 cbi 37-32,1 3333 1fee 00C0 rjmp .L271 3334 .L270: 3335 1ff0 299A sbi 37-32,1 3336 .L271: 3337 1ff2 1092 0000 sts MotorenEin,__zero_reg__ 3338 1ff6 1092 0000 sts delay_neutral.3048,__zero_reg__ 3339 1ffa 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 3340 1ffe 1092 0000 sts modell_fliegt,__zero_reg__ 3341 2002 81E0 ldi r24,lo8(1) 3342 2004 0E94 0000 call SetNeutral 3343 2008 81E0 ldi r24,lo8(1) 3344 200a 8093 0000 sts calibration_done.3051,r24 3345 .L529: 3346 200e 0E94 0000 call GetActiveParamSet 3347 2012 68E7 ldi r22,lo8(120) 3348 2014 70E0 ldi r23,hi8(120) 3349 2016 0E94 0000 call Piep 3350 201a 00C0 rjmp .L252 3351 .L269: 3352 201c 1092 0000 sts delay_neutral.3048,__zero_reg__ 3353 .L252: 3354 2020 E091 0000 lds r30,EE_Parameter+3 3355 2024 F0E0 ldi r31,lo8(0) 3356 2026 EE0F lsl r30 3357 2028 FF1F rol r31 3358 202a E050 subi r30,lo8(-(PPM_in)) 3359 202c F040 sbci r31,hi8(-(PPM_in)) 3360 202e 8081 ld r24,Z 3361 2030 9181 ldd r25,Z+1 3362 2032 8B5A subi r24,lo8(-85) 3363 2034 9F4F sbci r25,hi8(-85) 3364 2036 04F0 brlt .+2 3365 2038 00C0 rjmp .L248 3366 203a 8091 0000 lds r24,MotorenEin 3367 203e 8823 tst r24 3368 2040 01F0 breq .+2 3369 2042 00C0 rjmp .L272 3370 2044 E091 0000 lds r30,EE_Parameter+4 3371 2048 F0E0 ldi r31,lo8(0) 3372 204a EE0F lsl r30 3373 204c FF1F rol r31 3374 204e E050 subi r30,lo8(-(PPM_in)) 3375 2050 F040 sbci r31,hi8(-(PPM_in)) 3376 2052 8081 ld r24,Z 3377 2054 9181 ldd r25,Z+1 3378 2056 855B subi r24,lo8(-75) 3379 2058 9F4F sbci r25,hi8(-75) 3380 205a 04F0 brlt .+2 3381 205c 00C0 rjmp .L273 3382 205e 8091 0000 lds r24,delay_einschalten.3049 3383 2062 8F5F subi r24,lo8(-(1)) 3384 2064 8093 0000 sts delay_einschalten.3049,r24 3385 2068 893C cpi r24,lo8(-55) 3386 206a 00F4 brsh .+2 3387 206c 00C0 rjmp .L248 3388 206e 1092 0000 sts delay_einschalten.3049,__zero_reg__ 3389 2072 8091 0000 lds r24,VersionInfo+5 3390 2076 8823 tst r24 3391 2078 01F0 breq .+2 3392 207a 00C0 rjmp .L274 3393 207c 8091 0000 lds r24,calibration_done.3051 3394 2080 8823 tst r24 3395 2082 01F4 brne .+2 3396 2084 00C0 rjmp .L274 3397 2086 81E0 ldi r24,lo8(1) 3398 2088 90E0 ldi r25,hi8(1) 3399 208a 9093 0000 sts (modell_fliegt)+1,r25 3400 208e 8093 0000 sts modell_fliegt,r24 3401 2092 81E0 ldi r24,lo8(1) 3402 2094 8093 0000 sts MotorenEin,r24 3403 2098 1092 0000 sts sollGier.3042,__zero_reg__ 3404 209c 1092 0000 sts (sollGier.3042)+1,__zero_reg__ 3405 20a0 1092 0000 sts (sollGier.3042)+2,__zero_reg__ 3406 20a4 1092 0000 sts (sollGier.3042)+3,__zero_reg__ 3407 20a8 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 3408 20ac 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 3409 20b0 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 3410 20b4 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 3411 20b8 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 3412 20bc 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 3413 20c0 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 3414 20c4 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 3415 20c8 6091 0000 lds r22,Mittelwert_AccNick 3416 20cc 7091 0000 lds r23,(Mittelwert_AccNick)+1 3417 20d0 8827 clr r24 3418 20d2 77FD sbrc r23,7 3419 20d4 8095 com r24 3420 20d6 982F mov r25,r24 3421 20d8 E090 0000 lds r14,EE_Parameter+28 3422 20dc FF24 clr r15 3423 20de 00E0 ldi r16,lo8(0) 3424 20e0 10E0 ldi r17,hi8(0) 3425 20e2 A801 movw r20,r16 3426 20e4 9701 movw r18,r14 3427 20e6 0E94 0000 call __mulsi3 3428 20ea 6093 0000 sts Mess_IntegralNick,r22 3429 20ee 7093 0000 sts (Mess_IntegralNick)+1,r23 3430 20f2 8093 0000 sts (Mess_IntegralNick)+2,r24 3431 20f6 9093 0000 sts (Mess_IntegralNick)+3,r25 3432 20fa 6091 0000 lds r22,Mittelwert_AccRoll 3433 20fe 7091 0000 lds r23,(Mittelwert_AccRoll)+1 3434 2102 8827 clr r24 3435 2104 77FD sbrc r23,7 3436 2106 8095 com r24 3437 2108 982F mov r25,r24 3438 210a 0E94 0000 call __mulsi3 3439 210e 6093 0000 sts Mess_IntegralRoll,r22 3440 2112 7093 0000 sts (Mess_IntegralRoll)+1,r23 3441 2116 8093 0000 sts (Mess_IntegralRoll)+2,r24 3442 211a 9093 0000 sts (Mess_IntegralRoll)+3,r25 3443 211e 8091 0000 lds r24,IntegralNick 3444 2122 9091 0000 lds r25,(IntegralNick)+1 3445 2126 A091 0000 lds r26,(IntegralNick)+2 3446 212a B091 0000 lds r27,(IntegralNick)+3 3447 212e 8093 0000 sts Mess_IntegralNick2,r24 3448 2132 9093 0000 sts (Mess_IntegralNick2)+1,r25 3449 2136 A093 0000 sts (Mess_IntegralNick2)+2,r26 3450 213a B093 0000 sts (Mess_IntegralNick2)+3,r27 3451 213e 8091 0000 lds r24,IntegralRoll 3452 2142 9091 0000 lds r25,(IntegralRoll)+1 3453 2146 A091 0000 lds r26,(IntegralRoll)+2 3454 214a B091 0000 lds r27,(IntegralRoll)+3 3455 214e 8093 0000 sts Mess_IntegralRoll2,r24 3456 2152 9093 0000 sts (Mess_IntegralRoll2)+1,r25 3457 2156 A093 0000 sts (Mess_IntegralRoll2)+2,r26 3458 215a B093 0000 sts (Mess_IntegralRoll2)+3,r27 3459 215e 1092 0000 sts SummeNick,__zero_reg__ 3460 2162 1092 0000 sts (SummeNick)+1,__zero_reg__ 3461 2166 1092 0000 sts (SummeNick)+2,__zero_reg__ 3462 216a 1092 0000 sts (SummeNick)+3,__zero_reg__ 3463 216e 1092 0000 sts SummeRoll,__zero_reg__ 3464 2172 1092 0000 sts (SummeRoll)+1,__zero_reg__ 3465 2176 1092 0000 sts (SummeRoll)+2,__zero_reg__ 3466 217a 1092 0000 sts (SummeRoll)+3,__zero_reg__ 3467 217e 8091 0000 lds r24,FCFlags 3468 2182 8860 ori r24,lo8(8) 3469 2184 8093 0000 sts FCFlags,r24 3470 2188 8091 0000 lds r24,EE_Parameter+95 3471 218c 2FE0 ldi r18,lo8(15) 3472 218e 829F mul r24,r18 3473 2190 C001 movw r24,r0 3474 2192 1124 clr r1 3475 2194 2091 0000 lds r18,KompassValue 3476 2198 3091 0000 lds r19,(KompassValue)+1 3477 219c 820F add r24,r18 3478 219e 931F adc r25,r19 3479 21a0 68E6 ldi r22,lo8(360) 3480 21a2 71E0 ldi r23,hi8(360) 3481 21a4 0E94 0000 call __divmodhi4 3482 21a8 62E0 ldi r22,lo8(2) 3483 21aa 70E0 ldi r23,hi8(2) 3484 21ac 0E94 0000 call __divmodhi4 3485 21b0 6093 0000 sts ControlHeading,r22 3486 21b4 00C0 rjmp .L248 3487 .L274: 3488 21b6 8CED ldi r24,lo8(1500) 3489 21b8 95E0 ldi r25,hi8(1500) 3490 21ba 9093 0000 sts (beeptime)+1,r25 3491 21be 8093 0000 sts beeptime,r24 3492 21c2 00C0 rjmp .L248 3493 .L273: 3494 21c4 1092 0000 sts delay_einschalten.3049,__zero_reg__ 3495 21c8 00C0 rjmp .L248 3496 .L272: 3497 21ca E091 0000 lds r30,EE_Parameter+4 3498 21ce F0E0 ldi r31,lo8(0) 3499 21d0 EE0F lsl r30 3500 21d2 FF1F rol r31 3501 21d4 E050 subi r30,lo8(-(PPM_in)) 3502 21d6 F040 sbci r31,hi8(-(PPM_in)) 3503 21d8 8081 ld r24,Z 3504 21da 9181 ldd r25,Z+1 3505 21dc 8C34 cpi r24,76 3506 21de 9105 cpc r25,__zero_reg__ 3507 21e0 04F0 brlt .L275 3508 21e2 8091 0000 lds r24,delay_ausschalten.3050 3509 21e6 8F5F subi r24,lo8(-(1)) 3510 21e8 8093 0000 sts delay_ausschalten.3050,r24 3511 21ec 893C cpi r24,lo8(-55) 3512 21ee 00F0 brlo .L248 3513 21f0 1092 0000 sts MotorenEin,__zero_reg__ 3514 21f4 1092 0000 sts delay_ausschalten.3050,__zero_reg__ 3515 21f8 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 3516 21fc 1092 0000 sts modell_fliegt,__zero_reg__ 3517 2200 00C0 rjmp .L248 3518 .L275: 3519 2202 1092 0000 sts delay_ausschalten.3050,__zero_reg__ 3520 .L248: 3521 2206 8091 0000 lds r24,NewPpmData 3522 220a 8150 subi r24,lo8(-(-1)) 3523 220c 8093 0000 sts NewPpmData,r24 3524 2210 8F5F subi r24,lo8(-(1)) 3525 2212 01F0 breq .L276 3526 2214 8091 0000 lds r24,FCFlags 3527 2218 84FF sbrs r24,4 3528 221a 00C0 rjmp .L277 3529 .L276: 3530 221c 0E94 0000 call ParameterZuordnung 3531 2220 2091 0000 lds r18,EE_Parameter+1 3532 2224 022F mov r16,r18 3533 2226 10E0 ldi r17,lo8(0) 3534 2228 000F lsl r16 3535 222a 111F rol r17 3536 222c F801 movw r30,r16 3537 222e E050 subi r30,lo8(-(PPM_in)) 3538 2230 F040 sbci r31,hi8(-(PPM_in)) 3539 2232 8081 ld r24,Z 3540 2234 9181 ldd r25,Z+1 3541 2236 E090 0000 lds r14,EE_Parameter+23 3542 223a FF24 clr r15 3543 223c BC01 movw r22,r24 3544 223e 6E9D mul r22,r14 3545 2240 C001 movw r24,r0 3546 2242 6F9D mul r22,r15 3547 2244 900D add r25,r0 3548 2246 7E9D mul r23,r14 3549 2248 900D add r25,r0 3550 224a 1124 clr r1 3551 224c 4091 0000 lds r20,stick_nick.3059 3552 2250 5091 0000 lds r21,(stick_nick.3059)+1 3553 2254 9A01 movw r18,r20 3554 2256 220F lsl r18 3555 2258 331F rol r19 3556 225a 240F add r18,r20 3557 225c 351F adc r19,r21 3558 225e 820F add r24,r18 3559 2260 931F adc r25,r19 3560 2262 64E0 ldi r22,lo8(4) 3561 2264 70E0 ldi r23,hi8(4) 3562 2266 0E94 0000 call __divmodhi4 3563 226a CB01 movw r24,r22 3564 226c 7093 0000 sts (stick_nick.3059)+1,r23 3565 2270 6093 0000 sts stick_nick.3059,r22 3566 2274 0050 subi r16,lo8(-(PPM_diff)) 3567 2276 1040 sbci r17,hi8(-(PPM_diff)) 3568 2278 D801 movw r26,r16 3569 227a 2D91 ld r18,X+ 3570 227c 3C91 ld r19,X 3571 227e 0091 0000 lds r16,EE_Parameter+24 3572 2282 10E0 ldi r17,lo8(0) 3573 2284 F901 movw r30,r18 3574 2286 E09F mul r30,r16 3575 2288 9001 movw r18,r0 3576 228a E19F mul r30,r17 3577 228c 300D add r19,r0 3578 228e F09F mul r31,r16 3579 2290 300D add r19,r0 3580 2292 1124 clr r1 3581 2294 820F add r24,r18 3582 2296 931F adc r25,r19 3583 2298 9093 0000 sts (stick_nick.3059)+1,r25 3584 229c 8093 0000 sts stick_nick.3059,r24 3585 22a0 8091 0000 lds r24,EE_Parameter+2 3586 22a4 C82E mov r12,r24 3587 22a6 DD24 clr r13 3588 22a8 CC0C lsl r12 3589 22aa DD1C rol r13 3590 22ac F601 movw r30,r12 3591 22ae E050 subi r30,lo8(-(PPM_in)) 3592 22b0 F040 sbci r31,hi8(-(PPM_in)) 3593 22b2 8081 ld r24,Z 3594 22b4 9181 ldd r25,Z+1 3595 22b6 9C01 movw r18,r24 3596 22b8 2E9D mul r18,r14 3597 22ba C001 movw r24,r0 3598 22bc 2F9D mul r18,r15 3599 22be 900D add r25,r0 3600 22c0 3E9D mul r19,r14 3601 22c2 900D add r25,r0 3602 22c4 1124 clr r1 3603 22c6 4091 0000 lds r20,stick_roll.3060 3604 22ca 5091 0000 lds r21,(stick_roll.3060)+1 3605 22ce 9A01 movw r18,r20 3606 22d0 220F lsl r18 3607 22d2 331F rol r19 3608 22d4 240F add r18,r20 3609 22d6 351F adc r19,r21 3610 22d8 820F add r24,r18 3611 22da 931F adc r25,r19 3612 22dc 64E0 ldi r22,lo8(4) 3613 22de 70E0 ldi r23,hi8(4) 3614 22e0 0E94 0000 call __divmodhi4 3615 22e4 7093 0000 sts (stick_roll.3060)+1,r23 3616 22e8 6093 0000 sts stick_roll.3060,r22 3617 22ec 40E0 ldi r20,lo8(PPM_diff) 3618 22ee 50E0 ldi r21,hi8(PPM_diff) 3619 22f0 C40E add r12,r20 3620 22f2 D51E adc r13,r21 3621 22f4 D601 movw r26,r12 3622 22f6 8D91 ld r24,X+ 3623 22f8 9C91 ld r25,X 3624 22fa 809F mul r24,r16 3625 22fc F001 movw r30,r0 3626 22fe 819F mul r24,r17 3627 2300 F00D add r31,r0 3628 2302 909F mul r25,r16 3629 2304 F00D add r31,r0 3630 2306 1124 clr r1 3631 2308 E60F add r30,r22 3632 230a F71F adc r31,r23 3633 230c F093 0000 sts (stick_roll.3060)+1,r31 3634 2310 E093 0000 sts stick_roll.3060,r30 3635 2314 9E01 movw r18,r28 3636 2316 2F5F subi r18,lo8(-(1)) 3637 2318 3F4F sbci r19,hi8(-(1)) 3638 231a 40E0 ldi r20,lo8(C.354.3251) 3639 231c 50E0 ldi r21,hi8(C.354.3251) 3640 231e 8FE1 ldi r24,lo8(31) 3641 .L278: 3642 2320 DA01 movw r26,r20 3643 2322 0D90 ld r0,X+ 3644 2324 AD01 movw r20,r26 3645 2326 D901 movw r26,r18 3646 2328 0D92 st X+,r0 3647 232a 9D01 movw r18,r26 3648 232c 8150 subi r24,lo8(-(-1)) 3649 232e 01F4 brne .L278 3650 2330 8091 0000 lds r24,CareFree 3651 2334 C090 0000 lds r12,stick_nick.3059 3652 2338 D090 0000 lds r13,(stick_nick.3059)+1 3653 233c 8823 tst r24 3654 233e 01F0 breq .L279 3655 2340 C601 movw r24,r12 3656 2342 64E0 ldi r22,lo8(4) 3657 2344 70E0 ldi r23,hi8(4) 3658 2346 0E94 0000 call __divmodhi4 3659 234a 6B01 movw r12,r22 3660 234c CF01 movw r24,r30 3661 234e 64E0 ldi r22,lo8(4) 3662 2350 70E0 ldi r23,hi8(4) 3663 2352 0E94 0000 call __divmodhi4 3664 2356 8B01 movw r16,r22 3665 2358 E090 0000 lds r14,FromNC_Rotate_S 3666 235c FF24 clr r15 3667 235e E7FC sbrc r14,7 3668 2360 F094 com r15 3669 2362 6E9D mul r22,r14 3670 2364 C001 movw r24,r0 3671 2366 6F9D mul r22,r15 3672 2368 900D add r25,r0 3673 236a 7E9D mul r23,r14 3674 236c 900D add r25,r0 3675 236e 1124 clr r1 3676 2370 E091 0000 lds r30,FromNC_Rotate_C 3677 2374 FF27 clr r31 3678 2376 E7FD sbrc r30,7 3679 2378 F095 com r31 3680 237a EC9D mul r30,r12 3681 237c 9001 movw r18,r0 3682 237e ED9D mul r30,r13 3683 2380 300D add r19,r0 3684 2382 FC9D mul r31,r12 3685 2384 300D add r19,r0 3686 2386 1124 clr r1 3687 2388 820F add r24,r18 3688 238a 931F adc r25,r19 3689 238c 68E0 ldi r22,lo8(8) 3690 238e 70E0 ldi r23,hi8(8) 3691 2390 0E94 0000 call __divmodhi4 3692 2394 7093 0000 sts (StickNick)+1,r23 3693 2398 6093 0000 sts StickNick,r22 3694 239c 0E9F mul r16,r30 3695 239e C001 movw r24,r0 3696 23a0 0F9F mul r16,r31 3697 23a2 900D add r25,r0 3698 23a4 1E9F mul r17,r30 3699 23a6 900D add r25,r0 3700 23a8 1124 clr r1 3701 23aa EC9C mul r14,r12 3702 23ac 9001 movw r18,r0 3703 23ae ED9C mul r14,r13 3704 23b0 300D add r19,r0 3705 23b2 FC9C mul r15,r12 3706 23b4 300D add r19,r0 3707 23b6 1124 clr r1 3708 23b8 00C0 rjmp .L530 3709 .L279: 3710 23ba E091 0000 lds r30,EE_Parameter+95 3711 23be F0E0 ldi r31,lo8(0) 3712 23c0 DE01 movw r26,r28 3713 23c2 AE0F add r26,r30 3714 23c4 BF1F adc r27,r31 3715 23c6 1796 adiw r26,7 3716 23c8 0C91 ld r16,X 3717 23ca 1797 sbiw r26,7 3718 23cc 0093 0000 sts FromNC_Rotate_C,r16 3719 23d0 FD01 movw r30,r26 3720 23d2 E181 ldd r30,Z+1 3721 23d4 E093 0000 sts FromNC_Rotate_S,r30 3722 23d8 FF27 clr r31 3723 23da E7FD sbrc r30,7 3724 23dc F095 com r31 3725 23de E090 0000 lds r14,stick_roll.3060 3726 23e2 F090 0000 lds r15,(stick_roll.3060)+1 3727 23e6 EE9D mul r30,r14 3728 23e8 C001 movw r24,r0 3729 23ea EF9D mul r30,r15 3730 23ec 900D add r25,r0 3731 23ee FE9D mul r31,r14 3732 23f0 900D add r25,r0 3733 23f2 1124 clr r1 3734 23f4 1127 clr r17 3735 23f6 07FD sbrc r16,7 3736 23f8 1095 com r17 3737 23fa 0C9D mul r16,r12 3738 23fc 9001 movw r18,r0 3739 23fe 0D9D mul r16,r13 3740 2400 300D add r19,r0 3741 2402 1C9D mul r17,r12 3742 2404 300D add r19,r0 3743 2406 1124 clr r1 3744 2408 820F add r24,r18 3745 240a 931F adc r25,r19 3746 240c 68E0 ldi r22,lo8(8) 3747 240e 70E0 ldi r23,hi8(8) 3748 2410 0E94 0000 call __divmodhi4 3749 2414 7093 0000 sts (StickNick)+1,r23 3750 2418 6093 0000 sts StickNick,r22 3751 241c 0E9D mul r16,r14 3752 241e C001 movw r24,r0 3753 2420 0F9D mul r16,r15 3754 2422 900D add r25,r0 3755 2424 1E9D mul r17,r14 3756 2426 900D add r25,r0 3757 2428 1124 clr r1 3758 242a EC9D mul r30,r12 3759 242c 9001 movw r18,r0 3760 242e ED9D mul r30,r13 3761 2430 300D add r19,r0 3762 2432 FC9D mul r31,r12 3763 2434 300D add r19,r0 3764 2436 1124 clr r1 3765 .L530: 3766 2438 821B sub r24,r18 3767 243a 930B sbc r25,r19 3768 243c 68E0 ldi r22,lo8(8) 3769 243e 70E0 ldi r23,hi8(8) 3770 2440 0E94 0000 call __divmodhi4 3771 2444 7093 0000 sts (StickRoll)+1,r23 3772 2448 6093 0000 sts StickRoll,r22 3773 244c E091 0000 lds r30,EE_Parameter+4 3774 2450 F0E0 ldi r31,lo8(0) 3775 2452 EE0F lsl r30 3776 2454 FF1F rol r31 3777 2456 E050 subi r30,lo8(-(PPM_in)) 3778 2458 F040 sbci r31,hi8(-(PPM_in)) 3779 245a 8081 ld r24,Z 3780 245c 9181 ldd r25,Z+1 3781 245e 2227 clr r18 3782 2460 3327 clr r19 3783 2462 281B sub r18,r24 3784 2464 390B sbc r19,r25 3785 2466 2330 cpi r18,3 3786 2468 3105 cpc r19,__zero_reg__ 3787 246a 04F0 brlt .L281 3788 246c 2250 subi r18,lo8(-(-2)) 3789 246e 3040 sbci r19,hi8(-(-2)) 3790 2470 00C0 rjmp .L531 3791 .L281: 3792 2472 BFEF ldi r27,hi8(-2) 3793 2474 2E3F cpi r18,lo8(-2) 3794 2476 3B07 cpc r19,r27 3795 2478 04F4 brge .L283 3796 247a 2E5F subi r18,lo8(-(2)) 3797 247c 3F4F sbci r19,hi8(-(2)) 3798 .L531: 3799 247e 3093 0000 sts (StickGier)+1,r19 3800 2482 2093 0000 sts StickGier,r18 3801 2486 00C0 rjmp .L282 3802 .L283: 3803 2488 1092 0000 sts (StickGier)+1,__zero_reg__ 3804 248c 1092 0000 sts StickGier,__zero_reg__ 3805 .L282: 3806 2490 8091 0000 lds r24,GPS_Nick2 3807 2494 9091 0000 lds r25,(GPS_Nick2)+1 3808 2498 9095 com r25 3809 249a 8195 neg r24 3810 249c 9F4F sbci r25,lo8(-1) 3811 249e 2091 0000 lds r18,GPS_Nick 3812 24a2 3091 0000 lds r19,(GPS_Nick)+1 3813 24a6 821B sub r24,r18 3814 24a8 930B sbc r25,r19 3815 24aa E090 0000 lds r14,StickNick 3816 24ae F090 0000 lds r15,(StickNick)+1 3817 24b2 E80E add r14,r24 3818 24b4 F91E adc r15,r25 3819 24b6 F092 0000 sts (StickNick)+1,r15 3820 24ba E092 0000 sts StickNick,r14 3821 24be 8091 0000 lds r24,GPS_Roll2 3822 24c2 9091 0000 lds r25,(GPS_Roll2)+1 3823 24c6 9095 com r25 3824 24c8 8195 neg r24 3825 24ca 9F4F sbci r25,lo8(-1) 3826 24cc 2091 0000 lds r18,GPS_Roll 3827 24d0 3091 0000 lds r19,(GPS_Roll)+1 3828 24d4 821B sub r24,r18 3829 24d6 930B sbc r25,r19 3830 24d8 0091 0000 lds r16,StickRoll 3831 24dc 1091 0000 lds r17,(StickRoll)+1 3832 24e0 080F add r16,r24 3833 24e2 191F adc r17,r25 3834 24e4 1093 0000 sts (StickRoll)+1,r17 3835 24e8 0093 0000 sts StickRoll,r16 3836 24ec E091 0000 lds r30,EE_Parameter+3 3837 24f0 F0E0 ldi r31,lo8(0) 3838 24f2 EE0F lsl r30 3839 24f4 FF1F rol r31 3840 24f6 E050 subi r30,lo8(-(PPM_in)) 3841 24f8 F040 sbci r31,hi8(-(PPM_in)) 3842 24fa C080 ld r12,Z 3843 24fc D180 ldd r13,Z+1 3844 24fe E8E7 ldi r30,lo8(120) 3845 2500 F0E0 ldi r31,hi8(120) 3846 2502 CE0E add r12,r30 3847 2504 DF1E adc r13,r31 3848 2506 D092 0000 sts (StickGas)+1,r13 3849 250a C092 0000 sts StickGas,r12 3850 250e 6091 0000 lds r22,Parameter_Gyro_P 3851 2512 70E0 ldi r23,lo8(0) 3852 2514 8827 clr r24 3853 2516 77FD sbrc r23,7 3854 2518 8095 com r24 3855 251a 982F mov r25,r24 3856 251c 0E94 0000 call __floatsisf 3857 2520 20E0 ldi r18,lo8(0x41200000) 3858 2522 30E0 ldi r19,hi8(0x41200000) 3859 2524 40E2 ldi r20,hlo8(0x41200000) 3860 2526 51E4 ldi r21,hhi8(0x41200000) 3861 2528 0E94 0000 call __addsf3 3862 252c 0E94 0000 call __fixunssfsi 3863 2530 6093 0000 sts GyroFaktor,r22 3864 2534 8091 0000 lds r24,Parameter_Gyro_I 3865 2538 8093 0000 sts IntegralFaktor,r24 3866 253c 6091 0000 lds r22,Parameter_Gyro_Gier_P 3867 2540 70E0 ldi r23,lo8(0) 3868 2542 8827 clr r24 3869 2544 77FD sbrc r23,7 3870 2546 8095 com r24 3871 2548 982F mov r25,r24 3872 254a 0E94 0000 call __floatsisf 3873 254e 20E0 ldi r18,lo8(0x41200000) 3874 2550 30E0 ldi r19,hi8(0x41200000) 3875 2552 40E2 ldi r20,hlo8(0x41200000) 3876 2554 51E4 ldi r21,hhi8(0x41200000) 3877 2556 0E94 0000 call __addsf3 3878 255a 0E94 0000 call __fixunssfsi 3879 255e 6093 0000 sts GyroFaktorGier,r22 3880 2562 8091 0000 lds r24,Parameter_Gyro_Gier_I 3881 2566 8093 0000 sts IntegralFaktorGier,r24 3882 256a 8091 0000 lds r24,ExternControl+10 3883 256e 80FF sbrs r24,0 3884 2570 00C0 rjmp .L284 3885 2572 8091 0000 lds r24,Parameter_ExternalControl 3886 2576 8138 cpi r24,lo8(-127) 3887 2578 00F4 brsh .+2 3888 257a 00C0 rjmp .L284 3889 257c 2091 0000 lds r18,EE_Parameter+23 3890 2580 30E0 ldi r19,lo8(0) 3891 2582 8091 0000 lds r24,ExternControl+3 3892 2586 9927 clr r25 3893 2588 87FD sbrc r24,7 3894 258a 9095 com r25 3895 258c AC01 movw r20,r24 3896 258e 249F mul r18,r20 3897 2590 C001 movw r24,r0 3898 2592 259F mul r18,r21 3899 2594 900D add r25,r0 3900 2596 349F mul r19,r20 3901 2598 900D add r25,r0 3902 259a 1124 clr r1 3903 259c E80E add r14,r24 3904 259e F91E adc r15,r25 3905 25a0 F092 0000 sts (StickNick)+1,r15 3906 25a4 E092 0000 sts StickNick,r14 3907 25a8 8091 0000 lds r24,ExternControl+4 3908 25ac 9927 clr r25 3909 25ae 87FD sbrc r24,7 3910 25b0 9095 com r25 3911 25b2 BC01 movw r22,r24 3912 25b4 269F mul r18,r22 3913 25b6 C001 movw r24,r0 3914 25b8 279F mul r18,r23 3915 25ba 900D add r25,r0 3916 25bc 369F mul r19,r22 3917 25be 900D add r25,r0 3918 25c0 1124 clr r1 3919 25c2 080F add r16,r24 3920 25c4 191F adc r17,r25 3921 25c6 1093 0000 sts (StickRoll)+1,r17 3922 25ca 0093 0000 sts StickRoll,r16 3923 25ce 2091 0000 lds r18,ExternControl+5 3924 25d2 3327 clr r19 3925 25d4 27FD sbrc r18,7 3926 25d6 3095 com r19 3927 25d8 8091 0000 lds r24,StickGier 3928 25dc 9091 0000 lds r25,(StickGier)+1 3929 25e0 820F add r24,r18 3930 25e2 931F adc r25,r19 3931 25e4 9093 0000 sts (StickGier)+1,r25 3932 25e8 8093 0000 sts StickGier,r24 3933 25ec 2091 0000 lds r18,EE_Parameter+18 3934 25f0 30E0 ldi r19,lo8(0) 3935 25f2 8091 0000 lds r24,ExternControl+7 3936 25f6 9927 clr r25 3937 25f8 87FD sbrc r24,7 3938 25fa 9095 com r25 3939 25fc DC01 movw r26,r24 3940 25fe 2A9F mul r18,r26 3941 2600 C001 movw r24,r0 3942 2602 2B9F mul r18,r27 3943 2604 900D add r25,r0 3944 2606 3A9F mul r19,r26 3945 2608 900D add r25,r0 3946 260a 1124 clr r1 3947 260c 9093 0000 sts (ExternHoehenValue)+1,r25 3948 2610 8093 0000 sts ExternHoehenValue,r24 3949 2614 8091 0000 lds r24,ExternControl+6 3950 2618 90E0 ldi r25,lo8(0) 3951 261a 8C15 cp r24,r12 3952 261c 9D05 cpc r25,r13 3953 261e 04F4 brge .L284 3954 2620 9093 0000 sts (StickGas)+1,r25 3955 2624 8093 0000 sts StickGas,r24 3956 .L284: 3957 2628 8091 0000 lds r24,StickGas 3958 262c 9091 0000 lds r25,(StickGas)+1 3959 2630 97FF sbrs r25,7 3960 2632 00C0 rjmp .L285 3961 2634 1092 0000 sts (StickGas)+1,__zero_reg__ 3962 2638 1092 0000 sts StickGas,__zero_reg__ 3963 .L285: 3964 263c 8091 0000 lds r24,EE_Parameter+13 3965 2640 82FF sbrs r24,2 3966 2642 00C0 rjmp .L286 3967 2644 1092 0000 sts IntegralFaktor,__zero_reg__ 3968 .L286: 3969 2648 4091 0000 lds r20,StickNick 3970 264c 1091 0000 lds r17,StickNick+1 3971 2650 E091 0000 lds r30,MaxStickNick 3972 2654 F091 0000 lds r31,(MaxStickNick)+1 3973 2658 842F mov r24,r20 3974 265a 912F mov r25,r17 3975 265c 64E0 ldi r22,lo8(4) 3976 265e 70E0 ldi r23,hi8(4) 3977 2660 0E94 0000 call __divmodhi4 3978 2664 CB01 movw r24,r22 3979 2666 77FF sbrs r23,7 3980 2668 00C0 rjmp .L288 3981 266a 9095 com r25 3982 266c 8195 neg r24 3983 266e 9F4F sbci r25,lo8(-1) 3984 .L288: 3985 2670 E817 cp r30,r24 3986 2672 F907 cpc r31,r25 3987 2674 04F4 brge .L287 3988 2676 842F mov r24,r20 3989 2678 912F mov r25,r17 3990 267a 9C01 movw r18,r24 3991 267c 37FF sbrs r19,7 3992 267e 00C0 rjmp .L289 3993 2680 3095 com r19 3994 2682 2195 neg r18 3995 2684 3F4F sbci r19,lo8(-1) 3996 .L289: 3997 2686 C901 movw r24,r18 3998 2688 9595 asr r25 3999 268a 8795 ror r24 4000 268c 9595 asr r25 4001 268e 8795 ror r24 4002 2690 9093 0000 sts (MaxStickNick)+1,r25 4003 2694 8093 0000 sts MaxStickNick,r24 4004 2698 8536 cpi r24,101 4005 269a 9105 cpc r25,__zero_reg__ 4006 269c 04F0 brlt .L290 4007 269e 84E6 ldi r24,lo8(100) 4008 26a0 90E0 ldi r25,hi8(100) 4009 26a2 9093 0000 sts (MaxStickNick)+1,r25 4010 26a6 8093 0000 sts MaxStickNick,r24 4011 26aa 00C0 rjmp .L290 4012 .L287: 4013 26ac 3197 sbiw r30,1 4014 26ae F093 0000 sts (MaxStickNick)+1,r31 4015 26b2 E093 0000 sts MaxStickNick,r30 4016 .L290: 4017 26b6 4091 0000 lds r20,StickRoll 4018 26ba 1091 0000 lds r17,StickRoll+1 4019 26be E091 0000 lds r30,MaxStickRoll 4020 26c2 F091 0000 lds r31,(MaxStickRoll)+1 4021 26c6 842F mov r24,r20 4022 26c8 912F mov r25,r17 4023 26ca 64E0 ldi r22,lo8(4) 4024 26cc 70E0 ldi r23,hi8(4) 4025 26ce 0E94 0000 call __divmodhi4 4026 26d2 CB01 movw r24,r22 4027 26d4 77FF sbrs r23,7 4028 26d6 00C0 rjmp .L292 4029 26d8 9095 com r25 4030 26da 8195 neg r24 4031 26dc 9F4F sbci r25,lo8(-1) 4032 .L292: 4033 26de E817 cp r30,r24 4034 26e0 F907 cpc r31,r25 4035 26e2 04F4 brge .L291 4036 26e4 842F mov r24,r20 4037 26e6 912F mov r25,r17 4038 26e8 9C01 movw r18,r24 4039 26ea 37FF sbrs r19,7 4040 26ec 00C0 rjmp .L293 4041 26ee 3095 com r19 4042 26f0 2195 neg r18 4043 26f2 3F4F sbci r19,lo8(-1) 4044 .L293: 4045 26f4 C901 movw r24,r18 4046 26f6 9595 asr r25 4047 26f8 8795 ror r24 4048 26fa 9595 asr r25 4049 26fc 8795 ror r24 4050 26fe 9093 0000 sts (MaxStickRoll)+1,r25 4051 2702 8093 0000 sts MaxStickRoll,r24 4052 2706 8536 cpi r24,101 4053 2708 9105 cpc r25,__zero_reg__ 4054 270a 04F0 brlt .L294 4055 270c 84E6 ldi r24,lo8(100) 4056 270e 90E0 ldi r25,hi8(100) 4057 2710 9093 0000 sts (MaxStickRoll)+1,r25 4058 2714 8093 0000 sts MaxStickRoll,r24 4059 2718 00C0 rjmp .L294 4060 .L291: 4061 271a 3197 sbiw r30,1 4062 271c F093 0000 sts (MaxStickRoll)+1,r31 4063 2720 E093 0000 sts MaxStickRoll,r30 4064 .L294: 4065 2724 8091 0000 lds r24,FCFlags 4066 2728 84FF sbrs r24,4 4067 272a 00C0 rjmp .L295 4068 272c 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 4069 2730 1092 0000 sts MaxStickNick,__zero_reg__ 4070 2734 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 4071 2738 1092 0000 sts MaxStickRoll,__zero_reg__ 4072 .L295: 4073 273c 8091 0000 lds r24,EE_Parameter+2 4074 2740 A82F mov r26,r24 4075 2742 B0E0 ldi r27,lo8(0) 4076 2744 FD01 movw r30,r26 4077 2746 EE0F lsl r30 4078 2748 FF1F rol r31 4079 274a E050 subi r30,lo8(-(PPM_in)) 4080 274c F040 sbci r31,hi8(-(PPM_in)) 4081 274e 2081 ld r18,Z 4082 2750 3181 ldd r19,Z+1 4083 2752 8091 0000 lds r24,EE_Parameter+58 4084 2756 482F mov r20,r24 4085 2758 50E0 ldi r21,lo8(0) 4086 275a 4217 cp r20,r18 4087 275c 5307 cpc r21,r19 4088 275e 04F4 brge .L296 4089 2760 8091 0000 lds r24,EE_Parameter+97 4090 2764 82FF sbrs r24,2 4091 2766 00C0 rjmp .L296 4092 2768 81E0 ldi r24,lo8(1) 4093 276a 8093 0000 sts Looping_Links,r24 4094 276e 00C0 rjmp .L297 4095 .L296: 4096 2770 AA0F lsl r26 4097 2772 BB1F rol r27 4098 2774 A050 subi r26,lo8(-(PPM_in)) 4099 2776 B040 sbci r27,hi8(-(PPM_in)) 4100 2778 2D91 ld r18,X+ 4101 277a 3C91 ld r19,X 4102 277c 8091 0000 lds r24,EE_Parameter+59 4103 2780 481B sub r20,r24 4104 2782 5109 sbc r21,__zero_reg__ 4105 2784 2417 cp r18,r20 4106 2786 3507 cpc r19,r21 4107 2788 04F4 brge .L297 4108 278a 1092 0000 sts Looping_Links,__zero_reg__ 4109 .L297: 4110 278e 8091 0000 lds r24,EE_Parameter+2 4111 2792 A82F mov r26,r24 4112 2794 B0E0 ldi r27,lo8(0) 4113 2796 FD01 movw r30,r26 4114 2798 EE0F lsl r30 4115 279a FF1F rol r31 4116 279c E050 subi r30,lo8(-(PPM_in)) 4117 279e F040 sbci r31,hi8(-(PPM_in)) 4118 27a0 2081 ld r18,Z 4119 27a2 3181 ldd r19,Z+1 4120 27a4 8091 0000 lds r24,EE_Parameter+58 4121 27a8 482F mov r20,r24 4122 27aa 50E0 ldi r21,lo8(0) 4123 27ac 8827 clr r24 4124 27ae 9927 clr r25 4125 27b0 841B sub r24,r20 4126 27b2 950B sbc r25,r21 4127 27b4 2817 cp r18,r24 4128 27b6 3907 cpc r19,r25 4129 27b8 04F4 brge .L298 4130 27ba 8091 0000 lds r24,EE_Parameter+97 4131 27be 83FF sbrs r24,3 4132 27c0 00C0 rjmp .L298 4133 27c2 81E0 ldi r24,lo8(1) 4134 27c4 8093 0000 sts Looping_Rechts,r24 4135 27c8 00C0 rjmp .L299 4136 .L298: 4137 27ca 8091 0000 lds r24,Looping_Rechts 4138 27ce 8823 tst r24 4139 27d0 01F0 breq .L299 4140 27d2 AA0F lsl r26 4141 27d4 BB1F rol r27 4142 27d6 A050 subi r26,lo8(-(PPM_in)) 4143 27d8 B040 sbci r27,hi8(-(PPM_in)) 4144 27da 2D91 ld r18,X+ 4145 27dc 3C91 ld r19,X 4146 27de 8091 0000 lds r24,EE_Parameter+59 4147 27e2 90E0 ldi r25,lo8(0) 4148 27e4 841B sub r24,r20 4149 27e6 950B sbc r25,r21 4150 27e8 8217 cp r24,r18 4151 27ea 9307 cpc r25,r19 4152 27ec 04F4 brge .L299 4153 27ee 1092 0000 sts Looping_Rechts,__zero_reg__ 4154 .L299: 4155 27f2 8091 0000 lds r24,EE_Parameter+1 4156 27f6 A82F mov r26,r24 4157 27f8 B0E0 ldi r27,lo8(0) 4158 27fa FD01 movw r30,r26 4159 27fc EE0F lsl r30 4160 27fe FF1F rol r31 4161 2800 E050 subi r30,lo8(-(PPM_in)) 4162 2802 F040 sbci r31,hi8(-(PPM_in)) 4163 2804 2081 ld r18,Z 4164 2806 3181 ldd r19,Z+1 4165 2808 8091 0000 lds r24,EE_Parameter+58 4166 280c 482F mov r20,r24 4167 280e 50E0 ldi r21,lo8(0) 4168 2810 4217 cp r20,r18 4169 2812 5307 cpc r21,r19 4170 2814 04F4 brge .L300 4171 2816 8091 0000 lds r24,EE_Parameter+97 4172 281a 80FF sbrs r24,0 4173 281c 00C0 rjmp .L300 4174 281e 81E0 ldi r24,lo8(1) 4175 2820 8093 0000 sts Looping_Oben,r24 4176 2824 00C0 rjmp .L301 4177 .L300: 4178 2826 8091 0000 lds r24,Looping_Oben 4179 282a 8823 tst r24 4180 282c 01F0 breq .L301 4181 282e AA0F lsl r26 4182 2830 BB1F rol r27 4183 2832 A050 subi r26,lo8(-(PPM_in)) 4184 2834 B040 sbci r27,hi8(-(PPM_in)) 4185 2836 2D91 ld r18,X+ 4186 2838 3C91 ld r19,X 4187 283a 8091 0000 lds r24,EE_Parameter+59 4188 283e 481B sub r20,r24 4189 2840 5109 sbc r21,__zero_reg__ 4190 2842 2417 cp r18,r20 4191 2844 3507 cpc r19,r21 4192 2846 04F4 brge .L301 4193 2848 1092 0000 sts Looping_Oben,__zero_reg__ 4194 .L301: 4195 284c 8091 0000 lds r24,EE_Parameter+1 4196 2850 A82F mov r26,r24 4197 2852 B0E0 ldi r27,lo8(0) 4198 2854 FD01 movw r30,r26 4199 2856 EE0F lsl r30 4200 2858 FF1F rol r31 4201 285a E050 subi r30,lo8(-(PPM_in)) 4202 285c F040 sbci r31,hi8(-(PPM_in)) 4203 285e 2081 ld r18,Z 4204 2860 3181 ldd r19,Z+1 4205 2862 8091 0000 lds r24,EE_Parameter+58 4206 2866 482F mov r20,r24 4207 2868 50E0 ldi r21,lo8(0) 4208 286a 8827 clr r24 4209 286c 9927 clr r25 4210 286e 841B sub r24,r20 4211 2870 950B sbc r25,r21 4212 2872 2817 cp r18,r24 4213 2874 3907 cpc r19,r25 4214 2876 04F4 brge .L302 4215 2878 8091 0000 lds r24,EE_Parameter+97 4216 287c 81FF sbrs r24,1 4217 287e 00C0 rjmp .L302 4218 2880 81E0 ldi r24,lo8(1) 4219 2882 8093 0000 sts Looping_Unten,r24 4220 2886 00C0 rjmp .L303 4221 .L302: 4222 2888 8091 0000 lds r24,Looping_Unten 4223 288c 8823 tst r24 4224 288e 01F0 breq .L303 4225 2890 AA0F lsl r26 4226 2892 BB1F rol r27 4227 2894 A050 subi r26,lo8(-(PPM_in)) 4228 2896 B040 sbci r27,hi8(-(PPM_in)) 4229 2898 2D91 ld r18,X+ 4230 289a 3C91 ld r19,X 4231 289c 8091 0000 lds r24,EE_Parameter+59 4232 28a0 90E0 ldi r25,lo8(0) 4233 28a2 841B sub r24,r20 4234 28a4 950B sbc r25,r21 4235 28a6 8217 cp r24,r18 4236 28a8 9307 cpc r25,r19 4237 28aa 04F4 brge .L303 4238 28ac 1092 0000 sts Looping_Unten,__zero_reg__ 4239 .L303: 4240 28b0 8091 0000 lds r24,Looping_Links 4241 28b4 8823 tst r24 4242 28b6 01F4 brne .L304 4243 28b8 8091 0000 lds r24,Looping_Rechts 4244 28bc 8823 tst r24 4245 28be 01F0 breq .L305 4246 .L304: 4247 28c0 81E0 ldi r24,lo8(1) 4248 28c2 8093 0000 sts Looping_Roll,r24 4249 28c6 00C0 rjmp .L306 4250 .L305: 4251 28c8 1092 0000 sts Looping_Roll,__zero_reg__ 4252 .L306: 4253 28cc 8091 0000 lds r24,Looping_Oben 4254 28d0 8823 tst r24 4255 28d2 01F4 brne .L307 4256 28d4 8091 0000 lds r24,Looping_Unten 4257 28d8 8823 tst r24 4258 28da 01F0 breq .L308 4259 .L307: 4260 28dc 81E0 ldi r24,lo8(1) 4261 28de 8093 0000 sts Looping_Nick,r24 4262 28e2 1092 0000 sts Looping_Roll,__zero_reg__ 4263 28e6 1092 0000 sts Looping_Links,__zero_reg__ 4264 28ea 1092 0000 sts Looping_Rechts,__zero_reg__ 4265 28ee 00C0 rjmp .L277 4266 .L308: 4267 28f0 1092 0000 sts Looping_Nick,__zero_reg__ 4268 .L277: 4269 28f4 8091 0000 lds r24,Looping_Roll 4270 28f8 8823 tst r24 4271 28fa 01F4 brne .L309 4272 28fc 8091 0000 lds r24,Looping_Nick 4273 2900 8823 tst r24 4274 2902 01F0 breq .L310 4275 .L309: 4276 2904 8091 0000 lds r24,EE_Parameter+57 4277 2908 90E0 ldi r25,lo8(0) 4278 290a EEA1 ldd r30,Y+38 4279 290c FFA1 ldd r31,Y+39 4280 290e 8E17 cp r24,r30 4281 2910 9F07 cpc r25,r31 4282 2912 04F4 brge .L311 4283 2914 9FA3 std Y+39,r25 4284 2916 8EA3 std Y+38,r24 4285 .L311: 4286 2918 81E0 ldi r24,lo8(1) 4287 291a 8093 0000 sts TrichterFlug,r24 4288 .L310: 4289 291e 8091 0000 lds r24,FCFlags 4290 2922 84FF sbrs r24,4 4291 2924 00C0 rjmp .L312 4292 2926 1092 0000 sts (StickGier)+1,__zero_reg__ 4293 292a 1092 0000 sts StickGier,__zero_reg__ 4294 292e 1092 0000 sts (StickNick)+1,__zero_reg__ 4295 2932 1092 0000 sts StickNick,__zero_reg__ 4296 2936 1092 0000 sts (StickRoll)+1,__zero_reg__ 4297 293a 1092 0000 sts StickRoll,__zero_reg__ 4298 293e 9AE5 ldi r25,lo8(90) 4299 2940 9093 0000 sts GyroFaktor,r25 4300 2944 88E7 ldi r24,lo8(120) 4301 2946 8093 0000 sts IntegralFaktor,r24 4302 294a 9093 0000 sts GyroFaktorGier,r25 4303 294e 8093 0000 sts IntegralFaktorGier,r24 4304 2952 1092 0000 sts Looping_Roll,__zero_reg__ 4305 2956 1092 0000 sts Looping_Nick,__zero_reg__ 4306 .L312: 4307 295a 8091 0000 lds r24,MittelIntegralNick 4308 295e 9091 0000 lds r25,(MittelIntegralNick)+1 4309 2962 A091 0000 lds r26,(MittelIntegralNick)+2 4310 2966 B091 0000 lds r27,(MittelIntegralNick)+3 4311 296a 2091 0000 lds r18,IntegralNick 4312 296e 3091 0000 lds r19,(IntegralNick)+1 4313 2972 4091 0000 lds r20,(IntegralNick)+2 4314 2976 5091 0000 lds r21,(IntegralNick)+3 4315 297a 820F add r24,r18 4316 297c 931F adc r25,r19 4317 297e A41F adc r26,r20 4318 2980 B51F adc r27,r21 4319 2982 8093 0000 sts MittelIntegralNick,r24 4320 2986 9093 0000 sts (MittelIntegralNick)+1,r25 4321 298a A093 0000 sts (MittelIntegralNick)+2,r26 4322 298e B093 0000 sts (MittelIntegralNick)+3,r27 4323 2992 8091 0000 lds r24,MittelIntegralRoll 4324 2996 9091 0000 lds r25,(MittelIntegralRoll)+1 4325 299a A091 0000 lds r26,(MittelIntegralRoll)+2 4326 299e B091 0000 lds r27,(MittelIntegralRoll)+3 4327 29a2 2091 0000 lds r18,IntegralRoll 4328 29a6 3091 0000 lds r19,(IntegralRoll)+1 4329 29aa 4091 0000 lds r20,(IntegralRoll)+2 4330 29ae 5091 0000 lds r21,(IntegralRoll)+3 4331 29b2 820F add r24,r18 4332 29b4 931F adc r25,r19 4333 29b6 A41F adc r26,r20 4334 29b8 B51F adc r27,r21 4335 29ba 8093 0000 sts MittelIntegralRoll,r24 4336 29be 9093 0000 sts (MittelIntegralRoll)+1,r25 4337 29c2 A093 0000 sts (MittelIntegralRoll)+2,r26 4338 29c6 B093 0000 sts (MittelIntegralRoll)+3,r27 4339 29ca 8091 0000 lds r24,MittelIntegralNick2 4340 29ce 9091 0000 lds r25,(MittelIntegralNick2)+1 4341 29d2 A091 0000 lds r26,(MittelIntegralNick2)+2 4342 29d6 B091 0000 lds r27,(MittelIntegralNick2)+3 4343 29da 2091 0000 lds r18,IntegralNick2 4344 29de 3091 0000 lds r19,(IntegralNick2)+1 4345 29e2 4091 0000 lds r20,(IntegralNick2)+2 4346 29e6 5091 0000 lds r21,(IntegralNick2)+3 4347 29ea 820F add r24,r18 4348 29ec 931F adc r25,r19 4349 29ee A41F adc r26,r20 4350 29f0 B51F adc r27,r21 4351 29f2 8093 0000 sts MittelIntegralNick2,r24 4352 29f6 9093 0000 sts (MittelIntegralNick2)+1,r25 4353 29fa A093 0000 sts (MittelIntegralNick2)+2,r26 4354 29fe B093 0000 sts (MittelIntegralNick2)+3,r27 4355 2a02 8091 0000 lds r24,MittelIntegralRoll2 4356 2a06 9091 0000 lds r25,(MittelIntegralRoll2)+1 4357 2a0a A091 0000 lds r26,(MittelIntegralRoll2)+2 4358 2a0e B091 0000 lds r27,(MittelIntegralRoll2)+3 4359 2a12 2091 0000 lds r18,IntegralRoll2 4360 2a16 3091 0000 lds r19,(IntegralRoll2)+1 4361 2a1a 4091 0000 lds r20,(IntegralRoll2)+2 4362 2a1e 5091 0000 lds r21,(IntegralRoll2)+3 4363 2a22 820F add r24,r18 4364 2a24 931F adc r25,r19 4365 2a26 A41F adc r26,r20 4366 2a28 B51F adc r27,r21 4367 2a2a 8093 0000 sts MittelIntegralRoll2,r24 4368 2a2e 9093 0000 sts (MittelIntegralRoll2)+1,r25 4369 2a32 A093 0000 sts (MittelIntegralRoll2)+2,r26 4370 2a36 B093 0000 sts (MittelIntegralRoll2)+3,r27 4371 2a3a 8091 0000 lds r24,Looping_Nick 4372 2a3e 8823 tst r24 4373 2a40 01F4 brne .L313 4374 2a42 8091 0000 lds r24,Looping_Roll 4375 2a46 8823 tst r24 4376 2a48 01F4 brne .+2 4377 2a4a 00C0 rjmp .L314 4378 .L313: 4379 2a4c 1092 0000 sts IntegralAccNick,__zero_reg__ 4380 2a50 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 4381 2a54 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 4382 2a58 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 4383 2a5c 1092 0000 sts IntegralAccRoll,__zero_reg__ 4384 2a60 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 4385 2a64 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 4386 2a68 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 4387 2a6c 1092 0000 sts MittelIntegralNick,__zero_reg__ 4388 2a70 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 4389 2a74 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 4390 2a78 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 4391 2a7c 1092 0000 sts MittelIntegralRoll,__zero_reg__ 4392 2a80 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 4393 2a84 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 4394 2a88 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 4395 2a8c 1092 0000 sts MittelIntegralNick2,__zero_reg__ 4396 2a90 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 4397 2a94 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 4398 2a98 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 4399 2a9c 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 4400 2aa0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 4401 2aa4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 4402 2aa8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 4403 2aac 8091 0000 lds r24,Mess_IntegralNick 4404 2ab0 9091 0000 lds r25,(Mess_IntegralNick)+1 4405 2ab4 A091 0000 lds r26,(Mess_IntegralNick)+2 4406 2ab8 B091 0000 lds r27,(Mess_IntegralNick)+3 4407 2abc 8093 0000 sts Mess_IntegralNick2,r24 4408 2ac0 9093 0000 sts (Mess_IntegralNick2)+1,r25 4409 2ac4 A093 0000 sts (Mess_IntegralNick2)+2,r26 4410 2ac8 B093 0000 sts (Mess_IntegralNick2)+3,r27 4411 2acc 8091 0000 lds r24,Mess_IntegralRoll 4412 2ad0 9091 0000 lds r25,(Mess_IntegralRoll)+1 4413 2ad4 A091 0000 lds r26,(Mess_IntegralRoll)+2 4414 2ad8 B091 0000 lds r27,(Mess_IntegralRoll)+3 4415 2adc 8093 0000 sts Mess_IntegralRoll2,r24 4416 2ae0 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4417 2ae4 A093 0000 sts (Mess_IntegralRoll2)+2,r26 4418 2ae8 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4419 2aec 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 4420 2af0 1092 0000 sts ZaehlMessungen,__zero_reg__ 4421 2af4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 4422 2af8 1092 0000 sts LageKorrekturNick,__zero_reg__ 4423 2afc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 4424 2b00 1092 0000 sts LageKorrekturRoll,__zero_reg__ 4425 .L314: 4426 2b04 8091 0000 lds r24,Looping_Nick 4427 2b08 8823 tst r24 4428 2b0a 01F0 breq .+2 4429 2b0c 00C0 rjmp .L315 4430 2b0e 8091 0000 lds r24,Looping_Roll 4431 2b12 8823 tst r24 4432 2b14 01F0 breq .+2 4433 2b16 00C0 rjmp .L315 4434 2b18 8091 0000 lds r24,Aktuell_az 4435 2b1c 9091 0000 lds r25,(Aktuell_az)+1 4436 2b20 8150 subi r24,lo8(513) 4437 2b22 9240 sbci r25,hi8(513) 4438 2b24 04F4 brge .L316 4439 2b26 8091 0000 lds r24,MotorenEin 4440 2b2a 8823 tst r24 4441 2b2c 01F4 brne .+2 4442 2b2e 00C0 rjmp .L315 4443 .L316: 4444 2b30 2091 0000 lds r18,FromNaviCtrl_Value 4445 2b34 4090 0000 lds r4,Mittelwert_AccNick 4446 2b38 5090 0000 lds r5,(Mittelwert_AccNick)+1 4447 2b3c 2090 0000 lds r2,Mittelwert_AccRoll 4448 2b40 3090 0000 lds r3,(Mittelwert_AccRoll)+1 4449 2b44 6091 0000 lds r22,IntegralNick 4450 2b48 7091 0000 lds r23,(IntegralNick)+1 4451 2b4c 8091 0000 lds r24,(IntegralNick)+2 4452 2b50 9091 0000 lds r25,(IntegralNick)+3 4453 2b54 6090 0000 lds r6,IntegralRoll 4454 2b58 7090 0000 lds r7,(IntegralRoll)+1 4455 2b5c 8090 0000 lds r8,(IntegralRoll)+2 4456 2b60 9090 0000 lds r9,(IntegralRoll)+3 4457 2b64 4091 0000 lds r20,MaxStickNick 4458 2b68 5091 0000 lds r21,(MaxStickNick)+1 4459 2b6c 5DAB std Y+53,r21 4460 2b6e 4CAB std Y+52,r20 4461 2b70 2F3F cpi r18,lo8(-1) 4462 2b72 01F4 brne .+2 4463 2b74 00C0 rjmp .L317 4464 2b76 E090 0000 lds r14,EE_Parameter+28 4465 2b7a FF24 clr r15 4466 2b7c 00E0 ldi r16,lo8(0) 4467 2b7e 10E0 ldi r17,hi8(0) 4468 2b80 A22E mov r10,r18 4469 2b82 BB24 clr r11 4470 2b84 A7FC sbrc r10,7 4471 2b86 B094 com r11 4472 2b88 CB2C mov r12,r11 4473 2b8a DB2C mov r13,r11 4474 2b8c A801 movw r20,r16 4475 2b8e 9701 movw r18,r14 4476 2b90 0E94 0000 call __divmodsi4 4477 2b94 C201 movw r24,r4 4478 2b96 AA27 clr r26 4479 2b98 97FD sbrc r25,7 4480 2b9a A095 com r26 4481 2b9c BA2F mov r27,r26 4482 2b9e 281B sub r18,r24 4483 2ba0 390B sbc r19,r25 4484 2ba2 4A0B sbc r20,r26 4485 2ba4 5B0B sbc r21,r27 4486 2ba6 CA01 movw r24,r20 4487 2ba8 B901 movw r22,r18 4488 2baa A601 movw r20,r12 4489 2bac 9501 movw r18,r10 4490 2bae 0E94 0000 call __mulsi3 4491 2bb2 20E0 ldi r18,lo8(512) 4492 2bb4 32E0 ldi r19,hi8(512) 4493 2bb6 40E0 ldi r20,hlo8(512) 4494 2bb8 50E0 ldi r21,hhi8(512) 4495 2bba 0E94 0000 call __divmodsi4 4496 2bbe 28AB std Y+48,r18 4497 2bc0 39AB std Y+49,r19 4498 2bc2 4AAB std Y+50,r20 4499 2bc4 5BAB std Y+51,r21 4500 2bc6 2CA7 std Y+44,r18 4501 2bc8 3DA7 std Y+45,r19 4502 2bca 4EA7 std Y+46,r20 4503 2bcc 5FA7 std Y+47,r21 4504 2bce C401 movw r24,r8 4505 2bd0 B301 movw r22,r6 4506 2bd2 A801 movw r20,r16 4507 2bd4 9701 movw r18,r14 4508 2bd6 0E94 0000 call __divmodsi4 4509 2bda C101 movw r24,r2 4510 2bdc AA27 clr r26 4511 2bde 97FD sbrc r25,7 4512 2be0 A095 com r26 4513 2be2 BA2F mov r27,r26 4514 2be4 281B sub r18,r24 4515 2be6 390B sbc r19,r25 4516 2be8 4A0B sbc r20,r26 4517 2bea 5B0B sbc r21,r27 4518 2bec CA01 movw r24,r20 4519 2bee B901 movw r22,r18 4520 2bf0 A601 movw r20,r12 4521 2bf2 9501 movw r18,r10 4522 2bf4 0E94 0000 call __mulsi3 4523 2bf8 20E0 ldi r18,lo8(512) 4524 2bfa 32E0 ldi r19,hi8(512) 4525 2bfc 40E0 ldi r20,hlo8(512) 4526 2bfe 50E0 ldi r21,hhi8(512) 4527 2c00 0E94 0000 call __divmodsi4 4528 2c04 122F mov r17,r18 4529 2c06 032F mov r16,r19 4530 2c08 F42E mov r15,r20 4531 2c0a E52E mov r14,r21 4532 2c0c 222E mov r2,r18 4533 2c0e 332E mov r3,r19 4534 2c10 442E mov r4,r20 4535 2c12 552E mov r5,r21 4536 2c14 6CA9 ldd r22,Y+52 4537 2c16 7DA9 ldd r23,Y+53 4538 2c18 6134 cpi r22,65 4539 2c1a 7105 cpc r23,__zero_reg__ 4540 2c1c 04F4 brge .L318 4541 2c1e 8091 0000 lds r24,MaxStickRoll 4542 2c22 9091 0000 lds r25,(MaxStickRoll)+1 4543 2c26 8134 cpi r24,65 4544 2c28 9105 cpc r25,__zero_reg__ 4545 2c2a 04F0 brlt .L319 4546 .L318: 4547 2c2c 68A9 ldd r22,Y+48 4548 2c2e 79A9 ldd r23,Y+49 4549 2c30 8AA9 ldd r24,Y+50 4550 2c32 9BA9 ldd r25,Y+51 4551 2c34 22E0 ldi r18,lo8(2) 4552 2c36 30E0 ldi r19,hi8(2) 4553 2c38 40E0 ldi r20,hlo8(2) 4554 2c3a 50E0 ldi r21,hhi8(2) 4555 2c3c 0E94 0000 call __divmodsi4 4556 2c40 2CA7 std Y+44,r18 4557 2c42 3DA7 std Y+45,r19 4558 2c44 4EA7 std Y+46,r20 4559 2c46 5FA7 std Y+47,r21 4560 2c48 612F mov r22,r17 4561 2c4a 702F mov r23,r16 4562 2c4c 8F2D mov r24,r15 4563 2c4e 9E2D mov r25,r14 4564 2c50 22E0 ldi r18,lo8(2) 4565 2c52 30E0 ldi r19,hi8(2) 4566 2c54 40E0 ldi r20,hlo8(2) 4567 2c56 50E0 ldi r21,hhi8(2) 4568 2c58 0E94 0000 call __divmodsi4 4569 2c5c 1901 movw r2,r18 4570 2c5e 2A01 movw r4,r20 4571 .L319: 4572 2c60 E091 0000 lds r30,EE_Parameter+4 4573 2c64 F0E0 ldi r31,lo8(0) 4574 2c66 EE0F lsl r30 4575 2c68 FF1F rol r31 4576 2c6a E050 subi r30,lo8(-(PPM_in)) 4577 2c6c F040 sbci r31,hi8(-(PPM_in)) 4578 2c6e 0190 ld __tmp_reg__,Z+ 4579 2c70 F081 ld r31,Z 4580 2c72 E02D mov r30,__tmp_reg__ 4581 2c74 F7FF sbrs r31,7 4582 2c76 00C0 rjmp .L321 4583 2c78 F095 com r31 4584 2c7a E195 neg r30 4585 2c7c FF4F sbci r31,lo8(-1) 4586 .L321: 4587 2c7e 7A97 sbiw r30,26 4588 2c80 04F0 brlt .L320 4589 2c82 6CA5 ldd r22,Y+44 4590 2c84 7DA5 ldd r23,Y+45 4591 2c86 8EA5 ldd r24,Y+46 4592 2c88 9FA5 ldd r25,Y+47 4593 2c8a 23E0 ldi r18,lo8(3) 4594 2c8c 30E0 ldi r19,hi8(3) 4595 2c8e 40E0 ldi r20,hlo8(3) 4596 2c90 50E0 ldi r21,hhi8(3) 4597 2c92 0E94 0000 call __divmodsi4 4598 2c96 2CA7 std Y+44,r18 4599 2c98 3DA7 std Y+45,r19 4600 2c9a 4EA7 std Y+46,r20 4601 2c9c 5FA7 std Y+47,r21 4602 2c9e B101 movw r22,r2 4603 2ca0 C201 movw r24,r4 4604 2ca2 23E0 ldi r18,lo8(3) 4605 2ca4 30E0 ldi r19,hi8(3) 4606 2ca6 40E0 ldi r20,hlo8(3) 4607 2ca8 50E0 ldi r21,hhi8(3) 4608 2caa 0E94 0000 call __divmodsi4 4609 2cae 1901 movw r2,r18 4610 2cb0 2A01 movw r4,r20 4611 .L320: 4612 2cb2 6091 0000 lds r22,FromNaviCtrl_Value+2 4613 2cb6 662E mov r6,r22 4614 2cb8 7724 clr r7 4615 2cba 67FC sbrc r6,7 4616 2cbc 7094 com r7 4617 2cbe 872C mov r8,r7 4618 2cc0 972C mov r9,r7 4619 2cc2 2CA5 ldd r18,Y+44 4620 2cc4 3DA5 ldd r19,Y+45 4621 2cc6 4EA5 ldd r20,Y+46 4622 2cc8 5FA5 ldd r21,Y+47 4623 2cca C901 movw r24,r18 4624 2ccc DA01 movw r26,r20 4625 2cce 9C01 movw r18,r24 4626 2cd0 AD01 movw r20,r26 4627 2cd2 6216 cp r6,r18 4628 2cd4 7306 cpc r7,r19 4629 2cd6 8406 cpc r8,r20 4630 2cd8 9506 cpc r9,r21 4631 2cda 04F4 brge .L322 4632 2cdc A401 movw r20,r8 4633 2cde 9301 movw r18,r6 4634 .L322: 4635 2ce0 862F mov r24,r22 4636 2ce2 9927 clr r25 4637 2ce4 87FD sbrc r24,7 4638 2ce6 9095 com r25 4639 2ce8 9095 com r25 4640 2cea 8195 neg r24 4641 2cec 9F4F sbci r25,lo8(-1) 4642 2cee 7C01 movw r14,r24 4643 2cf0 0027 clr r16 4644 2cf2 F7FC sbrc r15,7 4645 2cf4 0095 com r16 4646 2cf6 102F mov r17,r16 4647 2cf8 5901 movw r10,r18 4648 2cfa 6A01 movw r12,r20 4649 2cfc 2E15 cp r18,r14 4650 2cfe 3F05 cpc r19,r15 4651 2d00 4007 cpc r20,r16 4652 2d02 5107 cpc r21,r17 4653 2d04 04F4 brge .L323 4654 2d06 5701 movw r10,r14 4655 2d08 6801 movw r12,r16 4656 .L323: 4657 2d0a C101 movw r24,r2 4658 2d0c D201 movw r26,r4 4659 2d0e 6816 cp r6,r24 4660 2d10 7906 cpc r7,r25 4661 2d12 8A06 cpc r8,r26 4662 2d14 9B06 cpc r9,r27 4663 2d16 04F4 brge .L324 4664 2d18 D401 movw r26,r8 4665 2d1a C301 movw r24,r6 4666 .L324: 4667 2d1c 8E15 cp r24,r14 4668 2d1e 9F05 cpc r25,r15 4669 2d20 A007 cpc r26,r16 4670 2d22 B107 cpc r27,r17 4671 2d24 04F4 brge .+2 4672 2d26 00C0 rjmp .L325 4673 2d28 7C01 movw r14,r24 4674 2d2a 8D01 movw r16,r26 4675 2d2c 00C0 rjmp .L325 4676 .L317: 4677 2d2e E090 0000 lds r14,EE_Parameter+28 4678 2d32 FF24 clr r15 4679 2d34 00E0 ldi r16,lo8(0) 4680 2d36 10E0 ldi r17,hi8(0) 4681 2d38 A801 movw r20,r16 4682 2d3a 9701 movw r18,r14 4683 2d3c 0E94 0000 call __divmodsi4 4684 2d40 5901 movw r10,r18 4685 2d42 6A01 movw r12,r20 4686 2d44 C201 movw r24,r4 4687 2d46 AA27 clr r26 4688 2d48 97FD sbrc r25,7 4689 2d4a A095 com r26 4690 2d4c BA2F mov r27,r26 4691 2d4e A81A sub r10,r24 4692 2d50 B90A sbc r11,r25 4693 2d52 CA0A sbc r12,r26 4694 2d54 DB0A sbc r13,r27 4695 2d56 C401 movw r24,r8 4696 2d58 B301 movw r22,r6 4697 2d5a A801 movw r20,r16 4698 2d5c 9701 movw r18,r14 4699 2d5e 0E94 0000 call __divmodsi4 4700 2d62 7901 movw r14,r18 4701 2d64 8A01 movw r16,r20 4702 2d66 C101 movw r24,r2 4703 2d68 AA27 clr r26 4704 2d6a 97FD sbrc r25,7 4705 2d6c A095 com r26 4706 2d6e BA2F mov r27,r26 4707 2d70 E81A sub r14,r24 4708 2d72 F90A sbc r15,r25 4709 2d74 0A0B sbc r16,r26 4710 2d76 1B0B sbc r17,r27 4711 2d78 C601 movw r24,r12 4712 2d7a B501 movw r22,r10 4713 2d7c 20E1 ldi r18,lo8(16) 4714 2d7e 30E0 ldi r19,hi8(16) 4715 2d80 40E0 ldi r20,hlo8(16) 4716 2d82 50E0 ldi r21,hhi8(16) 4717 2d84 0E94 0000 call __divmodsi4 4718 2d88 922E mov r9,r18 4719 2d8a 832E mov r8,r19 4720 2d8c 742E mov r7,r20 4721 2d8e 652E mov r6,r21 4722 2d90 822F mov r24,r18 4723 2d92 932F mov r25,r19 4724 2d94 A42F mov r26,r20 4725 2d96 B52F mov r27,r21 4726 2d98 5C01 movw r10,r24 4727 2d9a 6D01 movw r12,r26 4728 2d9c C801 movw r24,r16 4729 2d9e B701 movw r22,r14 4730 2da0 20E1 ldi r18,lo8(16) 4731 2da2 30E0 ldi r19,hi8(16) 4732 2da4 40E0 ldi r20,hlo8(16) 4733 2da6 50E0 ldi r21,hhi8(16) 4734 2da8 0E94 0000 call __divmodsi4 4735 2dac 522E mov r5,r18 4736 2dae 432E mov r4,r19 4737 2db0 1A01 movw r2,r20 4738 2db2 822F mov r24,r18 4739 2db4 932F mov r25,r19 4740 2db6 DA01 movw r26,r20 4741 2db8 7C01 movw r14,r24 4742 2dba 8D01 movw r16,r26 4743 2dbc 8CA9 ldd r24,Y+52 4744 2dbe 9DA9 ldd r25,Y+53 4745 2dc0 8134 cpi r24,65 4746 2dc2 9105 cpc r25,__zero_reg__ 4747 2dc4 04F4 brge .L326 4748 2dc6 8091 0000 lds r24,MaxStickRoll 4749 2dca 9091 0000 lds r25,(MaxStickRoll)+1 4750 2dce 8134 cpi r24,65 4751 2dd0 9105 cpc r25,__zero_reg__ 4752 2dd2 04F0 brlt .L327 4753 .L326: 4754 2dd4 692D mov r22,r9 4755 2dd6 782D mov r23,r8 4756 2dd8 872D mov r24,r7 4757 2dda 962D mov r25,r6 4758 2ddc 23E0 ldi r18,lo8(3) 4759 2dde 30E0 ldi r19,hi8(3) 4760 2de0 40E0 ldi r20,hlo8(3) 4761 2de2 50E0 ldi r21,hhi8(3) 4762 2de4 0E94 0000 call __divmodsi4 4763 2de8 C901 movw r24,r18 4764 2dea DA01 movw r26,r20 4765 2dec 5C01 movw r10,r24 4766 2dee 6D01 movw r12,r26 4767 2df0 652D mov r22,r5 4768 2df2 742D mov r23,r4 4769 2df4 C101 movw r24,r2 4770 2df6 23E0 ldi r18,lo8(3) 4771 2df8 30E0 ldi r19,hi8(3) 4772 2dfa 40E0 ldi r20,hlo8(3) 4773 2dfc 50E0 ldi r21,hhi8(3) 4774 2dfe 0E94 0000 call __divmodsi4 4775 2e02 C901 movw r24,r18 4776 2e04 DA01 movw r26,r20 4777 2e06 7C01 movw r14,r24 4778 2e08 8D01 movw r16,r26 4779 .L327: 4780 2e0a E091 0000 lds r30,EE_Parameter+4 4781 2e0e F0E0 ldi r31,lo8(0) 4782 2e10 EE0F lsl r30 4783 2e12 FF1F rol r31 4784 2e14 E050 subi r30,lo8(-(PPM_in)) 4785 2e16 F040 sbci r31,hi8(-(PPM_in)) 4786 2e18 0190 ld __tmp_reg__,Z+ 4787 2e1a F081 ld r31,Z 4788 2e1c E02D mov r30,__tmp_reg__ 4789 2e1e F7FF sbrs r31,7 4790 2e20 00C0 rjmp .L329 4791 2e22 F095 com r31 4792 2e24 E195 neg r30 4793 2e26 FF4F sbci r31,lo8(-1) 4794 .L329: 4795 2e28 7A97 sbiw r30,26 4796 2e2a 04F0 brlt .L328 4797 2e2c C601 movw r24,r12 4798 2e2e B501 movw r22,r10 4799 2e30 23E0 ldi r18,lo8(3) 4800 2e32 30E0 ldi r19,hi8(3) 4801 2e34 40E0 ldi r20,hlo8(3) 4802 2e36 50E0 ldi r21,hhi8(3) 4803 2e38 0E94 0000 call __divmodsi4 4804 2e3c C901 movw r24,r18 4805 2e3e DA01 movw r26,r20 4806 2e40 5C01 movw r10,r24 4807 2e42 6D01 movw r12,r26 4808 2e44 C801 movw r24,r16 4809 2e46 B701 movw r22,r14 4810 2e48 23E0 ldi r18,lo8(3) 4811 2e4a 30E0 ldi r19,hi8(3) 4812 2e4c 40E0 ldi r20,hlo8(3) 4813 2e4e 50E0 ldi r21,hhi8(3) 4814 2e50 0E94 0000 call __divmodsi4 4815 2e54 C901 movw r24,r18 4816 2e56 DA01 movw r26,r20 4817 2e58 7C01 movw r14,r24 4818 2e5a 8D01 movw r16,r26 4819 .L328: 4820 2e5c 91E2 ldi r25,lo8(33) 4821 2e5e A916 cp r10,r25 4822 2e60 B104 cpc r11,__zero_reg__ 4823 2e62 C104 cpc r12,__zero_reg__ 4824 2e64 D104 cpc r13,__zero_reg__ 4825 2e66 04F0 brlt .L330 4826 2e68 90E2 ldi r25,lo8(32) 4827 2e6a A92E mov r10,r25 4828 2e6c B12C mov r11,__zero_reg__ 4829 2e6e C12C mov r12,__zero_reg__ 4830 2e70 D12C mov r13,__zero_reg__ 4831 2e72 00C0 rjmp .L331 4832 .L330: 4833 2e74 A0EE ldi r26,lo8(-32) 4834 2e76 AA16 cp r10,r26 4835 2e78 AFEF ldi r26,hi8(-32) 4836 2e7a BA06 cpc r11,r26 4837 2e7c AFEF ldi r26,hlo8(-32) 4838 2e7e CA06 cpc r12,r26 4839 2e80 AFEF ldi r26,hhi8(-32) 4840 2e82 DA06 cpc r13,r26 4841 2e84 04F4 brge .L331 4842 2e86 80EE ldi r24,lo8(-32) 4843 2e88 A82E mov r10,r24 4844 2e8a 8FEF ldi r24,hi8(-32) 4845 2e8c B82E mov r11,r24 4846 2e8e 8FEF ldi r24,hlo8(-32) 4847 2e90 C82E mov r12,r24 4848 2e92 8FEF ldi r24,hhi8(-32) 4849 2e94 D82E mov r13,r24 4850 .L331: 4851 2e96 B1E2 ldi r27,lo8(33) 4852 2e98 EB16 cp r14,r27 4853 2e9a F104 cpc r15,__zero_reg__ 4854 2e9c 0105 cpc r16,__zero_reg__ 4855 2e9e 1105 cpc r17,__zero_reg__ 4856 2ea0 04F0 brlt .L332 4857 2ea2 10E2 ldi r17,lo8(32) 4858 2ea4 E12E mov r14,r17 4859 2ea6 F12C mov r15,__zero_reg__ 4860 2ea8 012D mov r16,__zero_reg__ 4861 2eaa 112D mov r17,__zero_reg__ 4862 2eac 00C0 rjmp .L325 4863 .L332: 4864 2eae E0EE ldi r30,lo8(-32) 4865 2eb0 EE16 cp r14,r30 4866 2eb2 EFEF ldi r30,hi8(-32) 4867 2eb4 FE06 cpc r15,r30 4868 2eb6 EFEF ldi r30,hlo8(-32) 4869 2eb8 0E07 cpc r16,r30 4870 2eba EFEF ldi r30,hhi8(-32) 4871 2ebc 1E07 cpc r17,r30 4872 2ebe 04F4 brge .L325 4873 2ec0 B0EE ldi r27,lo8(-32) 4874 2ec2 EB2E mov r14,r27 4875 2ec4 BFEF ldi r27,hi8(-32) 4876 2ec6 FB2E mov r15,r27 4877 2ec8 BFEF ldi r27,hlo8(-32) 4878 2eca 0B2F mov r16,r27 4879 2ecc BFEF ldi r27,hhi8(-32) 4880 2ece 1B2F mov r17,r27 4881 .L325: 4882 2ed0 8091 0000 lds r24,Mess_IntegralNick 4883 2ed4 9091 0000 lds r25,(Mess_IntegralNick)+1 4884 2ed8 A091 0000 lds r26,(Mess_IntegralNick)+2 4885 2edc B091 0000 lds r27,(Mess_IntegralNick)+3 4886 2ee0 8A19 sub r24,r10 4887 2ee2 9B09 sbc r25,r11 4888 2ee4 AC09 sbc r26,r12 4889 2ee6 BD09 sbc r27,r13 4890 2ee8 8093 0000 sts Mess_IntegralNick,r24 4891 2eec 9093 0000 sts (Mess_IntegralNick)+1,r25 4892 2ef0 A093 0000 sts (Mess_IntegralNick)+2,r26 4893 2ef4 B093 0000 sts (Mess_IntegralNick)+3,r27 4894 2ef8 8091 0000 lds r24,Mess_IntegralRoll 4895 2efc 9091 0000 lds r25,(Mess_IntegralRoll)+1 4896 2f00 A091 0000 lds r26,(Mess_IntegralRoll)+2 4897 2f04 B091 0000 lds r27,(Mess_IntegralRoll)+3 4898 2f08 8E19 sub r24,r14 4899 2f0a 9F09 sbc r25,r15 4900 2f0c A00B sbc r26,r16 4901 2f0e B10B sbc r27,r17 4902 2f10 8093 0000 sts Mess_IntegralRoll,r24 4903 2f14 9093 0000 sts (Mess_IntegralRoll)+1,r25 4904 2f18 A093 0000 sts (Mess_IntegralRoll)+2,r26 4905 2f1c B093 0000 sts (Mess_IntegralRoll)+3,r27 4906 .L315: 4907 2f20 8091 0000 lds r24,ZaehlMessungen 4908 2f24 9091 0000 lds r25,(ZaehlMessungen)+1 4909 2f28 8F3F cpi r24,255 4910 2f2a 9105 cpc r25,__zero_reg__ 4911 2f2c 01F0 breq .+2 4912 2f2e 00F4 brsh .+2 4913 2f30 00C0 rjmp .L333 4914 2f32 8091 0000 lds r24,Looping_Nick 4915 2f36 8823 tst r24 4916 2f38 01F0 breq .+2 4917 2f3a 00C0 rjmp .L334 4918 2f3c 8091 0000 lds r24,Looping_Roll 4919 2f40 8823 tst r24 4920 2f42 01F0 breq .+2 4921 2f44 00C0 rjmp .L334 4922 2f46 8091 0000 lds r24,TrichterFlug 4923 2f4a 8823 tst r24 4924 2f4c 01F0 breq .+2 4925 2f4e 00C0 rjmp .L334 4926 2f50 8091 0000 lds r24,EE_Parameter+66 4927 2f54 8823 tst r24 4928 2f56 01F4 brne .+2 4929 2f58 00C0 rjmp .L334 4930 2f5a 6091 0000 lds r22,MittelIntegralNick 4931 2f5e 7091 0000 lds r23,(MittelIntegralNick)+1 4932 2f62 8091 0000 lds r24,(MittelIntegralNick)+2 4933 2f66 9091 0000 lds r25,(MittelIntegralNick)+3 4934 2f6a 20E0 ldi r18,lo8(256) 4935 2f6c 31E0 ldi r19,hi8(256) 4936 2f6e 40E0 ldi r20,hlo8(256) 4937 2f70 50E0 ldi r21,hhi8(256) 4938 2f72 0E94 0000 call __divmodsi4 4939 2f76 5901 movw r10,r18 4940 2f78 6A01 movw r12,r20 4941 2f7a 2093 0000 sts MittelIntegralNick,r18 4942 2f7e 3093 0000 sts (MittelIntegralNick)+1,r19 4943 2f82 4093 0000 sts (MittelIntegralNick)+2,r20 4944 2f86 5093 0000 sts (MittelIntegralNick)+3,r21 4945 2f8a 6091 0000 lds r22,MittelIntegralRoll 4946 2f8e 7091 0000 lds r23,(MittelIntegralRoll)+1 4947 2f92 8091 0000 lds r24,(MittelIntegralRoll)+2 4948 2f96 9091 0000 lds r25,(MittelIntegralRoll)+3 4949 2f9a 20E0 ldi r18,lo8(256) 4950 2f9c 31E0 ldi r19,hi8(256) 4951 2f9e 40E0 ldi r20,hlo8(256) 4952 2fa0 50E0 ldi r21,hhi8(256) 4953 2fa2 0E94 0000 call __divmodsi4 4954 2fa6 3901 movw r6,r18 4955 2fa8 4A01 movw r8,r20 4956 2faa 2093 0000 sts MittelIntegralRoll,r18 4957 2fae 3093 0000 sts (MittelIntegralRoll)+1,r19 4958 2fb2 4093 0000 sts (MittelIntegralRoll)+2,r20 4959 2fb6 5093 0000 sts (MittelIntegralRoll)+3,r21 4960 2fba E090 0000 lds r14,EE_Parameter+28 4961 2fbe FF24 clr r15 4962 2fc0 00E0 ldi r16,lo8(0) 4963 2fc2 10E0 ldi r17,hi8(0) 4964 2fc4 2091 0000 lds r18,IntegralAccNick 4965 2fc8 3091 0000 lds r19,(IntegralAccNick)+1 4966 2fcc 4091 0000 lds r20,(IntegralAccNick)+2 4967 2fd0 5091 0000 lds r21,(IntegralAccNick)+3 4968 2fd4 C801 movw r24,r16 4969 2fd6 B701 movw r22,r14 4970 2fd8 0E94 0000 call __mulsi3 4971 2fdc 20E0 ldi r18,lo8(256) 4972 2fde 31E0 ldi r19,hi8(256) 4973 2fe0 40E0 ldi r20,hlo8(256) 4974 2fe2 50E0 ldi r21,hhi8(256) 4975 2fe4 0E94 0000 call __divmodsi4 4976 2fe8 28A7 std Y+40,r18 4977 2fea 39A7 std Y+41,r19 4978 2fec 4AA7 std Y+42,r20 4979 2fee 5BA7 std Y+43,r21 4980 2ff0 2093 0000 sts IntegralAccNick,r18 4981 2ff4 3093 0000 sts (IntegralAccNick)+1,r19 4982 2ff8 4093 0000 sts (IntegralAccNick)+2,r20 4983 2ffc 5093 0000 sts (IntegralAccNick)+3,r21 4984 3000 2091 0000 lds r18,IntegralAccRoll 4985 3004 3091 0000 lds r19,(IntegralAccRoll)+1 4986 3008 4091 0000 lds r20,(IntegralAccRoll)+2 4987 300c 5091 0000 lds r21,(IntegralAccRoll)+3 4988 3010 C801 movw r24,r16 4989 3012 B701 movw r22,r14 4990 3014 0E94 0000 call __mulsi3 4991 3018 20E0 ldi r18,lo8(256) 4992 301a 31E0 ldi r19,hi8(256) 4993 301c 40E0 ldi r20,hlo8(256) 4994 301e 50E0 ldi r21,hhi8(256) 4995 3020 0E94 0000 call __divmodsi4 4996 3024 1901 movw r2,r18 4997 3026 2A01 movw r4,r20 4998 3028 2093 0000 sts IntegralAccRoll,r18 4999 302c 3093 0000 sts (IntegralAccRoll)+1,r19 5000 3030 4093 0000 sts (IntegralAccRoll)+2,r20 5001 3034 5093 0000 sts (IntegralAccRoll)+3,r21 5002 3038 6091 0000 lds r22,IntegralAccZ 5003 303c 7091 0000 lds r23,(IntegralAccZ)+1 5004 3040 8091 0000 lds r24,(IntegralAccZ)+2 5005 3044 9091 0000 lds r25,(IntegralAccZ)+3 5006 3048 20E0 ldi r18,lo8(256) 5007 304a 31E0 ldi r19,hi8(256) 5008 304c 40E0 ldi r20,hlo8(256) 5009 304e 50E0 ldi r21,hhi8(256) 5010 3050 0E94 0000 call __divmodsi4 5011 3054 2093 0000 sts IntegralAccZ,r18 5012 3058 3093 0000 sts (IntegralAccZ)+1,r19 5013 305c 4093 0000 sts (IntegralAccZ)+2,r20 5014 3060 5093 0000 sts (IntegralAccZ)+3,r21 5015 3064 28A5 ldd r18,Y+40 5016 3066 39A5 ldd r19,Y+41 5017 3068 4AA5 ldd r20,Y+42 5018 306a 5BA5 ldd r21,Y+43 5019 306c A21A sub r10,r18 5020 306e B30A sbc r11,r19 5021 3070 C40A sbc r12,r20 5022 3072 D50A sbc r13,r21 5023 3074 A092 0000 sts IntegralFehlerNick.3045,r10 5024 3078 B092 0000 sts (IntegralFehlerNick.3045)+1,r11 5025 307c C092 0000 sts (IntegralFehlerNick.3045)+2,r12 5026 3080 D092 0000 sts (IntegralFehlerNick.3045)+3,r13 5027 3084 E090 0000 lds r14,EE_Parameter+65 5028 3088 FF24 clr r15 5029 308a 00E0 ldi r16,lo8(0) 5030 308c 10E0 ldi r17,hi8(0) 5031 308e C601 movw r24,r12 5032 3090 B501 movw r22,r10 5033 3092 A801 movw r20,r16 5034 3094 9701 movw r18,r14 5035 3096 0E94 0000 call __divmodsi4 5036 309a 5901 movw r10,r18 5037 309c 6A01 movw r12,r20 5038 309e 2093 0000 sts ausgleichNick.3053,r18 5039 30a2 3093 0000 sts (ausgleichNick.3053)+1,r19 5040 30a6 4093 0000 sts (ausgleichNick.3053)+2,r20 5041 30aa 5093 0000 sts (ausgleichNick.3053)+3,r21 5042 30ae 6218 sub r6,r2 5043 30b0 7308 sbc r7,r3 5044 30b2 8408 sbc r8,r4 5045 30b4 9508 sbc r9,r5 5046 30b6 6092 0000 sts IntegralFehlerRoll.3046,r6 5047 30ba 7092 0000 sts (IntegralFehlerRoll.3046)+1,r7 5048 30be 8092 0000 sts (IntegralFehlerRoll.3046)+2,r8 5049 30c2 9092 0000 sts (IntegralFehlerRoll.3046)+3,r9 5050 30c6 C401 movw r24,r8 5051 30c8 B301 movw r22,r6 5052 30ca A801 movw r20,r16 5053 30cc 9701 movw r18,r14 5054 30ce 0E94 0000 call __divmodsi4 5055 30d2 7901 movw r14,r18 5056 30d4 8A01 movw r16,r20 5057 30d6 2093 0000 sts ausgleichRoll.3054,r18 5058 30da 3093 0000 sts (ausgleichRoll.3054)+1,r19 5059 30de 4093 0000 sts (ausgleichRoll.3054)+2,r20 5060 30e2 5093 0000 sts (ausgleichRoll.3054)+3,r21 5061 30e6 C601 movw r24,r12 5062 30e8 B501 movw r22,r10 5063 30ea 20E0 ldi r18,lo8(256) 5064 30ec 31E0 ldi r19,hi8(256) 5065 30ee 40E0 ldi r20,hlo8(256) 5066 30f0 50E0 ldi r21,hhi8(256) 5067 30f2 0E94 0000 call __divmodsi4 5068 30f6 3093 0000 sts (LageKorrekturNick)+1,r19 5069 30fa 2093 0000 sts LageKorrekturNick,r18 5070 30fe C801 movw r24,r16 5071 3100 B701 movw r22,r14 5072 3102 20E0 ldi r18,lo8(256) 5073 3104 31E0 ldi r19,hi8(256) 5074 3106 40E0 ldi r20,hlo8(256) 5075 3108 50E0 ldi r21,hhi8(256) 5076 310a 0E94 0000 call __divmodsi4 5077 310e 3093 0000 sts (LageKorrekturRoll)+1,r19 5078 3112 2093 0000 sts LageKorrekturRoll,r18 5079 3116 8091 0000 lds r24,MaxStickNick 5080 311a 9091 0000 lds r25,(MaxStickNick)+1 5081 311e 8134 cpi r24,65 5082 3120 9105 cpc r25,__zero_reg__ 5083 3122 04F4 brge .L335 5084 3124 8091 0000 lds r24,MaxStickRoll 5085 3128 9091 0000 lds r25,(MaxStickRoll)+1 5086 312c 8134 cpi r24,65 5087 312e 9105 cpc r25,__zero_reg__ 5088 3130 04F4 brge .L335 5089 3132 E091 0000 lds r30,EE_Parameter+4 5090 3136 F0E0 ldi r31,lo8(0) 5091 3138 EE0F lsl r30 5092 313a FF1F rol r31 5093 313c E050 subi r30,lo8(-(PPM_in)) 5094 313e F040 sbci r31,hi8(-(PPM_in)) 5095 3140 0190 ld __tmp_reg__,Z+ 5096 3142 F081 ld r31,Z 5097 3144 E02D mov r30,__tmp_reg__ 5098 3146 F7FF sbrs r31,7 5099 3148 00C0 rjmp .L337 5100 314a F095 com r31 5101 314c E195 neg r30 5102 314e FF4F sbci r31,lo8(-1) 5103 .L337: 5104 3150 7A97 sbiw r30,26 5105 3152 04F0 brlt .L336 5106 .L335: 5107 3154 8091 0000 lds r24,FromNaviCtrl_Value 5108 3158 8F3F cpi r24,lo8(-1) 5109 315a 01F4 brne .L336 5110 315c 8091 0000 lds r24,LageKorrekturNick 5111 3160 9091 0000 lds r25,(LageKorrekturNick)+1 5112 3164 62E0 ldi r22,lo8(2) 5113 3166 70E0 ldi r23,hi8(2) 5114 3168 0E94 0000 call __divmodhi4 5115 316c 7093 0000 sts (LageKorrekturNick)+1,r23 5116 3170 6093 0000 sts LageKorrekturNick,r22 5117 3174 8091 0000 lds r24,LageKorrekturRoll 5118 3178 9091 0000 lds r25,(LageKorrekturRoll)+1 5119 317c 62E0 ldi r22,lo8(2) 5120 317e 70E0 ldi r23,hi8(2) 5121 3180 0E94 0000 call __divmodhi4 5122 3184 7093 0000 sts (LageKorrekturRoll)+1,r23 5123 3188 6093 0000 sts LageKorrekturRoll,r22 5124 .L336: 5125 318c E090 0000 lds r14,IntegralNick2 5126 3190 F090 0000 lds r15,(IntegralNick2)+1 5127 3194 0091 0000 lds r16,(IntegralNick2)+2 5128 3198 1091 0000 lds r17,(IntegralNick2)+3 5129 319c 8091 0000 lds r24,IntegralNick 5130 31a0 9091 0000 lds r25,(IntegralNick)+1 5131 31a4 A091 0000 lds r26,(IntegralNick)+2 5132 31a8 B091 0000 lds r27,(IntegralNick)+3 5133 31ac E81A sub r14,r24 5134 31ae F90A sbc r15,r25 5135 31b0 0A0B sbc r16,r26 5136 31b2 1B0B sbc r17,r27 5137 31b4 E092 0000 sts tmp_long.3043,r14 5138 31b8 F092 0000 sts (tmp_long.3043)+1,r15 5139 31bc 0093 0000 sts (tmp_long.3043)+2,r16 5140 31c0 1093 0000 sts (tmp_long.3043)+3,r17 5141 31c4 2091 0000 lds r18,IntegralRoll2 5142 31c8 3091 0000 lds r19,(IntegralRoll2)+1 5143 31cc 4091 0000 lds r20,(IntegralRoll2)+2 5144 31d0 5091 0000 lds r21,(IntegralRoll2)+3 5145 31d4 8091 0000 lds r24,IntegralRoll 5146 31d8 9091 0000 lds r25,(IntegralRoll)+1 5147 31dc A091 0000 lds r26,(IntegralRoll)+2 5148 31e0 B091 0000 lds r27,(IntegralRoll)+3 5149 31e4 281B sub r18,r24 5150 31e6 390B sbc r19,r25 5151 31e8 4A0B sbc r20,r26 5152 31ea 5B0B sbc r21,r27 5153 31ec 2093 0000 sts tmp_long2.3044,r18 5154 31f0 3093 0000 sts (tmp_long2.3044)+1,r19 5155 31f4 4093 0000 sts (tmp_long2.3044)+2,r20 5156 31f8 5093 0000 sts (tmp_long2.3044)+3,r21 5157 31fc E092 0000 sts IntegralFehlerNick.3045,r14 5158 3200 F092 0000 sts (IntegralFehlerNick.3045)+1,r15 5159 3204 0093 0000 sts (IntegralFehlerNick.3045)+2,r16 5160 3208 1093 0000 sts (IntegralFehlerNick.3045)+3,r17 5161 320c 2093 0000 sts IntegralFehlerRoll.3046,r18 5162 3210 3093 0000 sts (IntegralFehlerRoll.3046)+1,r19 5163 3214 4093 0000 sts (IntegralFehlerRoll.3046)+2,r20 5164 3218 5093 0000 sts (IntegralFehlerRoll.3046)+3,r21 5165 321c 8091 0000 lds r24,Mess_IntegralNick2 5166 3220 9091 0000 lds r25,(Mess_IntegralNick2)+1 5167 3224 A091 0000 lds r26,(Mess_IntegralNick2)+2 5168 3228 B091 0000 lds r27,(Mess_IntegralNick2)+3 5169 322c 8E19 sub r24,r14 5170 322e 9F09 sbc r25,r15 5171 3230 A00B sbc r26,r16 5172 3232 B10B sbc r27,r17 5173 3234 8093 0000 sts Mess_IntegralNick2,r24 5174 3238 9093 0000 sts (Mess_IntegralNick2)+1,r25 5175 323c A093 0000 sts (Mess_IntegralNick2)+2,r26 5176 3240 B093 0000 sts (Mess_IntegralNick2)+3,r27 5177 3244 8091 0000 lds r24,Mess_IntegralRoll2 5178 3248 9091 0000 lds r25,(Mess_IntegralRoll2)+1 5179 324c A091 0000 lds r26,(Mess_IntegralRoll2)+2 5180 3250 B091 0000 lds r27,(Mess_IntegralRoll2)+3 5181 3254 821B sub r24,r18 5182 3256 930B sbc r25,r19 5183 3258 A40B sbc r26,r20 5184 325a B50B sbc r27,r21 5185 325c 8093 0000 sts Mess_IntegralRoll2,r24 5186 3260 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5187 3264 A093 0000 sts (Mess_IntegralRoll2)+2,r26 5188 3268 B093 0000 sts (Mess_IntegralRoll2)+3,r27 5189 326c 8091 0000 lds r24,EE_Parameter+66 5190 3270 8823 tst r24 5191 3272 01F0 breq .L338 5192 3274 8091 0000 lds r24,GierGyroFehler 5193 3278 9091 0000 lds r25,(GierGyroFehler)+1 5194 327c 8138 cpi r24,129 5195 327e 9105 cpc r25,__zero_reg__ 5196 3280 04F0 brlt .L339 5197 3282 8091 0000 lds r24,AdNeutralGier 5198 3286 9091 0000 lds r25,(AdNeutralGier)+1 5199 328a 0196 adiw r24,1 5200 328c 9093 0000 sts (AdNeutralGier)+1,r25 5201 3290 8093 0000 sts AdNeutralGier,r24 5202 .L339: 5203 3294 8091 0000 lds r24,GierGyroFehler 5204 3298 9091 0000 lds r25,(GierGyroFehler)+1 5205 329c 8058 subi r24,lo8(-128) 5206 329e 9F4F sbci r25,hi8(-128) 5207 32a0 04F4 brge .L338 5208 32a2 8091 0000 lds r24,AdNeutralGier 5209 32a6 9091 0000 lds r25,(AdNeutralGier)+1 5210 32aa 0197 sbiw r24,1 5211 32ac 9093 0000 sts (AdNeutralGier)+1,r25 5212 32b0 8093 0000 sts AdNeutralGier,r24 5213 .L338: 5214 32b4 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 5215 32b8 1092 0000 sts GierGyroFehler,__zero_reg__ 5216 32bc 81E0 ldi r24,lo8(1) 5217 32be 90E0 ldi r25,hi8(1) 5218 32c0 9093 0000 sts (cnt.3066)+1,r25 5219 32c4 8093 0000 sts cnt.3066,r24 5220 32c8 8091 0000 lds r24,IntegralFehlerNick.3045 5221 32cc 9091 0000 lds r25,(IntegralFehlerNick.3045)+1 5222 32d0 A091 0000 lds r26,(IntegralFehlerNick.3045)+2 5223 32d4 B091 0000 lds r27,(IntegralFehlerNick.3045)+3 5224 32d8 B7FF sbrs r27,7 5225 32da 00C0 rjmp .L341 5226 32dc B095 com r27 5227 32de A095 com r26 5228 32e0 9095 com r25 5229 32e2 8195 neg r24 5230 32e4 9F4F sbci r25,lo8(-1) 5231 32e6 AF4F sbci r26,lo8(-1) 5232 32e8 BF4F sbci r27,lo8(-1) 5233 .L341: 5234 32ea 8150 subi r24,lo8(513) 5235 32ec 9240 sbci r25,hi8(513) 5236 32ee A040 sbci r26,hlo8(513) 5237 32f0 B040 sbci r27,hhi8(513) 5238 32f2 04F0 brlt .L340 5239 32f4 84E0 ldi r24,lo8(4) 5240 32f6 90E0 ldi r25,hi8(4) 5241 32f8 9093 0000 sts (cnt.3066)+1,r25 5242 32fc 8093 0000 sts cnt.3066,r24 5243 .L340: 5244 3300 8091 0000 lds r24,MittelIntegralNick_Alt.3071 5245 3304 9091 0000 lds r25,(MittelIntegralNick_Alt.3071)+1 5246 3308 A091 0000 lds r26,(MittelIntegralNick_Alt.3071)+2 5247 330c B091 0000 lds r27,(MittelIntegralNick_Alt.3071)+3 5248 3310 2091 0000 lds r18,MittelIntegralNick 5249 3314 3091 0000 lds r19,(MittelIntegralNick)+1 5250 3318 4091 0000 lds r20,(MittelIntegralNick)+2 5251 331c 5091 0000 lds r21,(MittelIntegralNick)+3 5252 3320 821B sub r24,r18 5253 3322 930B sbc r25,r19 5254 3324 A40B sbc r26,r20 5255 3326 B50B sbc r27,r21 5256 3328 815E subi r24,lo8(-(19999)) 5257 332a 914B sbci r25,hi8(-(19999)) 5258 332c AF4F sbci r26,hlo8(-(19999)) 5259 332e BF4F sbci r27,hhi8(-(19999)) 5260 3330 8F53 subi r24,lo8(39999) 5261 3332 9C49 sbci r25,hi8(39999) 5262 3334 A040 sbci r26,hlo8(39999) 5263 3336 B040 sbci r27,hhi8(39999) 5264 3338 00F0 brlo .L342 5265 333a 8091 0000 lds r24,FromNaviCtrl_Value+1 5266 333e 8931 cpi r24,lo8(25) 5267 3340 04F4 brge .+2 5268 3342 00C0 rjmp .L343 5269 .L342: 5270 3344 E090 0000 lds r14,IntegralFehlerNick.3045 5271 3348 F090 0000 lds r15,(IntegralFehlerNick.3045)+1 5272 334c 0091 0000 lds r16,(IntegralFehlerNick.3045)+2 5273 3350 1091 0000 lds r17,(IntegralFehlerNick.3045)+3 5274 3354 61E0 ldi r22,lo8(4097) 5275 3356 E616 cp r14,r22 5276 3358 60E1 ldi r22,hi8(4097) 5277 335a F606 cpc r15,r22 5278 335c 60E0 ldi r22,hlo8(4097) 5279 335e 0607 cpc r16,r22 5280 3360 60E0 ldi r22,hhi8(4097) 5281 3362 1607 cpc r17,r22 5282 3364 04F4 brge .+2 5283 3366 00C0 rjmp .L344 5284 3368 8091 0000 lds r24,last_n_p.3067 5285 336c 8823 tst r24 5286 336e 01F4 brne .+2 5287 3370 00C0 rjmp .L345 5288 3372 A801 movw r20,r16 5289 3374 9701 movw r18,r14 5290 3376 F9E0 ldi r31,9 5291 3378 5595 1: asr r21 5292 337a 4795 ror r20 5293 337c 3795 ror r19 5294 337e 2795 ror r18 5295 3380 FA95 dec r31 5296 3382 01F4 brne 1b 5297 3384 8091 0000 lds r24,cnt.3066 5298 3388 9091 0000 lds r25,(cnt.3066)+1 5299 338c 820F add r24,r18 5300 338e 931F adc r25,r19 5301 3390 9093 0000 sts (cnt.3066)+1,r25 5302 3394 8093 0000 sts cnt.3066,r24 5303 3398 C801 movw r24,r16 5304 339a B701 movw r22,r14 5305 339c 28E0 ldi r18,lo8(8) 5306 339e 30E0 ldi r19,hi8(8) 5307 33a0 40E0 ldi r20,hlo8(8) 5308 33a2 50E0 ldi r21,hhi8(8) 5309 33a4 0E94 0000 call __divmodsi4 5310 33a8 C901 movw r24,r18 5311 33aa DA01 movw r26,r20 5312 33ac 8093 0000 sts ausgleichNick.3053,r24 5313 33b0 9093 0000 sts (ausgleichNick.3053)+1,r25 5314 33b4 A093 0000 sts (ausgleichNick.3053)+2,r26 5315 33b8 B093 0000 sts (ausgleichNick.3053)+3,r27 5316 33bc 8958 subi r24,lo8(5001) 5317 33be 9341 sbci r25,hi8(5001) 5318 33c0 A040 sbci r26,hlo8(5001) 5319 33c2 B040 sbci r27,hhi8(5001) 5320 33c4 04F0 brlt .L346 5321 33c6 88E8 ldi r24,lo8(5000) 5322 33c8 93E1 ldi r25,hi8(5000) 5323 33ca A0E0 ldi r26,hlo8(5000) 5324 33cc B0E0 ldi r27,hhi8(5000) 5325 33ce 8093 0000 sts ausgleichNick.3053,r24 5326 33d2 9093 0000 sts (ausgleichNick.3053)+1,r25 5327 33d6 A093 0000 sts (ausgleichNick.3053)+2,r26 5328 33da B093 0000 sts (ausgleichNick.3053)+3,r27 5329 .L346: 5330 33de 6091 0000 lds r22,ausgleichNick.3053 5331 33e2 7091 0000 lds r23,(ausgleichNick.3053)+1 5332 33e6 8091 0000 lds r24,(ausgleichNick.3053)+2 5333 33ea 9091 0000 lds r25,(ausgleichNick.3053)+3 5334 33ee 20E0 ldi r18,lo8(256) 5335 33f0 31E0 ldi r19,hi8(256) 5336 33f2 40E0 ldi r20,hlo8(256) 5337 33f4 50E0 ldi r21,hhi8(256) 5338 33f6 0E94 0000 call __divmodsi4 5339 33fa 8091 0000 lds r24,LageKorrekturNick 5340 33fe 9091 0000 lds r25,(LageKorrekturNick)+1 5341 3402 820F add r24,r18 5342 3404 931F adc r25,r19 5343 3406 9093 0000 sts (LageKorrekturNick)+1,r25 5344 340a 8093 0000 sts LageKorrekturNick,r24 5345 340e 00C0 rjmp .L347 5346 .L345: 5347 3410 81E0 ldi r24,lo8(1) 5348 3412 8093 0000 sts last_n_p.3067,r24 5349 3416 00C0 rjmp .L347 5350 .L344: 5351 3418 1092 0000 sts last_n_p.3067,__zero_reg__ 5352 .L347: 5353 341c 4091 0000 lds r20,IntegralFehlerNick.3045 5354 3420 5091 0000 lds r21,(IntegralFehlerNick.3045)+1 5355 3424 6091 0000 lds r22,(IntegralFehlerNick.3045)+2 5356 3428 7091 0000 lds r23,(IntegralFehlerNick.3045)+3 5357 342c 4030 cpi r20,lo8(-4096) 5358 342e 80EF ldi r24,hi8(-4096) 5359 3430 5807 cpc r21,r24 5360 3432 8FEF ldi r24,hlo8(-4096) 5361 3434 6807 cpc r22,r24 5362 3436 8FEF ldi r24,hhi8(-4096) 5363 3438 7807 cpc r23,r24 5364 343a 04F0 brlt .+2 5365 343c 00C0 rjmp .L348 5366 343e 8091 0000 lds r24,last_n_n.3068 5367 3442 8823 tst r24 5368 3444 01F4 brne .+2 5369 3446 00C0 rjmp .L349 5370 3448 8827 clr r24 5371 344a 9927 clr r25 5372 344c DC01 movw r26,r24 5373 344e 841B sub r24,r20 5374 3450 950B sbc r25,r21 5375 3452 A60B sbc r26,r22 5376 3454 B70B sbc r27,r23 5377 3456 E9E0 ldi r30,9 5378 3458 B595 1: asr r27 5379 345a A795 ror r26 5380 345c 9795 ror r25 5381 345e 8795 ror r24 5382 3460 EA95 dec r30 5383 3462 01F4 brne 1b 5384 3464 2091 0000 lds r18,cnt.3066 5385 3468 3091 0000 lds r19,(cnt.3066)+1 5386 346c 280F add r18,r24 5387 346e 391F adc r19,r25 5388 3470 3093 0000 sts (cnt.3066)+1,r19 5389 3474 2093 0000 sts cnt.3066,r18 5390 3478 CB01 movw r24,r22 5391 347a BA01 movw r22,r20 5392 347c 28E0 ldi r18,lo8(8) 5393 347e 30E0 ldi r19,hi8(8) 5394 3480 40E0 ldi r20,hlo8(8) 5395 3482 50E0 ldi r21,hhi8(8) 5396 3484 0E94 0000 call __divmodsi4 5397 3488 C901 movw r24,r18 5398 348a DA01 movw r26,r20 5399 348c 8093 0000 sts ausgleichNick.3053,r24 5400 3490 9093 0000 sts (ausgleichNick.3053)+1,r25 5401 3494 A093 0000 sts (ausgleichNick.3053)+2,r26 5402 3498 B093 0000 sts (ausgleichNick.3053)+3,r27 5403 349c 8857 subi r24,lo8(-5000) 5404 349e 9C4E sbci r25,hi8(-5000) 5405 34a0 AF4F sbci r26,hlo8(-5000) 5406 34a2 BF4F sbci r27,hhi8(-5000) 5407 34a4 04F4 brge .L350 5408 34a6 88E7 ldi r24,lo8(-5000) 5409 34a8 9CEE ldi r25,hi8(-5000) 5410 34aa AFEF ldi r26,hlo8(-5000) 5411 34ac BFEF ldi r27,hhi8(-5000) 5412 34ae 8093 0000 sts ausgleichNick.3053,r24 5413 34b2 9093 0000 sts (ausgleichNick.3053)+1,r25 5414 34b6 A093 0000 sts (ausgleichNick.3053)+2,r26 5415 34ba B093 0000 sts (ausgleichNick.3053)+3,r27 5416 .L350: 5417 34be 6091 0000 lds r22,ausgleichNick.3053 5418 34c2 7091 0000 lds r23,(ausgleichNick.3053)+1 5419 34c6 8091 0000 lds r24,(ausgleichNick.3053)+2 5420 34ca 9091 0000 lds r25,(ausgleichNick.3053)+3 5421 34ce 20E0 ldi r18,lo8(256) 5422 34d0 31E0 ldi r19,hi8(256) 5423 34d2 40E0 ldi r20,hlo8(256) 5424 34d4 50E0 ldi r21,hhi8(256) 5425 34d6 0E94 0000 call __divmodsi4 5426 34da 8091 0000 lds r24,LageKorrekturNick 5427 34de 9091 0000 lds r25,(LageKorrekturNick)+1 5428 34e2 820F add r24,r18 5429 34e4 931F adc r25,r19 5430 34e6 9093 0000 sts (LageKorrekturNick)+1,r25 5431 34ea 8093 0000 sts LageKorrekturNick,r24 5432 34ee 00C0 rjmp .L351 5433 .L349: 5434 34f0 81E0 ldi r24,lo8(1) 5435 34f2 8093 0000 sts last_n_n.3068,r24 5436 34f6 00C0 rjmp .L351 5437 .L348: 5438 34f8 1092 0000 sts last_n_n.3068,__zero_reg__ 5439 34fc 00C0 rjmp .L351 5440 .L343: 5441 34fe 1092 0000 sts (cnt.3066)+1,__zero_reg__ 5442 3502 1092 0000 sts cnt.3066,__zero_reg__ 5443 3506 88EE ldi r24,lo8(1000) 5444 3508 93E0 ldi r25,hi8(1000) 5445 350a 9093 0000 sts (KompassSignalSchlecht)+1,r25 5446 350e 8093 0000 sts KompassSignalSchlecht,r24 5447 .L351: 5448 3512 8091 0000 lds r24,EE_Parameter+66 5449 3516 282F mov r18,r24 5450 3518 30E0 ldi r19,lo8(0) 5451 351a 8091 0000 lds r24,cnt.3066 5452 351e 9091 0000 lds r25,(cnt.3066)+1 5453 3522 2817 cp r18,r24 5454 3524 3907 cpc r19,r25 5455 3526 04F4 brge .L352 5456 3528 3093 0000 sts (cnt.3066)+1,r19 5457 352c 2093 0000 sts cnt.3066,r18 5458 .L352: 5459 3530 8091 0000 lds r24,FromNaviCtrl_Value+1 5460 3534 8823 tst r24 5461 3536 01F0 breq .L353 5462 3538 282F mov r18,r24 5463 353a 3327 clr r19 5464 353c 27FD sbrc r18,7 5465 353e 3095 com r19 5466 3540 8091 0000 lds r24,cnt.3066 5467 3544 9091 0000 lds r25,(cnt.3066)+1 5468 3548 2817 cp r18,r24 5469 354a 3907 cpc r19,r25 5470 354c 04F4 brge .L353 5471 354e 3093 0000 sts (cnt.3066)+1,r19 5472 3552 2093 0000 sts cnt.3066,r18 5473 .L353: 5474 3556 8091 0000 lds r24,IntegralFehlerNick.3045 5475 355a 9091 0000 lds r25,(IntegralFehlerNick.3045)+1 5476 355e A091 0000 lds r26,(IntegralFehlerNick.3045)+2 5477 3562 B091 0000 lds r27,(IntegralFehlerNick.3045)+3 5478 3566 8138 cpi r24,lo8(129) 5479 3568 9105 cpc r25,__zero_reg__ 5480 356a A105 cpc r26,__zero_reg__ 5481 356c B105 cpc r27,__zero_reg__ 5482 356e 04F0 brlt .L354 5483 3570 8091 0000 lds r24,AdNeutralNick 5484 3574 9091 0000 lds r25,(AdNeutralNick)+1 5485 3578 2091 0000 lds r18,cnt.3066 5486 357c 3091 0000 lds r19,(cnt.3066)+1 5487 3580 820F add r24,r18 5488 3582 931F adc r25,r19 5489 3584 9093 0000 sts (AdNeutralNick)+1,r25 5490 3588 8093 0000 sts AdNeutralNick,r24 5491 .L354: 5492 358c 8091 0000 lds r24,IntegralFehlerNick.3045 5493 3590 9091 0000 lds r25,(IntegralFehlerNick.3045)+1 5494 3594 A091 0000 lds r26,(IntegralFehlerNick.3045)+2 5495 3598 B091 0000 lds r27,(IntegralFehlerNick.3045)+3 5496 359c 8058 subi r24,lo8(-128) 5497 359e 9F4F sbci r25,hi8(-128) 5498 35a0 AF4F sbci r26,hlo8(-128) 5499 35a2 BF4F sbci r27,hhi8(-128) 5500 35a4 04F4 brge .L355 5501 35a6 8091 0000 lds r24,AdNeutralNick 5502 35aa 9091 0000 lds r25,(AdNeutralNick)+1 5503 35ae 2091 0000 lds r18,cnt.3066 5504 35b2 3091 0000 lds r19,(cnt.3066)+1 5505 35b6 821B sub r24,r18 5506 35b8 930B sbc r25,r19 5507 35ba 9093 0000 sts (AdNeutralNick)+1,r25 5508 35be 8093 0000 sts AdNeutralNick,r24 5509 .L355: 5510 35c2 81E0 ldi r24,lo8(1) 5511 35c4 90E0 ldi r25,hi8(1) 5512 35c6 9093 0000 sts (cnt.3066)+1,r25 5513 35ca 8093 0000 sts cnt.3066,r24 5514 35ce 8091 0000 lds r24,IntegralFehlerRoll.3046 5515 35d2 9091 0000 lds r25,(IntegralFehlerRoll.3046)+1 5516 35d6 A091 0000 lds r26,(IntegralFehlerRoll.3046)+2 5517 35da B091 0000 lds r27,(IntegralFehlerRoll.3046)+3 5518 35de B7FF sbrs r27,7 5519 35e0 00C0 rjmp .L357 5520 35e2 B095 com r27 5521 35e4 A095 com r26 5522 35e6 9095 com r25 5523 35e8 8195 neg r24 5524 35ea 9F4F sbci r25,lo8(-1) 5525 35ec AF4F sbci r26,lo8(-1) 5526 35ee BF4F sbci r27,lo8(-1) 5527 .L357: 5528 35f0 8150 subi r24,lo8(513) 5529 35f2 9240 sbci r25,hi8(513) 5530 35f4 A040 sbci r26,hlo8(513) 5531 35f6 B040 sbci r27,hhi8(513) 5532 35f8 04F0 brlt .L356 5533 35fa 84E0 ldi r24,lo8(4) 5534 35fc 90E0 ldi r25,hi8(4) 5535 35fe 9093 0000 sts (cnt.3066)+1,r25 5536 3602 8093 0000 sts cnt.3066,r24 5537 .L356: 5538 3606 8091 0000 lds r24,MittelIntegralRoll_Alt.3072 5539 360a 9091 0000 lds r25,(MittelIntegralRoll_Alt.3072)+1 5540 360e A091 0000 lds r26,(MittelIntegralRoll_Alt.3072)+2 5541 3612 B091 0000 lds r27,(MittelIntegralRoll_Alt.3072)+3 5542 3616 2091 0000 lds r18,MittelIntegralRoll 5543 361a 3091 0000 lds r19,(MittelIntegralRoll)+1 5544 361e 4091 0000 lds r20,(MittelIntegralRoll)+2 5545 3622 5091 0000 lds r21,(MittelIntegralRoll)+3 5546 3626 821B sub r24,r18 5547 3628 930B sbc r25,r19 5548 362a A40B sbc r26,r20 5549 362c B50B sbc r27,r21 5550 362e 815E subi r24,lo8(-(19999)) 5551 3630 914B sbci r25,hi8(-(19999)) 5552 3632 AF4F sbci r26,hlo8(-(19999)) 5553 3634 BF4F sbci r27,hhi8(-(19999)) 5554 3636 8F53 subi r24,lo8(39999) 5555 3638 9C49 sbci r25,hi8(39999) 5556 363a A040 sbci r26,hlo8(39999) 5557 363c B040 sbci r27,hhi8(39999) 5558 363e 00F0 brlo .L358 5559 3640 8091 0000 lds r24,FromNaviCtrl_Value+1 5560 3644 8931 cpi r24,lo8(25) 5561 3646 04F4 brge .+2 5562 3648 00C0 rjmp .L359 5563 .L358: 5564 364a E090 0000 lds r14,IntegralFehlerRoll.3046 5565 364e F090 0000 lds r15,(IntegralFehlerRoll.3046)+1 5566 3652 0091 0000 lds r16,(IntegralFehlerRoll.3046)+2 5567 3656 1091 0000 lds r17,(IntegralFehlerRoll.3046)+3 5568 365a 41E0 ldi r20,lo8(4097) 5569 365c E416 cp r14,r20 5570 365e 40E1 ldi r20,hi8(4097) 5571 3660 F406 cpc r15,r20 5572 3662 40E0 ldi r20,hlo8(4097) 5573 3664 0407 cpc r16,r20 5574 3666 40E0 ldi r20,hhi8(4097) 5575 3668 1407 cpc r17,r20 5576 366a 04F4 brge .+2 5577 366c 00C0 rjmp .L360 5578 366e 8091 0000 lds r24,last_r_p.3069 5579 3672 8823 tst r24 5580 3674 01F4 brne .+2 5581 3676 00C0 rjmp .L361 5582 3678 A801 movw r20,r16 5583 367a 9701 movw r18,r14 5584 367c 69E0 ldi r22,9 5585 367e 5595 1: asr r21 5586 3680 4795 ror r20 5587 3682 3795 ror r19 5588 3684 2795 ror r18 5589 3686 6A95 dec r22 5590 3688 01F4 brne 1b 5591 368a 8091 0000 lds r24,cnt.3066 5592 368e 9091 0000 lds r25,(cnt.3066)+1 5593 3692 820F add r24,r18 5594 3694 931F adc r25,r19 5595 3696 9093 0000 sts (cnt.3066)+1,r25 5596 369a 8093 0000 sts cnt.3066,r24 5597 369e C801 movw r24,r16 5598 36a0 B701 movw r22,r14 5599 36a2 28E0 ldi r18,lo8(8) 5600 36a4 30E0 ldi r19,hi8(8) 5601 36a6 40E0 ldi r20,hlo8(8) 5602 36a8 50E0 ldi r21,hhi8(8) 5603 36aa 0E94 0000 call __divmodsi4 5604 36ae C901 movw r24,r18 5605 36b0 DA01 movw r26,r20 5606 36b2 8093 0000 sts ausgleichRoll.3054,r24 5607 36b6 9093 0000 sts (ausgleichRoll.3054)+1,r25 5608 36ba A093 0000 sts (ausgleichRoll.3054)+2,r26 5609 36be B093 0000 sts (ausgleichRoll.3054)+3,r27 5610 36c2 8958 subi r24,lo8(5001) 5611 36c4 9341 sbci r25,hi8(5001) 5612 36c6 A040 sbci r26,hlo8(5001) 5613 36c8 B040 sbci r27,hhi8(5001) 5614 36ca 04F0 brlt .L362 5615 36cc 88E8 ldi r24,lo8(5000) 5616 36ce 93E1 ldi r25,hi8(5000) 5617 36d0 A0E0 ldi r26,hlo8(5000) 5618 36d2 B0E0 ldi r27,hhi8(5000) 5619 36d4 8093 0000 sts ausgleichRoll.3054,r24 5620 36d8 9093 0000 sts (ausgleichRoll.3054)+1,r25 5621 36dc A093 0000 sts (ausgleichRoll.3054)+2,r26 5622 36e0 B093 0000 sts (ausgleichRoll.3054)+3,r27 5623 .L362: 5624 36e4 6091 0000 lds r22,ausgleichRoll.3054 5625 36e8 7091 0000 lds r23,(ausgleichRoll.3054)+1 5626 36ec 8091 0000 lds r24,(ausgleichRoll.3054)+2 5627 36f0 9091 0000 lds r25,(ausgleichRoll.3054)+3 5628 36f4 20E0 ldi r18,lo8(256) 5629 36f6 31E0 ldi r19,hi8(256) 5630 36f8 40E0 ldi r20,hlo8(256) 5631 36fa 50E0 ldi r21,hhi8(256) 5632 36fc 0E94 0000 call __divmodsi4 5633 3700 8091 0000 lds r24,LageKorrekturRoll 5634 3704 9091 0000 lds r25,(LageKorrekturRoll)+1 5635 3708 820F add r24,r18 5636 370a 931F adc r25,r19 5637 370c 9093 0000 sts (LageKorrekturRoll)+1,r25 5638 3710 8093 0000 sts LageKorrekturRoll,r24 5639 3714 00C0 rjmp .L363 5640 .L361: 5641 3716 81E0 ldi r24,lo8(1) 5642 3718 8093 0000 sts last_r_p.3069,r24 5643 371c 00C0 rjmp .L363 5644 .L360: 5645 371e 1092 0000 sts last_r_p.3069,__zero_reg__ 5646 .L363: 5647 3722 4091 0000 lds r20,IntegralFehlerRoll.3046 5648 3726 5091 0000 lds r21,(IntegralFehlerRoll.3046)+1 5649 372a 6091 0000 lds r22,(IntegralFehlerRoll.3046)+2 5650 372e 7091 0000 lds r23,(IntegralFehlerRoll.3046)+3 5651 3732 4030 cpi r20,lo8(-4096) 5652 3734 80EF ldi r24,hi8(-4096) 5653 3736 5807 cpc r21,r24 5654 3738 8FEF ldi r24,hlo8(-4096) 5655 373a 6807 cpc r22,r24 5656 373c 8FEF ldi r24,hhi8(-4096) 5657 373e 7807 cpc r23,r24 5658 3740 04F0 brlt .+2 5659 3742 00C0 rjmp .L364 5660 3744 8091 0000 lds r24,last_r_n.3070 5661 3748 8823 tst r24 5662 374a 01F4 brne .+2 5663 374c 00C0 rjmp .L365 5664 374e 8827 clr r24 5665 3750 9927 clr r25 5666 3752 DC01 movw r26,r24 5667 3754 841B sub r24,r20 5668 3756 950B sbc r25,r21 5669 3758 A60B sbc r26,r22 5670 375a B70B sbc r27,r23 5671 375c 29E0 ldi r18,9 5672 375e B595 1: asr r27 5673 3760 A795 ror r26 5674 3762 9795 ror r25 5675 3764 8795 ror r24 5676 3766 2A95 dec r18 5677 3768 01F4 brne 1b 5678 376a 2091 0000 lds r18,cnt.3066 5679 376e 3091 0000 lds r19,(cnt.3066)+1 5680 3772 280F add r18,r24 5681 3774 391F adc r19,r25 5682 3776 3093 0000 sts (cnt.3066)+1,r19 5683 377a 2093 0000 sts cnt.3066,r18 5684 377e CB01 movw r24,r22 5685 3780 BA01 movw r22,r20 5686 3782 28E0 ldi r18,lo8(8) 5687 3784 30E0 ldi r19,hi8(8) 5688 3786 40E0 ldi r20,hlo8(8) 5689 3788 50E0 ldi r21,hhi8(8) 5690 378a 0E94 0000 call __divmodsi4 5691 378e C901 movw r24,r18 5692 3790 DA01 movw r26,r20 5693 3792 8093 0000 sts ausgleichRoll.3054,r24 5694 3796 9093 0000 sts (ausgleichRoll.3054)+1,r25 5695 379a A093 0000 sts (ausgleichRoll.3054)+2,r26 5696 379e B093 0000 sts (ausgleichRoll.3054)+3,r27 5697 37a2 8857 subi r24,lo8(-5000) 5698 37a4 9C4E sbci r25,hi8(-5000) 5699 37a6 AF4F sbci r26,hlo8(-5000) 5700 37a8 BF4F sbci r27,hhi8(-5000) 5701 37aa 04F4 brge .L366 5702 37ac 88E7 ldi r24,lo8(-5000) 5703 37ae 9CEE ldi r25,hi8(-5000) 5704 37b0 AFEF ldi r26,hlo8(-5000) 5705 37b2 BFEF ldi r27,hhi8(-5000) 5706 37b4 8093 0000 sts ausgleichRoll.3054,r24 5707 37b8 9093 0000 sts (ausgleichRoll.3054)+1,r25 5708 37bc A093 0000 sts (ausgleichRoll.3054)+2,r26 5709 37c0 B093 0000 sts (ausgleichRoll.3054)+3,r27 5710 .L366: 5711 37c4 6091 0000 lds r22,ausgleichRoll.3054 5712 37c8 7091 0000 lds r23,(ausgleichRoll.3054)+1 5713 37cc 8091 0000 lds r24,(ausgleichRoll.3054)+2 5714 37d0 9091 0000 lds r25,(ausgleichRoll.3054)+3 5715 37d4 20E0 ldi r18,lo8(256) 5716 37d6 31E0 ldi r19,hi8(256) 5717 37d8 40E0 ldi r20,hlo8(256) 5718 37da 50E0 ldi r21,hhi8(256) 5719 37dc 0E94 0000 call __divmodsi4 5720 37e0 8091 0000 lds r24,LageKorrekturRoll 5721 37e4 9091 0000 lds r25,(LageKorrekturRoll)+1 5722 37e8 820F add r24,r18 5723 37ea 931F adc r25,r19 5724 37ec 9093 0000 sts (LageKorrekturRoll)+1,r25 5725 37f0 8093 0000 sts LageKorrekturRoll,r24 5726 37f4 00C0 rjmp .L367 5727 .L365: 5728 37f6 81E0 ldi r24,lo8(1) 5729 37f8 8093 0000 sts last_r_n.3070,r24 5730 37fc 00C0 rjmp .L367 5731 .L364: 5732 37fe 1092 0000 sts last_r_n.3070,__zero_reg__ 5733 3802 00C0 rjmp .L367 5734 .L359: 5735 3804 1092 0000 sts (cnt.3066)+1,__zero_reg__ 5736 3808 1092 0000 sts cnt.3066,__zero_reg__ 5737 380c 88EE ldi r24,lo8(1000) 5738 380e 93E0 ldi r25,hi8(1000) 5739 3810 9093 0000 sts (KompassSignalSchlecht)+1,r25 5740 3814 8093 0000 sts KompassSignalSchlecht,r24 5741 .L367: 5742 3818 8091 0000 lds r24,EE_Parameter+66 5743 381c 282F mov r18,r24 5744 381e 30E0 ldi r19,lo8(0) 5745 3820 8091 0000 lds r24,cnt.3066 5746 3824 9091 0000 lds r25,(cnt.3066)+1 5747 3828 2817 cp r18,r24 5748 382a 3907 cpc r19,r25 5749 382c 04F4 brge .L368 5750 382e 3093 0000 sts (cnt.3066)+1,r19 5751 3832 2093 0000 sts cnt.3066,r18 5752 .L368: 5753 3836 8091 0000 lds r24,FromNaviCtrl_Value+1 5754 383a 8823 tst r24 5755 383c 01F0 breq .L369 5756 383e 282F mov r18,r24 5757 3840 3327 clr r19 5758 3842 27FD sbrc r18,7 5759 3844 3095 com r19 5760 3846 8091 0000 lds r24,cnt.3066 5761 384a 9091 0000 lds r25,(cnt.3066)+1 5762 384e 2817 cp r18,r24 5763 3850 3907 cpc r19,r25 5764 3852 04F4 brge .L369 5765 3854 3093 0000 sts (cnt.3066)+1,r19 5766 3858 2093 0000 sts cnt.3066,r18 5767 .L369: 5768 385c 8091 0000 lds r24,IntegralFehlerRoll.3046 5769 3860 9091 0000 lds r25,(IntegralFehlerRoll.3046)+1 5770 3864 A091 0000 lds r26,(IntegralFehlerRoll.3046)+2 5771 3868 B091 0000 lds r27,(IntegralFehlerRoll.3046)+3 5772 386c 8138 cpi r24,lo8(129) 5773 386e 9105 cpc r25,__zero_reg__ 5774 3870 A105 cpc r26,__zero_reg__ 5775 3872 B105 cpc r27,__zero_reg__ 5776 3874 04F0 brlt .L370 5777 3876 8091 0000 lds r24,AdNeutralRoll 5778 387a 9091 0000 lds r25,(AdNeutralRoll)+1 5779 387e 2091 0000 lds r18,cnt.3066 5780 3882 3091 0000 lds r19,(cnt.3066)+1 5781 3886 820F add r24,r18 5782 3888 931F adc r25,r19 5783 388a 9093 0000 sts (AdNeutralRoll)+1,r25 5784 388e 8093 0000 sts AdNeutralRoll,r24 5785 .L370: 5786 3892 8091 0000 lds r24,IntegralFehlerRoll.3046 5787 3896 9091 0000 lds r25,(IntegralFehlerRoll.3046)+1 5788 389a A091 0000 lds r26,(IntegralFehlerRoll.3046)+2 5789 389e B091 0000 lds r27,(IntegralFehlerRoll.3046)+3 5790 38a2 8058 subi r24,lo8(-128) 5791 38a4 9F4F sbci r25,hi8(-128) 5792 38a6 AF4F sbci r26,hlo8(-128) 5793 38a8 BF4F sbci r27,hhi8(-128) 5794 38aa 04F4 brge .L371 5795 38ac 8091 0000 lds r24,AdNeutralRoll 5796 38b0 9091 0000 lds r25,(AdNeutralRoll)+1 5797 38b4 2091 0000 lds r18,cnt.3066 5798 38b8 3091 0000 lds r19,(cnt.3066)+1 5799 38bc 821B sub r24,r18 5800 38be 930B sbc r25,r19 5801 38c0 9093 0000 sts (AdNeutralRoll)+1,r25 5802 38c4 8093 0000 sts AdNeutralRoll,r24 5803 38c8 00C0 rjmp .L371 5804 .L334: 5805 38ca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5806 38ce 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5807 38d2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5808 38d6 1092 0000 sts LageKorrekturNick,__zero_reg__ 5809 38da 1092 0000 sts TrichterFlug,__zero_reg__ 5810 .L371: 5811 38de 8091 0000 lds r24,IntegralFaktor 5812 38e2 8823 tst r24 5813 38e4 01F4 brne .L372 5814 38e6 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5815 38ea 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5816 38ee 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5817 38f2 1092 0000 sts LageKorrekturNick,__zero_reg__ 5818 .L372: 5819 38f6 8091 0000 lds r24,MittelIntegralNick 5820 38fa 9091 0000 lds r25,(MittelIntegralNick)+1 5821 38fe A091 0000 lds r26,(MittelIntegralNick)+2 5822 3902 B091 0000 lds r27,(MittelIntegralNick)+3 5823 3906 8093 0000 sts MittelIntegralNick_Alt.3071,r24 5824 390a 9093 0000 sts (MittelIntegralNick_Alt.3071)+1,r25 5825 390e A093 0000 sts (MittelIntegralNick_Alt.3071)+2,r26 5826 3912 B093 0000 sts (MittelIntegralNick_Alt.3071)+3,r27 5827 3916 8091 0000 lds r24,MittelIntegralRoll 5828 391a 9091 0000 lds r25,(MittelIntegralRoll)+1 5829 391e A091 0000 lds r26,(MittelIntegralRoll)+2 5830 3922 B091 0000 lds r27,(MittelIntegralRoll)+3 5831 3926 8093 0000 sts MittelIntegralRoll_Alt.3072,r24 5832 392a 9093 0000 sts (MittelIntegralRoll_Alt.3072)+1,r25 5833 392e A093 0000 sts (MittelIntegralRoll_Alt.3072)+2,r26 5834 3932 B093 0000 sts (MittelIntegralRoll_Alt.3072)+3,r27 5835 3936 1092 0000 sts IntegralAccNick,__zero_reg__ 5836 393a 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5837 393e 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5838 3942 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5839 3946 1092 0000 sts IntegralAccRoll,__zero_reg__ 5840 394a 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5841 394e 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5842 3952 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5843 3956 1092 0000 sts IntegralAccZ,__zero_reg__ 5844 395a 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 5845 395e 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 5846 3962 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 5847 3966 1092 0000 sts MittelIntegralNick,__zero_reg__ 5848 396a 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5849 396e 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5850 3972 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5851 3976 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5852 397a 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5853 397e 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5854 3982 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5855 3986 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5856 398a 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5857 398e 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5858 3992 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5859 3996 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5860 399a 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5861 399e 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5862 39a2 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5863 39a6 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5864 39aa 1092 0000 sts ZaehlMessungen,__zero_reg__ 5865 .L333: 5866 39ae 8091 0000 lds r24,StickGier 5867 39b2 9091 0000 lds r25,(StickGier)+1 5868 39b6 97FF sbrs r25,7 5869 39b8 00C0 rjmp .L374 5870 39ba 9095 com r25 5871 39bc 8195 neg r24 5872 39be 9F4F sbci r25,lo8(-1) 5873 .L374: 5874 39c0 4097 sbiw r24,16 5875 39c2 04F0 brlt .L373 5876 39c4 88EE ldi r24,lo8(1000) 5877 39c6 93E0 ldi r25,hi8(1000) 5878 39c8 9093 0000 sts (KompassSignalSchlecht)+1,r25 5879 39cc 8093 0000 sts KompassSignalSchlecht,r24 5880 39d0 8091 0000 lds r24,EE_Parameter+13 5881 39d4 84FD sbrc r24,4 5882 39d6 00C0 rjmp .L373 5883 39d8 81E0 ldi r24,lo8(1) 5884 39da 8093 0000 sts NeueKompassRichtungMerken.3052,r24 5885 .L373: 5886 39de D090 0000 lds r13,EE_Parameter+25 5887 39e2 E090 0000 lds r14,StickGier 5888 39e6 F090 0000 lds r15,(StickGier)+1 5889 39ea B701 movw r22,r14 5890 39ec 8827 clr r24 5891 39ee 77FD sbrc r23,7 5892 39f0 8095 com r24 5893 39f2 982F mov r25,r24 5894 39f4 2D2D mov r18,r13 5895 39f6 30E0 ldi r19,lo8(0) 5896 39f8 40E0 ldi r20,lo8(0) 5897 39fa 50E0 ldi r21,hi8(0) 5898 39fc 0E94 0000 call __mulsi3 5899 3a00 F701 movw r30,r14 5900 3a02 F7FE sbrs r15,7 5901 3a04 00C0 rjmp .L375 5902 3a06 EE27 clr r30 5903 3a08 FF27 clr r31 5904 3a0a EE19 sub r30,r14 5905 3a0c FF09 sbc r31,r15 5906 .L375: 5907 3a0e 9F01 movw r18,r30 5908 3a10 4427 clr r20 5909 3a12 37FD sbrc r19,7 5910 3a14 4095 com r20 5911 3a16 542F mov r21,r20 5912 3a18 0E94 0000 call __mulsi3 5913 3a1c 20E0 ldi r18,lo8(512) 5914 3a1e 32E0 ldi r19,hi8(512) 5915 3a20 40E0 ldi r20,hlo8(512) 5916 3a22 50E0 ldi r21,hhi8(512) 5917 3a24 0E94 0000 call __divmodsi4 5918 3a28 8901 movw r16,r18 5919 3a2a 9A01 movw r18,r20 5920 3a2c 8D2D mov r24,r13 5921 3a2e 90E0 ldi r25,lo8(0) 5922 3a30 AC01 movw r20,r24 5923 3a32 4E9D mul r20,r14 5924 3a34 C001 movw r24,r0 5925 3a36 4F9D mul r20,r15 5926 3a38 900D add r25,r0 5927 3a3a 5E9D mul r21,r14 5928 3a3c 900D add r25,r0 5929 3a3e 1124 clr r1 5930 3a40 64E0 ldi r22,lo8(4) 5931 3a42 70E0 ldi r23,hi8(4) 5932 3a44 0E94 0000 call __divmodhi4 5933 3a48 600F add r22,r16 5934 3a4a 711F adc r23,r17 5935 3a4c 8827 clr r24 5936 3a4e 77FD sbrc r23,7 5937 3a50 8095 com r24 5938 3a52 982F mov r25,r24 5939 3a54 6093 0000 sts sollGier.3042,r22 5940 3a58 7093 0000 sts (sollGier.3042)+1,r23 5941 3a5c 8093 0000 sts (sollGier.3042)+2,r24 5942 3a60 9093 0000 sts (sollGier.3042)+3,r25 5943 3a64 2091 0000 lds r18,Mess_Integral_Gier 5944 3a68 3091 0000 lds r19,(Mess_Integral_Gier)+1 5945 3a6c 4091 0000 lds r20,(Mess_Integral_Gier)+2 5946 3a70 5091 0000 lds r21,(Mess_Integral_Gier)+3 5947 3a74 261B sub r18,r22 5948 3a76 370B sbc r19,r23 5949 3a78 480B sbc r20,r24 5950 3a7a 590B sbc r21,r25 5951 3a7c 2093 0000 sts Mess_Integral_Gier,r18 5952 3a80 3093 0000 sts (Mess_Integral_Gier)+1,r19 5953 3a84 4093 0000 sts (Mess_Integral_Gier)+2,r20 5954 3a88 5093 0000 sts (Mess_Integral_Gier)+3,r21 5955 3a8c 2155 subi r18,lo8(50001) 5956 3a8e 334C sbci r19,hi8(50001) 5957 3a90 4040 sbci r20,hlo8(50001) 5958 3a92 5040 sbci r21,hhi8(50001) 5959 3a94 04F0 brlt .L376 5960 3a96 80E5 ldi r24,lo8(50000) 5961 3a98 93EC ldi r25,hi8(50000) 5962 3a9a A0E0 ldi r26,hlo8(50000) 5963 3a9c B0E0 ldi r27,hhi8(50000) 5964 3a9e 8093 0000 sts Mess_Integral_Gier,r24 5965 3aa2 9093 0000 sts (Mess_Integral_Gier)+1,r25 5966 3aa6 A093 0000 sts (Mess_Integral_Gier)+2,r26 5967 3aaa B093 0000 sts (Mess_Integral_Gier)+3,r27 5968 .L376: 5969 3aae 8091 0000 lds r24,Mess_Integral_Gier 5970 3ab2 9091 0000 lds r25,(Mess_Integral_Gier)+1 5971 3ab6 A091 0000 lds r26,(Mess_Integral_Gier)+2 5972 3aba B091 0000 lds r27,(Mess_Integral_Gier)+3 5973 3abe 805B subi r24,lo8(-50000) 5974 3ac0 9C43 sbci r25,hi8(-50000) 5975 3ac2 AF4F sbci r26,hlo8(-50000) 5976 3ac4 BF4F sbci r27,hhi8(-50000) 5977 3ac6 04F4 brge .L377 5978 3ac8 80EB ldi r24,lo8(-50000) 5979 3aca 9CE3 ldi r25,hi8(-50000) 5980 3acc AFEF ldi r26,hlo8(-50000) 5981 3ace BFEF ldi r27,hhi8(-50000) 5982 3ad0 8093 0000 sts Mess_Integral_Gier,r24 5983 3ad4 9093 0000 sts (Mess_Integral_Gier)+1,r25 5984 3ad8 A093 0000 sts (Mess_Integral_Gier)+2,r26 5985 3adc B093 0000 sts (Mess_Integral_Gier)+3,r27 5986 .L377: 5987 3ae0 C090 0000 lds r12,KompassValue 5988 3ae4 D090 0000 lds r13,(KompassValue)+1 5989 3ae8 C114 cp r12,__zero_reg__ 5990 3aea D104 cpc r13,__zero_reg__ 5991 3aec 01F4 brne .+2 5992 3aee 00C0 rjmp .L378 5993 3af0 8091 0000 lds r24,EE_Parameter+13 5994 3af4 83FF sbrs r24,3 5995 3af6 00C0 rjmp .L378 5996 3af8 6091 0000 lds r22,IntegralNick 5997 3afc 7091 0000 lds r23,(IntegralNick)+1 5998 3b00 8091 0000 lds r24,(IntegralNick)+2 5999 3b04 9091 0000 lds r25,(IntegralNick)+3 6000 3b08 20E0 ldi r18,lo8(512) 6001 3b0a 32E0 ldi r19,hi8(512) 6002 3b0c 40E0 ldi r20,hlo8(512) 6003 3b0e 50E0 ldi r21,hhi8(512) 6004 3b10 0E94 0000 call __divmodsi4 6005 3b14 8901 movw r16,r18 6006 3b16 37FF sbrs r19,7 6007 3b18 00C0 rjmp .L379 6008 3b1a 1095 com r17 6009 3b1c 0195 neg r16 6010 3b1e 1F4F sbci r17,lo8(-1) 6011 .L379: 6012 3b20 6091 0000 lds r22,IntegralRoll 6013 3b24 7091 0000 lds r23,(IntegralRoll)+1 6014 3b28 8091 0000 lds r24,(IntegralRoll)+2 6015 3b2c 9091 0000 lds r25,(IntegralRoll)+3 6016 3b30 20E0 ldi r18,lo8(512) 6017 3b32 32E0 ldi r19,hi8(512) 6018 3b34 40E0 ldi r20,hlo8(512) 6019 3b36 50E0 ldi r21,hhi8(512) 6020 3b38 0E94 0000 call __divmodsi4 6021 3b3c 3901 movw r6,r18 6022 3b3e 37FF sbrs r19,7 6023 3b40 00C0 rjmp .L380 6024 3b42 7094 com r7 6025 3b44 6194 neg r6 6026 3b46 7108 sbc r7,__zero_reg__ 6027 3b48 7394 inc r7 6028 .L380: 6029 3b4a 6016 cp r6,r16 6030 3b4c 7106 cpc r7,r17 6031 3b4e 04F4 brge .L381 6032 3b50 3801 movw r6,r16 6033 .L381: 6034 3b52 8CE1 ldi r24,lo8(540) 6035 3b54 92E0 ldi r25,hi8(540) 6036 3b56 C80E add r12,r24 6037 3b58 D91E adc r13,r25 6038 3b5a 7601 movw r14,r12 6039 3b5c 0027 clr r16 6040 3b5e F7FC sbrc r15,7 6041 3b60 0095 com r16 6042 3b62 102F mov r17,r16 6043 3b64 6091 0000 lds r22,ErsatzKompass 6044 3b68 7091 0000 lds r23,(ErsatzKompass)+1 6045 3b6c 8091 0000 lds r24,(ErsatzKompass)+2 6046 3b70 9091 0000 lds r25,(ErsatzKompass)+3 6047 3b74 A090 0000 lds r10,GIER_GRAD_FAKTOR 6048 3b78 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+1 6049 3b7c C090 0000 lds r12,(GIER_GRAD_FAKTOR)+2 6050 3b80 D090 0000 lds r13,(GIER_GRAD_FAKTOR)+3 6051 3b84 A601 movw r20,r12 6052 3b86 9501 movw r18,r10 6053 3b88 0E94 0000 call __divmodsi4 6054 3b8c E21A sub r14,r18 6055 3b8e F30A sbc r15,r19 6056 3b90 040B sbc r16,r20 6057 3b92 150B sbc r17,r21 6058 3b94 C801 movw r24,r16 6059 3b96 B701 movw r22,r14 6060 3b98 28E6 ldi r18,lo8(360) 6061 3b9a 31E0 ldi r19,hi8(360) 6062 3b9c 40E0 ldi r20,hlo8(360) 6063 3b9e 50E0 ldi r21,hhi8(360) 6064 3ba0 0E94 0000 call __divmodsi4 6065 3ba4 8B01 movw r16,r22 6066 3ba6 045B subi r16,lo8(-(-180)) 6067 3ba8 1040 sbci r17,hi8(-(-180)) 6068 3baa 8091 0000 lds r24,KompassSignalSchlecht 6069 3bae 9091 0000 lds r25,(KompassSignalSchlecht)+1 6070 3bb2 892B or r24,r25 6071 3bb4 01F4 brne .L382 6072 3bb6 99E1 ldi r25,lo8(25) 6073 3bb8 6916 cp r6,r25 6074 3bba 7104 cpc r7,__zero_reg__ 6075 3bbc 04F4 brge .L382 6076 3bbe 8091 0000 lds r24,GierGyroFehler 6077 3bc2 9091 0000 lds r25,(GierGyroFehler)+1 6078 3bc6 800F add r24,r16 6079 3bc8 911F adc r25,r17 6080 3bca 9093 0000 sts (GierGyroFehler)+1,r25 6081 3bce 8093 0000 sts GierGyroFehler,r24 6082 3bd2 8091 0000 lds r24,NeueKompassRichtungMerken.3052 6083 3bd6 8823 tst r24 6084 3bd8 01F0 breq .L382 6085 3bda 6091 0000 lds r22,KompassValue 6086 3bde 7091 0000 lds r23,(KompassValue)+1 6087 3be2 8827 clr r24 6088 3be4 77FD sbrc r23,7 6089 3be6 8095 com r24 6090 3be8 982F mov r25,r24 6091 3bea A601 movw r20,r12 6092 3bec 9501 movw r18,r10 6093 3bee 0E94 0000 call __mulsi3 6094 3bf2 6093 0000 sts ErsatzKompass,r22 6095 3bf6 7093 0000 sts (ErsatzKompass)+1,r23 6096 3bfa 8093 0000 sts (ErsatzKompass)+2,r24 6097 3bfe 9093 0000 sts (ErsatzKompass)+3,r25 6098 3c02 0E94 0000 call __divmodsi4 6099 3c06 3093 0000 sts (KompassStartwert)+1,r19 6100 3c0a 2093 0000 sts KompassStartwert,r18 6101 3c0e 1092 0000 sts NeueKompassRichtungMerken.3052,__zero_reg__ 6102 .L382: 6103 3c12 B301 movw r22,r6 6104 3c14 83E0 ldi r24,3 6105 3c16 7595 1: asr r23 6106 3c18 6795 ror r22 6107 3c1a 8A95 dec r24 6108 3c1c 01F4 brne 1b 6109 3c1e 6E5F subi r22,lo8(-(2)) 6110 3c20 7F4F sbci r23,hi8(-(2)) 6111 3c22 C801 movw r24,r16 6112 3c24 04E0 ldi r16,4 6113 3c26 880F 1: lsl r24 6114 3c28 991F rol r25 6115 3c2a 0A95 dec r16 6116 3c2c 01F4 brne 1b 6117 3c2e 0E94 0000 call __divmodhi4 6118 3c32 4B01 movw r8,r22 6119 3c34 AA24 clr r10 6120 3c36 97FC sbrc r9,7 6121 3c38 A094 com r10 6122 3c3a BA2C mov r11,r10 6123 3c3c 8091 0000 lds r24,ErsatzKompass 6124 3c40 9091 0000 lds r25,(ErsatzKompass)+1 6125 3c44 A091 0000 lds r26,(ErsatzKompass)+2 6126 3c48 B091 0000 lds r27,(ErsatzKompass)+3 6127 3c4c 880E add r8,r24 6128 3c4e 991E adc r9,r25 6129 3c50 AA1E adc r10,r26 6130 3c52 BB1E adc r11,r27 6131 3c54 8092 0000 sts ErsatzKompass,r8 6132 3c58 9092 0000 sts (ErsatzKompass)+1,r9 6133 3c5c A092 0000 sts (ErsatzKompass)+2,r10 6134 3c60 B092 0000 sts (ErsatzKompass)+3,r11 6135 3c64 8091 0000 lds r24,Parameter_KompassWirkung 6136 3c68 482E mov r4,r24 6137 3c6a 5524 clr r5 6138 3c6c 649C mul r6,r4 6139 3c6e C001 movw r24,r0 6140 3c70 659C mul r6,r5 6141 3c72 900D add r25,r0 6142 3c74 749C mul r7,r4 6143 3c76 900D add r25,r0 6144 3c78 1124 clr r1 6145 3c7a 60E2 ldi r22,lo8(32) 6146 3c7c 70E0 ldi r23,hi8(32) 6147 3c7e 0E94 0000 call __divmodhi4 6148 3c82 3201 movw r6,r4 6149 3c84 661A sub r6,r22 6150 3c86 770A sbc r7,r23 6151 3c88 77FC sbrc r7,7 6152 3c8a 00C0 rjmp .L383 6153 3c8c 8091 0000 lds r24,KompassSignalSchlecht 6154 3c90 9091 0000 lds r25,(KompassSignalSchlecht)+1 6155 3c94 892B or r24,r25 6156 3c96 01F0 breq .+2 6157 3c98 00C0 rjmp .L384 6158 3c9a 8091 0000 lds r24,MaxStickRoll 6159 3c9e 9091 0000 lds r25,(MaxStickRoll)+1 6160 3ca2 2091 0000 lds r18,MaxStickNick 6161 3ca6 3091 0000 lds r19,(MaxStickNick)+1 6162 3caa 820F add r24,r18 6163 3cac 931F adc r25,r19 6164 3cae 68E0 ldi r22,lo8(8) 6165 3cb0 70E0 ldi r23,hi8(8) 6166 3cb2 0E94 0000 call __divmodhi4 6167 3cb6 6B01 movw r12,r22 6168 3cb8 A0E4 ldi r26,lo8(64) 6169 3cba B0E0 ldi r27,hi8(64) 6170 3cbc CA0E add r12,r26 6171 3cbe DB1E adc r13,r27 6172 3cc0 8091 0000 lds r24,KompassStartwert 6173 3cc4 9091 0000 lds r25,(KompassStartwert)+1 6174 3cc8 AA27 clr r26 6175 3cca 97FD sbrc r25,7 6176 3ccc A095 com r26 6177 3cce BA2F mov r27,r26 6178 3cd0 1CE1 ldi r17,lo8(540) 6179 3cd2 E12E mov r14,r17 6180 3cd4 12E0 ldi r17,hi8(540) 6181 3cd6 F12E mov r15,r17 6182 3cd8 012D mov r16,__zero_reg__ 6183 3cda 112D mov r17,__zero_reg__ 6184 3cdc E81A sub r14,r24 6185 3cde F90A sbc r15,r25 6186 3ce0 0A0B sbc r16,r26 6187 3ce2 1B0B sbc r17,r27 6188 3ce4 2091 0000 lds r18,GIER_GRAD_FAKTOR 6189 3ce8 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 6190 3cec 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 6191 3cf0 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 6192 3cf4 C501 movw r24,r10 6193 3cf6 B401 movw r22,r8 6194 3cf8 0E94 0000 call __divmodsi4 6195 3cfc E20E add r14,r18 6196 3cfe F31E adc r15,r19 6197 3d00 041F adc r16,r20 6198 3d02 151F adc r17,r21 6199 3d04 C801 movw r24,r16 6200 3d06 B701 movw r22,r14 6201 3d08 28E6 ldi r18,lo8(360) 6202 3d0a 31E0 ldi r19,hi8(360) 6203 3d0c 40E0 ldi r20,hlo8(360) 6204 3d0e 50E0 ldi r21,hhi8(360) 6205 3d10 0E94 0000 call __divmodsi4 6206 3d14 645B subi r22,lo8(-(-180)) 6207 3d16 7040 sbci r23,hi8(-(-180)) 6208 3d18 669D mul r22,r6 6209 3d1a C001 movw r24,r0 6210 3d1c 679D mul r22,r7 6211 3d1e 900D add r25,r0 6212 3d20 769D mul r23,r6 6213 3d22 900D add r25,r0 6214 3d24 1124 clr r1 6215 3d26 B601 movw r22,r12 6216 3d28 0E94 0000 call __divmodhi4 6217 3d2c C201 movw r24,r4 6218 3d2e 880F lsl r24 6219 3d30 991F rol r25 6220 3d32 840D add r24,r4 6221 3d34 951D adc r25,r5 6222 3d36 8617 cp r24,r22 6223 3d38 9707 cpc r25,r23 6224 3d3a 04F4 brge .L385 6225 3d3c BC01 movw r22,r24 6226 3d3e 00C0 rjmp .L386 6227 .L385: 6228 3d40 4427 clr r20 6229 3d42 5527 clr r21 6230 3d44 481B sub r20,r24 6231 3d46 590B sbc r21,r25 6232 3d48 6417 cp r22,r20 6233 3d4a 7507 cpc r23,r21 6234 3d4c 04F4 brge .L386 6235 3d4e BA01 movw r22,r20 6236 .L386: 6237 3d50 9B01 movw r18,r22 6238 3d52 4427 clr r20 6239 3d54 37FD sbrc r19,7 6240 3d56 4095 com r20 6241 3d58 542F mov r21,r20 6242 3d5a 8091 0000 lds r24,Mess_Integral_Gier 6243 3d5e 9091 0000 lds r25,(Mess_Integral_Gier)+1 6244 3d62 A091 0000 lds r26,(Mess_Integral_Gier)+2 6245 3d66 B091 0000 lds r27,(Mess_Integral_Gier)+3 6246 3d6a 820F add r24,r18 6247 3d6c 931F adc r25,r19 6248 3d6e A41F adc r26,r20 6249 3d70 B51F adc r27,r21 6250 3d72 8093 0000 sts Mess_Integral_Gier,r24 6251 3d76 9093 0000 sts (Mess_Integral_Gier)+1,r25 6252 3d7a A093 0000 sts (Mess_Integral_Gier)+2,r26 6253 3d7e B093 0000 sts (Mess_Integral_Gier)+3,r27 6254 .L384: 6255 3d82 8091 0000 lds r24,KompassSignalSchlecht 6256 3d86 9091 0000 lds r25,(KompassSignalSchlecht)+1 6257 3d8a 0097 sbiw r24,0 6258 3d8c 01F0 breq .L378 6259 3d8e 0197 sbiw r24,1 6260 3d90 00C0 rjmp .L532 6261 .L383: 6262 3d92 84EF ldi r24,lo8(500) 6263 3d94 91E0 ldi r25,hi8(500) 6264 .L532: 6265 3d96 9093 0000 sts (KompassSignalSchlecht)+1,r25 6266 3d9a 8093 0000 sts KompassSignalSchlecht,r24 6267 .L378: 6268 3d9e 8091 0000 lds r24,TrichterFlug 6269 3da2 8823 tst r24 6270 3da4 01F0 breq .L388 6271 3da6 1092 0000 sts SummeRoll,__zero_reg__ 6272 3daa 1092 0000 sts (SummeRoll)+1,__zero_reg__ 6273 3dae 1092 0000 sts (SummeRoll)+2,__zero_reg__ 6274 3db2 1092 0000 sts (SummeRoll)+3,__zero_reg__ 6275 3db6 1092 0000 sts SummeNick,__zero_reg__ 6276 3dba 1092 0000 sts (SummeNick)+1,__zero_reg__ 6277 3dbe 1092 0000 sts (SummeNick)+2,__zero_reg__ 6278 3dc2 1092 0000 sts (SummeNick)+3,__zero_reg__ 6279 .L388: 6280 3dc6 8091 0000 lds r24,Looping_Nick 6281 3dca 8823 tst r24 6282 3dcc 01F0 breq .L389 6283 3dce 1DA2 std Y+37,__zero_reg__ 6284 3dd0 1CA2 std Y+36,__zero_reg__ 6285 3dd2 00C0 rjmp .L390 6286 .L389: 6287 3dd4 6091 0000 lds r22,IntegralFaktor 6288 3dd8 70E0 ldi r23,lo8(0) 6289 3dda 80E0 ldi r24,lo8(0) 6290 3ddc 90E0 ldi r25,hi8(0) 6291 3dde 2091 0000 lds r18,IntegralNick 6292 3de2 3091 0000 lds r19,(IntegralNick)+1 6293 3de6 4091 0000 lds r20,(IntegralNick)+2 6294 3dea 5091 0000 lds r21,(IntegralNick)+3 6295 3dee 0E94 0000 call __mulsi3 6296 3df2 28EF ldi r18,lo8(11000) 6297 3df4 3AE2 ldi r19,hi8(11000) 6298 3df6 40E0 ldi r20,hlo8(11000) 6299 3df8 50E0 ldi r21,hhi8(11000) 6300 3dfa 0E94 0000 call __divmodsi4 6301 3dfe 3DA3 std Y+37,r19 6302 3e00 2CA3 std Y+36,r18 6303 .L390: 6304 3e02 8091 0000 lds r24,Looping_Roll 6305 3e06 8823 tst r24 6306 3e08 01F0 breq .L391 6307 3e0a 1BA2 std Y+35,__zero_reg__ 6308 3e0c 1AA2 std Y+34,__zero_reg__ 6309 3e0e 00C0 rjmp .L392 6310 .L391: 6311 3e10 6091 0000 lds r22,IntegralFaktor 6312 3e14 70E0 ldi r23,lo8(0) 6313 3e16 80E0 ldi r24,lo8(0) 6314 3e18 90E0 ldi r25,hi8(0) 6315 3e1a 2091 0000 lds r18,IntegralRoll 6316 3e1e 3091 0000 lds r19,(IntegralRoll)+1 6317 3e22 4091 0000 lds r20,(IntegralRoll)+2 6318 3e26 5091 0000 lds r21,(IntegralRoll)+3 6319 3e2a 0E94 0000 call __mulsi3 6320 3e2e 28EF ldi r18,lo8(11000) 6321 3e30 3AE2 ldi r19,hi8(11000) 6322 3e32 40E0 ldi r20,hlo8(11000) 6323 3e34 50E0 ldi r21,hhi8(11000) 6324 3e36 0E94 0000 call __divmodsi4 6325 3e3a 3BA3 std Y+35,r19 6326 3e3c 2AA3 std Y+34,r18 6327 .L392: 6328 3e3e 8091 0000 lds r24,TrimNick 6329 3e42 9091 0000 lds r25,(TrimNick)+1 6330 3e46 893C cpi r24,201 6331 3e48 9105 cpc r25,__zero_reg__ 6332 3e4a 04F0 brlt .L393 6333 3e4c 88EC ldi r24,lo8(200) 6334 3e4e 90E0 ldi r25,hi8(200) 6335 3e50 00C0 rjmp .L533 6336 .L393: 6337 3e52 8853 subi r24,lo8(-200) 6338 3e54 9F4F sbci r25,hi8(-200) 6339 3e56 04F4 brge .L394 6340 3e58 88E3 ldi r24,lo8(-200) 6341 3e5a 9FEF ldi r25,hi8(-200) 6342 .L533: 6343 3e5c 9093 0000 sts (TrimNick)+1,r25 6344 3e60 8093 0000 sts TrimNick,r24 6345 .L394: 6346 3e64 8091 0000 lds r24,TrimRoll 6347 3e68 9091 0000 lds r25,(TrimRoll)+1 6348 3e6c 893C cpi r24,201 6349 3e6e 9105 cpc r25,__zero_reg__ 6350 3e70 04F0 brlt .L395 6351 3e72 88EC ldi r24,lo8(200) 6352 3e74 90E0 ldi r25,hi8(200) 6353 3e76 00C0 rjmp .L534 6354 .L395: 6355 3e78 8853 subi r24,lo8(-200) 6356 3e7a 9F4F sbci r25,hi8(-200) 6357 3e7c 04F4 brge .L396 6358 3e7e 88E3 ldi r24,lo8(-200) 6359 3e80 9FEF ldi r25,hi8(-200) 6360 .L534: 6361 3e82 9093 0000 sts (TrimRoll)+1,r25 6362 3e86 8093 0000 sts TrimRoll,r24 6363 .L396: 6364 3e8a E090 0000 lds r14,TrimNick 6365 3e8e F090 0000 lds r15,(TrimNick)+1 6366 3e92 0027 clr r16 6367 3e94 F7FC sbrc r15,7 6368 3e96 0095 com r16 6369 3e98 102F mov r17,r16 6370 3e9a A7E0 ldi r26,7 6371 3e9c EE0C 1: lsl r14 6372 3e9e FF1C rol r15 6373 3ea0 001F rol r16 6374 3ea2 111F rol r17 6375 3ea4 AA95 dec r26 6376 3ea6 01F4 brne 1b 6377 3ea8 A090 0000 lds r10,GyroFaktor 6378 3eac BB24 clr r11 6379 3eae CC24 clr r12 6380 3eb0 DD24 clr r13 6381 3eb2 2091 0000 lds r18,MesswertNick 6382 3eb6 3091 0000 lds r19,(MesswertNick)+1 6383 3eba 4427 clr r20 6384 3ebc 37FD sbrc r19,7 6385 3ebe 4095 com r20 6386 3ec0 542F mov r21,r20 6387 3ec2 C601 movw r24,r12 6388 3ec4 B501 movw r22,r10 6389 3ec6 0E94 0000 call __mulsi3 6390 3eca E60E add r14,r22 6391 3ecc F71E adc r15,r23 6392 3ece 081F adc r16,r24 6393 3ed0 191F adc r17,r25 6394 3ed2 C801 movw r24,r16 6395 3ed4 B701 movw r22,r14 6396 3ed6 20E4 ldi r18,lo8(64) 6397 3ed8 30E0 ldi r19,hi8(64) 6398 3eda 40E0 ldi r20,hlo8(64) 6399 3edc 50E0 ldi r21,hhi8(64) 6400 3ede 0E94 0000 call __divmodsi4 6401 3ee2 8CA0 ldd r8,Y+36 6402 3ee4 9DA0 ldd r9,Y+37 6403 3ee6 820E add r8,r18 6404 3ee8 931E adc r9,r19 6405 3eea 9092 0000 sts (MesswertNick)+1,r9 6406 3eee 8092 0000 sts MesswertNick,r8 6407 3ef2 E090 0000 lds r14,TrimRoll 6408 3ef6 F090 0000 lds r15,(TrimRoll)+1 6409 3efa 0027 clr r16 6410 3efc F7FC sbrc r15,7 6411 3efe 0095 com r16 6412 3f00 102F mov r17,r16 6413 3f02 F7E0 ldi r31,7 6414 3f04 EE0C 1: lsl r14 6415 3f06 FF1C rol r15 6416 3f08 001F rol r16 6417 3f0a 111F rol r17 6418 3f0c FA95 dec r31 6419 3f0e 01F4 brne 1b 6420 3f10 2091 0000 lds r18,MesswertRoll 6421 3f14 3091 0000 lds r19,(MesswertRoll)+1 6422 3f18 4427 clr r20 6423 3f1a 37FD sbrc r19,7 6424 3f1c 4095 com r20 6425 3f1e 542F mov r21,r20 6426 3f20 C601 movw r24,r12 6427 3f22 B501 movw r22,r10 6428 3f24 0E94 0000 call __mulsi3 6429 3f28 E60E add r14,r22 6430 3f2a F71E adc r15,r23 6431 3f2c 081F adc r16,r24 6432 3f2e 191F adc r17,r25 6433 3f30 C801 movw r24,r16 6434 3f32 B701 movw r22,r14 6435 3f34 20E4 ldi r18,lo8(64) 6436 3f36 30E0 ldi r19,hi8(64) 6437 3f38 40E0 ldi r20,hlo8(64) 6438 3f3a 50E0 ldi r21,hhi8(64) 6439 3f3c 0E94 0000 call __divmodsi4 6440 3f40 8AA1 ldd r24,Y+34 6441 3f42 9BA1 ldd r25,Y+35 6442 3f44 820F add r24,r18 6443 3f46 931F adc r25,r19 6444 3f48 9093 0000 sts (MesswertRoll)+1,r25 6445 3f4c 8093 0000 sts MesswertRoll,r24 6446 3f50 6091 0000 lds r22,MesswertGier 6447 3f54 7091 0000 lds r23,(MesswertGier)+1 6448 3f58 660F lsl r22 6449 3f5a 771F rol r23 6450 3f5c 8827 clr r24 6451 3f5e 77FD sbrc r23,7 6452 3f60 8095 com r24 6453 3f62 982F mov r25,r24 6454 3f64 2091 0000 lds r18,GyroFaktorGier 6455 3f68 30E0 ldi r19,lo8(0) 6456 3f6a 40E0 ldi r20,lo8(0) 6457 3f6c 50E0 ldi r21,hi8(0) 6458 3f6e 0E94 0000 call __mulsi3 6459 3f72 20E4 ldi r18,lo8(64) 6460 3f74 30E0 ldi r19,hi8(64) 6461 3f76 40E0 ldi r20,hlo8(64) 6462 3f78 50E0 ldi r21,hhi8(64) 6463 3f7a 0E94 0000 call __divmodsi4 6464 3f7e 7901 movw r14,r18 6465 3f80 8A01 movw r16,r20 6466 3f82 6091 0000 lds r22,IntegralFaktorGier 6467 3f86 70E0 ldi r23,lo8(0) 6468 3f88 80E0 ldi r24,lo8(0) 6469 3f8a 90E0 ldi r25,hi8(0) 6470 3f8c 2091 0000 lds r18,Integral_Gier 6471 3f90 3091 0000 lds r19,(Integral_Gier)+1 6472 3f94 4091 0000 lds r20,(Integral_Gier)+2 6473 3f98 5091 0000 lds r21,(Integral_Gier)+3 6474 3f9c 0E94 0000 call __mulsi3 6475 3fa0 20EF ldi r18,lo8(22000) 6476 3fa2 35E5 ldi r19,hi8(22000) 6477 3fa4 40E0 ldi r20,hlo8(22000) 6478 3fa6 50E0 ldi r21,hhi8(22000) 6479 3fa8 0E94 0000 call __divmodsi4 6480 3fac E20E add r14,r18 6481 3fae F31E adc r15,r19 6482 3fb0 F092 0000 sts (MesswertGier)+1,r15 6483 3fb4 E092 0000 sts MesswertGier,r14 6484 3fb8 F1E0 ldi r31,lo8(4097) 6485 3fba 8F16 cp r8,r31 6486 3fbc F0E1 ldi r31,hi8(4097) 6487 3fbe 9F06 cpc r9,r31 6488 3fc0 04F0 brlt .L397 6489 3fc2 80E0 ldi r24,lo8(4096) 6490 3fc4 90E1 ldi r25,hi8(4096) 6491 3fc6 9093 0000 sts (MesswertNick)+1,r25 6492 3fca 8093 0000 sts MesswertNick,r24 6493 .L397: 6494 3fce 8091 0000 lds r24,MesswertNick 6495 3fd2 9091 0000 lds r25,(MesswertNick)+1 6496 3fd6 8050 subi r24,lo8(-4096) 6497 3fd8 904F sbci r25,hi8(-4096) 6498 3fda 04F4 brge .L398 6499 3fdc 80E0 ldi r24,lo8(-4096) 6500 3fde 90EF ldi r25,hi8(-4096) 6501 3fe0 9093 0000 sts (MesswertNick)+1,r25 6502 3fe4 8093 0000 sts MesswertNick,r24 6503 .L398: 6504 3fe8 8091 0000 lds r24,MesswertRoll 6505 3fec 9091 0000 lds r25,(MesswertRoll)+1 6506 3ff0 8150 subi r24,lo8(4097) 6507 3ff2 9041 sbci r25,hi8(4097) 6508 3ff4 04F0 brlt .L399 6509 3ff6 80E0 ldi r24,lo8(4096) 6510 3ff8 90E1 ldi r25,hi8(4096) 6511 3ffa 9093 0000 sts (MesswertRoll)+1,r25 6512 3ffe 8093 0000 sts MesswertRoll,r24 6513 .L399: 6514 4002 8091 0000 lds r24,MesswertRoll 6515 4006 9091 0000 lds r25,(MesswertRoll)+1 6516 400a 8050 subi r24,lo8(-4096) 6517 400c 904F sbci r25,hi8(-4096) 6518 400e 04F4 brge .L400 6519 4010 80E0 ldi r24,lo8(-4096) 6520 4012 90EF ldi r25,hi8(-4096) 6521 4014 9093 0000 sts (MesswertRoll)+1,r25 6522 4018 8093 0000 sts MesswertRoll,r24 6523 .L400: 6524 401c 8091 0000 lds r24,MesswertGier 6525 4020 9091 0000 lds r25,(MesswertGier)+1 6526 4024 8150 subi r24,lo8(4097) 6527 4026 9041 sbci r25,hi8(4097) 6528 4028 04F0 brlt .L401 6529 402a 80E0 ldi r24,lo8(4096) 6530 402c 90E1 ldi r25,hi8(4096) 6531 402e 9093 0000 sts (MesswertGier)+1,r25 6532 4032 8093 0000 sts MesswertGier,r24 6533 .L401: 6534 4036 8091 0000 lds r24,MesswertGier 6535 403a 9091 0000 lds r25,(MesswertGier)+1 6536 403e 8050 subi r24,lo8(-4096) 6537 4040 904F sbci r25,hi8(-4096) 6538 4042 04F4 brge .L402 6539 4044 80E0 ldi r24,lo8(-4096) 6540 4046 90EF ldi r25,hi8(-4096) 6541 4048 9093 0000 sts (MesswertGier)+1,r25 6542 404c 8093 0000 sts MesswertGier,r24 6543 .L402: 6544 4050 2091 0000 lds r18,UBat 6545 4054 3091 0000 lds r19,(UBat)+1 6546 4058 8091 0000 lds r24,BattLowVoltageWarning 6547 405c 482F mov r20,r24 6548 405e 50E0 ldi r21,lo8(0) 6549 4060 4217 cp r20,r18 6550 4062 5307 cpc r21,r19 6551 4064 04F4 brge .L403 6552 4066 6091 0000 lds r22,UBat 6553 406a 7091 0000 lds r23,(UBat)+1 6554 406e AEA1 ldd r26,Y+38 6555 4070 BFA1 ldd r27,Y+39 6556 4072 A49F mul r26,r20 6557 4074 C001 movw r24,r0 6558 4076 A59F mul r26,r21 6559 4078 900D add r25,r0 6560 407a B49F mul r27,r20 6561 407c 900D add r25,r0 6562 407e 1124 clr r1 6563 4080 0E94 0000 call __udivmodhi4 6564 4084 7FA3 std Y+39,r23 6565 4086 6EA3 std Y+38,r22 6566 .L403: 6567 4088 4EA0 ldd r4,Y+38 6568 408a 5FA0 ldd r5,Y+39 6569 408c 440C lsl r4 6570 408e 551C rol r5 6571 4090 440C lsl r4 6572 4092 551C rol r5 6573 4094 8091 0000 lds r24,EE_Parameter+13 6574 4098 80FF sbrs r24,0 6575 409a 00C0 rjmp .L404 6576 409c 8091 0000 lds r24,Looping_Roll 6577 40a0 8823 tst r24 6578 40a2 01F0 breq .+2 6579 40a4 00C0 rjmp .L404 6580 40a6 8091 0000 lds r24,Looping_Nick 6581 40aa 8823 tst r24 6582 40ac 01F0 breq .+2 6583 40ae 00C0 rjmp .L404 6584 40b0 8091 0000 lds r24,HoverGas 6585 40b4 9091 0000 lds r25,(HoverGas)+1 6586 40b8 9093 0000 sts (DebugOut+44)+1,r25 6587 40bc 8093 0000 sts DebugOut+44,r24 6588 40c0 2091 0000 lds r18,BaroExpandActive 6589 40c4 3091 0000 lds r19,(BaroExpandActive)+1 6590 40c8 2115 cp r18,__zero_reg__ 6591 40ca 3105 cpc r19,__zero_reg__ 6592 40cc 01F0 breq .+2 6593 40ce 00C0 rjmp .L405 6594 40d0 8091 0000 lds r24,MessLuftdruck 6595 40d4 9091 0000 lds r25,(MessLuftdruck)+1 6596 40d8 8959 subi r24,lo8(921) 6597 40da 9340 sbci r25,hi8(921) 6598 40dc 00F0 brlo .L406 6599 40de 87B5 in r24,71-32 6600 40e0 853F cpi r24,lo8(-11) 6601 40e2 00F4 brsh .L407 6602 40e4 8091 0000 lds r24,ExpandBaro 6603 40e8 8150 subi r24,lo8(-(-1)) 6604 40ea 00C0 rjmp .L535 6605 .L407: 6606 40ec 81E0 ldi r24,lo8(1) 6607 40ee 8093 0000 sts BaroAtLowerLimit.3089,r24 6608 40f2 00C0 rjmp .L408 6609 .L406: 6610 40f4 8091 0000 lds r24,MessLuftdruck 6611 40f8 9091 0000 lds r25,(MessLuftdruck)+1 6612 40fc 8436 cpi r24,100 6613 40fe 9105 cpc r25,__zero_reg__ 6614 4100 00F4 brsh .L409 6615 4102 87B5 in r24,71-32 6616 4104 8B30 cpi r24,lo8(11) 6617 4106 00F0 brlo .L410 6618 4108 8091 0000 lds r24,ExpandBaro 6619 410c 8F5F subi r24,lo8(-(1)) 6620 .L535: 6621 410e 8093 0000 sts ExpandBaro,r24 6622 4112 26EF ldi r18,lo8(-10) 6623 4114 8202 muls r24,r18 6624 4116 C001 movw r24,r0 6625 4118 1124 clr r1 6626 411a 2091 0000 lds r18,DruckOffsetSetting 6627 411e 280F add r18,r24 6628 4120 27BD out 71-32,r18 6629 4122 8CE2 ldi r24,lo8(300) 6630 4124 91E0 ldi r25,hi8(300) 6631 4126 9093 0000 sts (beeptime)+1,r25 6632 412a 8093 0000 sts beeptime,r24 6633 412e 8EE5 ldi r24,lo8(350) 6634 4130 91E0 ldi r25,hi8(350) 6635 4132 9093 0000 sts (BaroExpandActive)+1,r25 6636 4136 8093 0000 sts BaroExpandActive,r24 6637 413a 00C0 rjmp .L408 6638 .L410: 6639 413c 81E0 ldi r24,lo8(1) 6640 413e 8093 0000 sts BaroAtUpperLimit.3088,r24 6641 4142 00C0 rjmp .L408 6642 .L409: 6643 4144 1092 0000 sts BaroAtUpperLimit.3088,__zero_reg__ 6644 4148 1092 0000 sts BaroAtLowerLimit.3089,__zero_reg__ 6645 414c 00C0 rjmp .L408 6646 .L405: 6647 414e 8091 0000 lds r24,HoehenWert 6648 4152 9091 0000 lds r25,(HoehenWert)+1 6649 4156 A091 0000 lds r26,(HoehenWert)+2 6650 415a B091 0000 lds r27,(HoehenWert)+3 6651 415e 44E0 ldi r20,4 6652 4160 880F 1: lsl r24 6653 4162 991F rol r25 6654 4164 AA1F rol r26 6655 4166 BB1F rol r27 6656 4168 4A95 dec r20 6657 416a 01F4 brne 1b 6658 416c 8093 0000 sts SummenHoehe,r24 6659 4170 9093 0000 sts (SummenHoehe)+1,r25 6660 4174 A093 0000 sts (SummenHoehe)+2,r26 6661 4178 B093 0000 sts (SummenHoehe)+3,r27 6662 417c 1092 0000 sts (VarioMeter)+1,__zero_reg__ 6663 4180 1092 0000 sts VarioMeter,__zero_reg__ 6664 4184 2150 subi r18,lo8(-(-1)) 6665 4186 3040 sbci r19,hi8(-(-1)) 6666 4188 3093 0000 sts (BaroExpandActive)+1,r19 6667 418c 2093 0000 sts BaroExpandActive,r18 6668 .L408: 6669 4190 8091 0000 lds r24,EE_Parameter+13 6670 4194 9091 0000 lds r25,Parameter_MaxHoehe 6671 4198 81FF sbrs r24,1 6672 419a 00C0 rjmp .L411 6673 419c 9233 cpi r25,lo8(50) 6674 419e 00F4 brsh .L412 6675 41a0 8091 0000 lds r24,delay.3087 6676 41a4 8150 subi r24,lo8(-(-1)) 6677 41a6 8093 0000 sts delay.3087,r24 6678 41aa 8F5F subi r24,lo8(-(1)) 6679 41ac 01F4 brne .L413 6680 41ae 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 6681 41b2 8091 0000 lds r24,HoehenWert 6682 41b6 9091 0000 lds r25,(HoehenWert)+1 6683 41ba A091 0000 lds r26,(HoehenWert)+2 6684 41be B091 0000 lds r27,(HoehenWert)+3 6685 41c2 8093 0000 sts SollHoehe,r24 6686 41c6 9093 0000 sts (SollHoehe)+1,r25 6687 41ca A093 0000 sts (SollHoehe)+2,r26 6688 41ce B093 0000 sts (SollHoehe)+3,r27 6689 41d2 81E0 ldi r24,lo8(1) 6690 41d4 00C0 rjmp .L536 6691 .L412: 6692 41d6 81E0 ldi r24,lo8(1) 6693 41d8 8093 0000 sts HoehenReglerAktiv,r24 6694 41dc 88EC ldi r24,lo8(-56) 6695 .L536: 6696 41de 8093 0000 sts delay.3087,r24 6697 41e2 00C0 rjmp .L413 6698 .L411: 6699 41e4 2091 0000 lds r18,ExternHoehenValue 6700 41e8 3091 0000 lds r19,(ExternHoehenValue)+1 6701 41ec 290F add r18,r25 6702 41ee 311D adc r19,__zero_reg__ 6703 41f0 8091 0000 lds r24,EE_Parameter+18 6704 41f4 90E0 ldi r25,lo8(0) 6705 41f6 FC01 movw r30,r24 6706 41f8 2E9F mul r18,r30 6707 41fa C001 movw r24,r0 6708 41fc 2F9F mul r18,r31 6709 41fe 900D add r25,r0 6710 4200 3E9F mul r19,r30 6711 4202 900D add r25,r0 6712 4204 1124 clr r1 6713 4206 AA27 clr r26 6714 4208 97FD sbrc r25,7 6715 420a A095 com r26 6716 420c BA2F mov r27,r26 6717 420e 8093 0000 sts SollHoehe,r24 6718 4212 9093 0000 sts (SollHoehe)+1,r25 6719 4216 A093 0000 sts (SollHoehe)+2,r26 6720 421a B093 0000 sts (SollHoehe)+3,r27 6721 421e 81E0 ldi r24,lo8(1) 6722 4220 8093 0000 sts HoehenReglerAktiv,r24 6723 .L413: 6724 4224 E090 0000 lds r14,GIER_GRAD_FAKTOR 6725 4228 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 6726 422c 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 6727 4230 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 6728 4234 6091 0000 lds r22,IntegralNick 6729 4238 7091 0000 lds r23,(IntegralNick)+1 6730 423c 8091 0000 lds r24,(IntegralNick)+2 6731 4240 9091 0000 lds r25,(IntegralNick)+3 6732 4244 A801 movw r20,r16 6733 4246 9701 movw r18,r14 6734 4248 0E94 0000 call __divmodsi4 6735 424c 5901 movw r10,r18 6736 424e 6A01 movw r12,r20 6737 4250 6091 0000 lds r22,IntegralRoll 6738 4254 7091 0000 lds r23,(IntegralRoll)+1 6739 4258 8091 0000 lds r24,(IntegralRoll)+2 6740 425c 9091 0000 lds r25,(IntegralRoll)+3 6741 4260 A801 movw r20,r16 6742 4262 9701 movw r18,r14 6743 4264 0E94 0000 call __divmodsi4 6744 4268 C501 movw r24,r10 6745 426a B901 movw r22,r18 6746 426c 0E94 0000 call ihypot 6747 4270 8C33 cpi r24,60 6748 4272 9105 cpc r25,__zero_reg__ 6749 4274 04F0 brlt .L414 6750 4276 8CE3 ldi r24,lo8(60) 6751 4278 90E0 ldi r25,hi8(60) 6752 .L414: 6753 427a 0E94 0000 call c_cos_8192 6754 427e 99A3 std Y+33,r25 6755 4280 88A3 std Y+32,r24 6756 4282 80E2 ldi r24,lo8(32) 6757 4284 8093 0000 sts VarioCharacter,r24 6758 4288 8091 0000 lds r24,HoehenReglerAktiv 6759 428c 8823 tst r24 6760 428e 01F4 brne .+2 6761 4290 00C0 rjmp .L415 6762 4292 8091 0000 lds r24,FCFlags 6763 4296 84FD sbrc r24,4 6764 4298 00C0 rjmp .L415 6765 429a 8091 0000 lds r24,EE_Parameter+99 6766 429e 80FD sbrc r24,0 6767 42a0 00C0 rjmp .L416 6768 42a2 8091 0000 lds r24,EE_Parameter+13 6769 42a6 81FD sbrc r24,1 6770 42a8 00C0 rjmp .L417 6771 .L416: 6772 42aa 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__ 6773 42ae 1092 0000 sts HeightTrimming.3081,__zero_reg__ 6774 42b2 1201 movw r2,r4 6775 42b4 00C0 rjmp .L418 6776 .L417: 6777 42b6 8091 0000 lds r24,FCFlags 6778 42ba 81FF sbrs r24,1 6779 42bc 00C0 rjmp .L419 6780 42be 4091 0000 lds r20,StickGas 6781 42c2 5091 0000 lds r21,(StickGas)+1 6782 42c6 2091 0000 lds r18,StickGasHover.3083 6783 42ca 3091 0000 lds r19,(StickGasHover.3083)+1 6784 42ce C901 movw r24,r18 6785 42d0 0F96 adiw r24,15 6786 42d2 8417 cp r24,r20 6787 42d4 9507 cpc r25,r21 6788 42d6 04F4 brge .L420 6789 42d8 8091 0000 lds r24,BaroAtUpperLimit.3088 6790 42dc 8823 tst r24 6791 42de 01F4 brne .L420 6792 42e0 8091 0000 lds r24,HeightTrimmingFlag.3091 6793 42e4 81FF sbrs r24,1 6794 42e6 00C0 rjmp .L421 6795 42e8 8D7F andi r24,lo8(-3) 6796 42ea 8093 0000 sts HeightTrimmingFlag.3091,r24 6797 42ee 8091 0000 lds r24,HoehenWert 6798 42f2 9091 0000 lds r25,(HoehenWert)+1 6799 42f6 A091 0000 lds r26,(HoehenWert)+2 6800 42fa B091 0000 lds r27,(HoehenWert)+3 6801 42fe 8093 0000 sts SollHoehe,r24 6802 4302 9093 0000 sts (SollHoehe)+1,r25 6803 4306 A093 0000 sts (SollHoehe)+2,r26 6804 430a B093 0000 sts (SollHoehe)+3,r27 6805 .L421: 6806 430e 8091 0000 lds r24,HeightTrimmingFlag.3091 6807 4312 8160 ori r24,lo8(1) 6808 4314 8093 0000 sts HeightTrimmingFlag.3091,r24 6809 4318 2091 0000 lds r18,StickGas 6810 431c 3091 0000 lds r19,(StickGas)+1 6811 4320 2F50 subi r18,lo8(-(-15)) 6812 4322 3040 sbci r19,hi8(-(-15)) 6813 4324 8091 0000 lds r24,StickGasHover.3083 6814 4328 9091 0000 lds r25,(StickGasHover.3083)+1 6815 432c 281B sub r18,r24 6816 432e 390B sbc r19,r25 6817 4330 37FF sbrs r19,7 6818 4332 00C0 rjmp .L422 6819 4334 3095 com r19 6820 4336 2195 neg r18 6821 4338 3F4F sbci r19,lo8(-1) 6822 .L422: 6823 433a 8091 0000 lds r24,HeightTrimming.3081 6824 433e 9091 0000 lds r25,(HeightTrimming.3081)+1 6825 4342 820F add r24,r18 6826 4344 931F adc r25,r19 6827 4346 9093 0000 sts (HeightTrimming.3081)+1,r25 6828 434a 8093 0000 sts HeightTrimming.3081,r24 6829 434e 8BE2 ldi r24,lo8(43) 6830 4350 00C0 rjmp .L537 6831 .L420: 6832 4352 2F50 subi r18,lo8(-(-15)) 6833 4354 3040 sbci r19,hi8(-(-15)) 6834 4356 4217 cp r20,r18 6835 4358 5307 cpc r21,r19 6836 435a 04F4 brge .L424 6837 435c 8091 0000 lds r24,BaroAtLowerLimit.3089 6838 4360 8823 tst r24 6839 4362 01F4 brne .L424 6840 4364 8091 0000 lds r24,HeightTrimmingFlag.3091 6841 4368 80FF sbrs r24,0 6842 436a 00C0 rjmp .L425 6843 436c 8E7F andi r24,lo8(-2) 6844 436e 8093 0000 sts HeightTrimmingFlag.3091,r24 6845 4372 8091 0000 lds r24,HoehenWert 6846 4376 9091 0000 lds r25,(HoehenWert)+1 6847 437a A091 0000 lds r26,(HoehenWert)+2 6848 437e B091 0000 lds r27,(HoehenWert)+3 6849 4382 8093 0000 sts SollHoehe,r24 6850 4386 9093 0000 sts (SollHoehe)+1,r25 6851 438a A093 0000 sts (SollHoehe)+2,r26 6852 438e B093 0000 sts (SollHoehe)+3,r27 6853 .L425: 6854 4392 8091 0000 lds r24,HeightTrimmingFlag.3091 6855 4396 8260 ori r24,lo8(2) 6856 4398 8093 0000 sts HeightTrimmingFlag.3091,r24 6857 439c 2091 0000 lds r18,StickGas 6858 43a0 3091 0000 lds r19,(StickGas)+1 6859 43a4 215F subi r18,lo8(-(15)) 6860 43a6 3F4F sbci r19,hi8(-(15)) 6861 43a8 8091 0000 lds r24,StickGasHover.3083 6862 43ac 9091 0000 lds r25,(StickGasHover.3083)+1 6863 43b0 281B sub r18,r24 6864 43b2 390B sbc r19,r25 6865 43b4 37FF sbrs r19,7 6866 43b6 00C0 rjmp .L426 6867 43b8 3095 com r19 6868 43ba 2195 neg r18 6869 43bc 3F4F sbci r19,lo8(-1) 6870 .L426: 6871 43be 8091 0000 lds r24,HeightTrimming.3081 6872 43c2 9091 0000 lds r25,(HeightTrimming.3081)+1 6873 43c6 821B sub r24,r18 6874 43c8 930B sbc r25,r19 6875 43ca 9093 0000 sts (HeightTrimming.3081)+1,r25 6876 43ce 8093 0000 sts HeightTrimming.3081,r24 6877 43d2 8DE2 ldi r24,lo8(45) 6878 43d4 00C0 rjmp .L537 6879 .L424: 6880 43d6 2091 0000 lds r18,HeightTrimmingFlag.3091 6881 43da 822F mov r24,r18 6882 43dc 90E0 ldi r25,lo8(0) 6883 43de 8370 andi r24,lo8(3) 6884 43e0 9070 andi r25,hi8(3) 6885 43e2 892B or r24,r25 6886 43e4 01F0 breq .L427 6887 43e6 2C7F andi r18,lo8(-4) 6888 43e8 2093 0000 sts HeightTrimmingFlag.3091,r18 6889 43ec 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__ 6890 43f0 1092 0000 sts HeightTrimming.3081,__zero_reg__ 6891 43f4 8091 0000 lds r24,HoehenWert 6892 43f8 9091 0000 lds r25,(HoehenWert)+1 6893 43fc A091 0000 lds r26,(HoehenWert)+2 6894 4400 B091 0000 lds r27,(HoehenWert)+3 6895 4404 8093 0000 sts SollHoehe,r24 6896 4408 9093 0000 sts (SollHoehe)+1,r25 6897 440c A093 0000 sts (SollHoehe)+2,r26 6898 4410 B093 0000 sts (SollHoehe)+3,r27 6899 4414 8091 0000 lds r24,EE_Parameter+99 6900 4418 81FF sbrs r24,1 6901 441a 00C0 rjmp .L428 6902 441c 84EF ldi r24,lo8(500) 6903 441e 91E0 ldi r25,hi8(500) 6904 4420 9093 0000 sts (beeptime)+1,r25 6905 4424 8093 0000 sts beeptime,r24 6906 .L428: 6907 4428 8091 0000 lds r24,StartTrigger 6908 442c 8823 tst r24 6909 442e 01F4 brne .L427 6910 4430 8091 0000 lds r24,HoehenWert 6911 4434 9091 0000 lds r25,(HoehenWert)+1 6912 4438 A091 0000 lds r26,(HoehenWert)+2 6913 443c B091 0000 lds r27,(HoehenWert)+3 6914 4440 C397 sbiw r24,51 6915 4442 A105 cpc r26,__zero_reg__ 6916 4444 B105 cpc r27,__zero_reg__ 6917 4446 04F0 brlt .L427 6918 4448 81E0 ldi r24,lo8(1) 6919 444a 8093 0000 sts StartTrigger,r24 6920 .L427: 6921 444e 8DE3 ldi r24,lo8(61) 6922 .L537: 6923 4450 8093 0000 sts VarioCharacter,r24 6924 4454 2091 0000 lds r18,HeightTrimming.3081 6925 4458 3091 0000 lds r19,(HeightTrimming.3081)+1 6926 445c C901 movw r24,r18 6927 445e 37FF sbrs r19,7 6928 4460 00C0 rjmp .L430 6929 4462 8827 clr r24 6930 4464 9927 clr r25 6931 4466 821B sub r24,r18 6932 4468 930B sbc r25,r19 6933 .L430: 6934 446a 8150 subi r24,lo8(513) 6935 446c 9240 sbci r25,hi8(513) 6936 446e 04F4 brge .+2 6937 4470 00C0 rjmp .L429 6938 4472 8091 0000 lds r24,EE_Parameter+18 6939 4476 90E0 ldi r25,lo8(0) 6940 4478 AC01 movw r20,r24 6941 447a 429F mul r20,r18 6942 447c C001 movw r24,r0 6943 447e 439F mul r20,r19 6944 4480 900D add r25,r0 6945 4482 529F mul r21,r18 6946 4484 900D add r25,r0 6947 4486 1124 clr r1 6948 4488 60E0 ldi r22,lo8(1280) 6949 448a 75E0 ldi r23,hi8(1280) 6950 448c 0E94 0000 call __divmodhi4 6951 4490 8827 clr r24 6952 4492 77FD sbrc r23,7 6953 4494 8095 com r24 6954 4496 982F mov r25,r24 6955 4498 E090 0000 lds r14,SollHoehe 6956 449c F090 0000 lds r15,(SollHoehe)+1 6957 44a0 0091 0000 lds r16,(SollHoehe)+2 6958 44a4 1091 0000 lds r17,(SollHoehe)+3 6959 44a8 E60E add r14,r22 6960 44aa F71E adc r15,r23 6961 44ac 081F adc r16,r24 6962 44ae 191F adc r17,r25 6963 44b0 E092 0000 sts SollHoehe,r14 6964 44b4 F092 0000 sts (SollHoehe)+1,r15 6965 44b8 0093 0000 sts (SollHoehe)+2,r16 6966 44bc 1093 0000 sts (SollHoehe)+3,r17 6967 44c0 1092 0000 sts (HeightTrimming.3081)+1,__zero_reg__ 6968 44c4 1092 0000 sts HeightTrimming.3081,__zero_reg__ 6969 44c8 2091 0000 lds r18,HoehenWert 6970 44cc 3091 0000 lds r19,(HoehenWert)+1 6971 44d0 4091 0000 lds r20,(HoehenWert)+2 6972 44d4 5091 0000 lds r21,(HoehenWert)+3 6973 44d8 DA01 movw r26,r20 6974 44da C901 movw r24,r18 6975 44dc 8F5F subi r24,lo8(-(-1023)) 6976 44de 9340 sbci r25,hi8(-(-1023)) 6977 44e0 A040 sbci r26,hlo8(-(-1023)) 6978 44e2 B040 sbci r27,hhi8(-(-1023)) 6979 44e4 E816 cp r14,r24 6980 44e6 F906 cpc r15,r25 6981 44e8 0A07 cpc r16,r26 6982 44ea 1B07 cpc r17,r27 6983 44ec 04F4 brge .L431 6984 44ee 2050 subi r18,lo8(-(-1024)) 6985 44f0 3440 sbci r19,hi8(-(-1024)) 6986 44f2 4040 sbci r20,hlo8(-(-1024)) 6987 44f4 5040 sbci r21,hhi8(-(-1024)) 6988 44f6 00C0 rjmp .L538 6989 .L431: 6990 44f8 DA01 movw r26,r20 6991 44fa C901 movw r24,r18 6992 44fc 8150 subi r24,lo8(-(1023)) 6993 44fe 9C4F sbci r25,hi8(-(1023)) 6994 4500 AF4F sbci r26,hlo8(-(1023)) 6995 4502 BF4F sbci r27,hhi8(-(1023)) 6996 4504 8E15 cp r24,r14 6997 4506 9F05 cpc r25,r15 6998 4508 A007 cpc r26,r16 6999 450a B107 cpc r27,r17 7000 450c 04F4 brge .L432 7001 450e 2050 subi r18,lo8(-(1024)) 7002 4510 3C4F sbci r19,hi8(-(1024)) 7003 4512 4F4F sbci r20,hlo8(-(1024)) 7004 4514 5F4F sbci r21,hhi8(-(1024)) 7005 .L538: 7006 4516 2093 0000 sts SollHoehe,r18 7007 451a 3093 0000 sts (SollHoehe)+1,r19 7008 451e 4093 0000 sts (SollHoehe)+2,r20 7009 4522 5093 0000 sts (SollHoehe)+3,r21 7010 .L432: 7011 4526 8091 0000 lds r24,EE_Parameter+99 7012 452a 81FF sbrs r24,1 7013 452c 00C0 rjmp .L433 7014 452e 84E6 ldi r24,lo8(100) 7015 4530 90E0 ldi r25,hi8(100) 7016 4532 9093 0000 sts (beeptime)+1,r25 7017 4536 8093 0000 sts beeptime,r24 7018 .L433: 7019 453a 8091 0000 lds r24,EE_Parameter+22 7020 453e 8823 tst r24 7021 4540 01F4 brne .L429 7022 4542 8091 0000 lds r24,HoverGas 7023 4546 9091 0000 lds r25,(HoverGas)+1 7024 454a 64E0 ldi r22,lo8(4) 7025 454c 70E0 ldi r23,hi8(4) 7026 454e 0E94 0000 call __divmodhi4 7027 4552 CB01 movw r24,r22 7028 4554 7093 0000 sts (StickGasHover.3083)+1,r23 7029 4558 6093 0000 sts StickGasHover.3083,r22 7030 455c 2091 0000 lds r18,UBat 7031 4560 3091 0000 lds r19,(UBat)+1 7032 4564 6091 0000 lds r22,BattLowVoltageWarning 7033 4568 DC01 movw r26,r24 7034 456a A29F mul r26,r18 7035 456c C001 movw r24,r0 7036 456e A39F mul r26,r19 7037 4570 900D add r25,r0 7038 4572 B29F mul r27,r18 7039 4574 900D add r25,r0 7040 4576 1124 clr r1 7041 4578 70E0 ldi r23,lo8(0) 7042 457a 0E94 0000 call __divmodhi4 7043 457e 7093 0000 sts (StickGasHover.3083)+1,r23 7044 4582 6093 0000 sts StickGasHover.3083,r22 7045 4586 6634 cpi r22,70 7046 4588 7105 cpc r23,__zero_reg__ 7047 458a 04F4 brge .L434 7048 458c 86E4 ldi r24,lo8(70) 7049 458e 90E0 ldi r25,hi8(70) 7050 4590 00C0 rjmp .L539 7051 .L434: 7052 4592 6739 cpi r22,151 7053 4594 7105 cpc r23,__zero_reg__ 7054 4596 04F0 brlt .L429 7055 4598 86E9 ldi r24,lo8(150) 7056 459a 90E0 ldi r25,hi8(150) 7057 .L539: 7058 459c 9093 0000 sts (StickGasHover.3083)+1,r25 7059 45a0 8093 0000 sts StickGasHover.3083,r24 7060 .L429: 7061 45a4 8091 0000 lds r24,BaroExpandActive 7062 45a8 9091 0000 lds r25,(BaroExpandActive)+1 7063 45ac 892B or r24,r25 7064 45ae 01F0 breq .L435 7065 45b0 8091 0000 lds r24,HoehenWert 7066 45b4 9091 0000 lds r25,(HoehenWert)+1 7067 45b8 A091 0000 lds r26,(HoehenWert)+2 7068 45bc B091 0000 lds r27,(HoehenWert)+3 7069 45c0 8093 0000 sts SollHoehe,r24 7070 45c4 9093 0000 sts (SollHoehe)+1,r25 7071 45c8 A093 0000 sts (SollHoehe)+2,r26 7072 45cc B093 0000 sts (SollHoehe)+3,r27 7073 45d0 00C0 rjmp .L435 7074 .L419: 7075 45d2 8091 0000 lds r24,HoehenWert 7076 45d6 9091 0000 lds r25,(HoehenWert)+1 7077 45da A091 0000 lds r26,(HoehenWert)+2 7078 45de B091 0000 lds r27,(HoehenWert)+3 7079 45e2 8059 subi r24,lo8(-(-400)) 7080 45e4 9140 sbci r25,hi8(-(-400)) 7081 45e6 A040 sbci r26,hlo8(-(-400)) 7082 45e8 B040 sbci r27,hhi8(-(-400)) 7083 45ea 8093 0000 sts SollHoehe,r24 7084 45ee 9093 0000 sts (SollHoehe)+1,r25 7085 45f2 A093 0000 sts (SollHoehe)+2,r26 7086 45f6 B093 0000 sts (SollHoehe)+3,r27 7087 45fa 8091 0000 lds r24,EE_Parameter+22 7088 45fe 8823 tst r24 7089 4600 01F0 breq .L436 7090 4602 8093 0000 sts StickGasHover.3083,r24 7091 4606 1092 0000 sts StickGasHover.3083+1,__zero_reg__ 7092 460a 00C0 rjmp .L437 7093 .L436: 7094 460c 88E7 ldi r24,lo8(120) 7095 460e 90E0 ldi r25,hi8(120) 7096 4610 9093 0000 sts (StickGasHover.3083)+1,r25 7097 4614 8093 0000 sts StickGasHover.3083,r24 7098 .L437: 7099 4618 5092 0000 sts (HoverGas)+1,r5 7100 461c 4092 0000 sts HoverGas,r4 7101 .L435: 7102 4620 2090 0000 lds r2,HoverGas 7103 4624 3090 0000 lds r3,(HoverGas)+1 7104 .L418: 7105 4628 E090 0000 lds r14,HoehenWert 7106 462c F090 0000 lds r15,(HoehenWert)+1 7107 4630 0091 0000 lds r16,(HoehenWert)+2 7108 4634 1091 0000 lds r17,(HoehenWert)+3 7109 4638 2091 0000 lds r18,SollHoehe 7110 463c 3091 0000 lds r19,(SollHoehe)+1 7111 4640 4091 0000 lds r20,(SollHoehe)+2 7112 4644 5091 0000 lds r21,(SollHoehe)+3 7113 4648 2E15 cp r18,r14 7114 464a 3F05 cpc r19,r15 7115 464c 4007 cpc r20,r16 7116 464e 5107 cpc r21,r17 7117 4650 04F0 brlt .L438 7118 4652 8091 0000 lds r24,EE_Parameter+99 7119 4656 80FD sbrc r24,0 7120 4658 00C0 rjmp .L439 7121 .L438: 7122 465a 8091 0000 lds r24,BaroExpandActive 7123 465e 9091 0000 lds r25,(BaroExpandActive)+1 7124 4662 892B or r24,r25 7125 4664 01F0 breq .L440 7126 4666 2090 0000 lds r2,HoverGas 7127 466a 3090 0000 lds r3,(HoverGas)+1 7128 466e AA24 clr r10 7129 4670 BB24 clr r11 7130 4672 CC24 clr r12 7131 4674 DD24 clr r13 7132 4676 00C0 rjmp .L441 7133 .L440: 7134 4678 D801 movw r26,r16 7135 467a C701 movw r24,r14 7136 467c 821B sub r24,r18 7137 467e 930B sbc r25,r19 7138 4680 A40B sbc r26,r20 7139 4682 B50B sbc r27,r21 7140 4684 8093 0000 sts tmp_long.3043,r24 7141 4688 9093 0000 sts (tmp_long.3043)+1,r25 7142 468c A093 0000 sts (tmp_long.3043)+2,r26 7143 4690 B093 0000 sts (tmp_long.3043)+3,r27 7144 4694 8230 cpi r24,lo8(-32766) 7145 4696 E0E8 ldi r30,hi8(-32766) 7146 4698 9E07 cpc r25,r30 7147 469a EFEF ldi r30,hlo8(-32766) 7148 469c AE07 cpc r26,r30 7149 469e EFEF ldi r30,hhi8(-32766) 7150 46a0 BE07 cpc r27,r30 7151 46a2 04F4 brge .L442 7152 46a4 81E0 ldi r24,lo8(-32767) 7153 46a6 90E8 ldi r25,hi8(-32767) 7154 46a8 AFEF ldi r26,hlo8(-32767) 7155 46aa BFEF ldi r27,hhi8(-32767) 7156 46ac 00C0 rjmp .L540 7157 .L442: 7158 46ae 8F5F subi r24,lo8(32767) 7159 46b0 9F47 sbci r25,hi8(32767) 7160 46b2 A040 sbci r26,hlo8(32767) 7161 46b4 B040 sbci r27,hhi8(32767) 7162 46b6 04F0 brlt .L443 7163 46b8 8FEF ldi r24,lo8(32767) 7164 46ba 9FE7 ldi r25,hi8(32767) 7165 46bc A0E0 ldi r26,hlo8(32767) 7166 46be B0E0 ldi r27,hhi8(32767) 7167 .L540: 7168 46c0 8093 0000 sts tmp_long.3043,r24 7169 46c4 9093 0000 sts (tmp_long.3043)+1,r25 7170 46c8 A093 0000 sts (tmp_long.3043)+2,r26 7171 46cc B093 0000 sts (tmp_long.3043)+3,r27 7172 .L443: 7173 46d0 E090 0000 lds r14,tmp_long.3043 7174 46d4 F090 0000 lds r15,(tmp_long.3043)+1 7175 46d8 0091 0000 lds r16,(tmp_long.3043)+2 7176 46dc 1091 0000 lds r17,(tmp_long.3043)+3 7177 46e0 6091 0000 lds r22,Parameter_Hoehe_P 7178 46e4 70E0 ldi r23,lo8(0) 7179 46e6 80E0 ldi r24,lo8(0) 7180 46e8 90E0 ldi r25,hi8(0) 7181 46ea A801 movw r20,r16 7182 46ec 9701 movw r18,r14 7183 46ee 0E94 0000 call __mulsi3 7184 46f2 20E2 ldi r18,lo8(32) 7185 46f4 30E0 ldi r19,hi8(32) 7186 46f6 40E0 ldi r20,hlo8(32) 7187 46f8 50E0 ldi r21,hhi8(32) 7188 46fa 0E94 0000 call __divmodsi4 7189 46fe C901 movw r24,r18 7190 4700 DA01 movw r26,r20 7191 4702 8093 0000 sts tmp_long.3043,r24 7192 4706 9093 0000 sts (tmp_long.3043)+1,r25 7193 470a A093 0000 sts (tmp_long.3043)+2,r26 7194 470e B093 0000 sts (tmp_long.3043)+3,r27 7195 4712 8530 cpi r24,lo8(-507) 7196 4714 2EEF ldi r18,hi8(-507) 7197 4716 9207 cpc r25,r18 7198 4718 2FEF ldi r18,hlo8(-507) 7199 471a A207 cpc r26,r18 7200 471c 2FEF ldi r18,hhi8(-507) 7201 471e B207 cpc r27,r18 7202 4720 04F4 brge .L444 7203 4722 84E0 ldi r24,lo8(-508) 7204 4724 9EEF ldi r25,hi8(-508) 7205 4726 AFEF ldi r26,hlo8(-508) 7206 4728 BFEF ldi r27,hhi8(-508) 7207 472a 00C0 rjmp .L541 7208 .L444: 7209 472c 8050 subi r24,lo8(1024) 7210 472e 9440 sbci r25,hi8(1024) 7211 4730 A040 sbci r26,hlo8(1024) 7212 4732 B040 sbci r27,hhi8(1024) 7213 4734 04F0 brlt .L445 7214 4736 80E0 ldi r24,lo8(1024) 7215 4738 94E0 ldi r25,hi8(1024) 7216 473a A0E0 ldi r26,hlo8(1024) 7217 473c B0E0 ldi r27,hhi8(1024) 7218 .L541: 7219 473e 8093 0000 sts tmp_long.3043,r24 7220 4742 9093 0000 sts (tmp_long.3043)+1,r25 7221 4746 A093 0000 sts (tmp_long.3043)+2,r26 7222 474a B093 0000 sts (tmp_long.3043)+3,r27 7223 .L445: 7224 474e 6090 0000 lds r6,tmp_long.3043 7225 4752 7090 0000 lds r7,(tmp_long.3043)+1 7226 4756 8090 0000 lds r8,(tmp_long.3043)+2 7227 475a 9090 0000 lds r9,(tmp_long.3043)+3 7228 475e 8091 0000 lds r24,VarioMeter 7229 4762 9091 0000 lds r25,(VarioMeter)+1 7230 4766 68E0 ldi r22,lo8(8) 7231 4768 70E0 ldi r23,hi8(8) 7232 476a 0E94 0000 call __divmodhi4 7233 476e 9B01 movw r18,r22 7234 4770 4FEF ldi r20,hi8(-126) 7235 4772 6238 cpi r22,lo8(-126) 7236 4774 7407 cpc r23,r20 7237 4776 04F4 brge .L446 7238 4778 21E8 ldi r18,lo8(-127) 7239 477a 3FEF ldi r19,hi8(-127) 7240 477c 00C0 rjmp .L447 7241 .L446: 7242 477e 6038 cpi r22,128 7243 4780 7105 cpc r23,__zero_reg__ 7244 4782 04F0 brlt .L447 7245 4784 20E8 ldi r18,lo8(128) 7246 4786 30E0 ldi r19,hi8(128) 7247 .L447: 7248 4788 B901 movw r22,r18 7249 478a 8827 clr r24 7250 478c 77FD sbrc r23,7 7251 478e 8095 com r24 7252 4790 982F mov r25,r24 7253 4792 2091 0000 lds r18,Parameter_Luftdruck_D 7254 4796 30E0 ldi r19,lo8(0) 7255 4798 40E0 ldi r20,lo8(0) 7256 479a 50E0 ldi r21,hi8(0) 7257 479c 0E94 0000 call __mulsi3 7258 47a0 24E0 ldi r18,lo8(4) 7259 47a2 30E0 ldi r19,hi8(4) 7260 47a4 40E0 ldi r20,hlo8(4) 7261 47a6 50E0 ldi r21,hhi8(4) 7262 47a8 0E94 0000 call __divmodsi4 7263 47ac 5FEF ldi r21,hi8(-255) 7264 47ae 2130 cpi r18,lo8(-255) 7265 47b0 3507 cpc r19,r21 7266 47b2 04F4 brge .L448 7267 47b4 20E0 ldi r18,lo8(-256) 7268 47b6 3FEF ldi r19,hi8(-256) 7269 47b8 00C0 rjmp .L449 7270 .L448: 7271 47ba 2F3F cpi r18,255 7272 47bc 3105 cpc r19,__zero_reg__ 7273 47be 01F0 breq .L449 7274 47c0 04F0 brlt .L449 7275 47c2 20E0 ldi r18,lo8(256) 7276 47c4 31E0 ldi r19,hi8(256) 7277 .L449: 7278 47c6 8091 0000 lds r24,HeightTrimmingFlag.3091 7279 47ca 8823 tst r24 7280 47cc 01F0 breq .L450 7281 47ce C901 movw r24,r18 7282 47d0 64E0 ldi r22,lo8(4) 7283 47d2 70E0 ldi r23,hi8(4) 7284 47d4 00C0 rjmp .L542 7285 .L450: 7286 47d6 8091 0000 lds r24,EE_Parameter+99 7287 47da 80FF sbrs r24,0 7288 47dc 00C0 rjmp .L451 7289 47de C901 movw r24,r18 7290 47e0 68E0 ldi r22,lo8(8) 7291 47e2 70E0 ldi r23,hi8(8) 7292 .L542: 7293 47e4 0E94 0000 call __divmodhi4 7294 47e8 9B01 movw r18,r22 7295 .L451: 7296 47ea 5701 movw r10,r14 7297 47ec 6301 movw r12,r6 7298 47ee C20E add r12,r18 7299 47f0 D31E adc r13,r19 7300 .L441: 7301 47f2 E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung 7302 47f6 EE20 tst r14 7303 47f8 01F4 brne .+2 7304 47fa 00C0 rjmp .L452 7305 47fc 6091 0000 lds r22,Mess_Integral_Hoch 7306 4800 7091 0000 lds r23,(Mess_Integral_Hoch)+1 7307 4804 8091 0000 lds r24,(Mess_Integral_Hoch)+2 7308 4808 9091 0000 lds r25,(Mess_Integral_Hoch)+3 7309 480c FF24 clr r15 7310 480e 00E0 ldi r16,lo8(0) 7311 4810 10E0 ldi r17,hi8(0) 7312 4812 20E8 ldi r18,lo8(128) 7313 4814 30E0 ldi r19,hi8(128) 7314 4816 40E0 ldi r20,hlo8(128) 7315 4818 50E0 ldi r21,hhi8(128) 7316 481a 0E94 0000 call __divmodsi4 7317 481e C801 movw r24,r16 7318 4820 B701 movw r22,r14 7319 4822 0E94 0000 call __mulsi3 7320 4826 20E2 ldi r18,lo8(32) 7321 4828 30E0 ldi r19,hi8(32) 7322 482a 40E0 ldi r20,hlo8(32) 7323 482c 50E0 ldi r21,hhi8(32) 7324 482e 0E94 0000 call __divmodsi4 7325 4832 C901 movw r24,r18 7326 4834 DA01 movw r26,r20 7327 4836 8093 0000 sts tmp_long.3043,r24 7328 483a 9093 0000 sts (tmp_long.3043)+1,r25 7329 483e A093 0000 sts (tmp_long.3043)+2,r26 7330 4842 B093 0000 sts (tmp_long.3043)+3,r27 7331 4846 8138 cpi r24,lo8(-127) 7332 4848 6FEF ldi r22,hi8(-127) 7333 484a 9607 cpc r25,r22 7334 484c 6FEF ldi r22,hlo8(-127) 7335 484e A607 cpc r26,r22 7336 4850 6FEF ldi r22,hhi8(-127) 7337 4852 B607 cpc r27,r22 7338 4854 04F4 brge .L453 7339 4856 80E8 ldi r24,lo8(-128) 7340 4858 9FEF ldi r25,hi8(-128) 7341 485a AFEF ldi r26,hlo8(-128) 7342 485c BFEF ldi r27,hhi8(-128) 7343 485e 00C0 rjmp .L543 7344 .L453: 7345 4860 8F3F cpi r24,lo8(255) 7346 4862 9105 cpc r25,__zero_reg__ 7347 4864 A105 cpc r26,__zero_reg__ 7348 4866 B105 cpc r27,__zero_reg__ 7349 4868 01F0 breq .L454 7350 486a 04F0 brlt .L454 7351 486c 80E0 ldi r24,lo8(256) 7352 486e 91E0 ldi r25,hi8(256) 7353 4870 A0E0 ldi r26,hlo8(256) 7354 4872 B0E0 ldi r27,hhi8(256) 7355 .L543: 7356 4874 8093 0000 sts tmp_long.3043,r24 7357 4878 9093 0000 sts (tmp_long.3043)+1,r25 7358 487c A093 0000 sts (tmp_long.3043)+2,r26 7359 4880 B093 0000 sts (tmp_long.3043)+3,r27 7360 .L454: 7361 4884 8091 0000 lds r24,tmp_long.3043 7362 4888 9091 0000 lds r25,(tmp_long.3043)+1 7363 488c C80E add r12,r24 7364 488e D91E adc r13,r25 7365 .L452: 7366 4890 2091 0000 lds r18,FromNaviCtrl_Value+4 7367 4894 3327 clr r19 7368 4896 27FD sbrc r18,7 7369 4898 3095 com r19 7370 489a 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 7371 489e 90E0 ldi r25,lo8(0) 7372 48a0 DC01 movw r26,r24 7373 48a2 2A9F mul r18,r26 7374 48a4 C001 movw r24,r0 7375 48a6 2B9F mul r18,r27 7376 48a8 900D add r25,r0 7377 48aa 3A9F mul r19,r26 7378 48ac 900D add r25,r0 7379 48ae 1124 clr r1 7380 48b0 60E8 ldi r22,lo8(128) 7381 48b2 70E0 ldi r23,hi8(128) 7382 48b4 0E94 0000 call __divmodhi4 7383 48b8 CB01 movw r24,r22 7384 48ba BFEF ldi r27,hi8(-127) 7385 48bc 6138 cpi r22,lo8(-127) 7386 48be 7B07 cpc r23,r27 7387 48c0 04F4 brge .L455 7388 48c2 80E8 ldi r24,lo8(-128) 7389 48c4 9FEF ldi r25,hi8(-128) 7390 .L455: 7391 48c6 0091 0000 lds r16,HoverGas 7392 48ca 1091 0000 lds r17,(HoverGas)+1 7393 48ce C80E add r12,r24 7394 48d0 D91E adc r13,r25 7395 48d2 B601 movw r22,r12 7396 48d4 8827 clr r24 7397 48d6 77FD sbrc r23,7 7398 48d8 8095 com r24 7399 48da 982F mov r25,r24 7400 48dc 9801 movw r18,r16 7401 48de 4427 clr r20 7402 48e0 37FD sbrc r19,7 7403 48e2 4095 com r20 7404 48e4 542F mov r21,r20 7405 48e6 0E94 0000 call __mulsi3 7406 48ea 20E0 ldi r18,lo8(512) 7407 48ec 32E0 ldi r19,hi8(512) 7408 48ee 40E0 ldi r20,hlo8(512) 7409 48f0 50E0 ldi r21,hhi8(512) 7410 48f2 0E94 0000 call __divmodsi4 7411 48f6 F101 movw r30,r2 7412 48f8 E21B sub r30,r18 7413 48fa F30B sbc r31,r19 7414 48fc 8091 0000 lds r24,HeightTrimming.3081 7415 4900 9091 0000 lds r25,(HeightTrimming.3081)+1 7416 4904 892B or r24,r25 7417 4906 01F0 breq .+2 7418 4908 00C0 rjmp .L456 7419 490a 1016 cp __zero_reg__,r16 7420 490c 1106 cpc __zero_reg__,r17 7421 490e 04F0 brlt .+2 7422 4910 00C0 rjmp .L456 7423 4912 C501 movw r24,r10 7424 4914 B7FE sbrs r11,7 7425 4916 00C0 rjmp .L457 7426 4918 8827 clr r24 7427 491a 9927 clr r25 7428 491c 8A19 sub r24,r10 7429 491e 9B09 sbc r25,r11 7430 .L457: 7431 4920 8D33 cpi r24,61 7432 4922 9105 cpc r25,__zero_reg__ 7433 4924 00F4 brsh .L458 7434 4926 2091 0000 lds r18,HoverGasMin.3084 7435 492a 3091 0000 lds r19,(HoverGasMin.3084)+1 7436 492e 2E17 cp r18,r30 7437 4930 3F07 cpc r19,r31 7438 4932 04F0 brlt .+2 7439 4934 00C0 rjmp .L459 7440 4936 00C0 rjmp .L463 7441 .L458: 7442 4938 AC01 movw r20,r24 7443 493a 4C53 subi r20,lo8(-(-60)) 7444 493c 5040 sbci r21,hi8(-(-60)) 7445 493e 85E0 ldi r24,5 7446 4940 5695 1: lsr r21 7447 4942 4795 ror r20 7448 4944 8A95 dec r24 7449 4946 01F4 brne 1b 7450 4948 4031 cpi r20,16 7451 494a 5105 cpc r21,__zero_reg__ 7452 494c 00F0 brlo .L461 7453 494e 4FE0 ldi r20,lo8(15) 7454 4950 50E0 ldi r21,hi8(15) 7455 .L461: 7456 4952 2091 0000 lds r18,HoverGasMin.3084 7457 4956 3091 0000 lds r19,(HoverGasMin.3084)+1 7458 495a 1A14 cp __zero_reg__,r10 7459 495c 1B04 cpc __zero_reg__,r11 7460 495e 04F4 brge .L462 7461 4960 80E1 ldi r24,lo8(16) 7462 4962 90E0 ldi r25,hi8(16) 7463 4964 841B sub r24,r20 7464 4966 950B sbc r25,r21 7465 4968 829F mul r24,r18 7466 496a B001 movw r22,r0 7467 496c 839F mul r24,r19 7468 496e 700D add r23,r0 7469 4970 929F mul r25,r18 7470 4972 700D add r23,r0 7471 4974 1124 clr r1 7472 4976 04E0 ldi r16,4 7473 4978 7695 1: lsr r23 7474 497a 6795 ror r22 7475 497c 0A95 dec r16 7476 497e 01F4 brne 1b 7477 4980 6E17 cp r22,r30 7478 4982 7F07 cpc r23,r31 7479 4984 00F4 brsh .L545 7480 .L463: 7481 4986 8091 0000 lds r24,HoverGasMax.3085 7482 498a 9091 0000 lds r25,(HoverGasMax.3085)+1 7483 498e 9F01 movw r18,r30 7484 4990 8E17 cp r24,r30 7485 4992 9F07 cpc r25,r31 7486 4994 04F4 brge .L459 7487 4996 9C01 movw r18,r24 7488 4998 00C0 rjmp .L459 7489 .L462: 7490 499a 8091 0000 lds r24,HoverGasMax.3085 7491 499e 9091 0000 lds r25,(HoverGasMax.3085)+1 7492 49a2 2E17 cp r18,r30 7493 49a4 3F07 cpc r19,r31 7494 49a6 04F4 brge .L459 7495 49a8 405F subi r20,lo8(-(16)) 7496 49aa 5F4F sbci r21,hi8(-(16)) 7497 49ac 489F mul r20,r24 7498 49ae B001 movw r22,r0 7499 49b0 499F mul r20,r25 7500 49b2 700D add r23,r0 7501 49b4 589F mul r21,r24 7502 49b6 700D add r23,r0 7503 49b8 1124 clr r1 7504 49ba 14E0 ldi r17,4 7505 49bc 7695 1: lsr r23 7506 49be 6795 ror r22 7507 49c0 1A95 dec r17 7508 49c2 01F4 brne 1b 7509 49c4 E617 cp r30,r22 7510 49c6 F707 cpc r31,r23 7511 49c8 00F0 brlo .L456 7512 .L545: 7513 49ca 9B01 movw r18,r22 7514 49cc 00C0 rjmp .L459 7515 .L456: 7516 49ce 9F01 movw r18,r30 7517 .L459: 7518 49d0 B901 movw r22,r18 7519 49d2 8827 clr r24 7520 49d4 77FD sbrc r23,7 7521 49d6 8095 com r24 7522 49d8 982F mov r25,r24 7523 49da BDE0 ldi r27,13 7524 49dc 660F 1: lsl r22 7525 49de 771F rol r23 7526 49e0 881F rol r24 7527 49e2 991F rol r25 7528 49e4 BA95 dec r27 7529 49e6 01F4 brne 1b 7530 49e8 E8A1 ldd r30,Y+32 7531 49ea F9A1 ldd r31,Y+33 7532 49ec 9F01 movw r18,r30 7533 49ee 4427 clr r20 7534 49f0 37FD sbrc r19,7 7535 49f2 4095 com r20 7536 49f4 542F mov r21,r20 7537 49f6 0E94 0000 call __divmodsi4 7538 49fa 7901 movw r14,r18 7539 49fc 8A01 movw r16,r20 7540 49fe E092 0000 sts tmp_long2.3044,r14 7541 4a02 F092 0000 sts (tmp_long2.3044)+1,r15 7542 4a06 0093 0000 sts (tmp_long2.3044)+2,r16 7543 4a0a 1093 0000 sts (tmp_long2.3044)+3,r17 7544 4a0e 2091 0000 lds r18,FilterHCGas.3082 7545 4a12 3091 0000 lds r19,(FilterHCGas.3082)+1 7546 4a16 C901 movw r24,r18 7547 4a18 880F lsl r24 7548 4a1a 991F rol r25 7549 4a1c 820F add r24,r18 7550 4a1e 931F adc r25,r19 7551 4a20 8E0D add r24,r14 7552 4a22 9F1D adc r25,r15 7553 4a24 64E0 ldi r22,lo8(4) 7554 4a26 70E0 ldi r23,hi8(4) 7555 4a28 0E94 0000 call __divmodhi4 7556 4a2c 7093 0000 sts (FilterHCGas.3082)+1,r23 7557 4a30 6093 0000 sts FilterHCGas.3082,r22 7558 4a34 8091 0000 lds r24,EE_Parameter+14 7559 4a38 90E0 ldi r25,lo8(0) 7560 4a3a 880F lsl r24 7561 4a3c 991F rol r25 7562 4a3e 880F lsl r24 7563 4a40 991F rol r25 7564 4a42 8617 cp r24,r22 7565 4a44 9707 cpc r25,r23 7566 4a46 04F4 brge .L546 7567 .L465: 7568 4a48 8091 0000 lds r24,MAX_GAS 7569 4a4c 90E0 ldi r25,lo8(0) 7570 4a4e 4497 sbiw r24,20 7571 4a50 880F lsl r24 7572 4a52 991F rol r25 7573 4a54 880F lsl r24 7574 4a56 991F rol r25 7575 4a58 6817 cp r22,r24 7576 4a5a 7907 cpc r23,r25 7577 4a5c 04F0 brlt .L466 7578 .L546: 7579 4a5e 9093 0000 sts (FilterHCGas.3082)+1,r25 7580 4a62 8093 0000 sts FilterHCGas.3082,r24 7581 .L466: 7582 4a66 8091 0000 lds r24,EE_Parameter+99 7583 4a6a 2091 0000 lds r18,FilterHCGas.3082 7584 4a6e 3091 0000 lds r19,(FilterHCGas.3082)+1 7585 4a72 80FF sbrs r24,0 7586 4a74 00C0 rjmp .L467 7587 4a76 2415 cp r18,r4 7588 4a78 3505 cpc r19,r5 7589 4a7a 04F0 brlt .L468 7590 4a7c 5092 0000 sts (FilterHCGas.3082)+1,r5 7591 4a80 4092 0000 sts FilterHCGas.3082,r4 7592 .L468: 7593 4a84 4090 0000 lds r4,FilterHCGas.3082 7594 4a88 5090 0000 lds r5,(FilterHCGas.3082)+1 7595 4a8c 00C0 rjmp .L439 7596 .L467: 7597 4a8e 8091 0000 lds r24,HoverGas 7598 4a92 9091 0000 lds r25,(HoverGas)+1 7599 4a96 A201 movw r20,r4 7600 4a98 481B sub r20,r24 7601 4a9a 590B sbc r21,r25 7602 4a9c CA01 movw r24,r20 7603 4a9e 64E0 ldi r22,lo8(4) 7604 4aa0 70E0 ldi r23,hi8(4) 7605 4aa2 0E94 0000 call __divmodhi4 7606 4aa6 2B01 movw r4,r22 7607 4aa8 420E add r4,r18 7608 4aaa 531E adc r5,r19 7609 4aac 00C0 rjmp .L439 7610 .L415: 7611 4aae 8091 0000 lds r24,EE_Parameter+22 7612 4ab2 8823 tst r24 7613 4ab4 01F4 brne .L469 7614 4ab6 8091 0000 lds r24,HoverGas 7615 4aba 9091 0000 lds r25,(HoverGas)+1 7616 4abe 64E0 ldi r22,lo8(4) 7617 4ac0 70E0 ldi r23,hi8(4) 7618 4ac2 0E94 0000 call __divmodhi4 7619 4ac6 CB01 movw r24,r22 7620 4ac8 7093 0000 sts (StickGasHover.3083)+1,r23 7621 4acc 6093 0000 sts StickGasHover.3083,r22 7622 4ad0 2091 0000 lds r18,UBat 7623 4ad4 3091 0000 lds r19,(UBat)+1 7624 4ad8 6091 0000 lds r22,BattLowVoltageWarning 7625 4adc DC01 movw r26,r24 7626 4ade A29F mul r26,r18 7627 4ae0 C001 movw r24,r0 7628 4ae2 A39F mul r26,r19 7629 4ae4 900D add r25,r0 7630 4ae6 B29F mul r27,r18 7631 4ae8 900D add r25,r0 7632 4aea 1124 clr r1 7633 4aec 70E0 ldi r23,lo8(0) 7634 4aee 0E94 0000 call __divmodhi4 7635 4af2 7093 0000 sts (StickGasHover.3083)+1,r23 7636 4af6 6093 0000 sts StickGasHover.3083,r22 7637 4afa 00C0 rjmp .L470 7638 .L469: 7639 4afc 8093 0000 sts StickGasHover.3083,r24 7640 4b00 1092 0000 sts StickGasHover.3083+1,__zero_reg__ 7641 .L470: 7642 4b04 8091 0000 lds r24,StickGasHover.3083 7643 4b08 9091 0000 lds r25,(StickGasHover.3083)+1 7644 4b0c 8734 cpi r24,71 7645 4b0e 9105 cpc r25,__zero_reg__ 7646 4b10 04F4 brge .L471 7647 4b12 86E4 ldi r24,lo8(70) 7648 4b14 90E0 ldi r25,hi8(70) 7649 4b16 00C0 rjmp .L547 7650 .L471: 7651 4b18 8639 cpi r24,150 7652 4b1a 9105 cpc r25,__zero_reg__ 7653 4b1c 04F0 brlt .L472 7654 4b1e 86E9 ldi r24,lo8(150) 7655 4b20 90E0 ldi r25,hi8(150) 7656 .L547: 7657 4b22 9093 0000 sts (StickGasHover.3083)+1,r25 7658 4b26 8093 0000 sts StickGasHover.3083,r24 7659 .L472: 7660 4b2a 5092 0000 sts (FilterHCGas.3082)+1,r5 7661 4b2e 4092 0000 sts FilterHCGas.3082,r4 7662 .L439: 7663 4b32 8091 0000 lds r24,FCFlags 7664 4b36 81FF sbrs r24,1 7665 4b38 00C0 rjmp .L473 7666 4b3a 8091 0000 lds r24,HoverGasFilter.3086 7667 4b3e 9091 0000 lds r25,(HoverGasFilter.3086)+1 7668 4b42 A091 0000 lds r26,(HoverGasFilter.3086)+2 7669 4b46 B091 0000 lds r27,(HoverGasFilter.3086)+3 7670 4b4a 0097 sbiw r24,0 7671 4b4c A105 cpc r26,__zero_reg__ 7672 4b4e B105 cpc r27,__zero_reg__ 7673 4b50 01F0 breq .L474 7674 4b52 8091 0000 lds r24,StartTrigger 7675 4b56 8130 cpi r24,lo8(1) 7676 4b58 01F4 brne .L475 7677 .L474: 7678 4b5a C201 movw r24,r4 7679 4b5c AA27 clr r26 7680 4b5e 97FD sbrc r25,7 7681 4b60 A095 com r26 7682 4b62 BA2F mov r27,r26 7683 4b64 7EE0 ldi r23,14 7684 4b66 880F 1: lsl r24 7685 4b68 991F rol r25 7686 4b6a AA1F rol r26 7687 4b6c BB1F rol r27 7688 4b6e 7A95 dec r23 7689 4b70 01F4 brne 1b 7690 4b72 8093 0000 sts HoverGasFilter.3086,r24 7691 4b76 9093 0000 sts (HoverGasFilter.3086)+1,r25 7692 4b7a A093 0000 sts (HoverGasFilter.3086)+2,r26 7693 4b7e B093 0000 sts (HoverGasFilter.3086)+3,r27 7694 .L475: 7695 4b82 8091 0000 lds r24,StartTrigger 7696 4b86 8130 cpi r24,lo8(1) 7697 4b88 01F4 brne .L476 7698 4b8a 82E0 ldi r24,lo8(2) 7699 4b8c 8093 0000 sts StartTrigger,r24 7700 .L476: 7701 4b90 B201 movw r22,r4 7702 4b92 8827 clr r24 7703 4b94 77FD sbrc r23,7 7704 4b96 8095 com r24 7705 4b98 982F mov r25,r24 7706 4b9a E8A1 ldd r30,Y+32 7707 4b9c F9A1 ldd r31,Y+33 7708 4b9e 9F01 movw r18,r30 7709 4ba0 4427 clr r20 7710 4ba2 37FD sbrc r19,7 7711 4ba4 4095 com r20 7712 4ba6 542F mov r21,r20 7713 4ba8 0E94 0000 call __mulsi3 7714 4bac 20E0 ldi r18,lo8(8192) 7715 4bae 30E2 ldi r19,hi8(8192) 7716 4bb0 40E0 ldi r20,hlo8(8192) 7717 4bb2 50E0 ldi r21,hhi8(8192) 7718 4bb4 0E94 0000 call __divmodsi4 7719 4bb8 7901 movw r14,r18 7720 4bba 8A01 movw r16,r20 7721 4bbc 2093 0000 sts tmp_long2.3044,r18 7722 4bc0 3093 0000 sts (tmp_long2.3044)+1,r19 7723 4bc4 4093 0000 sts (tmp_long2.3044)+2,r20 7724 4bc8 5093 0000 sts (tmp_long2.3044)+3,r21 7725 4bcc 8091 0000 lds r24,modell_fliegt 7726 4bd0 9091 0000 lds r25,(modell_fliegt)+1 7727 4bd4 805A subi r24,lo8(4000) 7728 4bd6 9F40 sbci r25,hi8(4000) 7729 4bd8 00F4 brsh .L477 7730 4bda 8091 0000 lds r24,HoverGasFilter.3086 7731 4bde 9091 0000 lds r25,(HoverGasFilter.3086)+1 7732 4be2 A091 0000 lds r26,(HoverGasFilter.3086)+2 7733 4be6 B091 0000 lds r27,(HoverGasFilter.3086)+3 7734 4bea 9C01 movw r18,r24 7735 4bec AD01 movw r20,r26 7736 4bee 6AE0 ldi r22,10 7737 4bf0 5695 1: lsr r21 7738 4bf2 4795 ror r20 7739 4bf4 3795 ror r19 7740 4bf6 2795 ror r18 7741 4bf8 6A95 dec r22 7742 4bfa 01F4 brne 1b 7743 4bfc 821B sub r24,r18 7744 4bfe 930B sbc r25,r19 7745 4c00 A40B sbc r26,r20 7746 4c02 B50B sbc r27,r21 7747 4c04 F4E0 ldi r31,4 7748 4c06 EE0C 1: lsl r14 7749 4c08 FF1C rol r15 7750 4c0a 001F rol r16 7751 4c0c 111F rol r17 7752 4c0e FA95 dec r31 7753 4c10 01F4 brne 1b 7754 4c12 8E0D add r24,r14 7755 4c14 9F1D adc r25,r15 7756 4c16 A01F adc r26,r16 7757 4c18 B11F adc r27,r17 7758 4c1a 8093 0000 sts HoverGasFilter.3086,r24 7759 4c1e 9093 0000 sts (HoverGasFilter.3086)+1,r25 7760 4c22 A093 0000 sts (HoverGasFilter.3086)+2,r26 7761 4c26 B093 0000 sts (HoverGasFilter.3086)+3,r27 7762 .L477: 7763 4c2a 8091 0000 lds r24,modell_fliegt 7764 4c2e 9091 0000 lds r25,(modell_fliegt)+1 7765 4c32 8054 subi r24,lo8(8000) 7766 4c34 9F41 sbci r25,hi8(8000) 7767 4c36 00F4 brsh .L478 7768 4c38 8091 0000 lds r24,HoverGasFilter.3086 7769 4c3c 9091 0000 lds r25,(HoverGasFilter.3086)+1 7770 4c40 A091 0000 lds r26,(HoverGasFilter.3086)+2 7771 4c44 B091 0000 lds r27,(HoverGasFilter.3086)+3 7772 4c48 9C01 movw r18,r24 7773 4c4a AD01 movw r20,r26 7774 4c4c ECE0 ldi r30,12 7775 4c4e 5695 1: lsr r21 7776 4c50 4795 ror r20 7777 4c52 3795 ror r19 7778 4c54 2795 ror r18 7779 4c56 EA95 dec r30 7780 4c58 01F4 brne 1b 7781 4c5a 821B sub r24,r18 7782 4c5c 930B sbc r25,r19 7783 4c5e A40B sbc r26,r20 7784 4c60 B50B sbc r27,r21 7785 4c62 2091 0000 lds r18,tmp_long2.3044 7786 4c66 3091 0000 lds r19,(tmp_long2.3044)+1 7787 4c6a 4091 0000 lds r20,(tmp_long2.3044)+2 7788 4c6e 5091 0000 lds r21,(tmp_long2.3044)+3 7789 4c72 72E0 ldi r23,2 7790 4c74 220F 1: lsl r18 7791 4c76 331F rol r19 7792 4c78 441F rol r20 7793 4c7a 551F rol r21 7794 4c7c 7A95 dec r23 7795 4c7e 01F4 brne 1b 7796 4c80 280F add r18,r24 7797 4c82 391F adc r19,r25 7798 4c84 4A1F adc r20,r26 7799 4c86 5B1F adc r21,r27 7800 4c88 2093 0000 sts HoverGasFilter.3086,r18 7801 4c8c 3093 0000 sts (HoverGasFilter.3086)+1,r19 7802 4c90 4093 0000 sts (HoverGasFilter.3086)+2,r20 7803 4c94 5093 0000 sts (HoverGasFilter.3086)+3,r21 7804 4c98 00C0 rjmp .L479 7805 .L478: 7806 4c9a 8091 0000 lds r24,VarioMeter 7807 4c9e 9091 0000 lds r25,(VarioMeter)+1 7808 4ca2 97FF sbrs r25,7 7809 4ca4 00C0 rjmp .L480 7810 4ca6 9095 com r25 7811 4ca8 8195 neg r24 7812 4caa 9F4F sbci r25,lo8(-1) 7813 .L480: 7814 4cac 8436 cpi r24,100 7815 4cae 9105 cpc r25,__zero_reg__ 7816 4cb0 04F4 brge .L479 7817 4cb2 8091 0000 lds r24,HoverGasFilter.3086 7818 4cb6 9091 0000 lds r25,(HoverGasFilter.3086)+1 7819 4cba A091 0000 lds r26,(HoverGasFilter.3086)+2 7820 4cbe B091 0000 lds r27,(HoverGasFilter.3086)+3 7821 4cc2 9C01 movw r18,r24 7822 4cc4 AD01 movw r20,r26 7823 4cc6 6EE0 ldi r22,14 7824 4cc8 5695 1: lsr r21 7825 4cca 4795 ror r20 7826 4ccc 3795 ror r19 7827 4cce 2795 ror r18 7828 4cd0 6A95 dec r22 7829 4cd2 01F4 brne 1b 7830 4cd4 821B sub r24,r18 7831 4cd6 930B sbc r25,r19 7832 4cd8 A40B sbc r26,r20 7833 4cda B50B sbc r27,r21 7834 4cdc 2091 0000 lds r18,tmp_long2.3044 7835 4ce0 3091 0000 lds r19,(tmp_long2.3044)+1 7836 4ce4 4091 0000 lds r20,(tmp_long2.3044)+2 7837 4ce8 5091 0000 lds r21,(tmp_long2.3044)+3 7838 4cec 820F add r24,r18 7839 4cee 931F adc r25,r19 7840 4cf0 A41F adc r26,r20 7841 4cf2 B51F adc r27,r21 7842 4cf4 8093 0000 sts HoverGasFilter.3086,r24 7843 4cf8 9093 0000 sts (HoverGasFilter.3086)+1,r25 7844 4cfc A093 0000 sts (HoverGasFilter.3086)+2,r26 7845 4d00 B093 0000 sts (HoverGasFilter.3086)+3,r27 7846 .L479: 7847 4d04 8091 0000 lds r24,HoverGasFilter.3086 7848 4d08 9091 0000 lds r25,(HoverGasFilter.3086)+1 7849 4d0c A091 0000 lds r26,(HoverGasFilter.3086)+2 7850 4d10 B091 0000 lds r27,(HoverGasFilter.3086)+3 7851 4d14 2EE0 ldi r18,14 7852 4d16 B695 1: lsr r27 7853 4d18 A795 ror r26 7854 4d1a 9795 ror r25 7855 4d1c 8795 ror r24 7856 4d1e 2A95 dec r18 7857 4d20 01F4 brne 1b 7858 4d22 FC01 movw r30,r24 7859 4d24 9093 0000 sts (HoverGas)+1,r25 7860 4d28 8093 0000 sts HoverGas,r24 7861 4d2c 6091 0000 lds r22,EE_Parameter+20 7862 4d30 6623 tst r22 7863 4d32 01F0 breq .L481 7864 4d34 70E0 ldi r23,lo8(0) 7865 4d36 0E94 0000 call __divmodhi4 7866 4d3a CB01 movw r24,r22 7867 4d3c 9F01 movw r18,r30 7868 4d3e 261B sub r18,r22 7869 4d40 370B sbc r19,r23 7870 4d42 3093 0000 sts (HoverGasMin.3084)+1,r19 7871 4d46 2093 0000 sts HoverGasMin.3084,r18 7872 4d4a 8E0F add r24,r30 7873 4d4c 9F1F adc r25,r31 7874 4d4e 00C0 rjmp .L548 7875 .L481: 7876 4d50 1092 0000 sts (HoverGasMin.3084)+1,__zero_reg__ 7877 4d54 1092 0000 sts HoverGasMin.3084,__zero_reg__ 7878 4d58 8FEF ldi r24,lo8(1023) 7879 4d5a 93E0 ldi r25,hi8(1023) 7880 .L548: 7881 4d5c 9093 0000 sts (HoverGasMax.3085)+1,r25 7882 4d60 8093 0000 sts HoverGasMax.3085,r24 7883 4d64 00C0 rjmp .L404 7884 .L473: 7885 4d66 1092 0000 sts StartTrigger,__zero_reg__ 7886 4d6a 1092 0000 sts HoverGasFilter.3086,__zero_reg__ 7887 4d6e 1092 0000 sts (HoverGasFilter.3086)+1,__zero_reg__ 7888 4d72 1092 0000 sts (HoverGasFilter.3086)+2,__zero_reg__ 7889 4d76 1092 0000 sts (HoverGasFilter.3086)+3,__zero_reg__ 7890 4d7a 1092 0000 sts (HoverGas)+1,__zero_reg__ 7891 4d7e 1092 0000 sts HoverGas,__zero_reg__ 7892 .L404: 7893 4d82 8091 0000 lds r24,MIN_GAS 7894 4d86 282F mov r18,r24 7895 4d88 30E0 ldi r19,lo8(0) 7896 4d8a 265F subi r18,lo8(-(10)) 7897 4d8c 3F4F sbci r19,hi8(-(10)) 7898 4d8e 220F lsl r18 7899 4d90 331F rol r19 7900 4d92 220F lsl r18 7901 4d94 331F rol r19 7902 4d96 B201 movw r22,r4 7903 4d98 4216 cp r4,r18 7904 4d9a 5306 cpc r5,r19 7905 4d9c 04F4 brge .L482 7906 4d9e B901 movw r22,r18 7907 .L482: 7908 4da0 8091 0000 lds r24,MAX_GAS 7909 4da4 282F mov r18,r24 7910 4da6 30E0 ldi r19,lo8(0) 7911 4da8 2451 subi r18,lo8(-(-20)) 7912 4daa 3040 sbci r19,hi8(-(-20)) 7913 4dac 220F lsl r18 7914 4dae 331F rol r19 7915 4db0 220F lsl r18 7916 4db2 331F rol r19 7917 4db4 7B01 movw r14,r22 7918 4db6 2617 cp r18,r22 7919 4db8 3707 cpc r19,r23 7920 4dba 04F4 brge .L483 7921 4dbc 7901 movw r14,r18 7922 .L483: 7923 4dbe 8091 0000 lds r24,MissingMotor 7924 4dc2 8823 tst r24 7925 4dc4 01F4 brne .L484 7926 4dc6 8091 0000 lds r24,Capacity+6 7927 4dca 8F3F cpi r24,lo8(-1) 7928 4dcc 01F0 breq .L485 7929 .L484: 7930 4dce 8091 0000 lds r24,modell_fliegt 7931 4dd2 9091 0000 lds r25,(modell_fliegt)+1 7932 4dd6 0297 sbiw r24,2 7933 4dd8 C097 sbiw r24,48 7934 4dda 00F4 brsh .L485 7935 4ddc 1E14 cp __zero_reg__,r14 7936 4dde 1F04 cpc __zero_reg__,r15 7937 4de0 04F4 brge .L485 7938 4de2 81E0 ldi r24,lo8(1) 7939 4de4 90E0 ldi r25,hi8(1) 7940 4de6 9093 0000 sts (modell_fliegt)+1,r25 7941 4dea 8093 0000 sts modell_fliegt,r24 7942 4dee 8091 0000 lds r24,MIN_GAS 7943 4df2 E82E mov r14,r24 7944 4df4 FF24 clr r15 7945 4df6 4AE0 ldi r20,lo8(10) 7946 4df8 50E0 ldi r21,hi8(10) 7947 4dfa E40E add r14,r20 7948 4dfc F51E adc r15,r21 7949 4dfe EE0C lsl r14 7950 4e00 FF1C rol r15 7951 4e02 EE0C lsl r14 7952 4e04 FF1C rol r15 7953 .L485: 7954 4e06 F092 0000 sts (DebugOut+16)+1,r15 7955 4e0a E092 0000 sts DebugOut+16,r14 7956 4e0e 6091 0000 lds r22,sollGier.3042 7957 4e12 7091 0000 lds r23,(sollGier.3042)+1 7958 4e16 8091 0000 lds r24,(sollGier.3042)+2 7959 4e1a 9091 0000 lds r25,(sollGier.3042)+3 7960 4e1e 2CEF ldi r18,lo8(-4) 7961 4e20 3FEF ldi r19,hi8(-4) 7962 4e22 4FEF ldi r20,hlo8(-4) 7963 4e24 5FEF ldi r21,hhi8(-4) 7964 4e26 0E94 0000 call __mulsi3 7965 4e2a 8091 0000 lds r24,MesswertGier 7966 4e2e 9091 0000 lds r25,(MesswertGier)+1 7967 4e32 860F add r24,r22 7968 4e34 971F adc r25,r23 7969 4e36 51EA ldi r21,lo8(161) 7970 4e38 E516 cp r14,r21 7971 4e3a F104 cpc r15,__zero_reg__ 7972 4e3c 04F0 brlt .L486 7973 4e3e 9701 movw r18,r14 7974 4e40 3595 asr r19 7975 4e42 2795 ror r18 7976 4e44 8217 cp r24,r18 7977 4e46 9307 cpc r25,r19 7978 4e48 04F4 brge .L487 7979 4e4a 9C01 movw r18,r24 7980 .L487: 7981 4e4c C701 movw r24,r14 7982 4e4e 62E0 ldi r22,lo8(2) 7983 4e50 70E0 ldi r23,hi8(2) 7984 4e52 0E94 0000 call __divmodhi4 7985 4e56 7095 com r23 7986 4e58 6195 neg r22 7987 4e5a 7F4F sbci r23,lo8(-1) 7988 4e5c 2617 cp r18,r22 7989 4e5e 3707 cpc r19,r23 7990 4e60 04F4 brge .L489 7991 4e62 9B01 movw r18,r22 7992 4e64 00C0 rjmp .L489 7993 .L486: 7994 4e66 6FEF ldi r22,hi8(-80) 7995 4e68 803B cpi r24,lo8(-80) 7996 4e6a 9607 cpc r25,r22 7997 4e6c 04F4 brge .L490 7998 4e6e 80EB ldi r24,lo8(-80) 7999 4e70 9FEF ldi r25,hi8(-80) 8000 .L490: 8001 4e72 9C01 movw r18,r24 8002 4e74 8135 cpi r24,81 8003 4e76 9105 cpc r25,__zero_reg__ 8004 4e78 04F0 brlt .L489 8005 4e7a 20E5 ldi r18,lo8(80) 8006 4e7c 30E0 ldi r19,hi8(80) 8007 .L489: 8008 4e7e 8091 0000 lds r24,MAX_GAS 8009 4e82 90E0 ldi r25,lo8(0) 8010 4e84 880F lsl r24 8011 4e86 991F rol r25 8012 4e88 880F lsl r24 8013 4e8a 991F rol r25 8014 4e8c AC01 movw r20,r24 8015 4e8e 4E19 sub r20,r14 8016 4e90 5F09 sbc r21,r15 8017 4e92 4217 cp r20,r18 8018 4e94 5307 cpc r21,r19 8019 4e96 04F4 brge .L492 8020 4e98 9A01 movw r18,r20 8021 .L492: 8022 4e9a D701 movw r26,r14 8023 4e9c A81B sub r26,r24 8024 4e9e B90B sbc r27,r25 8025 4ea0 4901 movw r8,r18 8026 4ea2 2A17 cp r18,r26 8027 4ea4 3B07 cpc r19,r27 8028 4ea6 04F4 brge .L493 8029 4ea8 4D01 movw r8,r26 8030 .L493: 8031 4eaa 6091 0000 lds r22,MesswertNick 8032 4eae 7091 0000 lds r23,(MesswertNick)+1 8033 4eb2 E091 0000 lds r30,StickNick 8034 4eb6 F091 0000 lds r31,(StickNick)+1 8035 4eba 6E1B sub r22,r30 8036 4ebc 7F0B sbc r23,r31 8037 4ebe 7093 0000 sts (DiffNick)+1,r23 8038 4ec2 6093 0000 sts DiffNick,r22 8039 4ec6 8091 0000 lds r24,IntegralFaktor 8040 4eca 2091 0000 lds r18,SummeNick 8041 4ece 3091 0000 lds r19,(SummeNick)+1 8042 4ed2 4091 0000 lds r20,(SummeNick)+2 8043 4ed6 5091 0000 lds r21,(SummeNick)+3 8044 4eda 8823 tst r24 8045 4edc 01F0 breq .L494 8046 4ede 6CA1 ldd r22,Y+36 8047 4ee0 7DA1 ldd r23,Y+37 8048 4ee2 6E1B sub r22,r30 8049 4ee4 7F0B sbc r23,r31 8050 .L494: 8051 4ee6 CB01 movw r24,r22 8052 4ee8 AA27 clr r26 8053 4eea 97FD sbrc r25,7 8054 4eec A095 com r26 8055 4eee BA2F mov r27,r26 8056 4ef0 280F add r18,r24 8057 4ef2 391F adc r19,r25 8058 4ef4 4A1F adc r20,r26 8059 4ef6 5B1F adc r21,r27 8060 4ef8 2093 0000 sts SummeNick,r18 8061 4efc 3093 0000 sts (SummeNick)+1,r19 8062 4f00 4093 0000 sts (SummeNick)+2,r20 8063 4f04 5093 0000 sts (SummeNick)+3,r21 8064 4f08 8091 0000 lds r24,SummeNick 8065 4f0c 9091 0000 lds r25,(SummeNick)+1 8066 4f10 A091 0000 lds r26,(SummeNick)+2 8067 4f14 B091 0000 lds r27,(SummeNick)+3 8068 4f18 8150 subi r24,lo8(64001) 8069 4f1a 9A4F sbci r25,hi8(64001) 8070 4f1c A040 sbci r26,hlo8(64001) 8071 4f1e B040 sbci r27,hhi8(64001) 8072 4f20 04F0 brlt .L496 8073 4f22 80E0 ldi r24,lo8(64000) 8074 4f24 9AEF ldi r25,hi8(64000) 8075 4f26 A0E0 ldi r26,hlo8(64000) 8076 4f28 B0E0 ldi r27,hhi8(64000) 8077 4f2a 8093 0000 sts SummeNick,r24 8078 4f2e 9093 0000 sts (SummeNick)+1,r25 8079 4f32 A093 0000 sts (SummeNick)+2,r26 8080 4f36 B093 0000 sts (SummeNick)+3,r27 8081 .L496: 8082 4f3a 8091 0000 lds r24,SummeNick 8083 4f3e 9091 0000 lds r25,(SummeNick)+1 8084 4f42 A091 0000 lds r26,(SummeNick)+2 8085 4f46 B091 0000 lds r27,(SummeNick)+3 8086 4f4a 8050 subi r24,lo8(-64000) 8087 4f4c 9640 sbci r25,hi8(-64000) 8088 4f4e AF4F sbci r26,hlo8(-64000) 8089 4f50 BF4F sbci r27,hhi8(-64000) 8090 4f52 04F4 brge .L497 8091 4f54 80E0 ldi r24,lo8(-64000) 8092 4f56 96E0 ldi r25,hi8(-64000) 8093 4f58 AFEF ldi r26,hlo8(-64000) 8094 4f5a BFEF ldi r27,hhi8(-64000) 8095 4f5c 8093 0000 sts SummeNick,r24 8096 4f60 9093 0000 sts (SummeNick)+1,r25 8097 4f64 A093 0000 sts (SummeNick)+2,r26 8098 4f68 B093 0000 sts (SummeNick)+3,r27 8099 .L497: 8100 4f6c 8091 0000 lds r24,EE_Parameter+35 8101 4f70 90E0 ldi r25,lo8(0) 8102 4f72 2091 0000 lds r18,DiffNick 8103 4f76 3091 0000 lds r19,(DiffNick)+1 8104 4f7a AC01 movw r20,r24 8105 4f7c 429F mul r20,r18 8106 4f7e C001 movw r24,r0 8107 4f80 439F mul r20,r19 8108 4f82 900D add r25,r0 8109 4f84 529F mul r21,r18 8110 4f86 900D add r25,r0 8111 4f88 1124 clr r1 8112 4f8a 68E0 ldi r22,lo8(8) 8113 4f8c 70E0 ldi r23,hi8(8) 8114 4f8e 0E94 0000 call __divmodhi4 8115 4f92 8B01 movw r16,r22 8116 4f94 2091 0000 lds r18,Ki 8117 4f98 3091 0000 lds r19,(Ki)+1 8118 4f9c 4427 clr r20 8119 4f9e 37FD sbrc r19,7 8120 4fa0 4095 com r20 8121 4fa2 542F mov r21,r20 8122 4fa4 6091 0000 lds r22,SummeNick 8123 4fa8 7091 0000 lds r23,(SummeNick)+1 8124 4fac 8091 0000 lds r24,(SummeNick)+2 8125 4fb0 9091 0000 lds r25,(SummeNick)+3 8126 4fb4 0E94 0000 call __divmodsi4 8127 4fb8 020F add r16,r18 8128 4fba 131F adc r17,r19 8129 4fbc C401 movw r24,r8 8130 4fbe 97FE sbrs r9,7 8131 4fc0 00C0 rjmp .L498 8132 4fc2 8827 clr r24 8133 4fc4 9927 clr r25 8134 4fc6 8819 sub r24,r8 8135 4fc8 9909 sbc r25,r9 8136 .L498: 8137 4fca 9595 asr r25 8138 4fcc 8795 ror r24 8139 4fce 8E0D add r24,r14 8140 4fd0 9F1D adc r25,r15 8141 4fd2 5C01 movw r10,r24 8142 4fd4 CC24 clr r12 8143 4fd6 B7FC sbrc r11,7 8144 4fd8 C094 com r12 8145 4fda DC2C mov r13,r12 8146 4fdc 2091 0000 lds r18,Parameter_DynamicStability 8147 4fe0 30E0 ldi r19,lo8(0) 8148 4fe2 40E0 ldi r20,lo8(0) 8149 4fe4 50E0 ldi r21,hi8(0) 8150 4fe6 C601 movw r24,r12 8151 4fe8 B501 movw r22,r10 8152 4fea 0E94 0000 call __mulsi3 8153 4fee 20E4 ldi r18,lo8(64) 8154 4ff0 30E0 ldi r19,hi8(64) 8155 4ff2 40E0 ldi r20,hlo8(64) 8156 4ff4 50E0 ldi r21,hhi8(64) 8157 4ff6 0E94 0000 call __divmodsi4 8158 4ffa C901 movw r24,r18 8159 4ffc 0217 cp r16,r18 8160 4ffe 1307 cpc r17,r19 8161 5000 04F4 brge .L499 8162 5002 9801 movw r18,r16 8163 .L499: 8164 5004 2224 clr r2 8165 5006 3324 clr r3 8166 5008 281A sub r2,r24 8167 500a 390A sbc r3,r25 8168 500c 2216 cp r2,r18 8169 500e 3306 cpc r3,r19 8170 5010 04F4 brge .L500 8171 5012 1901 movw r2,r18 8172 .L500: 8173 5014 6091 0000 lds r22,MesswertRoll 8174 5018 7091 0000 lds r23,(MesswertRoll)+1 8175 501c E091 0000 lds r30,StickRoll 8176 5020 F091 0000 lds r31,(StickRoll)+1 8177 5024 6E1B sub r22,r30 8178 5026 7F0B sbc r23,r31 8179 5028 7093 0000 sts (DiffRoll)+1,r23 8180 502c 6093 0000 sts DiffRoll,r22 8181 5030 8091 0000 lds r24,IntegralFaktor 8182 5034 2091 0000 lds r18,SummeRoll 8183 5038 3091 0000 lds r19,(SummeRoll)+1 8184 503c 4091 0000 lds r20,(SummeRoll)+2 8185 5040 5091 0000 lds r21,(SummeRoll)+3 8186 5044 8823 tst r24 8187 5046 01F0 breq .L501 8188 5048 6AA1 ldd r22,Y+34 8189 504a 7BA1 ldd r23,Y+35 8190 504c 6E1B sub r22,r30 8191 504e 7F0B sbc r23,r31 8192 .L501: 8193 5050 CB01 movw r24,r22 8194 5052 AA27 clr r26 8195 5054 97FD sbrc r25,7 8196 5056 A095 com r26 8197 5058 BA2F mov r27,r26 8198 505a 280F add r18,r24 8199 505c 391F adc r19,r25 8200 505e 4A1F adc r20,r26 8201 5060 5B1F adc r21,r27 8202 5062 2093 0000 sts SummeRoll,r18 8203 5066 3093 0000 sts (SummeRoll)+1,r19 8204 506a 4093 0000 sts (SummeRoll)+2,r20 8205 506e 5093 0000 sts (SummeRoll)+3,r21 8206 5072 8091 0000 lds r24,SummeRoll 8207 5076 9091 0000 lds r25,(SummeRoll)+1 8208 507a A091 0000 lds r26,(SummeRoll)+2 8209 507e B091 0000 lds r27,(SummeRoll)+3 8210 5082 8150 subi r24,lo8(64001) 8211 5084 9A4F sbci r25,hi8(64001) 8212 5086 A040 sbci r26,hlo8(64001) 8213 5088 B040 sbci r27,hhi8(64001) 8214 508a 04F0 brlt .L503 8215 508c 80E0 ldi r24,lo8(64000) 8216 508e 9AEF ldi r25,hi8(64000) 8217 5090 A0E0 ldi r26,hlo8(64000) 8218 5092 B0E0 ldi r27,hhi8(64000) 8219 5094 8093 0000 sts SummeRoll,r24 8220 5098 9093 0000 sts (SummeRoll)+1,r25 8221 509c A093 0000 sts (SummeRoll)+2,r26 8222 50a0 B093 0000 sts (SummeRoll)+3,r27 8223 .L503: 8224 50a4 8091 0000 lds r24,SummeRoll 8225 50a8 9091 0000 lds r25,(SummeRoll)+1 8226 50ac A091 0000 lds r26,(SummeRoll)+2 8227 50b0 B091 0000 lds r27,(SummeRoll)+3 8228 50b4 8050 subi r24,lo8(-64000) 8229 50b6 9640 sbci r25,hi8(-64000) 8230 50b8 AF4F sbci r26,hlo8(-64000) 8231 50ba BF4F sbci r27,hhi8(-64000) 8232 50bc 04F4 brge .L504 8233 50be 80E0 ldi r24,lo8(-64000) 8234 50c0 96E0 ldi r25,hi8(-64000) 8235 50c2 AFEF ldi r26,hlo8(-64000) 8236 50c4 BFEF ldi r27,hhi8(-64000) 8237 50c6 8093 0000 sts SummeRoll,r24 8238 50ca 9093 0000 sts (SummeRoll)+1,r25 8239 50ce A093 0000 sts (SummeRoll)+2,r26 8240 50d2 B093 0000 sts (SummeRoll)+3,r27 8241 .L504: 8242 50d6 8091 0000 lds r24,EE_Parameter+35 8243 50da 90E0 ldi r25,lo8(0) 8244 50dc 2091 0000 lds r18,DiffRoll 8245 50e0 3091 0000 lds r19,(DiffRoll)+1 8246 50e4 AC01 movw r20,r24 8247 50e6 429F mul r20,r18 8248 50e8 C001 movw r24,r0 8249 50ea 439F mul r20,r19 8250 50ec 900D add r25,r0 8251 50ee 529F mul r21,r18 8252 50f0 900D add r25,r0 8253 50f2 1124 clr r1 8254 50f4 68E0 ldi r22,lo8(8) 8255 50f6 70E0 ldi r23,hi8(8) 8256 50f8 0E94 0000 call __divmodhi4 8257 50fc 8B01 movw r16,r22 8258 50fe 2091 0000 lds r18,Ki 8259 5102 3091 0000 lds r19,(Ki)+1 8260 5106 4427 clr r20 8261 5108 37FD sbrc r19,7 8262 510a 4095 com r20 8263 510c 542F mov r21,r20 8264 510e 6091 0000 lds r22,SummeRoll 8265 5112 7091 0000 lds r23,(SummeRoll)+1 8266 5116 8091 0000 lds r24,(SummeRoll)+2 8267 511a 9091 0000 lds r25,(SummeRoll)+3 8268 511e 0E94 0000 call __divmodsi4 8269 5122 020F add r16,r18 8270 5124 131F adc r17,r19 8271 5126 2091 0000 lds r18,Parameter_DynamicStability 8272 512a 30E0 ldi r19,lo8(0) 8273 512c 40E0 ldi r20,lo8(0) 8274 512e 50E0 ldi r21,hi8(0) 8275 5130 C601 movw r24,r12 8276 5132 B501 movw r22,r10 8277 5134 0E94 0000 call __mulsi3 8278 5138 20E4 ldi r18,lo8(64) 8279 513a 30E0 ldi r19,hi8(64) 8280 513c 40E0 ldi r20,hlo8(64) 8281 513e 50E0 ldi r21,hhi8(64) 8282 5140 0E94 0000 call __divmodsi4 8283 5144 A901 movw r20,r18 8284 5146 622F mov r22,r18 8285 5148 232F mov r18,r19 8286 514a 0417 cp r16,r20 8287 514c 1507 cpc r17,r21 8288 514e 04F4 brge .L505 8289 5150 C801 movw r24,r16 8290 5152 602F mov r22,r16 8291 5154 292F mov r18,r25 8292 .L505: 8293 5156 EE27 clr r30 8294 5158 FF27 clr r31 8295 515a E41B sub r30,r20 8296 515c F50B sbc r31,r21 8297 515e 862F mov r24,r22 8298 5160 922F mov r25,r18 8299 5162 3C01 movw r6,r24 8300 5164 6E16 cp r6,r30 8301 5166 7F06 cpc r7,r31 8302 5168 04F4 brge .L506 8303 516a 3F01 movw r6,r30 8304 .L506: 8305 516c F0E0 ldi r31,lo8(Mixer+13) 8306 516e CF2E mov r12,r31 8307 5170 F0E0 ldi r31,hi8(Mixer+13) 8308 5172 DF2E mov r13,r31 8309 5174 E0E0 ldi r30,lo8(Motor+1) 8310 5176 AE2E mov r10,r30 8311 5178 E0E0 ldi r30,hi8(Motor+1) 8312 517a BE2E mov r11,r30 8313 517c 70E0 ldi r23,lo8(tmp_motorwert) 8314 517e 472E mov r4,r23 8315 5180 70E0 ldi r23,hi8(tmp_motorwert) 8316 5182 572E mov r5,r23 8317 5184 B401 movw r22,r8 8318 5186 8827 clr r24 8319 5188 77FD sbrc r23,7 8320 518a 8095 com r24 8321 518c 982F mov r25,r24 8322 518e 6EAB std Y+54,r22 8323 5190 7FAB std Y+55,r23 8324 5192 88AF std Y+56,r24 8325 5194 99AF std Y+57,r25 8326 5196 C301 movw r24,r6 8327 5198 AA27 clr r26 8328 519a 97FD sbrc r25,7 8329 519c A095 com r26 8330 519e BA2F mov r27,r26 8331 51a0 8AAF std Y+58,r24 8332 51a2 9BAF std Y+59,r25 8333 51a4 ACAF std Y+60,r26 8334 51a6 BDAF std Y+61,r27 8335 51a8 9101 movw r18,r2 8336 51aa 4427 clr r20 8337 51ac 37FD sbrc r19,7 8338 51ae 4095 com r20 8339 51b0 542F mov r21,r20 8340 51b2 2296 adiw r28,62-60 8341 51b4 2CAF std Y+60,r18 8342 51b6 3DAF std Y+61,r19 8343 51b8 4EAF std Y+62,r20 8344 51ba 5FAF std Y+63,r21 8345 51bc 2297 sbiw r28,62-60 8346 51be A701 movw r20,r14 8347 51c0 6627 clr r22 8348 51c2 57FD sbrc r21,7 8349 51c4 6095 com r22 8350 51c6 762F mov r23,r22 8351 51c8 2696 adiw r28,66-60 8352 51ca 4CAF std Y+60,r20 8353 51cc 5DAF std Y+61,r21 8354 51ce 6EAF std Y+62,r22 8355 51d0 7FAF std Y+63,r23 8356 51d2 2697 sbiw r28,66-60 8357 .L525: 8358 51d4 D601 movw r26,r12 8359 51d6 2C91 ld r18,X 8360 51d8 1216 cp __zero_reg__,r18 8361 51da 04F0 brlt .+2 8362 51dc 00C0 rjmp .L507 8363 51de 2034 cpi r18,lo8(64) 8364 51e0 01F4 brne .L508 8365 51e2 8701 movw r16,r14 8366 51e4 00C0 rjmp .L509 8367 .L508: 8368 51e6 3327 clr r19 8369 51e8 27FD sbrc r18,7 8370 51ea 3095 com r19 8371 51ec 432F mov r20,r19 8372 51ee 532F mov r21,r19 8373 51f0 2696 adiw r28,66-60 8374 51f2 6CAD ldd r22,Y+60 8375 51f4 7DAD ldd r23,Y+61 8376 51f6 8EAD ldd r24,Y+62 8377 51f8 9FAD ldd r25,Y+63 8378 51fa 2697 sbiw r28,66-60 8379 51fc 0E94 0000 call __mulsi3 8380 5200 20E4 ldi r18,lo8(64) 8381 5202 30E0 ldi r19,hi8(64) 8382 5204 40E0 ldi r20,hlo8(64) 8383 5206 50E0 ldi r21,hhi8(64) 8384 5208 0E94 0000 call __divmodsi4 8385 520c 8901 movw r16,r18 8386 .L509: 8387 520e F601 movw r30,r12 8388 5210 2181 ldd r18,Z+1 8389 5212 2034 cpi r18,lo8(64) 8390 5214 01F4 brne .L510 8391 5216 020D add r16,r2 8392 5218 131D adc r17,r3 8393 521a 00C0 rjmp .L511 8394 .L510: 8395 521c 203C cpi r18,lo8(-64) 8396 521e 01F4 brne .L512 8397 5220 0219 sub r16,r2 8398 5222 1309 sbc r17,r3 8399 5224 00C0 rjmp .L511 8400 .L512: 8401 5226 3327 clr r19 8402 5228 27FD sbrc r18,7 8403 522a 3095 com r19 8404 522c 432F mov r20,r19 8405 522e 532F mov r21,r19 8406 5230 2296 adiw r28,62-60 8407 5232 6CAD ldd r22,Y+60 8408 5234 7DAD ldd r23,Y+61 8409 5236 8EAD ldd r24,Y+62 8410 5238 9FAD ldd r25,Y+63 8411 523a 2297 sbiw r28,62-60 8412 523c 0E94 0000 call __mulsi3 8413 5240 20E4 ldi r18,lo8(64) 8414 5242 30E0 ldi r19,hi8(64) 8415 5244 40E0 ldi r20,hlo8(64) 8416 5246 50E0 ldi r21,hhi8(64) 8417 5248 0E94 0000 call __divmodsi4 8418 524c 020F add r16,r18 8419 524e 131F adc r17,r19 8420 .L511: 8421 5250 D601 movw r26,r12 8422 5252 1296 adiw r26,2 8423 5254 2C91 ld r18,X 8424 5256 2034 cpi r18,lo8(64) 8425 5258 01F4 brne .L513 8426 525a 060D add r16,r6 8427 525c 171D adc r17,r7 8428 525e 00C0 rjmp .L514 8429 .L513: 8430 5260 203C cpi r18,lo8(-64) 8431 5262 01F4 brne .L515 8432 5264 0619 sub r16,r6 8433 5266 1709 sbc r17,r7 8434 5268 00C0 rjmp .L514 8435 .L515: 8436 526a 3327 clr r19 8437 526c 27FD sbrc r18,7 8438 526e 3095 com r19 8439 5270 432F mov r20,r19 8440 5272 532F mov r21,r19 8441 5274 6AAD ldd r22,Y+58 8442 5276 7BAD ldd r23,Y+59 8443 5278 8CAD ldd r24,Y+60 8444 527a 9DAD ldd r25,Y+61 8445 527c 0E94 0000 call __mulsi3 8446 5280 20E4 ldi r18,lo8(64) 8447 5282 30E0 ldi r19,hi8(64) 8448 5284 40E0 ldi r20,hlo8(64) 8449 5286 50E0 ldi r21,hhi8(64) 8450 5288 0E94 0000 call __divmodsi4 8451 528c 020F add r16,r18 8452 528e 131F adc r17,r19 8453 .L514: 8454 5290 F601 movw r30,r12 8455 5292 2381 ldd r18,Z+3 8456 5294 2034 cpi r18,lo8(64) 8457 5296 01F4 brne .L516 8458 5298 9801 movw r18,r16 8459 529a 280D add r18,r8 8460 529c 391D adc r19,r9 8461 529e 00C0 rjmp .L517 8462 .L516: 8463 52a0 203C cpi r18,lo8(-64) 8464 52a2 01F4 brne .L518 8465 52a4 9801 movw r18,r16 8466 52a6 2819 sub r18,r8 8467 52a8 3909 sbc r19,r9 8468 52aa 00C0 rjmp .L517 8469 .L518: 8470 52ac 3327 clr r19 8471 52ae 27FD sbrc r18,7 8472 52b0 3095 com r19 8473 52b2 432F mov r20,r19 8474 52b4 532F mov r21,r19 8475 52b6 6EA9 ldd r22,Y+54 8476 52b8 7FA9 ldd r23,Y+55 8477 52ba 88AD ldd r24,Y+56 8478 52bc 99AD ldd r25,Y+57 8479 52be 0E94 0000 call __mulsi3 8480 52c2 20E4 ldi r18,lo8(64) 8481 52c4 30E0 ldi r19,hi8(64) 8482 52c6 40E0 ldi r20,hlo8(64) 8483 52c8 50E0 ldi r21,hhi8(64) 8484 52ca 0E94 0000 call __divmodsi4 8485 52ce 200F add r18,r16 8486 52d0 311F adc r19,r17 8487 .L517: 8488 52d2 D201 movw r26,r4 8489 52d4 8D91 ld r24,X+ 8490 52d6 9C91 ld r25,X 8491 52d8 8217 cp r24,r18 8492 52da 9307 cpc r25,r19 8493 52dc 04F4 brge .L519 8494 52de 820F add r24,r18 8495 52e0 931F adc r25,r19 8496 52e2 62E0 ldi r22,lo8(2) 8497 52e4 70E0 ldi r23,hi8(2) 8498 52e6 0E94 0000 call __divmodhi4 8499 52ea 9B01 movw r18,r22 8500 52ec 00C0 rjmp .L520 8501 .L519: 8502 52ee 6091 0000 lds r22,Parameter_UserParam7 8503 52f2 6230 cpi r22,lo8(2) 8504 52f4 00F4 brsh .L521 8505 52f6 220F lsl r18 8506 52f8 331F rol r19 8507 52fa 281B sub r18,r24 8508 52fc 390B sbc r19,r25 8509 52fe 00C0 rjmp .L520 8510 .L521: 8511 5300 821B sub r24,r18 8512 5302 930B sbc r25,r19 8513 5304 70E0 ldi r23,lo8(0) 8514 5306 0E94 0000 call __divmodhi4 8515 530a 260F add r18,r22 8516 530c 371F adc r19,r23 8517 .L520: 8518 530e 8091 0000 lds r24,MIN_GAS 8519 5312 E82F mov r30,r24 8520 5314 F0E0 ldi r31,lo8(0) 8521 5316 EE0F lsl r30 8522 5318 FF1F rol r31 8523 531a EE0F lsl r30 8524 531c FF1F rol r31 8525 531e E217 cp r30,r18 8526 5320 F307 cpc r31,r19 8527 5322 04F4 brge .L522 8528 5324 8091 0000 lds r24,MAX_GAS 8529 5328 682F mov r22,r24 8530 532a 70E0 ldi r23,lo8(0) 8531 532c 660F lsl r22 8532 532e 771F rol r23 8533 5330 660F lsl r22 8534 5332 771F rol r23 8535 5334 F901 movw r30,r18 8536 5336 6217 cp r22,r18 8537 5338 7307 cpc r23,r19 8538 533a 04F4 brge .L522 8539 533c FB01 movw r30,r22 8540 .L522: 8541 533e CF01 movw r24,r30 8542 5340 64E0 ldi r22,lo8(4) 8543 5342 70E0 ldi r23,hi8(4) 8544 5344 0E94 0000 call __divmodhi4 8545 5348 D501 movw r26,r10 8546 534a 6C93 st X,r22 8547 534c CF01 movw r24,r30 8548 534e 64E0 ldi r22,lo8(4) 8549 5350 70E0 ldi r23,hi8(4) 8550 5352 0E94 0000 call __divmodhi4 8551 5356 880F lsl r24 8552 5358 D501 movw r26,r10 8553 535a 1196 adiw r26,1 8554 535c 8C93 st X,r24 8555 535e D201 movw r26,r4 8556 5360 ED93 st X+,r30 8557 5362 FC93 st X,r31 8558 5364 00C0 rjmp .L524 8559 .L507: 8560 5366 F501 movw r30,r10 8561 5368 1082 st Z,__zero_reg__ 8562 536a 1182 std Z+1,__zero_reg__ 8563 .L524: 8564 536c 24E0 ldi r18,lo8(4) 8565 536e 30E0 ldi r19,hi8(4) 8566 5370 C20E add r12,r18 8567 5372 D31E adc r13,r19 8568 5374 48E0 ldi r20,lo8(8) 8569 5376 50E0 ldi r21,hi8(8) 8570 5378 A40E add r10,r20 8571 537a B51E adc r11,r21 8572 537c 62E0 ldi r22,lo8(2) 8573 537e 70E0 ldi r23,hi8(2) 8574 5380 460E add r4,r22 8575 5382 571E adc r5,r23 8576 5384 70E0 ldi r23,lo8(Mixer+61) 8577 5386 C716 cp r12,r23 8578 5388 70E0 ldi r23,hi8(Mixer+61) 8579 538a D706 cpc r13,r23 8580 538c 01F0 breq .+2 8581 538e 00C0 rjmp .L525 8582 /* epilogue start */ 8583 5390 CB5B subi r28,lo8(-(69)) 8584 5392 DF4F sbci r29,hi8(-(69)) 8585 5394 E2E1 ldi r30, lo8(18) 8586 5396 0C94 0000 jmp __epilogue_restores__ + ((18 - 18) * 2) 8588 .global BaroExpandActive 8589 .global BaroExpandActive 8590 .section .bss 8593 BaroExpandActive: 8594 0000 0000 .skip 2,0 8595 .global AdNeutralNick 8596 .global AdNeutralNick 8599 AdNeutralNick: 8600 0002 0000 .skip 2,0 8601 .global AdNeutralRoll 8602 .global AdNeutralRoll 8605 AdNeutralRoll: 8606 0004 0000 .skip 2,0 8607 .global AdNeutralGier 8608 .global AdNeutralGier 8611 AdNeutralGier: 8612 0006 0000 .skip 2,0 8613 .global StartNeutralRoll 8614 .global StartNeutralRoll 8617 StartNeutralRoll: 8618 0008 0000 .skip 2,0 8619 .global StartNeutralNick 8620 .global StartNeutralNick 8623 StartNeutralNick: 8624 000a 0000 .skip 2,0 8625 .global NeutralAccX 8626 .global NeutralAccX 8629 NeutralAccX: 8630 000c 0000 .skip 2,0 8631 .global NeutralAccY 8632 .global NeutralAccY 8635 NeutralAccY: 8636 000e 0000 .skip 2,0 8637 .global NaviCntAcc 8638 .global NaviCntAcc 8641 NaviCntAcc: 8642 0010 0000 .skip 2,0 8643 .global NeutralAccZ 8644 .global NeutralAccZ 8647 NeutralAccZ: 8648 0012 0000 .skip 2,0 8649 .global ControlHeading 8650 .global ControlHeading 8653 ControlHeading: 8654 0014 00 .skip 1,0 8655 .global IntegralNick 8656 .global IntegralNick 8659 IntegralNick: 8660 0015 0000 0000 .skip 4,0 8661 .global IntegralNick2 8662 .global IntegralNick2 8665 IntegralNick2: 8666 0019 0000 0000 .skip 4,0 8667 .global IntegralRoll 8668 .global IntegralRoll 8671 IntegralRoll: 8672 001d 0000 0000 .skip 4,0 8673 .global IntegralRoll2 8674 .global IntegralRoll2 8677 IntegralRoll2: 8678 0021 0000 0000 .skip 4,0 8679 .global IntegralAccNick 8680 .global IntegralAccNick 8683 IntegralAccNick: 8684 0025 0000 0000 .skip 4,0 8685 .global IntegralAccRoll 8686 .global IntegralAccRoll 8689 IntegralAccRoll: 8690 0029 0000 0000 .skip 4,0 8691 .global IntegralAccZ 8692 .global IntegralAccZ 8695 IntegralAccZ: 8696 002d 0000 0000 .skip 4,0 8697 .global Integral_Gier 8698 .global Integral_Gier 8701 Integral_Gier: 8702 0031 0000 0000 .skip 4,0 8703 .global Mess_IntegralNick 8704 .global Mess_IntegralNick 8707 Mess_IntegralNick: 8708 0035 0000 0000 .skip 4,0 8709 .global Mess_IntegralNick2 8710 .global Mess_IntegralNick2 8713 Mess_IntegralNick2: 8714 0039 0000 0000 .skip 4,0 8715 .global Mess_IntegralRoll 8716 .global Mess_IntegralRoll 8719 Mess_IntegralRoll: 8720 003d 0000 0000 .skip 4,0 8721 .global Mess_IntegralRoll2 8722 .global Mess_IntegralRoll2 8725 Mess_IntegralRoll2: 8726 0041 0000 0000 .skip 4,0 8727 .global Mess_Integral_Gier 8728 .global Mess_Integral_Gier 8731 Mess_Integral_Gier: 8732 0045 0000 0000 .skip 4,0 8733 .global Mess_Integral_Gier2 8734 .global Mess_Integral_Gier2 8737 Mess_Integral_Gier2: 8738 0049 0000 0000 .skip 4,0 8739 .global SummeNick 8740 .global SummeNick 8743 SummeNick: 8744 004d 0000 0000 .skip 4,0 8745 .global SummeRoll 8746 .global SummeRoll 8749 SummeRoll: 8750 0051 0000 0000 .skip 4,0 8751 .global Mess_Integral_Hoch 8752 .global Mess_Integral_Hoch 8755 Mess_Integral_Hoch: 8756 0055 0000 0000 .skip 4,0 8757 .global KompassValue 8758 .global KompassValue 8761 KompassValue: 8762 0059 0000 .skip 2,0 8763 .global KompassStartwert 8764 .global KompassStartwert 8767 KompassStartwert: 8768 005b 0000 .skip 2,0 8769 .global KompassRichtung 8770 .global KompassRichtung 8773 KompassRichtung: 8774 005d 0000 .skip 2,0 8775 .global KompassSignalSchlecht 8776 .data 8779 KompassSignalSchlecht: 8780 0000 F401 .word 500 8781 .global HoehenReglerAktiv 8782 .global HoehenReglerAktiv 8783 .section .bss 8786 HoehenReglerAktiv: 8787 005f 00 .skip 1,0 8788 .global TrichterFlug 8789 .global TrichterFlug 8792 TrichterFlug: 8793 0060 00 .skip 1,0 8794 .global Umschlag180Nick 8795 .data 8798 Umschlag180Nick: 8799 0002 90 .byte -112 8800 0003 D0 .byte -48 8801 0004 03 .byte 3 8802 0005 00 .byte 0 8803 .global Umschlag180Roll 8806 Umschlag180Roll: 8807 0006 90 .byte -112 8808 0007 D0 .byte -48 8809 0008 03 .byte 3 8810 0009 00 .byte 0 8811 .global GierGyroFehler 8812 .global GierGyroFehler 8813 .section .bss 8816 GierGyroFehler: 8817 0061 0000 .skip 2,0 8818 .global Poti 8819 .global Poti 8822 Poti: 8823 0063 0000 0000 .skip 9,0 8823 0000 0000 8823 00 8824 .global SenderOkay 8825 .global SenderOkay 8828 SenderOkay: 8829 006c 00 .skip 1,0 8830 .global StickNick 8831 .global StickNick 8834 StickNick: 8835 006d 0000 .skip 2,0 8836 .global StickRoll 8837 .global StickRoll 8840 StickRoll: 8841 006f 0000 .skip 2,0 8842 .global StickGier 8843 .global StickGier 8846 StickGier: 8847 0071 0000 .skip 2,0 8848 .global StickGas 8849 .global StickGas 8852 StickGas: 8853 0073 0000 .skip 2,0 8854 .global MotorenEin 8855 .global MotorenEin 8858 MotorenEin: 8859 0075 00 .skip 1,0 8860 .global StartTrigger 8861 .global StartTrigger 8864 StartTrigger: 8865 0076 00 .skip 1,0 8866 .global HoehenWert 8867 .global HoehenWert 8870 HoehenWert: 8871 0077 0000 0000 .skip 4,0 8872 .global SollHoehe 8873 .global SollHoehe 8876 SollHoehe: 8877 007b 0000 0000 .skip 4,0 8878 .global LageKorrekturRoll 8879 .global LageKorrekturRoll 8882 LageKorrekturRoll: 8883 007f 0000 .skip 2,0 8884 .global LageKorrekturNick 8885 .global LageKorrekturNick 8888 LageKorrekturNick: 8889 0081 0000 .skip 2,0 8890 .global HoverGas 8891 .global HoverGas 8894 HoverGas: 8895 0083 0000 .skip 2,0 8896 .global Ki 8897 .data 8900 Ki: 8901 000a 3801 .word 312 8902 .global Looping_Nick 8903 .global Looping_Nick 8904 .section .bss 8907 Looping_Nick: 8908 0085 00 .skip 1,0 8909 .global Looping_Roll 8910 .global Looping_Roll 8913 Looping_Roll: 8914 0086 00 .skip 1,0 8915 .global Looping_Links 8916 .global Looping_Links 8919 Looping_Links: 8920 0087 00 .skip 1,0 8921 .global Looping_Rechts 8922 .global Looping_Rechts 8925 Looping_Rechts: 8926 0088 00 .skip 1,0 8927 .global Looping_Unten 8928 .global Looping_Unten 8931 Looping_Unten: 8932 0089 00 .skip 1,0 8933 .global Looping_Oben 8934 .global Looping_Oben 8937 Looping_Oben: 8938 008a 00 .skip 1,0 8939 .global Parameter_Luftdruck_D 8940 .data 8943 Parameter_Luftdruck_D: 8944 000c 30 .byte 48 8945 .global Parameter_MaxHoehe 8948 Parameter_MaxHoehe: 8949 000d FB .byte -5 8950 .global Parameter_Hoehe_P 8953 Parameter_Hoehe_P: 8954 000e 10 .byte 16 8955 .global Parameter_Hoehe_ACC_Wirkung 8958 Parameter_Hoehe_ACC_Wirkung: 8959 000f 3A .byte 58 8960 .global Parameter_KompassWirkung 8963 Parameter_KompassWirkung: 8964 0010 40 .byte 64 8965 .global Parameter_Hoehe_GPS_Z 8968 Parameter_Hoehe_GPS_Z: 8969 0011 40 .byte 64 8970 .global Parameter_Gyro_D 8973 Parameter_Gyro_D: 8974 0012 08 .byte 8 8975 .global Parameter_Gyro_P 8978 Parameter_Gyro_P: 8979 0013 96 .byte -106 8980 .global Parameter_Gyro_I 8983 Parameter_Gyro_I: 8984 0014 96 .byte -106 8985 .global Parameter_Gyro_Gier_P 8988 Parameter_Gyro_Gier_P: 8989 0015 96 .byte -106 8990 .global Parameter_Gyro_Gier_I 8993 Parameter_Gyro_Gier_I: 8994 0016 96 .byte -106 8995 .global Parameter_Gier_P 8998 Parameter_Gier_P: 8999 0017 02 .byte 2 9000 .global Parameter_I_Faktor 9003 Parameter_I_Faktor: 9004 0018 0A .byte 10 9005 .global Parameter_UserParam1 9006 .global Parameter_UserParam1 9007 .section .bss 9010 Parameter_UserParam1: 9011 008b 00 .skip 1,0 9012 .global Parameter_UserParam2 9013 .global Parameter_UserParam2 9016 Parameter_UserParam2: 9017 008c 00 .skip 1,0 9018 .global Parameter_UserParam3 9019 .global Parameter_UserParam3 9022 Parameter_UserParam3: 9023 008d 00 .skip 1,0 9024 .global Parameter_UserParam4 9025 .global Parameter_UserParam4 9028 Parameter_UserParam4: 9029 008e 00 .skip 1,0 9030 .global Parameter_UserParam5 9031 .global Parameter_UserParam5 9034 Parameter_UserParam5: 9035 008f 00 .skip 1,0 9036 .global Parameter_UserParam6 9037 .global Parameter_UserParam6 9040 Parameter_UserParam6: 9041 0090 00 .skip 1,0 9042 .global Parameter_UserParam7 9043 .global Parameter_UserParam7 9046 Parameter_UserParam7: 9047 0091 00 .skip 1,0 9048 .global Parameter_UserParam8 9049 .global Parameter_UserParam8 9052 Parameter_UserParam8: 9053 0092 00 .skip 1,0 9054 .global Parameter_ServoNickControl 9055 .data 9058 Parameter_ServoNickControl: 9059 0019 64 .byte 100 9060 .global Parameter_ServoRollControl 9063 Parameter_ServoRollControl: 9064 001a 64 .byte 100 9065 .global Parameter_LoopGasLimit 9068 Parameter_LoopGasLimit: 9069 001b 46 .byte 70 9070 .global Parameter_AchsKopplung1 9073 Parameter_AchsKopplung1: 9074 001c 5A .byte 90 9075 .global Parameter_AchsKopplung2 9078 Parameter_AchsKopplung2: 9079 001d 41 .byte 65 9080 .global Parameter_CouplingYawCorrection 9083 Parameter_CouplingYawCorrection: 9084 001e 40 .byte 64 9085 .global Parameter_DynamicStability 9088 Parameter_DynamicStability: 9089 001f 64 .byte 100 9090 .global CareFree 9091 .global CareFree 9092 .section .bss 9095 CareFree: 9096 0093 00 .skip 1,0 9097 .global ExternStickNick 9098 .global ExternStickNick 9101 ExternStickNick: 9102 0094 0000 .skip 2,0 9103 .global ExternStickRoll 9104 .global ExternStickRoll 9107 ExternStickRoll: 9108 0096 0000 .skip 2,0 9109 .global ExternStickGier 9110 .global ExternStickGier 9113 ExternStickGier: 9114 0098 0000 .skip 2,0 9115 .global ExternHoehenValue 9116 .data 9119 ExternHoehenValue: 9120 0020 ECFF .word -20 9121 .global MaxStickNick 9122 .global MaxStickNick 9123 .section .bss 9126 MaxStickNick: 9127 009a 0000 .skip 2,0 9128 .global MaxStickRoll 9129 .global MaxStickRoll 9132 MaxStickRoll: 9133 009c 0000 .skip 2,0 9134 .global modell_fliegt 9135 .global modell_fliegt 9138 modell_fliegt: 9139 009e 0000 .skip 2,0 9140 .global FCFlags 9141 .global FCFlags 9144 FCFlags: 9145 00a0 00 .skip 1,0 9146 .global GIER_GRAD_FAKTOR 9147 .data 9150 GIER_GRAD_FAKTOR: 9151 0022 0B .byte 11 9152 0023 05 .byte 5 9153 0024 00 .byte 0 9154 0025 00 .byte 0 9155 .global VarioCharacter 9158 VarioCharacter: 9159 0026 20 .byte 32 9160 .lcomm HeightTrimmingFlag.3091,1 9161 .lcomm BaroAtLowerLimit.3089,1 9162 .lcomm BaroAtUpperLimit.3088,1 9165 delay.3087: 9166 0027 64 .byte 100 9167 .lcomm HoverGasFilter.3086,4 9170 HoverGasMax.3085: 9171 0028 FF03 .word 1023 9172 .lcomm HoverGasMin.3084,2 9175 StickGasHover.3083: 9176 002a 7800 .word 120 9177 .lcomm FilterHCGas.3082,2 9178 .lcomm HeightTrimming.3081,2 9179 .lcomm MittelIntegralRoll_Alt.3072,4 9180 .lcomm MittelIntegralNick_Alt.3071,4 9181 .lcomm last_r_n.3070,1 9182 .lcomm last_r_p.3069,1 9183 .lcomm last_n_n.3068,1 9184 .lcomm last_n_p.3067,1 9185 .lcomm cnt.3066,2 9186 .lcomm stick_roll.3060,2 9187 .lcomm stick_nick.3059,2 9188 .lcomm ausgleichRoll.3054,4 9189 .lcomm ausgleichNick.3053,4 9190 .lcomm NeueKompassRichtungMerken.3052,1 9191 .lcomm calibration_done.3051,1 9192 .lcomm delay_ausschalten.3050,1 9193 .lcomm delay_einschalten.3049,1 9194 .lcomm delay_neutral.3048,1 9195 .lcomm RcLostTimer.3047,2 9196 .lcomm IntegralFehlerRoll.3046,4 9197 .lcomm IntegralFehlerNick.3045,4 9198 .lcomm tmp_long2.3044,4 9199 .lcomm tmp_long.3043,4 9200 .lcomm sollGier.3042,4 9203 C.354.3251: 9204 002c 00 .byte 0 9205 002d 02 .byte 2 9206 002e 04 .byte 4 9207 002f 06 .byte 6 9208 0030 07 .byte 7 9209 0031 08 .byte 8 9210 0032 08 .byte 8 9211 0033 08 .byte 8 9212 0034 07 .byte 7 9213 0035 06 .byte 6 9214 0036 04 .byte 4 9215 0037 02 .byte 2 9216 0038 00 .byte 0 9217 0039 FE .byte -2 9218 003a FC .byte -4 9219 003b FA .byte -6 9220 003c F9 .byte -7 9221 003d F8 .byte -8 9222 003e F8 .byte -8 9223 003f F8 .byte -8 9224 0040 F9 .byte -7 9225 0041 FA .byte -6 9226 0042 FC .byte -4 9227 0043 FE .byte -2 9228 0044 00 .byte 0 9229 0045 02 .byte 2 9230 0046 04 .byte 4 9231 0047 06 .byte 6 9232 0048 07 .byte 7 9233 0049 08 .byte 8 9234 004a 08 .byte 8 9235 .lcomm d2Nick.2607,2 9236 .lcomm d2Roll.2606,2 9237 .lcomm oldRoll.2605,2 9238 .lcomm oldNick.2604,2 9239 .lcomm tmpl4.2603,4 9240 .lcomm tmpl3.2602,4 9241 .lcomm tmpl2.2601,4 9242 .lcomm tmpl.2600,4 9243 .section .progmem.data,"a",@progbits 9246 __c.2485: 9247 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 9247 4320 6E6F 9247 7420 6361 9247 6C69 6272 9247 6174 6564 9248 .comm TrimNick,2,1 9249 .comm TrimRoll,2,1 9250 .comm ErsatzKompass,4,1 9251 .comm ErsatzKompassInGrad,2,1 9252 .comm MesswertNick,2,1 9253 .comm MesswertRoll,2,1 9254 .comm MesswertGier,2,1 9255 .comm Mittelwert_AccNick,2,1 9256 .comm Mittelwert_AccRoll,2,1 9257 .comm NaviAccNick,2,1 9258 .comm NaviAccRoll,2,1 9259 .comm h,1,1 9260 .comm m,1,1 9261 .comm s,1,1 9262 .comm DiffNick,2,1 9263 .comm DiffRoll,2,1 9264 .comm Parameter_Servo3,1,1 9265 .comm Parameter_Servo4,1,1 9266 .comm Parameter_Servo5,1,1 9267 .comm Parameter_J16Bitmask,1,1 9268 .comm Parameter_J16Timing,1,1 9269 .comm Parameter_J17Bitmask,1,1 9270 .comm Parameter_J17Timing,1,1 9271 .comm MesswertGierBias,2,1 9272 .comm RohMesswertNick,2,1 9273 .comm RohMesswertRoll,2,1 9274 .comm MittelIntegralNick,4,1 9275 .comm MittelIntegralRoll,4,1 9276 .comm MittelIntegralNick2,4,1 9277 .comm MittelIntegralRoll2,4,1 9278 .comm MAX_GAS,1,1 9279 .comm MIN_GAS,1,1 9280 .comm GyroFaktor,1,1 9281 .comm GyroFaktorGier,1,1 9282 .comm IntegralFaktor,1,1 9283 .comm IntegralFaktorGier,1,1 9284 .comm Parameter_NaviGpsModeControl,1,1 9285 .comm Parameter_NaviGpsGain,1,1 9286 .comm Parameter_NaviGpsP,1,1 9287 .comm Parameter_NaviGpsI,1,1 9288 .comm Parameter_NaviGpsD,1,1 9289 .comm Parameter_NaviGpsACC,1,1 9290 .comm Parameter_NaviOperatingRadius,1,1 9291 .comm Parameter_NaviWindCorrection,1,1 9292 .comm Parameter_NaviSpeedCompensation,1,1 9293 .comm Parameter_ExternalControl,1,1 9294 .comm KopplungsteilNickRoll,2,1 9295 .comm KopplungsteilRollNick,2,1 9296 .comm tmp_motorwert,24,1 9297 .global __do_copy_data 9298 .global __do_clear_bss DEFINED SYMBOLS *ABS*:00000000 fc.c C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2 *ABS*:0000003f __SREG__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:3 *ABS*:0000003e __SP_H__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:4 *ABS*:0000003d __SP_L__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:5 *ABS*:00000034 __CCP__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:6 *ABS*:00000000 __tmp_reg__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:7 *ABS*:00000001 __zero_reg__ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:11 .text:00000000 CopyDebugValues C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8659 .bss:00000015 IntegralNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8671 .bss:0000001d IntegralRoll *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8611 .bss:00000006 AdNeutralGier C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8870 .bss:00000077 HoehenWert C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8761 .bss:00000059 KompassValue C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8828 .bss:0000006c SenderOkay *COM*:00000004 ErsatzKompass C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9150 .data:00000022 GIER_GRAD_FAKTOR C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:167 .text:000001ea Mittelwert *COM*:00000002 MesswertGier *COM*:00000002 RohMesswertNick *COM*:00000002 RohMesswertRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8683 .bss:00000025 IntegralAccNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8689 .bss:00000029 IntegralAccRoll *COM*:00000002 NaviAccNick *COM*:00000002 NaviAccRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8641 .bss:00000010 NaviCntAcc C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8647 .bss:00000012 NeutralAccZ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8695 .bss:0000002d IntegralAccZ C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8719 .bss:0000003d Mess_IntegralRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8707 .bss:00000035 Mess_IntegralNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8731 .bss:00000045 Mess_Integral_Gier C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8907 .bss:00000085 Looping_Nick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8913 .bss:00000086 Looping_Roll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9078 .data:0000001d Parameter_AchsKopplung2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9239 .bss:000000ef tmpl3.2602 *COM*:00000002 KopplungsteilNickRoll *COM*:00000002 KopplungsteilRollNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9238 .bss:000000eb tmpl4.2603 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9083 .data:0000001e Parameter_CouplingYawCorrection C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9073 .data:0000001c Parameter_AchsKopplung1 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9241 .bss:000000f7 tmpl.2600 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9240 .bss:000000f3 tmpl2.2601 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8792 .bss:00000060 TrichterFlug *COM*:00000002 TrimRoll *COM*:00000002 TrimNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8725 .bss:00000041 Mess_IntegralRoll2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8882 .bss:0000007f LageKorrekturRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8806 .data:00000006 Umschlag180Roll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8713 .bss:00000039 Mess_IntegralNick2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8888 .bss:00000081 LageKorrekturNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8798 .data:00000002 Umschlag180Nick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8701 .bss:00000031 Integral_Gier C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8665 .bss:00000019 IntegralNick2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8677 .bss:00000021 IntegralRoll2 *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8973 .data:00000012 Parameter_Gyro_D C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9237 .bss:000000e9 oldNick.2604 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9200 .bss:000000e3 d2Nick.2607 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9236 .bss:000000e7 oldRoll.2605 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9235 .bss:000000e5 d2Roll.2606 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8822 .bss:00000063 Poti C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:1586 .text:00001016 SendMotorData C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8858 .bss:00000075 MotorenEin C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9144 .bss:000000a0 FCFlags C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:1637 .text:00001082 ParameterZuordnung C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8943 .data:0000000c Parameter_Luftdruck_D C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8953 .data:0000000e Parameter_Hoehe_P C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8978 .data:00000013 Parameter_Gyro_P *COM*:00000001 Parameter_J16Timing *COM*:00000001 Parameter_J17Timing *COM*:00000001 Parameter_Servo3 *COM*:00000001 Parameter_Servo4 *COM*:00000001 Parameter_Servo5 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8948 .data:0000000d Parameter_MaxHoehe C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8958 .data:0000000f Parameter_Hoehe_ACC_Wirkung C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8968 .data:00000011 Parameter_Hoehe_GPS_Z C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8963 .data:00000010 Parameter_KompassWirkung C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8983 .data:00000014 Parameter_Gyro_I C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8988 .data:00000015 Parameter_Gyro_Gier_P C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8993 .data:00000016 Parameter_Gyro_Gier_I C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9003 .data:00000018 Parameter_I_Faktor C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9010 .bss:0000008b Parameter_UserParam1 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9016 .bss:0000008c Parameter_UserParam2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9022 .bss:0000008d Parameter_UserParam3 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9028 .bss:0000008e Parameter_UserParam4 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9034 .bss:0000008f Parameter_UserParam5 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9040 .bss:00000090 Parameter_UserParam6 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9046 .bss:00000091 Parameter_UserParam7 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9052 .bss:00000092 Parameter_UserParam8 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9058 .data:00000019 Parameter_ServoNickControl C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9063 .data:0000001a Parameter_ServoRollControl C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9068 .data:0000001b Parameter_LoopGasLimit C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9088 .data:0000001f Parameter_DynamicStability *COM*:00000001 Parameter_ExternalControl C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8900 .data:0000000a Ki *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9095 .bss:00000093 CareFree C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2212 .text:00001524 CalibrierMittelwert C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2339 .text:0000164a SetNeutral C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8629 .bss:0000000c NeutralAccX C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8635 .bss:0000000e NeutralAccY C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8599 .bss:00000002 AdNeutralNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8605 .bss:00000004 AdNeutralRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8617 .bss:00000008 StartNeutralRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8623 .bss:0000000a StartNeutralNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9246 .progmem.data:00000000 __c.2485 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8755 .bss:00000055 Mess_Integral_Hoch C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8767 .bss:0000005b KompassStartwert C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9119 .data:00000020 ExternHoehenValue C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8816 .bss:00000061 GierGyroFehler C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2827 .text:00001b8c Piep C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:2869 .text:00001bd6 MotorRegler C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8852 .bss:00000073 StickGas C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9194 .bss:000000cd RcLostTimer.3047 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9138 .bss:0000009e modell_fliegt C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8743 .bss:0000004d SummeNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8749 .bss:00000051 SummeRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9199 .bss:000000df sollGier.3042 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9189 .bss:000000c8 NeueKompassRichtungMerken.3052 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9193 .bss:000000cc delay_neutral.3048 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9190 .bss:000000c9 calibration_done.3051 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9192 .bss:000000cb delay_einschalten.3049 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8737 .bss:00000049 Mess_Integral_Gier2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8653 .bss:00000014 ControlHeading C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9191 .bss:000000ca delay_ausschalten.3050 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9186 .bss:000000be stick_nick.3059 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9185 .bss:000000bc stick_roll.3060 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9203 .data:0000002c C.354.3251 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8834 .bss:0000006d StickNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8840 .bss:0000006f StickRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8846 .bss:00000071 StickGier *COM*:00000001 GyroFaktor *COM*:00000001 IntegralFaktor *COM*:00000001 GyroFaktorGier *COM*:00000001 IntegralFaktorGier C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9126 .bss:0000009a MaxStickNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9132 .bss:0000009c MaxStickRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8919 .bss:00000087 Looping_Links C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8925 .bss:00000088 Looping_Rechts C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8937 .bss:0000008a Looping_Oben C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8931 .bss:00000089 Looping_Unten *COM*:00000004 MittelIntegralNick *COM*:00000004 MittelIntegralRoll *COM*:00000004 MittelIntegralNick2 *COM*:00000004 MittelIntegralRoll2 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9196 .bss:000000d3 IntegralFehlerNick.3045 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9188 .bss:000000c4 ausgleichNick.3053 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9195 .bss:000000cf IntegralFehlerRoll.3046 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9187 .bss:000000c0 ausgleichRoll.3054 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9198 .bss:000000db tmp_long.3043 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9197 .bss:000000d7 tmp_long2.3044 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9184 .bss:000000ba cnt.3066 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9179 .bss:000000b2 MittelIntegralNick_Alt.3071 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9183 .bss:000000b9 last_n_p.3067 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9182 .bss:000000b8 last_n_n.3068 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8779 .data:00000000 KompassSignalSchlecht C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9178 .bss:000000ae MittelIntegralRoll_Alt.3072 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9181 .bss:000000b7 last_r_p.3069 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9180 .bss:000000b6 last_r_n.3070 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8894 .bss:00000083 HoverGas C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8593 .bss:00000000 BaroExpandActive C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9160 .bss:000000a2 BaroAtLowerLimit.3089 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9161 .bss:000000a3 BaroAtUpperLimit.3088 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9165 .data:00000027 delay.3087 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8786 .bss:0000005f HoehenReglerAktiv C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8876 .bss:0000007b SollHoehe C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9158 .data:00000026 VarioCharacter C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9177 .bss:000000ac HeightTrimming.3081 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9175 .data:0000002a StickGasHover.3083 .bss:000000a1 HeightTrimmingFlag.3091 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8864 .bss:00000076 StartTrigger C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9167 .bss:000000a8 HoverGasMin.3084 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9170 .data:00000028 HoverGasMax.3085 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9172 .bss:000000aa FilterHCGas.3082 C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9162 .bss:000000a4 HoverGasFilter.3086 *COM*:00000002 DiffNick *COM*:00000002 DiffRoll *COM*:00000018 tmp_motorwert C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8773 .bss:0000005d KompassRichtung C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:8998 .data:00000017 Parameter_Gier_P C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9101 .bss:00000094 ExternStickNick C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9107 .bss:00000096 ExternStickRoll C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccQw6Gjs.s:9113 .bss:00000098 ExternStickGier *COM*:00000002 ErsatzKompassInGrad *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Parameter_J16Bitmask *COM*:00000001 Parameter_J17Bitmask *COM*:00000002 MesswertGierBias *COM*:00000001 Parameter_NaviGpsModeControl *COM*:00000001 Parameter_NaviGpsGain *COM*:00000001 Parameter_NaviGpsP *COM*:00000001 Parameter_NaviGpsI *COM*:00000001 Parameter_NaviGpsD *COM*:00000001 Parameter_NaviGpsACC *COM*:00000001 Parameter_NaviOperatingRadius *COM*:00000001 Parameter_NaviWindCorrection *COM*:00000001 Parameter_NaviSpeedCompensation UNDEFINED SYMBOLS EE_Parameter __divmodsi4 DebugOut __divmodhi4 AdWertGier AdWertAccHoch UBat Motor ServoNickValue Capacity GPS_Nick GPS_Roll VersionInfo __prologue_saves__ AdWertNickFilter AdWertRollFilter AdWertAccNick AdWertAccRoll Aktuell_az AdReady __mulsi3 HiResNick HiResRoll AdWertNick PlatinenVersion AdWertRoll PPM_in __epilogue_restores__ MotorTest PC_MotortestActive motor_write twi_state BLFlags FromNaviCtrl BeepMuster beeptime SucheGyroOffset ExpandBaro Delay_ms_Mess MessLuftdruck SucheLuftruckOffset SetParamWord GetParamWord uart_putchar _printf_P Luftdruck StartLuftdruck VarioMeter GPS_Neutral SendVersionToNavi LED_Init FromNaviCtrl_Value ServoActive Delay_ms PPM_diff SetActiveParamSet WinkelOut GetActiveParamSet ParamSet_ReadFromEEProm LipoDetection LIBFC_ReceiverInit NewPpmData FromNC_Rotate_S FromNC_Rotate_C GPS_Nick2 GPS_Roll2 __floatsisf __addsf3 __fixunssfsi ExternControl ZaehlMessungen BattLowVoltageWarning __udivmodhi4 DruckOffsetSetting SummenHoehe ihypot c_cos_8192 MissingMotor Mixer __do_copy_data __do_clear_bss