1 .file "fc.c" 2 __SREG__ = 0x3f 3 __SP_H__ = 0x3e 4 __SP_L__ = 0x3d 5 __tmp_reg__ = 0 6 __zero_reg__ = 1 7 .global __do_copy_data 8 .global __do_clear_bss 9 .text 10 .global DefaultStickMapping 12 DefaultStickMapping: 13 /* prologue: frame size=0 */ 14 /* prologue end (size=0) */ 15 0000 81E0 ldi r24,lo8(1) 16 0002 8093 0000 sts EE_Parameter,r24 17 0006 82E0 ldi r24,lo8(2) 18 0008 8093 0000 sts EE_Parameter+1,r24 19 000c 83E0 ldi r24,lo8(3) 20 000e 8093 0000 sts EE_Parameter+2,r24 21 0012 84E0 ldi r24,lo8(4) 22 0014 8093 0000 sts EE_Parameter+3,r24 23 0018 85E0 ldi r24,lo8(5) 24 001a 8093 0000 sts EE_Parameter+4,r24 25 001e 86E0 ldi r24,lo8(6) 26 0020 8093 0000 sts EE_Parameter+5,r24 27 0024 87E0 ldi r24,lo8(7) 28 0026 8093 0000 sts EE_Parameter+6,r24 29 002a 88E0 ldi r24,lo8(8) 30 002c 8093 0000 sts EE_Parameter+7,r24 31 /* epilogue: frame size=0 */ 32 0030 0895 ret 33 /* epilogue end (size=1) */ 34 /* function DefaultStickMapping size 25 (24) */ 36 .global MotorSmoothing 38 MotorSmoothing: 39 /* prologue: frame size=0 */ 40 /* prologue end (size=0) */ 41 0032 6817 cp r22,r24 42 0034 7907 cpc r23,r25 43 0036 04F4 brge .L4 44 0038 680F add r22,r24 45 003a 791F adc r23,r25 46 003c 77FD sbrc r23,7 47 003e 00C0 rjmp .L10 48 0040 CB01 movw r24,r22 49 0042 9595 asr r25 50 0044 8795 ror r24 51 0046 0895 ret 52 .L4: 53 0048 681B sub r22,r24 54 004a 790B sbc r23,r25 55 004c 861B sub r24,r22 56 004e 970B sbc r25,r23 57 0050 0895 ret 58 .L10: 59 0052 6F5F subi r22,lo8(-(1)) 60 0054 7F4F sbci r23,hi8(-(1)) 61 0056 CB01 movw r24,r22 62 0058 9595 asr r25 63 005a 8795 ror r24 64 005c 0895 ret 65 /* epilogue: frame size=0 */ 66 /* epilogue: noreturn */ 67 /* epilogue end (size=0) */ 68 /* function MotorSmoothing size 22 (22) */ 70 .global Mittelwert 72 Mittelwert: 73 /* prologue: frame size=27 */ 74 005e 2F92 push r2 75 0060 3F92 push r3 76 0062 4F92 push r4 77 0064 5F92 push r5 78 0066 6F92 push r6 79 0068 7F92 push r7 80 006a 8F92 push r8 81 006c 9F92 push r9 82 006e AF92 push r10 83 0070 BF92 push r11 84 0072 CF92 push r12 85 0074 DF92 push r13 86 0076 EF92 push r14 87 0078 FF92 push r15 88 007a 0F93 push r16 89 007c 1F93 push r17 90 007e CF93 push r28 91 0080 DF93 push r29 92 0082 CDB7 in r28,__SP_L__ 93 0084 DEB7 in r29,__SP_H__ 94 0086 6B97 sbiw r28,27 95 0088 0FB6 in __tmp_reg__,__SREG__ 96 008a F894 cli 97 008c DEBF out __SP_H__,r29 98 008e 0FBE out __SREG__,__tmp_reg__ 99 0090 CDBF out __SP_L__,r28 100 /* prologue end (size=26) */ 101 0092 8091 0000 lds r24,AdWertGier 102 0096 9091 0000 lds r25,(AdWertGier)+1 103 009a 4090 0000 lds r4,AdNeutralGier 104 009e 5090 0000 lds r5,(AdNeutralGier)+1 105 00a2 481A sub r4,r24 106 00a4 590A sbc r5,r25 107 00a6 5092 0000 sts (MesswertGier)+1,r5 108 00aa 4092 0000 sts MesswertGier,r4 109 00ae 2091 0000 lds r18,AdWertNickFilter 110 00b2 3091 0000 lds r19,(AdWertNickFilter)+1 111 00b6 37FF sbrs r19,7 112 00b8 00C0 rjmp .+4 113 00ba 0C94 0000 jmp .L146 114 .L12: 115 00be 3595 asr r19 116 00c0 2795 ror r18 117 00c2 3595 asr r19 118 00c4 2795 ror r18 119 00c6 3595 asr r19 120 00c8 2795 ror r18 121 00ca 3B8F std Y+27,r19 122 00cc 2A8F std Y+26,r18 123 00ce 2091 0000 lds r18,AdWertRollFilter 124 00d2 3091 0000 lds r19,(AdWertRollFilter)+1 125 00d6 37FD sbrc r19,7 126 00d8 00C0 rjmp .L147 127 .L13: 128 00da 3595 asr r19 129 00dc 2795 ror r18 130 00de 3595 asr r19 131 00e0 2795 ror r18 132 00e2 3595 asr r19 133 00e4 2795 ror r18 134 00e6 3C8B std Y+20,r19 135 00e8 2B8B std Y+19,r18 136 00ea 2A8D ldd r18,Y+26 137 00ec 3B8D ldd r19,Y+27 138 00ee 3093 0000 sts (RohMesswertNick)+1,r19 139 00f2 2093 0000 sts RohMesswertNick,r18 140 00f6 8B89 ldd r24,Y+19 141 00f8 9C89 ldd r25,Y+20 142 00fa 9093 0000 sts (RohMesswertRoll)+1,r25 143 00fe 8093 0000 sts RohMesswertRoll,r24 144 0102 6091 0000 lds r22,AdWertAccNick 145 0106 7091 0000 lds r23,(AdWertAccNick)+1 146 010a 8827 clr r24 147 010c 77FD sbrc r23,7 148 010e 8095 com r24 149 0110 982F mov r25,r24 150 0112 26E0 ldi r18,lo8(6) 151 0114 30E0 ldi r19,hi8(6) 152 0116 40E0 ldi r20,hlo8(6) 153 0118 50E0 ldi r21,hhi8(6) 154 011a 0E94 0000 call __mulsi3 155 011e 7B01 movw r14,r22 156 0120 8C01 movw r16,r24 157 0122 2091 0000 lds r18,Mittelwert_AccNick 158 0126 3091 0000 lds r19,(Mittelwert_AccNick)+1 159 012a 4427 clr r20 160 012c 37FD sbrc r19,7 161 012e 4095 com r20 162 0130 542F mov r21,r20 163 0132 CA01 movw r24,r20 164 0134 B901 movw r22,r18 165 0136 660F lsl r22 166 0138 771F rol r23 167 013a 881F rol r24 168 013c 991F rol r25 169 013e 620F add r22,r18 170 0140 731F adc r23,r19 171 0142 841F adc r24,r20 172 0144 951F adc r25,r21 173 0146 6E0D add r22,r14 174 0148 7F1D adc r23,r15 175 014a 801F adc r24,r16 176 014c 911F adc r25,r17 177 014e 24E0 ldi r18,lo8(4) 178 0150 30E0 ldi r19,hi8(4) 179 0152 40E0 ldi r20,hlo8(4) 180 0154 50E0 ldi r21,hhi8(4) 181 0156 0E94 0000 call __divmodsi4 182 015a 3093 0000 sts (Mittelwert_AccNick)+1,r19 183 015e 2093 0000 sts Mittelwert_AccNick,r18 184 0162 6091 0000 lds r22,AdWertAccRoll 185 0166 7091 0000 lds r23,(AdWertAccRoll)+1 186 016a 8827 clr r24 187 016c 77FD sbrc r23,7 188 016e 8095 com r24 189 0170 982F mov r25,r24 190 0172 26E0 ldi r18,lo8(6) 191 0174 30E0 ldi r19,hi8(6) 192 0176 40E0 ldi r20,hlo8(6) 193 0178 50E0 ldi r21,hhi8(6) 194 017a 0E94 0000 call __mulsi3 195 017e 7B01 movw r14,r22 196 0180 8C01 movw r16,r24 197 0182 2091 0000 lds r18,Mittelwert_AccRoll 198 0186 3091 0000 lds r19,(Mittelwert_AccRoll)+1 199 018a 4427 clr r20 200 018c 37FD sbrc r19,7 201 018e 4095 com r20 202 0190 542F mov r21,r20 203 0192 CA01 movw r24,r20 204 0194 B901 movw r22,r18 205 0196 660F lsl r22 206 0198 771F rol r23 207 019a 881F rol r24 208 019c 991F rol r25 209 019e 620F add r22,r18 210 01a0 731F adc r23,r19 211 01a2 841F adc r24,r20 212 01a4 951F adc r25,r21 213 01a6 6E0D add r22,r14 214 01a8 7F1D adc r23,r15 215 01aa 801F adc r24,r16 216 01ac 911F adc r25,r17 217 01ae 24E0 ldi r18,lo8(4) 218 01b0 30E0 ldi r19,hi8(4) 219 01b2 40E0 ldi r20,hlo8(4) 220 01b4 50E0 ldi r21,hhi8(4) 221 01b6 0E94 0000 call __divmodsi4 222 01ba 3093 0000 sts (Mittelwert_AccRoll)+1,r19 223 01be 2093 0000 sts Mittelwert_AccRoll,r18 224 01c2 E090 0000 lds r14,AdWertAccHoch 225 01c6 F090 0000 lds r15,(AdWertAccHoch)+1 226 01ca 2091 0000 lds r18,Mittelwert_AccHoch 227 01ce 3091 0000 lds r19,(Mittelwert_AccHoch)+1 228 01d2 4427 clr r20 229 01d4 37FD sbrc r19,7 230 01d6 4095 com r20 231 01d8 542F mov r21,r20 232 01da CA01 movw r24,r20 233 01dc B901 movw r22,r18 234 01de 660F lsl r22 235 01e0 771F rol r23 236 01e2 881F rol r24 237 01e4 991F rol r25 238 01e6 620F add r22,r18 239 01e8 731F adc r23,r19 240 01ea 841F adc r24,r20 241 01ec 951F adc r25,r21 242 01ee 0027 clr r16 243 01f0 F7FC sbrc r15,7 244 01f2 0095 com r16 245 01f4 102F mov r17,r16 246 01f6 6E0D add r22,r14 247 01f8 7F1D adc r23,r15 248 01fa 801F adc r24,r16 249 01fc 911F adc r25,r17 250 01fe 24E0 ldi r18,lo8(4) 251 0200 30E0 ldi r19,hi8(4) 252 0202 40E0 ldi r20,hlo8(4) 253 0204 50E0 ldi r21,hhi8(4) 254 0206 0E94 0000 call __divmodsi4 255 020a 3093 0000 sts (Mittelwert_AccHoch)+1,r19 256 020e 2093 0000 sts Mittelwert_AccHoch,r18 257 0212 2091 0000 lds r18,AdWertAccNick 258 0216 3091 0000 lds r19,(AdWertAccNick)+1 259 021a C901 movw r24,r18 260 021c 880F lsl r24 261 021e 991F rol r25 262 0220 820F add r24,r18 263 0222 931F adc r25,r19 264 0224 880F lsl r24 265 0226 991F rol r25 266 0228 AA27 clr r26 267 022a 97FD sbrc r25,7 268 022c A095 com r26 269 022e BA2F mov r27,r26 270 0230 2091 0000 lds r18,IntegralAccNick 271 0234 3091 0000 lds r19,(IntegralAccNick)+1 272 0238 4091 0000 lds r20,(IntegralAccNick)+2 273 023c 5091 0000 lds r21,(IntegralAccNick)+3 274 0240 280F add r18,r24 275 0242 391F adc r19,r25 276 0244 4A1F adc r20,r26 277 0246 5B1F adc r21,r27 278 0248 2093 0000 sts IntegralAccNick,r18 279 024c 3093 0000 sts (IntegralAccNick)+1,r19 280 0250 4093 0000 sts (IntegralAccNick)+2,r20 281 0254 5093 0000 sts (IntegralAccNick)+3,r21 282 0258 2091 0000 lds r18,AdWertAccRoll 283 025c 3091 0000 lds r19,(AdWertAccRoll)+1 284 0260 C901 movw r24,r18 285 0262 880F lsl r24 286 0264 991F rol r25 287 0266 820F add r24,r18 288 0268 931F adc r25,r19 289 026a 880F lsl r24 290 026c 991F rol r25 291 026e AA27 clr r26 292 0270 97FD sbrc r25,7 293 0272 A095 com r26 294 0274 BA2F mov r27,r26 295 0276 2091 0000 lds r18,IntegralAccRoll 296 027a 3091 0000 lds r19,(IntegralAccRoll)+1 297 027e 4091 0000 lds r20,(IntegralAccRoll)+2 298 0282 5091 0000 lds r21,(IntegralAccRoll)+3 299 0286 280F add r18,r24 300 0288 391F adc r19,r25 301 028a 4A1F adc r20,r26 302 028c 5B1F adc r21,r27 303 028e 2093 0000 sts IntegralAccRoll,r18 304 0292 3093 0000 sts (IntegralAccRoll)+1,r19 305 0296 4093 0000 sts (IntegralAccRoll)+2,r20 306 029a 5093 0000 sts (IntegralAccRoll)+3,r21 307 029e 2091 0000 lds r18,AdWertAccNick 308 02a2 3091 0000 lds r19,(AdWertAccNick)+1 309 02a6 8091 0000 lds r24,NaviAccNick 310 02aa 9091 0000 lds r25,(NaviAccNick)+1 311 02ae 820F add r24,r18 312 02b0 931F adc r25,r19 313 02b2 9093 0000 sts (NaviAccNick)+1,r25 314 02b6 8093 0000 sts NaviAccNick,r24 315 02ba 2091 0000 lds r18,AdWertAccRoll 316 02be 3091 0000 lds r19,(AdWertAccRoll)+1 317 02c2 8091 0000 lds r24,NaviAccRoll 318 02c6 9091 0000 lds r25,(NaviAccRoll)+1 319 02ca 820F add r24,r18 320 02cc 931F adc r25,r19 321 02ce 9093 0000 sts (NaviAccRoll)+1,r25 322 02d2 8093 0000 sts NaviAccRoll,r24 323 02d6 8091 0000 lds r24,NaviCntAcc 324 02da 9091 0000 lds r25,(NaviCntAcc)+1 325 02de 0196 adiw r24,1 326 02e0 9093 0000 sts (NaviCntAcc)+1,r25 327 02e4 8093 0000 sts NaviCntAcc,r24 328 02e8 E090 0000 lds r14,Aktuell_az 329 02ec F090 0000 lds r15,(Aktuell_az)+1 330 02f0 A090 0000 lds r10,NeutralAccZ 331 02f4 B090 0000 lds r11,(NeutralAccZ)+1 332 02f8 C090 0000 lds r12,(NeutralAccZ)+2 333 02fc D090 0000 lds r13,(NeutralAccZ)+3 334 0300 6091 0000 lds r22,IntegralAccZ 335 0304 7091 0000 lds r23,(IntegralAccZ)+1 336 0308 8091 0000 lds r24,(IntegralAccZ)+2 337 030c 9091 0000 lds r25,(IntegralAccZ)+3 338 0310 0E94 0000 call __floatsisf 339 0314 3B01 movw r6,r22 340 0316 4C01 movw r8,r24 341 0318 0027 clr r16 342 031a F7FC sbrc r15,7 343 031c 0095 com r16 344 031e 102F mov r17,r16 345 0320 C801 movw r24,r16 346 0322 B701 movw r22,r14 347 0324 0E94 0000 call __floatsisf 348 0328 A601 movw r20,r12 349 032a 9501 movw r18,r10 350 032c 0E94 0000 call __subsf3 351 0330 9B01 movw r18,r22 352 0332 AC01 movw r20,r24 353 0334 C401 movw r24,r8 354 0336 B301 movw r22,r6 355 0338 0E94 0000 call __addsf3 356 033c 0E94 0000 call __fixsfsi 357 0340 6093 0000 sts IntegralAccZ,r22 358 0344 7093 0000 sts (IntegralAccZ)+1,r23 359 0348 8093 0000 sts (IntegralAccZ)+2,r24 360 034c 9093 0000 sts (IntegralAccZ)+3,r25 361 0350 8FEC ldi r24,lo8(-49) 362 0352 8093 7A00 sts 122,r24 363 0356 1092 0000 sts AdReady,__zero_reg__ 364 035a 8091 0000 lds r24,Mess_IntegralRoll 365 035e 9091 0000 lds r25,(Mess_IntegralRoll)+1 366 0362 A091 0000 lds r26,(Mess_IntegralRoll)+2 367 0366 B091 0000 lds r27,(Mess_IntegralRoll)+3 368 036a 8F87 std Y+15,r24 369 036c 988B std Y+16,r25 370 036e A98B std Y+17,r26 371 0370 BA8B std Y+18,r27 372 0372 8091 0000 lds r24,Mess_IntegralNick 373 0376 9091 0000 lds r25,(Mess_IntegralNick)+1 374 037a A091 0000 lds r26,(Mess_IntegralNick)+2 375 037e B091 0000 lds r27,(Mess_IntegralNick)+3 376 0382 8B87 std Y+11,r24 377 0384 9C87 std Y+12,r25 378 0386 AD87 std Y+13,r26 379 0388 BE87 std Y+14,r27 380 038a 3201 movw r6,r4 381 038c 8824 clr r8 382 038e 77FC sbrc r7,7 383 0390 8094 com r8 384 0392 982C mov r9,r8 385 0394 8091 0000 lds r24,Mess_Integral_Gier 386 0398 9091 0000 lds r25,(Mess_Integral_Gier)+1 387 039c A091 0000 lds r26,(Mess_Integral_Gier)+2 388 03a0 B091 0000 lds r27,(Mess_Integral_Gier)+3 389 03a4 860D add r24,r6 390 03a6 971D adc r25,r7 391 03a8 A81D adc r26,r8 392 03aa B91D adc r27,r9 393 03ac 8E8B std Y+22,r24 394 03ae 9F8B std Y+23,r25 395 03b0 A88F std Y+24,r26 396 03b2 B98F std Y+25,r27 397 03b4 8093 0000 sts Mess_Integral_Gier,r24 398 03b8 9093 0000 sts (Mess_Integral_Gier)+1,r25 399 03bc A093 0000 sts (Mess_Integral_Gier)+2,r26 400 03c0 B093 0000 sts (Mess_Integral_Gier)+3,r27 401 03c4 2090 0000 lds r2,ErsatzKompass 402 03c8 3090 0000 lds r3,(ErsatzKompass)+1 403 03cc 4090 0000 lds r4,(ErsatzKompass)+2 404 03d0 5090 0000 lds r5,(ErsatzKompass)+3 405 03d4 260C add r2,r6 406 03d6 371C adc r3,r7 407 03d8 481C adc r4,r8 408 03da 591C adc r5,r9 409 03dc 2092 0000 sts ErsatzKompass,r2 410 03e0 3092 0000 sts (ErsatzKompass)+1,r3 411 03e4 4092 0000 sts (ErsatzKompass)+2,r4 412 03e8 5092 0000 sts (ErsatzKompass)+3,r5 413 03ec 9091 0000 lds r25,Looping_Nick 414 03f0 9A87 std Y+10,r25 415 03f2 9923 tst r25 416 03f4 01F4 brne .L14 417 03f6 8091 0000 lds r24,Looping_Roll 418 03fa 8823 tst r24 419 03fc 01F4 brne .+2 420 03fe 00C0 rjmp .L148 421 .L14: 422 0400 A091 0000 lds r26,EE_Parameter+8 423 0404 A983 std Y+1,r26 424 .L18: 425 0406 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 426 040a 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 427 040e 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 428 0412 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 429 0416 1092 0000 sts tmpl2.2653,__zero_reg__ 430 041a 1092 0000 sts (tmpl2.2653)+1,__zero_reg__ 431 041e 1092 0000 sts (tmpl2.2653)+2,__zero_reg__ 432 0422 1092 0000 sts (tmpl2.2653)+3,__zero_reg__ 433 0426 1092 0000 sts tmpl.2652,__zero_reg__ 434 042a 1092 0000 sts (tmpl.2652)+1,__zero_reg__ 435 042e 1092 0000 sts (tmpl.2652)+2,__zero_reg__ 436 0432 1092 0000 sts (tmpl.2652)+3,__zero_reg__ 437 0436 B091 0000 lds r27,Parameter_CouplingYawCorrection 438 043a BD8B std Y+21,r27 439 .L29: 440 043c E090 0000 lds r14,tmpl.2652 441 0440 F090 0000 lds r15,(tmpl.2652)+1 442 0444 0091 0000 lds r16,(tmpl.2652)+2 443 0448 1091 0000 lds r17,(tmpl.2652)+3 444 044c A090 0000 lds r10,tmpl2.2653 445 0450 B090 0000 lds r11,(tmpl2.2653)+1 446 0454 C090 0000 lds r12,(tmpl2.2653)+2 447 0458 D090 0000 lds r13,(tmpl2.2653)+3 448 045c C601 movw r24,r12 449 045e B501 movw r22,r10 450 0460 24E6 ldi r18,lo8(100) 451 0462 30E0 ldi r19,hi8(100) 452 0464 40E0 ldi r20,hlo8(100) 453 0466 50E0 ldi r21,hhi8(100) 454 0468 0E94 0000 call __divmodsi4 455 046c 4701 movw r8,r14 456 046e 821A sub r8,r18 457 0470 930A sbc r9,r19 458 0472 9092 0000 sts (TrimRoll)+1,r9 459 0476 8092 0000 sts TrimRoll,r8 460 047a C801 movw r24,r16 461 047c B701 movw r22,r14 462 047e 24E6 ldi r18,lo8(100) 463 0480 30E0 ldi r19,hi8(100) 464 0482 40E0 ldi r20,hlo8(100) 465 0484 50E0 ldi r21,hhi8(100) 466 0486 0E94 0000 call __divmodsi4 467 048a 3901 movw r6,r18 468 048c 6A18 sub r6,r10 469 048e 7B08 sbc r7,r11 470 0490 7092 0000 sts (TrimNick)+1,r7 471 0494 6092 0000 sts TrimNick,r6 472 0498 6091 0000 lds r22,GIER_GRAD_FAKTOR 473 049c 7091 0000 lds r23,(GIER_GRAD_FAKTOR)+1 474 04a0 8091 0000 lds r24,(GIER_GRAD_FAKTOR)+2 475 04a4 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+3 476 04a8 28E6 ldi r18,lo8(360) 477 04aa 31E0 ldi r19,hi8(360) 478 04ac 40E0 ldi r20,hlo8(360) 479 04ae 50E0 ldi r21,hhi8(360) 480 04b0 0E94 0000 call __mulsi3 481 04b4 2616 cp r2,r22 482 04b6 3706 cpc r3,r23 483 04b8 4806 cpc r4,r24 484 04ba 5906 cpc r5,r25 485 04bc 04F0 brlt .L31 486 04be 261A sub r2,r22 487 04c0 370A sbc r3,r23 488 04c2 480A sbc r4,r24 489 04c4 590A sbc r5,r25 490 04c6 2092 0000 sts ErsatzKompass,r2 491 04ca 3092 0000 sts (ErsatzKompass)+1,r3 492 04ce 4092 0000 sts (ErsatzKompass)+2,r4 493 04d2 5092 0000 sts (ErsatzKompass)+3,r5 494 .L31: 495 04d6 57FC sbrc r5,7 496 04d8 00C0 rjmp .L149 497 .L33: 498 04da 6B89 ldd r22,Y+19 499 04dc 7C89 ldd r23,Y+20 500 04de 680D add r22,r8 501 04e0 791D adc r23,r9 502 04e2 9B01 movw r18,r22 503 04e4 4427 clr r20 504 04e6 37FD sbrc r19,7 505 04e8 4095 com r20 506 04ea 542F mov r21,r20 507 04ec 8091 0000 lds r24,Mess_IntegralRoll2 508 04f0 9091 0000 lds r25,(Mess_IntegralRoll2)+1 509 04f4 A091 0000 lds r26,(Mess_IntegralRoll2)+2 510 04f8 B091 0000 lds r27,(Mess_IntegralRoll2)+3 511 04fc 820F add r24,r18 512 04fe 931F adc r25,r19 513 0500 A41F adc r26,r20 514 0502 B51F adc r27,r21 515 0504 8093 0000 sts Mess_IntegralRoll2,r24 516 0508 9093 0000 sts (Mess_IntegralRoll2)+1,r25 517 050c A093 0000 sts (Mess_IntegralRoll2)+2,r26 518 0510 B093 0000 sts (Mess_IntegralRoll2)+3,r27 519 0514 8091 0000 lds r24,LageKorrekturRoll 520 0518 9091 0000 lds r25,(LageKorrekturRoll)+1 521 051c 681B sub r22,r24 522 051e 790B sbc r23,r25 523 0520 7B01 movw r14,r22 524 0522 0027 clr r16 525 0524 F7FC sbrc r15,7 526 0526 0095 com r16 527 0528 102F mov r17,r16 528 052a 8F85 ldd r24,Y+15 529 052c 9889 ldd r25,Y+16 530 052e A989 ldd r26,Y+17 531 0530 BA89 ldd r27,Y+18 532 0532 E80E add r14,r24 533 0534 F91E adc r15,r25 534 0536 0A1F adc r16,r26 535 0538 1B1F adc r17,r27 536 053a E092 0000 sts Mess_IntegralRoll,r14 537 053e F092 0000 sts (Mess_IntegralRoll)+1,r15 538 0542 0093 0000 sts (Mess_IntegralRoll)+2,r16 539 0546 1093 0000 sts (Mess_IntegralRoll)+3,r17 540 054a 2091 0000 lds r18,Umschlag180Roll 541 054e 3091 0000 lds r19,(Umschlag180Roll)+1 542 0552 4091 0000 lds r20,(Umschlag180Roll)+2 543 0556 5091 0000 lds r21,(Umschlag180Roll)+3 544 055a 2E15 cp r18,r14 545 055c 3F05 cpc r19,r15 546 055e 4007 cpc r20,r16 547 0560 5107 cpc r21,r17 548 0562 04F4 brge .L35 549 0564 78EA ldi r23,lo8(25000) 550 0566 E72E mov r14,r23 551 0568 71E6 ldi r23,hi8(25000) 552 056a F72E mov r15,r23 553 056c 012D mov r16,__zero_reg__ 554 056e 112D mov r17,__zero_reg__ 555 0570 E21A sub r14,r18 556 0572 F30A sbc r15,r19 557 0574 040B sbc r16,r20 558 0576 150B sbc r17,r21 559 0578 E092 0000 sts Mess_IntegralRoll,r14 560 057c F092 0000 sts (Mess_IntegralRoll)+1,r15 561 0580 0093 0000 sts (Mess_IntegralRoll)+2,r16 562 0584 1093 0000 sts (Mess_IntegralRoll)+3,r17 563 0588 E092 0000 sts Mess_IntegralRoll2,r14 564 058c F092 0000 sts (Mess_IntegralRoll2)+1,r15 565 0590 0093 0000 sts (Mess_IntegralRoll2)+2,r16 566 0594 1093 0000 sts (Mess_IntegralRoll2)+3,r17 567 .L35: 568 0598 8827 clr r24 569 059a 9927 clr r25 570 059c DC01 movw r26,r24 571 059e 821B sub r24,r18 572 05a0 930B sbc r25,r19 573 05a2 A40B sbc r26,r20 574 05a4 B50B sbc r27,r21 575 05a6 E090 0000 lds r14,Mess_IntegralRoll 576 05aa F090 0000 lds r15,(Mess_IntegralRoll)+1 577 05ae 0091 0000 lds r16,(Mess_IntegralRoll)+2 578 05b2 1091 0000 lds r17,(Mess_IntegralRoll)+3 579 05b6 E816 cp r14,r24 580 05b8 F906 cpc r15,r25 581 05ba 0A07 cpc r16,r26 582 05bc 1B07 cpc r17,r27 583 05be 04F4 brge .L37 584 05c0 68E5 ldi r22,lo8(-25000) 585 05c2 E62E mov r14,r22 586 05c4 6EE9 ldi r22,hi8(-25000) 587 05c6 F62E mov r15,r22 588 05c8 6FEF ldi r22,hlo8(-25000) 589 05ca 062F mov r16,r22 590 05cc 6FEF ldi r22,hhi8(-25000) 591 05ce 162F mov r17,r22 592 05d0 E20E add r14,r18 593 05d2 F31E adc r15,r19 594 05d4 041F adc r16,r20 595 05d6 151F adc r17,r21 596 05d8 E092 0000 sts Mess_IntegralRoll,r14 597 05dc F092 0000 sts (Mess_IntegralRoll)+1,r15 598 05e0 0093 0000 sts (Mess_IntegralRoll)+2,r16 599 05e4 1093 0000 sts (Mess_IntegralRoll)+3,r17 600 05e8 E092 0000 sts Mess_IntegralRoll2,r14 601 05ec F092 0000 sts (Mess_IntegralRoll2)+1,r15 602 05f0 0093 0000 sts (Mess_IntegralRoll2)+2,r16 603 05f4 1093 0000 sts (Mess_IntegralRoll2)+3,r17 604 .L37: 605 05f8 6A8D ldd r22,Y+26 606 05fa 7B8D ldd r23,Y+27 607 05fc 660D add r22,r6 608 05fe 771D adc r23,r7 609 0600 9B01 movw r18,r22 610 0602 4427 clr r20 611 0604 37FD sbrc r19,7 612 0606 4095 com r20 613 0608 542F mov r21,r20 614 060a 8091 0000 lds r24,Mess_IntegralNick2 615 060e 9091 0000 lds r25,(Mess_IntegralNick2)+1 616 0612 A091 0000 lds r26,(Mess_IntegralNick2)+2 617 0616 B091 0000 lds r27,(Mess_IntegralNick2)+3 618 061a 820F add r24,r18 619 061c 931F adc r25,r19 620 061e A41F adc r26,r20 621 0620 B51F adc r27,r21 622 0622 8093 0000 sts Mess_IntegralNick2,r24 623 0626 9093 0000 sts (Mess_IntegralNick2)+1,r25 624 062a A093 0000 sts (Mess_IntegralNick2)+2,r26 625 062e B093 0000 sts (Mess_IntegralNick2)+3,r27 626 0632 8091 0000 lds r24,LageKorrekturNick 627 0636 9091 0000 lds r25,(LageKorrekturNick)+1 628 063a 681B sub r22,r24 629 063c 790B sbc r23,r25 630 063e 9B01 movw r18,r22 631 0640 4427 clr r20 632 0642 37FD sbrc r19,7 633 0644 4095 com r20 634 0646 542F mov r21,r20 635 0648 8B85 ldd r24,Y+11 636 064a 9C85 ldd r25,Y+12 637 064c AD85 ldd r26,Y+13 638 064e BE85 ldd r27,Y+14 639 0650 280F add r18,r24 640 0652 391F adc r19,r25 641 0654 4A1F adc r20,r26 642 0656 5B1F adc r21,r27 643 0658 2093 0000 sts Mess_IntegralNick,r18 644 065c 3093 0000 sts (Mess_IntegralNick)+1,r19 645 0660 4093 0000 sts (Mess_IntegralNick)+2,r20 646 0664 5093 0000 sts (Mess_IntegralNick)+3,r21 647 0668 A090 0000 lds r10,Umschlag180Nick 648 066c B090 0000 lds r11,(Umschlag180Nick)+1 649 0670 C090 0000 lds r12,(Umschlag180Nick)+2 650 0674 D090 0000 lds r13,(Umschlag180Nick)+3 651 0678 A216 cp r10,r18 652 067a B306 cpc r11,r19 653 067c C406 cpc r12,r20 654 067e D506 cpc r13,r21 655 0680 04F4 brge .L39 656 0682 28EA ldi r18,lo8(25000) 657 0684 31E6 ldi r19,hi8(25000) 658 0686 40E0 ldi r20,hlo8(25000) 659 0688 50E0 ldi r21,hhi8(25000) 660 068a 2A19 sub r18,r10 661 068c 3B09 sbc r19,r11 662 068e 4C09 sbc r20,r12 663 0690 5D09 sbc r21,r13 664 0692 2093 0000 sts Mess_IntegralNick,r18 665 0696 3093 0000 sts (Mess_IntegralNick)+1,r19 666 069a 4093 0000 sts (Mess_IntegralNick)+2,r20 667 069e 5093 0000 sts (Mess_IntegralNick)+3,r21 668 06a2 2093 0000 sts Mess_IntegralNick2,r18 669 06a6 3093 0000 sts (Mess_IntegralNick2)+1,r19 670 06aa 4093 0000 sts (Mess_IntegralNick2)+2,r20 671 06ae 5093 0000 sts (Mess_IntegralNick2)+3,r21 672 .L39: 673 06b2 8827 clr r24 674 06b4 9927 clr r25 675 06b6 DC01 movw r26,r24 676 06b8 8A19 sub r24,r10 677 06ba 9B09 sbc r25,r11 678 06bc AC09 sbc r26,r12 679 06be BD09 sbc r27,r13 680 06c0 2091 0000 lds r18,Mess_IntegralNick 681 06c4 3091 0000 lds r19,(Mess_IntegralNick)+1 682 06c8 4091 0000 lds r20,(Mess_IntegralNick)+2 683 06cc 5091 0000 lds r21,(Mess_IntegralNick)+3 684 06d0 2817 cp r18,r24 685 06d2 3907 cpc r19,r25 686 06d4 4A07 cpc r20,r26 687 06d6 5B07 cpc r21,r27 688 06d8 04F4 brge .L41 689 06da A601 movw r20,r12 690 06dc 9501 movw r18,r10 691 06de 285A subi r18,lo8(-(-25000)) 692 06e0 3146 sbci r19,hi8(-(-25000)) 693 06e2 4040 sbci r20,hlo8(-(-25000)) 694 06e4 5040 sbci r21,hhi8(-(-25000)) 695 06e6 2093 0000 sts Mess_IntegralNick,r18 696 06ea 3093 0000 sts (Mess_IntegralNick)+1,r19 697 06ee 4093 0000 sts (Mess_IntegralNick)+2,r20 698 06f2 5093 0000 sts (Mess_IntegralNick)+3,r21 699 06f6 2093 0000 sts Mess_IntegralNick2,r18 700 06fa 3093 0000 sts (Mess_IntegralNick2)+1,r19 701 06fe 4093 0000 sts (Mess_IntegralNick2)+2,r20 702 0702 5093 0000 sts (Mess_IntegralNick2)+3,r21 703 .L41: 704 0706 8E89 ldd r24,Y+22 705 0708 9F89 ldd r25,Y+23 706 070a A88D ldd r26,Y+24 707 070c B98D ldd r27,Y+25 708 070e 8093 0000 sts Integral_Gier,r24 709 0712 9093 0000 sts (Integral_Gier)+1,r25 710 0716 A093 0000 sts (Integral_Gier)+2,r26 711 071a B093 0000 sts (Integral_Gier)+3,r27 712 071e 2093 0000 sts IntegralNick,r18 713 0722 3093 0000 sts (IntegralNick)+1,r19 714 0726 4093 0000 sts (IntegralNick)+2,r20 715 072a 5093 0000 sts (IntegralNick)+3,r21 716 072e E092 0000 sts IntegralRoll,r14 717 0732 F092 0000 sts (IntegralRoll)+1,r15 718 0736 0093 0000 sts (IntegralRoll)+2,r16 719 073a 1093 0000 sts (IntegralRoll)+3,r17 720 073e 8091 0000 lds r24,Mess_IntegralNick2 721 0742 9091 0000 lds r25,(Mess_IntegralNick2)+1 722 0746 A091 0000 lds r26,(Mess_IntegralNick2)+2 723 074a B091 0000 lds r27,(Mess_IntegralNick2)+3 724 074e 8093 0000 sts IntegralNick2,r24 725 0752 9093 0000 sts (IntegralNick2)+1,r25 726 0756 A093 0000 sts (IntegralNick2)+2,r26 727 075a B093 0000 sts (IntegralNick2)+3,r27 728 075e 8091 0000 lds r24,Mess_IntegralRoll2 729 0762 9091 0000 lds r25,(Mess_IntegralRoll2)+1 730 0766 A091 0000 lds r26,(Mess_IntegralRoll2)+2 731 076a B091 0000 lds r27,(Mess_IntegralRoll2)+3 732 076e 8093 0000 sts IntegralRoll2,r24 733 0772 9093 0000 sts (IntegralRoll2)+1,r25 734 0776 A093 0000 sts (IntegralRoll2)+2,r26 735 077a B093 0000 sts (IntegralRoll2)+3,r27 736 077e 8091 0000 lds r24,HiResNick 737 0782 9091 0000 lds r25,(HiResNick)+1 738 0786 97FD sbrc r25,7 739 0788 00C0 rjmp .L150 740 .L43: 741 078a 9595 asr r25 742 078c 8795 ror r24 743 078e 9595 asr r25 744 0790 8795 ror r24 745 0792 9595 asr r25 746 0794 8795 ror r24 747 0796 9093 0000 sts (MesswertNick)+1,r25 748 079a 8093 0000 sts MesswertNick,r24 749 079e 8091 0000 lds r24,HiResRoll 750 07a2 9091 0000 lds r25,(HiResRoll)+1 751 07a6 97FD sbrc r25,7 752 07a8 00C0 rjmp .L151 753 .L44: 754 07aa 9595 asr r25 755 07ac 8795 ror r24 756 07ae 9595 asr r25 757 07b0 8795 ror r24 758 07b2 9595 asr r25 759 07b4 8795 ror r24 760 07b6 9093 0000 sts (MesswertRoll)+1,r25 761 07ba 8093 0000 sts MesswertRoll,r24 762 07be 8091 0000 lds r24,AdWertNick 763 07c2 9091 0000 lds r25,(AdWertNick)+1 764 07c6 0F97 sbiw r24,15 765 07c8 04F4 brge .L45 766 07ca 88E1 ldi r24,lo8(-1000) 767 07cc 9CEF ldi r25,hi8(-1000) 768 07ce 9093 0000 sts (MesswertNick)+1,r25 769 07d2 8093 0000 sts MesswertNick,r24 770 .L45: 771 07d6 8091 0000 lds r24,AdWertNick 772 07da 9091 0000 lds r25,(AdWertNick)+1 773 07de 0797 sbiw r24,7 774 07e0 04F4 brge .L47 775 07e2 80E3 ldi r24,lo8(-2000) 776 07e4 98EF ldi r25,hi8(-2000) 777 07e6 9093 0000 sts (MesswertNick)+1,r25 778 07ea 8093 0000 sts MesswertNick,r24 779 .L47: 780 07ee 2091 0000 lds r18,PlatinenVersion 781 07f2 2A30 cpi r18,lo8(10) 782 07f4 01F4 brne .+2 783 07f6 00C0 rjmp .L152 784 07f8 8091 0000 lds r24,AdWertNick 785 07fc 9091 0000 lds r25,(AdWertNick)+1 786 0800 815D subi r24,lo8(2001) 787 0802 9740 sbci r25,hi8(2001) 788 0804 04F0 brlt .L55 789 0806 88EE ldi r24,lo8(1000) 790 0808 93E0 ldi r25,hi8(1000) 791 080a 9093 0000 sts (MesswertNick)+1,r25 792 080e 8093 0000 sts MesswertNick,r24 793 .L55: 794 0812 8091 0000 lds r24,AdWertNick 795 0816 9091 0000 lds r25,(AdWertNick)+1 796 081a 805E subi r24,lo8(2016) 797 081c 9740 sbci r25,hi8(2016) 798 081e 04F0 brlt .+2 799 0820 00C0 rjmp .L144 800 .L53: 801 0822 8091 0000 lds r24,AdWertRoll 802 0826 9091 0000 lds r25,(AdWertRoll)+1 803 082a 0F97 sbiw r24,15 804 082c 04F4 brge .L58 805 082e 88E1 ldi r24,lo8(-1000) 806 0830 9CEF ldi r25,hi8(-1000) 807 0832 9093 0000 sts (MesswertRoll)+1,r25 808 0836 8093 0000 sts MesswertRoll,r24 809 .L58: 810 083a 8091 0000 lds r24,AdWertRoll 811 083e 9091 0000 lds r25,(AdWertRoll)+1 812 0842 0797 sbiw r24,7 813 0844 04F4 brge .L60 814 0846 80E3 ldi r24,lo8(-2000) 815 0848 98EF ldi r25,hi8(-2000) 816 084a 9093 0000 sts (MesswertRoll)+1,r25 817 084e 8093 0000 sts MesswertRoll,r24 818 .L60: 819 0852 2A30 cpi r18,lo8(10) 820 0854 01F4 brne .+2 821 0856 00C0 rjmp .L153 822 0858 8091 0000 lds r24,AdWertRoll 823 085c 9091 0000 lds r25,(AdWertRoll)+1 824 0860 815D subi r24,lo8(2001) 825 0862 9740 sbci r25,hi8(2001) 826 0864 04F0 brlt .L68 827 0866 88EE ldi r24,lo8(1000) 828 0868 93E0 ldi r25,hi8(1000) 829 086a 9093 0000 sts (MesswertRoll)+1,r25 830 086e 8093 0000 sts MesswertRoll,r24 831 .L68: 832 0872 8091 0000 lds r24,AdWertRoll 833 0876 9091 0000 lds r25,(AdWertRoll)+1 834 087a 805E subi r24,lo8(2016) 835 087c 9740 sbci r25,hi8(2016) 836 087e 04F0 brlt .+2 837 0880 00C0 rjmp .L145 838 .L66: 839 0882 6091 0000 lds r22,Parameter_Gyro_D 840 0886 6623 tst r22 841 0888 01F4 brne .+2 842 088a 00C0 rjmp .L71 843 088c 4091 0000 lds r20,HiResNick 844 0890 5091 0000 lds r21,(HiResNick)+1 845 0894 8091 0000 lds r24,oldNick.2656 846 0898 9091 0000 lds r25,(oldNick.2656)+1 847 089c 481B sub r20,r24 848 089e 590B sbc r21,r25 849 08a0 5093 0000 sts (d2Nick.2659)+1,r21 850 08a4 4093 0000 sts d2Nick.2659,r20 851 08a8 2091 0000 lds r18,HiResNick 852 08ac 3091 0000 lds r19,(HiResNick)+1 853 08b0 280F add r18,r24 854 08b2 391F adc r19,r25 855 08b4 37FD sbrc r19,7 856 08b6 00C0 rjmp .L154 857 .L73: 858 08b8 3595 asr r19 859 08ba 2795 ror r18 860 08bc 3093 0000 sts (oldNick.2656)+1,r19 861 08c0 2093 0000 sts oldNick.2656,r18 862 08c4 4138 cpi r20,129 863 08c6 5105 cpc r21,__zero_reg__ 864 08c8 04F4 brge .+2 865 08ca 00C0 rjmp .L74 866 08cc 80E8 ldi r24,lo8(128) 867 08ce 90E0 ldi r25,hi8(128) 868 08d0 9093 0000 sts (d2Nick.2659)+1,r25 869 08d4 8093 0000 sts d2Nick.2659,r24 870 .L76: 871 08d8 E62F mov r30,r22 872 08da F0E0 ldi r31,lo8(0) 873 08dc 8091 0000 lds r24,d2Nick.2659 874 08e0 9091 0000 lds r25,(d2Nick.2659)+1 875 08e4 E89F mul r30,r24 876 08e6 B001 movw r22,r0 877 08e8 E99F mul r30,r25 878 08ea 700D add r23,r0 879 08ec F89F mul r31,r24 880 08ee 700D add r23,r0 881 08f0 1124 clr r1 882 08f2 9B01 movw r18,r22 883 08f4 77FD sbrc r23,7 884 08f6 00C0 rjmp .L155 885 .L78: 886 08f8 3595 asr r19 887 08fa 2795 ror r18 888 08fc 3595 asr r19 889 08fe 2795 ror r18 890 0900 3595 asr r19 891 0902 2795 ror r18 892 0904 3595 asr r19 893 0906 2795 ror r18 894 0908 8091 0000 lds r24,MesswertNick 895 090c 9091 0000 lds r25,(MesswertNick)+1 896 0910 820F add r24,r18 897 0912 931F adc r25,r19 898 0914 9093 0000 sts (MesswertNick)+1,r25 899 0918 8093 0000 sts MesswertNick,r24 900 091c 4091 0000 lds r20,HiResRoll 901 0920 5091 0000 lds r21,(HiResRoll)+1 902 0924 8091 0000 lds r24,oldRoll.2657 903 0928 9091 0000 lds r25,(oldRoll.2657)+1 904 092c 481B sub r20,r24 905 092e 590B sbc r21,r25 906 0930 5093 0000 sts (d2Roll.2658)+1,r21 907 0934 4093 0000 sts d2Roll.2658,r20 908 0938 2091 0000 lds r18,HiResRoll 909 093c 3091 0000 lds r19,(HiResRoll)+1 910 0940 280F add r18,r24 911 0942 391F adc r19,r25 912 0944 37FD sbrc r19,7 913 0946 00C0 rjmp .L156 914 .L79: 915 0948 3595 asr r19 916 094a 2795 ror r18 917 094c 3093 0000 sts (oldRoll.2657)+1,r19 918 0950 2093 0000 sts oldRoll.2657,r18 919 0954 4138 cpi r20,129 920 0956 5105 cpc r21,__zero_reg__ 921 0958 04F4 brge .+2 922 095a 00C0 rjmp .L80 923 095c 80E8 ldi r24,lo8(128) 924 095e 90E0 ldi r25,hi8(128) 925 0960 9093 0000 sts (d2Roll.2658)+1,r25 926 0964 8093 0000 sts d2Roll.2658,r24 927 .L82: 928 0968 8091 0000 lds r24,d2Roll.2658 929 096c 9091 0000 lds r25,(d2Roll.2658)+1 930 0970 E89F mul r30,r24 931 0972 A001 movw r20,r0 932 0974 E99F mul r30,r25 933 0976 500D add r21,r0 934 0978 F89F mul r31,r24 935 097a 500D add r21,r0 936 097c 1124 clr r1 937 097e 9A01 movw r18,r20 938 0980 57FD sbrc r21,7 939 0982 00C0 rjmp .L157 940 .L84: 941 0984 3595 asr r19 942 0986 2795 ror r18 943 0988 3595 asr r19 944 098a 2795 ror r18 945 098c 3595 asr r19 946 098e 2795 ror r18 947 0990 3595 asr r19 948 0992 2795 ror r18 949 0994 8091 0000 lds r24,MesswertRoll 950 0998 9091 0000 lds r25,(MesswertRoll)+1 951 099c 820F add r24,r18 952 099e 931F adc r25,r19 953 09a0 9093 0000 sts (MesswertRoll)+1,r25 954 09a4 8093 0000 sts MesswertRoll,r24 955 09a8 8091 0000 lds r24,HiResNick 956 09ac 9091 0000 lds r25,(HiResNick)+1 957 09b0 680F add r22,r24 958 09b2 791F adc r23,r25 959 09b4 7093 0000 sts (HiResNick)+1,r23 960 09b8 6093 0000 sts HiResNick,r22 961 09bc 8091 0000 lds r24,HiResRoll 962 09c0 9091 0000 lds r25,(HiResRoll)+1 963 09c4 480F add r20,r24 964 09c6 591F adc r21,r25 965 09c8 5093 0000 sts (HiResRoll)+1,r21 966 09cc 4093 0000 sts HiResRoll,r20 967 .L71: 968 09d0 8B89 ldd r24,Y+19 969 09d2 9C89 ldd r25,Y+20 970 09d4 1816 cp __zero_reg__,r24 971 09d6 1906 cpc __zero_reg__,r25 972 09d8 04F0 brlt .+2 973 09da 00C0 rjmp .L85 974 09dc 9D89 ldd r25,Y+21 975 09de E92E mov r14,r25 976 09e0 FF24 clr r15 977 09e2 00E0 ldi r16,lo8(0) 978 09e4 10E0 ldi r17,hi8(0) 979 09e6 6091 0000 lds r22,KopplungsteilNickRoll 980 09ea 7091 0000 lds r23,(KopplungsteilNickRoll)+1 981 09ee 77FD sbrc r23,7 982 09f0 00C0 rjmp .L158 983 .L87: 984 09f2 8827 clr r24 985 09f4 77FD sbrc r23,7 986 09f6 8095 com r24 987 09f8 982F mov r25,r24 988 09fa A801 movw r20,r16 989 09fc 9701 movw r18,r14 990 09fe 0E94 0000 call __mulsi3 991 0a02 20E4 ldi r18,lo8(64) 992 0a04 30E0 ldi r19,hi8(64) 993 0a06 40E0 ldi r20,hlo8(64) 994 0a08 50E0 ldi r21,hhi8(64) 995 0a0a 0E94 0000 call __divmodsi4 996 0a0e 820E add r8,r18 997 0a10 931E adc r9,r19 998 0a12 9092 0000 sts (TrimRoll)+1,r9 999 0a16 8092 0000 sts TrimRoll,r8 1000 0a1a EA8D ldd r30,Y+26 1001 0a1c FB8D ldd r31,Y+27 1002 0a1e 1E16 cp __zero_reg__,r30 1003 0a20 1F06 cpc __zero_reg__,r31 1004 0a22 04F0 brlt .+2 1005 0a24 00C0 rjmp .L90 1006 .L171: 1007 0a26 2091 0000 lds r18,KopplungsteilRollNick 1008 0a2a 3091 0000 lds r19,(KopplungsteilRollNick)+1 1009 0a2e 37FD sbrc r19,7 1010 0a30 00C0 rjmp .L159 1011 .L92: 1012 0a32 4427 clr r20 1013 0a34 37FD sbrc r19,7 1014 0a36 4095 com r20 1015 0a38 542F mov r21,r20 1016 0a3a C801 movw r24,r16 1017 0a3c B701 movw r22,r14 1018 0a3e 0E94 0000 call __mulsi3 1019 0a42 20E4 ldi r18,lo8(64) 1020 0a44 30E0 ldi r19,hi8(64) 1021 0a46 40E0 ldi r20,hlo8(64) 1022 0a48 50E0 ldi r21,hhi8(64) 1023 0a4a 0E94 0000 call __divmodsi4 1024 0a4e 620E add r6,r18 1025 0a50 731E adc r7,r19 1026 0a52 7092 0000 sts (TrimNick)+1,r7 1027 0a56 6092 0000 sts TrimNick,r6 1028 0a5a F981 ldd r31,Y+1 1029 0a5c F7FD sbrc r31,7 1030 0a5e 00C0 rjmp .L160 1031 .L95: 1032 0a60 8091 0000 lds r24,EE_Parameter+4 1033 0a64 E82F mov r30,r24 1034 0a66 F0E0 ldi r31,lo8(0) 1035 0a68 EE0F lsl r30 1036 0a6a FF1F rol r31 1037 0a6c E050 subi r30,lo8(-(PPM_in)) 1038 0a6e F040 sbci r31,hi8(-(PPM_in)) 1039 0a70 8081 ld r24,Z 1040 0a72 9181 ldd r25,Z+1 1041 0a74 A091 0000 lds r26,Poti1 1042 0a78 B091 0000 lds r27,(Poti1)+1 1043 0a7c 8259 subi r24,lo8(-(110)) 1044 0a7e 9F4F sbci r25,hi8(-(110)) 1045 0a80 A817 cp r26,r24 1046 0a82 B907 cpc r27,r25 1047 0a84 04F0 brlt .+2 1048 0a86 00C0 rjmp .L106 1049 0a88 1196 adiw r26,1 1050 0a8a B093 0000 sts (Poti1)+1,r27 1051 0a8e A093 0000 sts Poti1,r26 1052 .L108: 1053 0a92 8091 0000 lds r24,EE_Parameter+5 1054 0a96 E82F mov r30,r24 1055 0a98 F0E0 ldi r31,lo8(0) 1056 0a9a EE0F lsl r30 1057 0a9c FF1F rol r31 1058 0a9e E050 subi r30,lo8(-(PPM_in)) 1059 0aa0 F040 sbci r31,hi8(-(PPM_in)) 1060 0aa2 8081 ld r24,Z 1061 0aa4 9181 ldd r25,Z+1 1062 0aa6 6091 0000 lds r22,Poti2 1063 0aaa 7091 0000 lds r23,(Poti2)+1 1064 0aae 8259 subi r24,lo8(-(110)) 1065 0ab0 9F4F sbci r25,hi8(-(110)) 1066 0ab2 6817 cp r22,r24 1067 0ab4 7907 cpc r23,r25 1068 0ab6 04F0 brlt .+2 1069 0ab8 00C0 rjmp .L111 1070 0aba 6F5F subi r22,lo8(-(1)) 1071 0abc 7F4F sbci r23,hi8(-(1)) 1072 0abe 7093 0000 sts (Poti2)+1,r23 1073 0ac2 6093 0000 sts Poti2,r22 1074 .L113: 1075 0ac6 8091 0000 lds r24,EE_Parameter+6 1076 0aca E82F mov r30,r24 1077 0acc F0E0 ldi r31,lo8(0) 1078 0ace EE0F lsl r30 1079 0ad0 FF1F rol r31 1080 0ad2 E050 subi r30,lo8(-(PPM_in)) 1081 0ad4 F040 sbci r31,hi8(-(PPM_in)) 1082 0ad6 8081 ld r24,Z 1083 0ad8 9181 ldd r25,Z+1 1084 0ada 4091 0000 lds r20,Poti3 1085 0ade 5091 0000 lds r21,(Poti3)+1 1086 0ae2 8259 subi r24,lo8(-(110)) 1087 0ae4 9F4F sbci r25,hi8(-(110)) 1088 0ae6 4817 cp r20,r24 1089 0ae8 5907 cpc r21,r25 1090 0aea 04F0 brlt .+2 1091 0aec 00C0 rjmp .L116 1092 0aee 4F5F subi r20,lo8(-(1)) 1093 0af0 5F4F sbci r21,hi8(-(1)) 1094 0af2 5093 0000 sts (Poti3)+1,r21 1095 0af6 4093 0000 sts Poti3,r20 1096 .L118: 1097 0afa 8091 0000 lds r24,EE_Parameter+7 1098 0afe E82F mov r30,r24 1099 0b00 F0E0 ldi r31,lo8(0) 1100 0b02 EE0F lsl r30 1101 0b04 FF1F rol r31 1102 0b06 E050 subi r30,lo8(-(PPM_in)) 1103 0b08 F040 sbci r31,hi8(-(PPM_in)) 1104 0b0a 8081 ld r24,Z 1105 0b0c 9181 ldd r25,Z+1 1106 0b0e 2091 0000 lds r18,Poti4 1107 0b12 3091 0000 lds r19,(Poti4)+1 1108 0b16 8259 subi r24,lo8(-(110)) 1109 0b18 9F4F sbci r25,hi8(-(110)) 1110 0b1a 2817 cp r18,r24 1111 0b1c 3907 cpc r19,r25 1112 0b1e 04F0 brlt .+2 1113 0b20 00C0 rjmp .L121 1114 0b22 2F5F subi r18,lo8(-(1)) 1115 0b24 3F4F sbci r19,hi8(-(1)) 1116 0b26 3093 0000 sts (Poti4)+1,r19 1117 0b2a 2093 0000 sts Poti4,r18 1118 .L123: 1119 0b2e B7FD sbrc r27,7 1120 0b30 00C0 rjmp .L161 1121 .L126: 1122 0b32 AF3F cpi r26,255 1123 0b34 B105 cpc r27,__zero_reg__ 1124 0b36 01F0 breq .+4 1125 0b38 04F0 brlt .+2 1126 0b3a 00C0 rjmp .L162 1127 .L128: 1128 0b3c 77FD sbrc r23,7 1129 0b3e 00C0 rjmp .L163 1130 .L130: 1131 0b40 6F3F cpi r22,255 1132 0b42 7105 cpc r23,__zero_reg__ 1133 0b44 01F0 breq .+4 1134 0b46 04F0 brlt .+2 1135 0b48 00C0 rjmp .L164 1136 .L132: 1137 0b4a 57FD sbrc r21,7 1138 0b4c 00C0 rjmp .L165 1139 .L134: 1140 0b4e 4F3F cpi r20,255 1141 0b50 5105 cpc r21,__zero_reg__ 1142 0b52 01F0 breq .+4 1143 0b54 04F0 brlt .+2 1144 0b56 00C0 rjmp .L166 1145 .L136: 1146 0b58 37FD sbrc r19,7 1147 0b5a 00C0 rjmp .L167 1148 .L138: 1149 0b5c 2F3F cpi r18,255 1150 0b5e 3105 cpc r19,__zero_reg__ 1151 0b60 01F0 breq .+2 1152 0b62 04F4 brge .+2 1153 0b64 00C0 rjmp .L142 1154 0b66 8FEF ldi r24,lo8(255) 1155 0b68 90E0 ldi r25,hi8(255) 1156 0b6a 9093 0000 sts (Poti4)+1,r25 1157 0b6e 8093 0000 sts Poti4,r24 1158 0b72 00C0 rjmp .L142 1159 .L153: 1160 0b74 8091 0000 lds r24,AdWertRoll 1161 0b78 9091 0000 lds r25,(AdWertRoll)+1 1162 0b7c 835F subi r24,lo8(1011) 1163 0b7e 9340 sbci r25,hi8(1011) 1164 0b80 04F0 brlt .L64 1165 0b82 88EE ldi r24,lo8(1000) 1166 0b84 93E0 ldi r25,hi8(1000) 1167 0b86 9093 0000 sts (MesswertRoll)+1,r25 1168 0b8a 8093 0000 sts MesswertRoll,r24 1169 .L64: 1170 0b8e 8091 0000 lds r24,AdWertRoll 1171 0b92 9091 0000 lds r25,(AdWertRoll)+1 1172 0b96 8A5F subi r24,lo8(1018) 1173 0b98 9340 sbci r25,hi8(1018) 1174 0b9a 04F4 brge .+2 1175 0b9c 00C0 rjmp .L66 1176 .L145: 1177 0b9e 80ED ldi r24,lo8(2000) 1178 0ba0 97E0 ldi r25,hi8(2000) 1179 0ba2 9093 0000 sts (MesswertRoll)+1,r25 1180 0ba6 8093 0000 sts MesswertRoll,r24 1181 0baa 00C0 rjmp .L66 1182 .L152: 1183 0bac 8091 0000 lds r24,AdWertNick 1184 0bb0 9091 0000 lds r25,(AdWertNick)+1 1185 0bb4 835F subi r24,lo8(1011) 1186 0bb6 9340 sbci r25,hi8(1011) 1187 0bb8 04F0 brlt .L51 1188 0bba 88EE ldi r24,lo8(1000) 1189 0bbc 93E0 ldi r25,hi8(1000) 1190 0bbe 9093 0000 sts (MesswertNick)+1,r25 1191 0bc2 8093 0000 sts MesswertNick,r24 1192 .L51: 1193 0bc6 8091 0000 lds r24,AdWertNick 1194 0bca 9091 0000 lds r25,(AdWertNick)+1 1195 0bce 8A5F subi r24,lo8(1018) 1196 0bd0 9340 sbci r25,hi8(1018) 1197 0bd2 04F4 brge .+2 1198 0bd4 00C0 rjmp .L53 1199 .L144: 1200 0bd6 80ED ldi r24,lo8(2000) 1201 0bd8 97E0 ldi r25,hi8(2000) 1202 0bda 9093 0000 sts (MesswertNick)+1,r25 1203 0bde 8093 0000 sts MesswertNick,r24 1204 0be2 00C0 rjmp .L53 1205 .L121: 1206 0be4 8081 ld r24,Z 1207 0be6 9181 ldd r25,Z+1 1208 0be8 8259 subi r24,lo8(-(110)) 1209 0bea 9F4F sbci r25,hi8(-(110)) 1210 0bec 8217 cp r24,r18 1211 0bee 9307 cpc r25,r19 1212 0bf0 04F0 brlt .+2 1213 0bf2 00C0 rjmp .L123 1214 0bf4 2115 cp r18,__zero_reg__ 1215 0bf6 3105 cpc r19,__zero_reg__ 1216 0bf8 01F4 brne .+2 1217 0bfa 00C0 rjmp .L123 1218 0bfc 2150 subi r18,lo8(-(-1)) 1219 0bfe 3040 sbci r19,hi8(-(-1)) 1220 0c00 3093 0000 sts (Poti4)+1,r19 1221 0c04 2093 0000 sts Poti4,r18 1222 0c08 B7FF sbrs r27,7 1223 0c0a 00C0 rjmp .L126 1224 .L161: 1225 0c0c 1092 0000 sts (Poti1)+1,__zero_reg__ 1226 0c10 1092 0000 sts Poti1,__zero_reg__ 1227 0c14 77FF sbrs r23,7 1228 0c16 00C0 rjmp .L130 1229 .L163: 1230 0c18 1092 0000 sts (Poti2)+1,__zero_reg__ 1231 0c1c 1092 0000 sts Poti2,__zero_reg__ 1232 0c20 57FF sbrs r21,7 1233 0c22 00C0 rjmp .L134 1234 .L165: 1235 0c24 1092 0000 sts (Poti3)+1,__zero_reg__ 1236 0c28 1092 0000 sts Poti3,__zero_reg__ 1237 0c2c 37FF sbrs r19,7 1238 0c2e 00C0 rjmp .L138 1239 .L167: 1240 0c30 1092 0000 sts (Poti4)+1,__zero_reg__ 1241 0c34 1092 0000 sts Poti4,__zero_reg__ 1242 0c38 00C0 rjmp .L142 1243 .L116: 1244 0c3a 8081 ld r24,Z 1245 0c3c 9181 ldd r25,Z+1 1246 0c3e 8259 subi r24,lo8(-(110)) 1247 0c40 9F4F sbci r25,hi8(-(110)) 1248 0c42 8417 cp r24,r20 1249 0c44 9507 cpc r25,r21 1250 0c46 04F0 brlt .+2 1251 0c48 00C0 rjmp .L118 1252 0c4a 4115 cp r20,__zero_reg__ 1253 0c4c 5105 cpc r21,__zero_reg__ 1254 0c4e 01F4 brne .+2 1255 0c50 00C0 rjmp .L118 1256 0c52 4150 subi r20,lo8(-(-1)) 1257 0c54 5040 sbci r21,hi8(-(-1)) 1258 0c56 5093 0000 sts (Poti3)+1,r21 1259 0c5a 4093 0000 sts Poti3,r20 1260 0c5e 00C0 rjmp .L118 1261 .L111: 1262 0c60 8081 ld r24,Z 1263 0c62 9181 ldd r25,Z+1 1264 0c64 8259 subi r24,lo8(-(110)) 1265 0c66 9F4F sbci r25,hi8(-(110)) 1266 0c68 8617 cp r24,r22 1267 0c6a 9707 cpc r25,r23 1268 0c6c 04F0 brlt .+2 1269 0c6e 00C0 rjmp .L113 1270 0c70 6115 cp r22,__zero_reg__ 1271 0c72 7105 cpc r23,__zero_reg__ 1272 0c74 01F4 brne .+2 1273 0c76 00C0 rjmp .L113 1274 0c78 6150 subi r22,lo8(-(-1)) 1275 0c7a 7040 sbci r23,hi8(-(-1)) 1276 0c7c 7093 0000 sts (Poti2)+1,r23 1277 0c80 6093 0000 sts Poti2,r22 1278 0c84 00C0 rjmp .L113 1279 .L106: 1280 0c86 8081 ld r24,Z 1281 0c88 9181 ldd r25,Z+1 1282 0c8a 8259 subi r24,lo8(-(110)) 1283 0c8c 9F4F sbci r25,hi8(-(110)) 1284 0c8e 8A17 cp r24,r26 1285 0c90 9B07 cpc r25,r27 1286 0c92 04F0 brlt .+2 1287 0c94 00C0 rjmp .L108 1288 0c96 1097 sbiw r26,0 1289 0c98 01F4 brne .+2 1290 0c9a 00C0 rjmp .L108 1291 0c9c 1197 sbiw r26,1 1292 0c9e B093 0000 sts (Poti1)+1,r27 1293 0ca2 A093 0000 sts Poti1,r26 1294 0ca6 00C0 rjmp .L108 1295 .L166: 1296 0ca8 8FEF ldi r24,lo8(255) 1297 0caa 90E0 ldi r25,hi8(255) 1298 0cac 9093 0000 sts (Poti3)+1,r25 1299 0cb0 8093 0000 sts Poti3,r24 1300 0cb4 00C0 rjmp .L136 1301 .L164: 1302 0cb6 8FEF ldi r24,lo8(255) 1303 0cb8 90E0 ldi r25,hi8(255) 1304 0cba 9093 0000 sts (Poti2)+1,r25 1305 0cbe 8093 0000 sts Poti2,r24 1306 0cc2 00C0 rjmp .L132 1307 .L162: 1308 0cc4 8FEF ldi r24,lo8(255) 1309 0cc6 90E0 ldi r25,hi8(255) 1310 0cc8 9093 0000 sts (Poti1)+1,r25 1311 0ccc 8093 0000 sts Poti1,r24 1312 0cd0 00C0 rjmp .L128 1313 .L74: 1314 0cd2 4058 subi r20,lo8(-128) 1315 0cd4 5F4F sbci r21,hi8(-128) 1316 0cd6 04F0 brlt .+2 1317 0cd8 00C0 rjmp .L76 1318 0cda 80E8 ldi r24,lo8(-128) 1319 0cdc 9FEF ldi r25,hi8(-128) 1320 0cde 9093 0000 sts (d2Nick.2659)+1,r25 1321 0ce2 8093 0000 sts d2Nick.2659,r24 1322 0ce6 00C0 rjmp .L76 1323 .L148: 1324 0ce8 B091 0000 lds r27,EE_Parameter+8 1325 0cec B983 std Y+1,r27 1326 0cee B6FF sbrs r27,6 1327 0cf0 00C0 rjmp .L18 1328 0cf2 2F85 ldd r18,Y+15 1329 0cf4 3889 ldd r19,Y+16 1330 0cf6 4989 ldd r20,Y+17 1331 0cf8 5A89 ldd r21,Y+18 1332 0cfa 283B cpi r18,lo8(-93000) 1333 0cfc E4E9 ldi r30,hi8(-93000) 1334 0cfe 3E07 cpc r19,r30 1335 0d00 EEEF ldi r30,hlo8(-93000) 1336 0d02 4E07 cpc r20,r30 1337 0d04 EFEF ldi r30,hhi8(-93000) 1338 0d06 5E07 cpc r21,r30 1339 0d08 04F4 brge .L20 1340 0d0a 28EB ldi r18,lo8(-93000) 1341 0d0c 34E9 ldi r19,hi8(-93000) 1342 0d0e 4EEF ldi r20,hlo8(-93000) 1343 0d10 5FEF ldi r21,hhi8(-93000) 1344 .L20: 1345 0d12 2A83 std Y+2,r18 1346 0d14 3B83 std Y+3,r19 1347 0d16 4C83 std Y+4,r20 1348 0d18 5D83 std Y+5,r21 1349 0d1a 2954 subi r18,lo8(93001) 1350 0d1c 3B46 sbci r19,hi8(93001) 1351 0d1e 4140 sbci r20,hlo8(93001) 1352 0d20 5040 sbci r21,hhi8(93001) 1353 0d22 04F0 brlt .L21 1354 0d24 88E4 ldi r24,lo8(93000) 1355 0d26 9BE6 ldi r25,hi8(93000) 1356 0d28 A1E0 ldi r26,hlo8(93000) 1357 0d2a B0E0 ldi r27,hhi8(93000) 1358 0d2c 8A83 std Y+2,r24 1359 0d2e 9B83 std Y+3,r25 1360 0d30 AC83 std Y+4,r26 1361 0d32 BD83 std Y+5,r27 1362 .L21: 1363 0d34 2B85 ldd r18,Y+11 1364 0d36 3C85 ldd r19,Y+12 1365 0d38 4D85 ldd r20,Y+13 1366 0d3a 5E85 ldd r21,Y+14 1367 0d3c 283B cpi r18,lo8(-93000) 1368 0d3e 94E9 ldi r25,hi8(-93000) 1369 0d40 3907 cpc r19,r25 1370 0d42 9EEF ldi r25,hlo8(-93000) 1371 0d44 4907 cpc r20,r25 1372 0d46 9FEF ldi r25,hhi8(-93000) 1373 0d48 5907 cpc r21,r25 1374 0d4a 04F4 brge .L22 1375 0d4c 28EB ldi r18,lo8(-93000) 1376 0d4e 34E9 ldi r19,hi8(-93000) 1377 0d50 4EEF ldi r20,hlo8(-93000) 1378 0d52 5FEF ldi r21,hhi8(-93000) 1379 .L22: 1380 0d54 2E83 std Y+6,r18 1381 0d56 3F83 std Y+7,r19 1382 0d58 4887 std Y+8,r20 1383 0d5a 5987 std Y+9,r21 1384 0d5c 2954 subi r18,lo8(93001) 1385 0d5e 3B46 sbci r19,hi8(93001) 1386 0d60 4140 sbci r20,hlo8(93001) 1387 0d62 5040 sbci r21,hhi8(93001) 1388 0d64 04F0 brlt .L23 1389 0d66 88E4 ldi r24,lo8(93000) 1390 0d68 9BE6 ldi r25,hi8(93000) 1391 0d6a A1E0 ldi r26,hlo8(93000) 1392 0d6c B0E0 ldi r27,hhi8(93000) 1393 0d6e 8E83 std Y+6,r24 1394 0d70 9F83 std Y+7,r25 1395 0d72 A887 std Y+8,r26 1396 0d74 B987 std Y+9,r27 1397 .L23: 1398 0d76 A090 0000 lds r10,Parameter_AchsKopplung2 1399 0d7a BB24 clr r11 1400 0d7c CC24 clr r12 1401 0d7e DD24 clr r13 1402 0d80 AB89 ldd r26,Y+19 1403 0d82 BC89 ldd r27,Y+20 1404 0d84 9D01 movw r18,r26 1405 0d86 4427 clr r20 1406 0d88 37FD sbrc r19,7 1407 0d8a 4095 com r20 1408 0d8c 542F mov r21,r20 1409 0d8e 6E81 ldd r22,Y+6 1410 0d90 7F81 ldd r23,Y+7 1411 0d92 8885 ldd r24,Y+8 1412 0d94 9985 ldd r25,Y+9 1413 0d96 0E94 0000 call __mulsi3 1414 0d9a 20E0 ldi r18,lo8(2048) 1415 0d9c 38E0 ldi r19,hi8(2048) 1416 0d9e 40E0 ldi r20,hlo8(2048) 1417 0da0 50E0 ldi r21,hhi8(2048) 1418 0da2 0E94 0000 call __divmodsi4 1419 0da6 CA01 movw r24,r20 1420 0da8 B901 movw r22,r18 1421 0daa A601 movw r20,r12 1422 0dac 9501 movw r18,r10 1423 0dae 0E94 0000 call __mulsi3 1424 0db2 20E0 ldi r18,lo8(4096) 1425 0db4 30E1 ldi r19,hi8(4096) 1426 0db6 40E0 ldi r20,hlo8(4096) 1427 0db8 50E0 ldi r21,hhi8(4096) 1428 0dba 0E94 0000 call __divmodsi4 1429 0dbe 7901 movw r14,r18 1430 0dc0 8A01 movw r16,r20 1431 0dc2 2093 0000 sts tmpl3.2654,r18 1432 0dc6 3093 0000 sts (tmpl3.2654)+1,r19 1433 0dca 4093 0000 sts (tmpl3.2654)+2,r20 1434 0dce 5093 0000 sts (tmpl3.2654)+3,r21 1435 0dd2 EA8D ldd r30,Y+26 1436 0dd4 FB8D ldd r31,Y+27 1437 0dd6 9F01 movw r18,r30 1438 0dd8 4427 clr r20 1439 0dda 37FD sbrc r19,7 1440 0ddc 4095 com r20 1441 0dde 542F mov r21,r20 1442 0de0 6A81 ldd r22,Y+2 1443 0de2 7B81 ldd r23,Y+3 1444 0de4 8C81 ldd r24,Y+4 1445 0de6 9D81 ldd r25,Y+5 1446 0de8 0E94 0000 call __mulsi3 1447 0dec 20E0 ldi r18,lo8(2048) 1448 0dee 38E0 ldi r19,hi8(2048) 1449 0df0 40E0 ldi r20,hlo8(2048) 1450 0df2 50E0 ldi r21,hhi8(2048) 1451 0df4 0E94 0000 call __divmodsi4 1452 0df8 CA01 movw r24,r20 1453 0dfa B901 movw r22,r18 1454 0dfc A601 movw r20,r12 1455 0dfe 9501 movw r18,r10 1456 0e00 0E94 0000 call __mulsi3 1457 0e04 20E0 ldi r18,lo8(4096) 1458 0e06 30E1 ldi r19,hi8(4096) 1459 0e08 40E0 ldi r20,hlo8(4096) 1460 0e0a 50E0 ldi r21,hhi8(4096) 1461 0e0c 0E94 0000 call __divmodsi4 1462 0e10 F092 0000 sts (KopplungsteilNickRoll)+1,r15 1463 0e14 E092 0000 sts KopplungsteilNickRoll,r14 1464 0e18 3093 0000 sts (KopplungsteilRollNick)+1,r19 1465 0e1c 2093 0000 sts KopplungsteilRollNick,r18 1466 0e20 2E19 sub r18,r14 1467 0e22 3F09 sbc r19,r15 1468 0e24 400B sbc r20,r16 1469 0e26 510B sbc r21,r17 1470 0e28 7901 movw r14,r18 1471 0e2a 8A01 movw r16,r20 1472 0e2c 2093 0000 sts tmpl4.2655,r18 1473 0e30 3093 0000 sts (tmpl4.2655)+1,r19 1474 0e34 4093 0000 sts (tmpl4.2655)+2,r20 1475 0e38 5093 0000 sts (tmpl4.2655)+3,r21 1476 0e3c 220E add r2,r18 1477 0e3e 331E adc r3,r19 1478 0e40 441E adc r4,r20 1479 0e42 551E adc r5,r21 1480 0e44 2092 0000 sts ErsatzKompass,r2 1481 0e48 3092 0000 sts (ErsatzKompass)+1,r3 1482 0e4c 4092 0000 sts (ErsatzKompass)+2,r4 1483 0e50 5092 0000 sts (ErsatzKompass)+3,r5 1484 0e54 F091 0000 lds r31,Parameter_CouplingYawCorrection 1485 0e58 FD8B std Y+21,r31 1486 0e5a FF23 tst r31 1487 0e5c 01F4 brne .L24 1488 0e5e CA01 movw r24,r20 1489 0e60 B901 movw r22,r18 1490 0e62 22E0 ldi r18,lo8(2) 1491 0e64 30E0 ldi r19,hi8(2) 1492 0e66 40E0 ldi r20,hlo8(2) 1493 0e68 50E0 ldi r21,hhi8(2) 1494 0e6a 0E94 0000 call __divmodsi4 1495 0e6e 8E89 ldd r24,Y+22 1496 0e70 9F89 ldd r25,Y+23 1497 0e72 A88D ldd r26,Y+24 1498 0e74 B98D ldd r27,Y+25 1499 0e76 821B sub r24,r18 1500 0e78 930B sbc r25,r19 1501 0e7a A40B sbc r26,r20 1502 0e7c B50B sbc r27,r21 1503 0e7e 8E8B std Y+22,r24 1504 0e80 9F8B std Y+23,r25 1505 0e82 A88F std Y+24,r26 1506 0e84 B98F std Y+25,r27 1507 0e86 8093 0000 sts Mess_Integral_Gier,r24 1508 0e8a 9093 0000 sts (Mess_Integral_Gier)+1,r25 1509 0e8e A093 0000 sts (Mess_Integral_Gier)+2,r26 1510 0e92 B093 0000 sts (Mess_Integral_Gier)+3,r27 1511 .L24: 1512 0e96 6E0C add r6,r14 1513 0e98 7F1C adc r7,r15 1514 0e9a 801E adc r8,r16 1515 0e9c 911E adc r9,r17 1516 0e9e E090 0000 lds r14,Parameter_AchsKopplung1 1517 0ea2 FF24 clr r15 1518 0ea4 00E0 ldi r16,lo8(0) 1519 0ea6 10E0 ldi r17,hi8(0) 1520 0ea8 C401 movw r24,r8 1521 0eaa B301 movw r22,r6 1522 0eac 2E81 ldd r18,Y+6 1523 0eae 3F81 ldd r19,Y+7 1524 0eb0 4885 ldd r20,Y+8 1525 0eb2 5985 ldd r21,Y+9 1526 0eb4 0E94 0000 call __mulsi3 1527 0eb8 20E0 ldi r18,lo8(2048) 1528 0eba 38E0 ldi r19,hi8(2048) 1529 0ebc 40E0 ldi r20,hlo8(2048) 1530 0ebe 50E0 ldi r21,hhi8(2048) 1531 0ec0 0E94 0000 call __divmodsi4 1532 0ec4 CA01 movw r24,r20 1533 0ec6 B901 movw r22,r18 1534 0ec8 A801 movw r20,r16 1535 0eca 9701 movw r18,r14 1536 0ecc 0E94 0000 call __mulsi3 1537 0ed0 20E0 ldi r18,lo8(4096) 1538 0ed2 30E1 ldi r19,hi8(4096) 1539 0ed4 40E0 ldi r20,hlo8(4096) 1540 0ed6 50E0 ldi r21,hhi8(4096) 1541 0ed8 0E94 0000 call __divmodsi4 1542 0edc 5901 movw r10,r18 1543 0ede 6A01 movw r12,r20 1544 0ee0 2093 0000 sts tmpl.2652,r18 1545 0ee4 3093 0000 sts (tmpl.2652)+1,r19 1546 0ee8 4093 0000 sts (tmpl.2652)+2,r20 1547 0eec 5093 0000 sts (tmpl.2652)+3,r21 1548 0ef0 C401 movw r24,r8 1549 0ef2 B301 movw r22,r6 1550 0ef4 2A81 ldd r18,Y+2 1551 0ef6 3B81 ldd r19,Y+3 1552 0ef8 4C81 ldd r20,Y+4 1553 0efa 5D81 ldd r21,Y+5 1554 0efc 0E94 0000 call __mulsi3 1555 0f00 20E0 ldi r18,lo8(2048) 1556 0f02 38E0 ldi r19,hi8(2048) 1557 0f04 40E0 ldi r20,hlo8(2048) 1558 0f06 50E0 ldi r21,hhi8(2048) 1559 0f08 0E94 0000 call __divmodsi4 1560 0f0c CA01 movw r24,r20 1561 0f0e B901 movw r22,r18 1562 0f10 A801 movw r20,r16 1563 0f12 9701 movw r18,r14 1564 0f14 0E94 0000 call __mulsi3 1565 0f18 20E0 ldi r18,lo8(4096) 1566 0f1a 30E1 ldi r19,hi8(4096) 1567 0f1c 40E0 ldi r20,hlo8(4096) 1568 0f1e 50E0 ldi r21,hhi8(4096) 1569 0f20 0E94 0000 call __divmodsi4 1570 0f24 2093 0000 sts tmpl2.2653,r18 1571 0f28 3093 0000 sts (tmpl2.2653)+1,r19 1572 0f2c 4093 0000 sts (tmpl2.2653)+2,r20 1573 0f30 5093 0000 sts (tmpl2.2653)+3,r21 1574 0f34 D7FC sbrc r13,7 1575 0f36 00C0 rjmp .L168 1576 .L27: 1577 0f38 91E8 ldi r25,lo8(129) 1578 0f3a A916 cp r10,r25 1579 0f3c B104 cpc r11,__zero_reg__ 1580 0f3e C104 cpc r12,__zero_reg__ 1581 0f40 D104 cpc r13,__zero_reg__ 1582 0f42 04F4 brge .L26 1583 0f44 57FD sbrc r21,7 1584 0f46 00C0 rjmp .L169 1585 .L30: 1586 0f48 2138 cpi r18,lo8(129) 1587 0f4a 3105 cpc r19,__zero_reg__ 1588 0f4c 4105 cpc r20,__zero_reg__ 1589 0f4e 5105 cpc r21,__zero_reg__ 1590 0f50 04F4 brge .+2 1591 0f52 00C0 rjmp .L29 1592 .L26: 1593 0f54 81E0 ldi r24,lo8(1) 1594 0f56 8093 0000 sts TrichterFlug,r24 1595 0f5a 2090 0000 lds r2,ErsatzKompass 1596 0f5e 3090 0000 lds r3,(ErsatzKompass)+1 1597 0f62 4090 0000 lds r4,(ErsatzKompass)+2 1598 0f66 5090 0000 lds r5,(ErsatzKompass)+3 1599 0f6a 00C0 rjmp .L29 1600 .L80: 1601 0f6c 4058 subi r20,lo8(-128) 1602 0f6e 5F4F sbci r21,hi8(-128) 1603 0f70 04F0 brlt .+2 1604 0f72 00C0 rjmp .L82 1605 0f74 80E8 ldi r24,lo8(-128) 1606 0f76 9FEF ldi r25,hi8(-128) 1607 0f78 9093 0000 sts (d2Roll.2658)+1,r25 1608 0f7c 8093 0000 sts d2Roll.2658,r24 1609 0f80 00C0 rjmp .L82 1610 .L150: 1611 0f82 0796 adiw r24,7 1612 0f84 00C0 rjmp .L43 1613 .L149: 1614 0f86 260E add r2,r22 1615 0f88 371E adc r3,r23 1616 0f8a 481E adc r4,r24 1617 0f8c 591E adc r5,r25 1618 0f8e 2092 0000 sts ErsatzKompass,r2 1619 0f92 3092 0000 sts (ErsatzKompass)+1,r3 1620 0f96 4092 0000 sts (ErsatzKompass)+2,r4 1621 0f9a 5092 0000 sts (ErsatzKompass)+3,r5 1622 0f9e 00C0 rjmp .L33 1623 .L85: 1624 0fa0 AD89 ldd r26,Y+21 1625 0fa2 EA2E mov r14,r26 1626 0fa4 FF24 clr r15 1627 0fa6 00E0 ldi r16,lo8(0) 1628 0fa8 10E0 ldi r17,hi8(0) 1629 0faa 6091 0000 lds r22,KopplungsteilNickRoll 1630 0fae 7091 0000 lds r23,(KopplungsteilNickRoll)+1 1631 0fb2 77FD sbrc r23,7 1632 0fb4 00C0 rjmp .L170 1633 .L89: 1634 0fb6 8827 clr r24 1635 0fb8 77FD sbrc r23,7 1636 0fba 8095 com r24 1637 0fbc 982F mov r25,r24 1638 0fbe A801 movw r20,r16 1639 0fc0 9701 movw r18,r14 1640 0fc2 0E94 0000 call __mulsi3 1641 0fc6 20E4 ldi r18,lo8(64) 1642 0fc8 30E0 ldi r19,hi8(64) 1643 0fca 40E0 ldi r20,hlo8(64) 1644 0fcc 50E0 ldi r21,hhi8(64) 1645 0fce 0E94 0000 call __divmodsi4 1646 0fd2 821A sub r8,r18 1647 0fd4 930A sbc r9,r19 1648 0fd6 9092 0000 sts (TrimRoll)+1,r9 1649 0fda 8092 0000 sts TrimRoll,r8 1650 0fde EA8D ldd r30,Y+26 1651 0fe0 FB8D ldd r31,Y+27 1652 0fe2 1E16 cp __zero_reg__,r30 1653 0fe4 1F06 cpc __zero_reg__,r31 1654 0fe6 04F4 brge .+2 1655 0fe8 00C0 rjmp .L171 1656 .L90: 1657 0fea 2091 0000 lds r18,KopplungsteilRollNick 1658 0fee 3091 0000 lds r19,(KopplungsteilRollNick)+1 1659 0ff2 37FD sbrc r19,7 1660 0ff4 00C0 rjmp .L172 1661 .L94: 1662 0ff6 4427 clr r20 1663 0ff8 37FD sbrc r19,7 1664 0ffa 4095 com r20 1665 0ffc 542F mov r21,r20 1666 0ffe C801 movw r24,r16 1667 1000 B701 movw r22,r14 1668 1002 0E94 0000 call __mulsi3 1669 1006 20E4 ldi r18,lo8(64) 1670 1008 30E0 ldi r19,hi8(64) 1671 100a 40E0 ldi r20,hlo8(64) 1672 100c 50E0 ldi r21,hhi8(64) 1673 100e 0E94 0000 call __divmodsi4 1674 1012 621A sub r6,r18 1675 1014 730A sbc r7,r19 1676 1016 7092 0000 sts (TrimNick)+1,r7 1677 101a 6092 0000 sts TrimNick,r6 1678 101e F981 ldd r31,Y+1 1679 1020 F7FF sbrs r31,7 1680 1022 00C0 rjmp .L95 1681 .L160: 1682 1024 2A85 ldd r18,Y+10 1683 1026 2223 tst r18 1684 1028 01F0 breq .+2 1685 102a 00C0 rjmp .L95 1686 102c 8091 0000 lds r24,Looping_Roll 1687 1030 8823 tst r24 1688 1032 01F0 breq .+2 1689 1034 00C0 rjmp .L95 1690 1036 8A8D ldd r24,Y+26 1691 1038 9B8D ldd r25,Y+27 1692 103a 8150 subi r24,lo8(257) 1693 103c 9140 sbci r25,hi8(257) 1694 103e 04F0 brlt .+2 1695 1040 00C0 rjmp .L173 1696 1042 2A8D ldd r18,Y+26 1697 1044 3B8D ldd r19,Y+27 1698 1046 6FEF ldi r22,hi8(-256) 1699 1048 2030 cpi r18,lo8(-256) 1700 104a 3607 cpc r19,r22 1701 104c 04F4 brge .L101 1702 104e 8091 0000 lds r24,MesswertNick 1703 1052 9091 0000 lds r25,(MesswertNick)+1 1704 1056 8050 subi r24,lo8(-(256)) 1705 1058 9F4F sbci r25,hi8(-(256)) 1706 105a 820F add r24,r18 1707 105c 931F adc r25,r19 1708 105e 9093 0000 sts (MesswertNick)+1,r25 1709 1062 8093 0000 sts MesswertNick,r24 1710 .L101: 1711 1066 8B89 ldd r24,Y+19 1712 1068 9C89 ldd r25,Y+20 1713 106a 8150 subi r24,lo8(257) 1714 106c 9140 sbci r25,hi8(257) 1715 106e 04F4 brge .+2 1716 1070 00C0 rjmp .L103 1717 1072 8091 0000 lds r24,MesswertRoll 1718 1076 9091 0000 lds r25,(MesswertRoll)+1 1719 107a 8050 subi r24,lo8(-(-256)) 1720 107c 9140 sbci r25,hi8(-(-256)) 1721 107e EB89 ldd r30,Y+19 1722 1080 FC89 ldd r31,Y+20 1723 1082 8E0F add r24,r30 1724 1084 9F1F adc r25,r31 1725 1086 9093 0000 sts (MesswertRoll)+1,r25 1726 108a 8093 0000 sts MesswertRoll,r24 1727 108e 00C0 rjmp .L95 1728 .L151: 1729 1090 0796 adiw r24,7 1730 1092 00C0 rjmp .L44 1731 .L147: 1732 1094 295F subi r18,lo8(-(7)) 1733 1096 3F4F sbci r19,hi8(-(7)) 1734 1098 00C0 rjmp .L13 1735 .L146: 1736 109a 295F subi r18,lo8(-(7)) 1737 109c 3F4F sbci r19,hi8(-(7)) 1738 109e 0C94 0000 jmp .L12 1739 .L154: 1740 10a2 2F5F subi r18,lo8(-(1)) 1741 10a4 3F4F sbci r19,hi8(-(1)) 1742 10a6 00C0 rjmp .L73 1743 .L159: 1744 10a8 3095 com r19 1745 10aa 2195 neg r18 1746 10ac 3F4F sbci r19,lo8(-1) 1747 10ae 00C0 rjmp .L92 1748 .L158: 1749 10b0 7095 com r23 1750 10b2 6195 neg r22 1751 10b4 7F4F sbci r23,lo8(-1) 1752 10b6 00C0 rjmp .L87 1753 .L155: 1754 10b8 215F subi r18,lo8(-(15)) 1755 10ba 3F4F sbci r19,hi8(-(15)) 1756 10bc 00C0 rjmp .L78 1757 .L157: 1758 10be 215F subi r18,lo8(-(15)) 1759 10c0 3F4F sbci r19,hi8(-(15)) 1760 10c2 00C0 rjmp .L84 1761 .L156: 1762 10c4 2F5F subi r18,lo8(-(1)) 1763 10c6 3F4F sbci r19,hi8(-(1)) 1764 10c8 00C0 rjmp .L79 1765 .L170: 1766 10ca 7095 com r23 1767 10cc 6195 neg r22 1768 10ce 7F4F sbci r23,lo8(-1) 1769 10d0 00C0 rjmp .L89 1770 .L172: 1771 10d2 3095 com r19 1772 10d4 2195 neg r18 1773 10d6 3F4F sbci r19,lo8(-1) 1774 10d8 00C0 rjmp .L94 1775 .L173: 1776 10da 8091 0000 lds r24,MesswertNick 1777 10de 9091 0000 lds r25,(MesswertNick)+1 1778 10e2 8050 subi r24,lo8(-(-256)) 1779 10e4 9140 sbci r25,hi8(-(-256)) 1780 10e6 EA8D ldd r30,Y+26 1781 10e8 FB8D ldd r31,Y+27 1782 10ea 8E0F add r24,r30 1783 10ec 9F1F adc r25,r31 1784 10ee 9093 0000 sts (MesswertNick)+1,r25 1785 10f2 8093 0000 sts MesswertNick,r24 1786 10f6 00C0 rjmp .L101 1787 .L169: 1788 10f8 5095 com r21 1789 10fa 4095 com r20 1790 10fc 3095 com r19 1791 10fe 2195 neg r18 1792 1100 3F4F sbci r19,lo8(-1) 1793 1102 4F4F sbci r20,lo8(-1) 1794 1104 5F4F sbci r21,lo8(-1) 1795 1106 00C0 rjmp .L30 1796 .L168: 1797 1108 D094 com r13 1798 110a C094 com r12 1799 110c B094 com r11 1800 110e A094 com r10 1801 1110 A11C adc r10,__zero_reg__ 1802 1112 B11C adc r11,__zero_reg__ 1803 1114 C11C adc r12,__zero_reg__ 1804 1116 D11C adc r13,__zero_reg__ 1805 1118 00C0 rjmp .L27 1806 .L103: 1807 111a 2B89 ldd r18,Y+19 1808 111c 3C89 ldd r19,Y+20 1809 111e 6FEF ldi r22,hi8(-256) 1810 1120 2030 cpi r18,lo8(-256) 1811 1122 3607 cpc r19,r22 1812 1124 04F0 brlt .+2 1813 1126 00C0 rjmp .L95 1814 1128 8091 0000 lds r24,MesswertRoll 1815 112c 9091 0000 lds r25,(MesswertRoll)+1 1816 1130 8050 subi r24,lo8(-(256)) 1817 1132 9F4F sbci r25,hi8(-(256)) 1818 1134 820F add r24,r18 1819 1136 931F adc r25,r19 1820 1138 9093 0000 sts (MesswertRoll)+1,r25 1821 113c 8093 0000 sts MesswertRoll,r24 1822 1140 00C0 rjmp .L95 1823 .L142: 1824 /* epilogue: frame size=27 */ 1825 1142 6B96 adiw r28,27 1826 1144 0FB6 in __tmp_reg__,__SREG__ 1827 1146 F894 cli 1828 1148 DEBF out __SP_H__,r29 1829 114a 0FBE out __SREG__,__tmp_reg__ 1830 114c CDBF out __SP_L__,r28 1831 114e DF91 pop r29 1832 1150 CF91 pop r28 1833 1152 1F91 pop r17 1834 1154 0F91 pop r16 1835 1156 FF90 pop r15 1836 1158 EF90 pop r14 1837 115a DF90 pop r13 1838 115c CF90 pop r12 1839 115e BF90 pop r11 1840 1160 AF90 pop r10 1841 1162 9F90 pop r9 1842 1164 8F90 pop r8 1843 1166 7F90 pop r7 1844 1168 6F90 pop r6 1845 116a 5F90 pop r5 1846 116c 4F90 pop r4 1847 116e 3F90 pop r3 1848 1170 2F90 pop r2 1849 1172 0895 ret 1850 /* epilogue end (size=25) */ 1851 /* function Mittelwert size 2210 (2159) */ 1853 .global ParameterZuordnung 1855 ParameterZuordnung: 1856 /* prologue: frame size=0 */ 1857 /* prologue end (size=0) */ 1858 1174 8091 0000 lds r24,EE_Parameter+11 1859 1178 8B3F cpi r24,lo8(-5) 1860 117a 00F0 brlo .L175 1861 117c 8B3F cpi r24,lo8(-5) 1862 117e 01F4 brne .+2 1863 1180 00C0 rjmp .L466 1864 1182 8C3F cpi r24,lo8(-4) 1865 1184 01F4 brne .+2 1866 1186 00C0 rjmp .L467 1867 1188 8D3F cpi r24,lo8(-3) 1868 118a 01F4 brne .+2 1869 118c 00C0 rjmp .L468 1870 118e 8E3F cpi r24,lo8(-2) 1871 1190 01F4 brne .L179 1872 1192 8091 0000 lds r24,Poti4 1873 1196 8093 0000 sts Parameter_MaxHoehe,r24 1874 119a 00C0 rjmp .L179 1875 .L175: 1876 119c 8093 0000 sts Parameter_MaxHoehe,r24 1877 .L179: 1878 11a0 8091 0000 lds r24,EE_Parameter+10 1879 11a4 8B3F cpi r24,lo8(-5) 1880 11a6 00F0 brlo .L185 1881 11a8 8B3F cpi r24,lo8(-5) 1882 11aa 01F4 brne .+2 1883 11ac 00C0 rjmp .L469 1884 11ae 8C3F cpi r24,lo8(-4) 1885 11b0 01F4 brne .+2 1886 11b2 00C0 rjmp .L470 1887 11b4 8D3F cpi r24,lo8(-3) 1888 11b6 01F4 brne .+2 1889 11b8 00C0 rjmp .L471 1890 11ba 8E3F cpi r24,lo8(-2) 1891 11bc 01F4 brne .L189 1892 11be 8091 0000 lds r24,Poti4 1893 11c2 8093 0000 sts Parameter_Luftdruck_D,r24 1894 11c6 00C0 rjmp .L189 1895 .L185: 1896 11c8 8093 0000 sts Parameter_Luftdruck_D,r24 1897 .L189: 1898 11cc 8091 0000 lds r24,Parameter_Luftdruck_D 1899 11d0 8823 tst r24 1900 11d2 01F4 brne .L195 1901 11d4 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ 1902 .L197: 1903 11d8 8091 0000 lds r24,EE_Parameter+12 1904 11dc 8B3F cpi r24,lo8(-5) 1905 11de 00F0 brlo .L199 1906 .L475: 1907 11e0 8B3F cpi r24,lo8(-5) 1908 11e2 01F4 brne .+2 1909 11e4 00C0 rjmp .L472 1910 11e6 8C3F cpi r24,lo8(-4) 1911 11e8 01F4 brne .+2 1912 11ea 00C0 rjmp .L473 1913 11ec 8D3F cpi r24,lo8(-3) 1914 11ee 01F4 brne .+2 1915 11f0 00C0 rjmp .L474 1916 11f2 8E3F cpi r24,lo8(-2) 1917 11f4 01F4 brne .L203 1918 11f6 8091 0000 lds r24,Poti4 1919 11fa 8093 0000 sts Parameter_Hoehe_P,r24 1920 11fe 00C0 rjmp .L203 1921 .L195: 1922 1200 8436 cpi r24,lo8(100) 1923 1202 00F0 brlo .L197 1924 1204 84E6 ldi r24,lo8(100) 1925 1206 8093 0000 sts Parameter_Luftdruck_D,r24 1926 120a 8091 0000 lds r24,EE_Parameter+12 1927 120e 8B3F cpi r24,lo8(-5) 1928 1210 00F4 brsh .L475 1929 .L199: 1930 1212 8093 0000 sts Parameter_Hoehe_P,r24 1931 .L203: 1932 1216 8091 0000 lds r24,Parameter_Hoehe_P 1933 121a 8823 tst r24 1934 121c 01F4 brne .L209 1935 121e 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ 1936 .L211: 1937 1222 8091 0000 lds r24,EE_Parameter+14 1938 1226 8B3F cpi r24,lo8(-5) 1939 1228 00F0 brlo .L213 1940 .L479: 1941 122a 8B3F cpi r24,lo8(-5) 1942 122c 01F4 brne .+2 1943 122e 00C0 rjmp .L476 1944 1230 8C3F cpi r24,lo8(-4) 1945 1232 01F4 brne .+2 1946 1234 00C0 rjmp .L477 1947 1236 8D3F cpi r24,lo8(-3) 1948 1238 01F4 brne .+2 1949 123a 00C0 rjmp .L478 1950 123c 8E3F cpi r24,lo8(-2) 1951 123e 01F4 brne .L217 1952 1240 8091 0000 lds r24,Poti4 1953 1244 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 1954 1248 00C0 rjmp .L217 1955 .L209: 1956 124a 8436 cpi r24,lo8(100) 1957 124c 00F0 brlo .L211 1958 124e 84E6 ldi r24,lo8(100) 1959 1250 8093 0000 sts Parameter_Hoehe_P,r24 1960 1254 8091 0000 lds r24,EE_Parameter+14 1961 1258 8B3F cpi r24,lo8(-5) 1962 125a 00F4 brsh .L479 1963 .L213: 1964 125c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 1965 .L217: 1966 1260 8091 0000 lds r24,EE_Parameter+21 1967 1264 8B3F cpi r24,lo8(-5) 1968 1266 00F0 brlo .L223 1969 1268 8B3F cpi r24,lo8(-5) 1970 126a 01F4 brne .+2 1971 126c 00C0 rjmp .L480 1972 126e 8C3F cpi r24,lo8(-4) 1973 1270 01F4 brne .+2 1974 1272 00C0 rjmp .L481 1975 1274 8D3F cpi r24,lo8(-3) 1976 1276 01F4 brne .+2 1977 1278 00C0 rjmp .L482 1978 127a 8E3F cpi r24,lo8(-2) 1979 127c 01F4 brne .L227 1980 127e 8091 0000 lds r24,Poti4 1981 1282 8093 0000 sts Parameter_KompassWirkung,r24 1982 1286 00C0 rjmp .L227 1983 .L223: 1984 1288 8093 0000 sts Parameter_KompassWirkung,r24 1985 .L227: 1986 128c 8091 0000 lds r24,EE_Parameter+22 1987 1290 8B3F cpi r24,lo8(-5) 1988 1292 00F0 brlo .L233 1989 1294 8B3F cpi r24,lo8(-5) 1990 1296 01F4 brne .+2 1991 1298 00C0 rjmp .L483 1992 129a 8C3F cpi r24,lo8(-4) 1993 129c 01F4 brne .+2 1994 129e 00C0 rjmp .L484 1995 12a0 8D3F cpi r24,lo8(-3) 1996 12a2 01F4 brne .+2 1997 12a4 00C0 rjmp .L485 1998 12a6 8E3F cpi r24,lo8(-2) 1999 12a8 01F4 brne .L237 2000 12aa 8091 0000 lds r24,Poti4 2001 12ae 8093 0000 sts Parameter_Gyro_P,r24 2002 12b2 00C0 rjmp .L237 2003 .L233: 2004 12b4 8093 0000 sts Parameter_Gyro_P,r24 2005 .L237: 2006 12b8 8091 0000 lds r24,Parameter_Gyro_P 2007 12bc 8B30 cpi r24,lo8(11) 2008 12be 00F4 brsh .L243 2009 12c0 8AE0 ldi r24,lo8(10) 2010 12c2 8093 0000 sts Parameter_Gyro_P,r24 2011 .L245: 2012 12c6 8091 0000 lds r24,EE_Parameter+23 2013 12ca 8B3F cpi r24,lo8(-5) 2014 12cc 00F0 brlo .L247 2015 .L489: 2016 12ce 8B3F cpi r24,lo8(-5) 2017 12d0 01F4 brne .+2 2018 12d2 00C0 rjmp .L486 2019 12d4 8C3F cpi r24,lo8(-4) 2020 12d6 01F4 brne .+2 2021 12d8 00C0 rjmp .L487 2022 12da 8D3F cpi r24,lo8(-3) 2023 12dc 01F4 brne .+2 2024 12de 00C0 rjmp .L488 2025 12e0 8E3F cpi r24,lo8(-2) 2026 12e2 01F4 brne .L251 2027 12e4 8091 0000 lds r24,Poti4 2028 12e8 8093 0000 sts Parameter_Gyro_I,r24 2029 12ec 00C0 rjmp .L251 2030 .L243: 2031 12ee 8F3F cpi r24,lo8(-1) 2032 12f0 01F4 brne .L245 2033 12f2 8093 0000 sts Parameter_Gyro_P,r24 2034 12f6 8091 0000 lds r24,EE_Parameter+23 2035 12fa 8B3F cpi r24,lo8(-5) 2036 12fc 00F4 brsh .L489 2037 .L247: 2038 12fe 8093 0000 sts Parameter_Gyro_I,r24 2039 .L251: 2040 1302 8091 0000 lds r24,EE_Parameter+24 2041 1306 8B3F cpi r24,lo8(-5) 2042 1308 00F0 brlo .L257 2043 130a 8B3F cpi r24,lo8(-5) 2044 130c 01F4 brne .+2 2045 130e 00C0 rjmp .L490 2046 1310 8C3F cpi r24,lo8(-4) 2047 1312 01F4 brne .+2 2048 1314 00C0 rjmp .L491 2049 1316 8D3F cpi r24,lo8(-3) 2050 1318 01F4 brne .+2 2051 131a 00C0 rjmp .L492 2052 131c 8E3F cpi r24,lo8(-2) 2053 131e 01F4 brne .L261 2054 1320 8091 0000 lds r24,Poti4 2055 1324 8093 0000 sts Parameter_Gyro_D,r24 2056 1328 00C0 rjmp .L261 2057 .L257: 2058 132a 8093 0000 sts Parameter_Gyro_D,r24 2059 .L261: 2060 132e 8091 0000 lds r24,EE_Parameter+29 2061 1332 8B3F cpi r24,lo8(-5) 2062 1334 00F0 brlo .L267 2063 1336 8B3F cpi r24,lo8(-5) 2064 1338 01F4 brne .+2 2065 133a 00C0 rjmp .L493 2066 133c 8C3F cpi r24,lo8(-4) 2067 133e 01F4 brne .+2 2068 1340 00C0 rjmp .L494 2069 1342 8D3F cpi r24,lo8(-3) 2070 1344 01F4 brne .+2 2071 1346 00C0 rjmp .L495 2072 1348 8E3F cpi r24,lo8(-2) 2073 134a 01F4 brne .L271 2074 134c 8091 0000 lds r24,Poti4 2075 1350 8093 0000 sts Parameter_I_Faktor,r24 2076 1354 00C0 rjmp .L271 2077 .L267: 2078 1356 8093 0000 sts Parameter_I_Faktor,r24 2079 .L271: 2080 135a 8091 0000 lds r24,EE_Parameter+30 2081 135e 8B3F cpi r24,lo8(-5) 2082 1360 00F0 brlo .L277 2083 1362 8B3F cpi r24,lo8(-5) 2084 1364 01F4 brne .+2 2085 1366 00C0 rjmp .L496 2086 1368 8C3F cpi r24,lo8(-4) 2087 136a 01F4 brne .+2 2088 136c 00C0 rjmp .L497 2089 136e 8D3F cpi r24,lo8(-3) 2090 1370 01F4 brne .+2 2091 1372 00C0 rjmp .L498 2092 1374 8E3F cpi r24,lo8(-2) 2093 1376 01F4 brne .L281 2094 1378 8091 0000 lds r24,Poti4 2095 137c 8093 0000 sts Parameter_UserParam1,r24 2096 1380 00C0 rjmp .L281 2097 .L277: 2098 1382 8093 0000 sts Parameter_UserParam1,r24 2099 .L281: 2100 1386 8091 0000 lds r24,EE_Parameter+31 2101 138a 8B3F cpi r24,lo8(-5) 2102 138c 00F0 brlo .L287 2103 138e 8B3F cpi r24,lo8(-5) 2104 1390 01F4 brne .+2 2105 1392 00C0 rjmp .L499 2106 1394 8C3F cpi r24,lo8(-4) 2107 1396 01F4 brne .+2 2108 1398 00C0 rjmp .L500 2109 139a 8D3F cpi r24,lo8(-3) 2110 139c 01F4 brne .+2 2111 139e 00C0 rjmp .L501 2112 13a0 8E3F cpi r24,lo8(-2) 2113 13a2 01F4 brne .L291 2114 13a4 8091 0000 lds r24,Poti4 2115 13a8 8093 0000 sts Parameter_UserParam2,r24 2116 13ac 00C0 rjmp .L291 2117 .L287: 2118 13ae 8093 0000 sts Parameter_UserParam2,r24 2119 .L291: 2120 13b2 8091 0000 lds r24,EE_Parameter+32 2121 13b6 8B3F cpi r24,lo8(-5) 2122 13b8 00F0 brlo .L297 2123 13ba 8B3F cpi r24,lo8(-5) 2124 13bc 01F4 brne .+2 2125 13be 00C0 rjmp .L502 2126 13c0 8C3F cpi r24,lo8(-4) 2127 13c2 01F4 brne .+2 2128 13c4 00C0 rjmp .L503 2129 13c6 8D3F cpi r24,lo8(-3) 2130 13c8 01F4 brne .+2 2131 13ca 00C0 rjmp .L504 2132 13cc 8E3F cpi r24,lo8(-2) 2133 13ce 01F4 brne .L301 2134 13d0 8091 0000 lds r24,Poti4 2135 13d4 8093 0000 sts Parameter_UserParam3,r24 2136 13d8 00C0 rjmp .L301 2137 .L297: 2138 13da 8093 0000 sts Parameter_UserParam3,r24 2139 .L301: 2140 13de 8091 0000 lds r24,EE_Parameter+33 2141 13e2 8B3F cpi r24,lo8(-5) 2142 13e4 00F0 brlo .L307 2143 13e6 8B3F cpi r24,lo8(-5) 2144 13e8 01F4 brne .+2 2145 13ea 00C0 rjmp .L505 2146 13ec 8C3F cpi r24,lo8(-4) 2147 13ee 01F4 brne .+2 2148 13f0 00C0 rjmp .L506 2149 13f2 8D3F cpi r24,lo8(-3) 2150 13f4 01F4 brne .+2 2151 13f6 00C0 rjmp .L507 2152 13f8 8E3F cpi r24,lo8(-2) 2153 13fa 01F4 brne .L311 2154 13fc 8091 0000 lds r24,Poti4 2155 1400 8093 0000 sts Parameter_UserParam4,r24 2156 1404 00C0 rjmp .L311 2157 .L307: 2158 1406 8093 0000 sts Parameter_UserParam4,r24 2159 .L311: 2160 140a 8091 0000 lds r24,EE_Parameter+50 2161 140e 8B3F cpi r24,lo8(-5) 2162 1410 00F0 brlo .L317 2163 1412 8B3F cpi r24,lo8(-5) 2164 1414 01F4 brne .+2 2165 1416 00C0 rjmp .L508 2166 1418 8C3F cpi r24,lo8(-4) 2167 141a 01F4 brne .+2 2168 141c 00C0 rjmp .L509 2169 141e 8D3F cpi r24,lo8(-3) 2170 1420 01F4 brne .+2 2171 1422 00C0 rjmp .L510 2172 1424 8E3F cpi r24,lo8(-2) 2173 1426 01F4 brne .L321 2174 1428 8091 0000 lds r24,Poti4 2175 142c 8093 0000 sts Parameter_UserParam5,r24 2176 1430 00C0 rjmp .L321 2177 .L317: 2178 1432 8093 0000 sts Parameter_UserParam5,r24 2179 .L321: 2180 1436 8091 0000 lds r24,EE_Parameter+51 2181 143a 8B3F cpi r24,lo8(-5) 2182 143c 00F0 brlo .L327 2183 143e 8B3F cpi r24,lo8(-5) 2184 1440 01F4 brne .+2 2185 1442 00C0 rjmp .L511 2186 1444 8C3F cpi r24,lo8(-4) 2187 1446 01F4 brne .+2 2188 1448 00C0 rjmp .L512 2189 144a 8D3F cpi r24,lo8(-3) 2190 144c 01F4 brne .+2 2191 144e 00C0 rjmp .L513 2192 1450 8E3F cpi r24,lo8(-2) 2193 1452 01F4 brne .L331 2194 1454 8091 0000 lds r24,Poti4 2195 1458 8093 0000 sts Parameter_UserParam6,r24 2196 145c 00C0 rjmp .L331 2197 .L327: 2198 145e 8093 0000 sts Parameter_UserParam6,r24 2199 .L331: 2200 1462 8091 0000 lds r24,EE_Parameter+52 2201 1466 8B3F cpi r24,lo8(-5) 2202 1468 00F0 brlo .L337 2203 146a 8B3F cpi r24,lo8(-5) 2204 146c 01F4 brne .+2 2205 146e 00C0 rjmp .L514 2206 1470 8C3F cpi r24,lo8(-4) 2207 1472 01F4 brne .+2 2208 1474 00C0 rjmp .L515 2209 1476 8D3F cpi r24,lo8(-3) 2210 1478 01F4 brne .+2 2211 147a 00C0 rjmp .L516 2212 147c 8E3F cpi r24,lo8(-2) 2213 147e 01F4 brne .L341 2214 1480 8091 0000 lds r24,Poti4 2215 1484 8093 0000 sts Parameter_UserParam7,r24 2216 1488 00C0 rjmp .L341 2217 .L337: 2218 148a 8093 0000 sts Parameter_UserParam7,r24 2219 .L341: 2220 148e 8091 0000 lds r24,EE_Parameter+53 2221 1492 8B3F cpi r24,lo8(-5) 2222 1494 00F0 brlo .L347 2223 1496 8B3F cpi r24,lo8(-5) 2224 1498 01F4 brne .+2 2225 149a 00C0 rjmp .L517 2226 149c 8C3F cpi r24,lo8(-4) 2227 149e 01F4 brne .+2 2228 14a0 00C0 rjmp .L518 2229 14a2 8D3F cpi r24,lo8(-3) 2230 14a4 01F4 brne .+2 2231 14a6 00C0 rjmp .L519 2232 14a8 8E3F cpi r24,lo8(-2) 2233 14aa 01F4 brne .L351 2234 14ac 8091 0000 lds r24,Poti4 2235 14b0 8093 0000 sts Parameter_UserParam8,r24 2236 14b4 00C0 rjmp .L351 2237 .L347: 2238 14b6 8093 0000 sts Parameter_UserParam8,r24 2239 .L351: 2240 14ba 8091 0000 lds r24,EE_Parameter+34 2241 14be 8B3F cpi r24,lo8(-5) 2242 14c0 00F0 brlo .L357 2243 14c2 8B3F cpi r24,lo8(-5) 2244 14c4 01F4 brne .+2 2245 14c6 00C0 rjmp .L520 2246 14c8 8C3F cpi r24,lo8(-4) 2247 14ca 01F4 brne .+2 2248 14cc 00C0 rjmp .L521 2249 14ce 8D3F cpi r24,lo8(-3) 2250 14d0 01F4 brne .+2 2251 14d2 00C0 rjmp .L522 2252 14d4 8E3F cpi r24,lo8(-2) 2253 14d6 01F4 brne .L361 2254 14d8 8091 0000 lds r24,Poti4 2255 14dc 8093 0000 sts Parameter_ServoNickControl,r24 2256 14e0 00C0 rjmp .L361 2257 .L357: 2258 14e2 8093 0000 sts Parameter_ServoNickControl,r24 2259 .L361: 2260 14e6 8091 0000 lds r24,EE_Parameter+39 2261 14ea 8B3F cpi r24,lo8(-5) 2262 14ec 00F0 brlo .L367 2263 14ee 8B3F cpi r24,lo8(-5) 2264 14f0 01F4 brne .+2 2265 14f2 00C0 rjmp .L523 2266 14f4 8C3F cpi r24,lo8(-4) 2267 14f6 01F4 brne .+2 2268 14f8 00C0 rjmp .L524 2269 14fa 8D3F cpi r24,lo8(-3) 2270 14fc 01F4 brne .+2 2271 14fe 00C0 rjmp .L525 2272 1500 8E3F cpi r24,lo8(-2) 2273 1502 01F4 brne .L371 2274 1504 8091 0000 lds r24,Poti4 2275 1508 8093 0000 sts Parameter_LoopGasLimit,r24 2276 150c 00C0 rjmp .L371 2277 .L367: 2278 150e 8093 0000 sts Parameter_LoopGasLimit,r24 2279 .L371: 2280 1512 8091 0000 lds r24,EE_Parameter+42 2281 1516 8B3F cpi r24,lo8(-5) 2282 1518 00F0 brlo .L377 2283 151a 8B3F cpi r24,lo8(-5) 2284 151c 01F4 brne .+2 2285 151e 00C0 rjmp .L526 2286 1520 8C3F cpi r24,lo8(-4) 2287 1522 01F4 brne .+2 2288 1524 00C0 rjmp .L527 2289 1526 8D3F cpi r24,lo8(-3) 2290 1528 01F4 brne .+2 2291 152a 00C0 rjmp .L528 2292 152c 8E3F cpi r24,lo8(-2) 2293 152e 01F4 brne .L381 2294 1530 8091 0000 lds r24,Poti4 2295 1534 8093 0000 sts Parameter_AchsKopplung1,r24 2296 1538 00C0 rjmp .L381 2297 .L377: 2298 153a 8093 0000 sts Parameter_AchsKopplung1,r24 2299 .L381: 2300 153e 8091 0000 lds r24,EE_Parameter+43 2301 1542 8B3F cpi r24,lo8(-5) 2302 1544 00F0 brlo .L387 2303 1546 8B3F cpi r24,lo8(-5) 2304 1548 01F4 brne .+2 2305 154a 00C0 rjmp .L529 2306 154c 8C3F cpi r24,lo8(-4) 2307 154e 01F4 brne .+2 2308 1550 00C0 rjmp .L530 2309 1552 8D3F cpi r24,lo8(-3) 2310 1554 01F4 brne .+2 2311 1556 00C0 rjmp .L531 2312 1558 8E3F cpi r24,lo8(-2) 2313 155a 01F4 brne .L391 2314 155c 8091 0000 lds r24,Poti4 2315 1560 8093 0000 sts Parameter_AchsKopplung2,r24 2316 1564 00C0 rjmp .L391 2317 .L387: 2318 1566 8093 0000 sts Parameter_AchsKopplung2,r24 2319 .L391: 2320 156a 8091 0000 lds r24,EE_Parameter+44 2321 156e 8B3F cpi r24,lo8(-5) 2322 1570 00F0 brlo .L397 2323 1572 8B3F cpi r24,lo8(-5) 2324 1574 01F4 brne .+2 2325 1576 00C0 rjmp .L532 2326 1578 8C3F cpi r24,lo8(-4) 2327 157a 01F4 brne .+2 2328 157c 00C0 rjmp .L533 2329 157e 8D3F cpi r24,lo8(-3) 2330 1580 01F4 brne .+2 2331 1582 00C0 rjmp .L534 2332 1584 8E3F cpi r24,lo8(-2) 2333 1586 01F4 brne .L401 2334 1588 8091 0000 lds r24,Poti4 2335 158c 8093 0000 sts Parameter_CouplingYawCorrection,r24 2336 1590 00C0 rjmp .L401 2337 .L397: 2338 1592 8093 0000 sts Parameter_CouplingYawCorrection,r24 2339 .L401: 2340 1596 8091 0000 lds r24,EE_Parameter+49 2341 159a 8B3F cpi r24,lo8(-5) 2342 159c 00F0 brlo .L407 2343 159e 8B3F cpi r24,lo8(-5) 2344 15a0 01F4 brne .+2 2345 15a2 00C0 rjmp .L535 2346 15a4 8C3F cpi r24,lo8(-4) 2347 15a6 01F4 brne .+2 2348 15a8 00C0 rjmp .L536 2349 15aa 8D3F cpi r24,lo8(-3) 2350 15ac 01F4 brne .+2 2351 15ae 00C0 rjmp .L537 2352 15b0 8E3F cpi r24,lo8(-2) 2353 15b2 01F4 brne .L411 2354 15b4 8091 0000 lds r24,Poti4 2355 15b8 8093 0000 sts Parameter_DynamicStability,r24 2356 15bc 00C0 rjmp .L411 2357 .L407: 2358 15be 8093 0000 sts Parameter_DynamicStability,r24 2359 .L411: 2360 15c2 8091 0000 lds r24,EE_Parameter+55 2361 15c6 8B3F cpi r24,lo8(-5) 2362 15c8 00F0 brlo .L417 2363 15ca 8B3F cpi r24,lo8(-5) 2364 15cc 01F4 brne .+2 2365 15ce 00C0 rjmp .L538 2366 15d0 8C3F cpi r24,lo8(-4) 2367 15d2 01F4 brne .+2 2368 15d4 00C0 rjmp .L539 2369 15d6 8D3F cpi r24,lo8(-3) 2370 15d8 01F4 brne .+2 2371 15da 00C0 rjmp .L540 2372 15dc 8E3F cpi r24,lo8(-2) 2373 15de 01F4 brne .L421 2374 15e0 8091 0000 lds r24,Poti4 2375 15e4 8093 0000 sts Parameter_J16Timing,r24 2376 15e8 00C0 rjmp .L421 2377 .L417: 2378 15ea 8093 0000 sts Parameter_J16Timing,r24 2379 .L421: 2380 15ee 8091 0000 lds r24,Parameter_J16Timing 2381 15f2 8230 cpi r24,lo8(2) 2382 15f4 00F4 brsh .+2 2383 15f6 00C0 rjmp .L541 2384 15f8 8F3F cpi r24,lo8(-1) 2385 15fa 01F4 brne .+2 2386 15fc 00C0 rjmp .L542 2387 .L429: 2388 15fe 8091 0000 lds r24,EE_Parameter+57 2389 1602 8B3F cpi r24,lo8(-5) 2390 1604 00F0 brlo .L431 2391 1606 8B3F cpi r24,lo8(-5) 2392 1608 01F4 brne .+2 2393 160a 00C0 rjmp .L543 2394 160c 8C3F cpi r24,lo8(-4) 2395 160e 01F4 brne .+2 2396 1610 00C0 rjmp .L544 2397 1612 8D3F cpi r24,lo8(-3) 2398 1614 01F4 brne .+2 2399 1616 00C0 rjmp .L545 2400 1618 8E3F cpi r24,lo8(-2) 2401 161a 01F4 brne .L435 2402 161c 8091 0000 lds r24,Poti4 2403 1620 8093 0000 sts Parameter_J17Timing,r24 2404 1624 00C0 rjmp .L435 2405 .L431: 2406 1626 8093 0000 sts Parameter_J17Timing,r24 2407 .L435: 2408 162a 8091 0000 lds r24,Parameter_J17Timing 2409 162e 8230 cpi r24,lo8(2) 2410 1630 00F0 brlo .L546 2411 1632 8F3F cpi r24,lo8(-1) 2412 1634 01F0 breq .L547 2413 .L443: 2414 1636 8091 0000 lds r24,EE_Parameter+58 2415 163a 8B3F cpi r24,lo8(-5) 2416 163c 00F0 brlo .L445 2417 163e 8B3F cpi r24,lo8(-5) 2418 1640 01F0 breq .L548 2419 1642 8C3F cpi r24,lo8(-4) 2420 1644 01F4 brne .+2 2421 1646 00C0 rjmp .L549 2422 1648 8D3F cpi r24,lo8(-3) 2423 164a 01F4 brne .+2 2424 164c 00C0 rjmp .L550 2425 164e 8E3F cpi r24,lo8(-2) 2426 1650 01F4 brne .L449 2427 1652 8091 0000 lds r24,Poti4 2428 1656 8093 0000 sts Parameter_NaviGpsModeControl,r24 2429 165a 00C0 rjmp .L449 2430 .L445: 2431 165c 8093 0000 sts Parameter_NaviGpsModeControl,r24 2432 .L449: 2433 1660 8091 0000 lds r24,EE_Parameter+74 2434 1664 8B3F cpi r24,lo8(-5) 2435 1666 00F0 brlo .L455 2436 1668 8B3F cpi r24,lo8(-5) 2437 166a 01F0 breq .L551 2438 166c 8C3F cpi r24,lo8(-4) 2439 166e 01F4 brne .+2 2440 1670 00C0 rjmp .L552 2441 1672 8D3F cpi r24,lo8(-3) 2442 1674 01F4 brne .+2 2443 1676 00C0 rjmp .L553 2444 1678 8E3F cpi r24,lo8(-2) 2445 167a 01F0 breq .+2 2446 167c 00C0 rjmp .L459 2447 167e 8091 0000 lds r24,Poti4 2448 1682 8093 0000 sts Parameter_ExternalControl,r24 2449 1686 00C0 rjmp .L459 2450 .L455: 2451 1688 8093 0000 sts Parameter_ExternalControl,r24 2452 168c 00C0 rjmp .L459 2453 .L542: 2454 168e 8093 0000 sts Parameter_J16Timing,r24 2455 1692 00C0 rjmp .L429 2456 .L547: 2457 1694 8093 0000 sts Parameter_J17Timing,r24 2458 1698 00C0 rjmp .L443 2459 .L546: 2460 169a 81E0 ldi r24,lo8(1) 2461 169c 8093 0000 sts Parameter_J17Timing,r24 2462 16a0 00C0 rjmp .L443 2463 .L541: 2464 16a2 81E0 ldi r24,lo8(1) 2465 16a4 8093 0000 sts Parameter_J16Timing,r24 2466 16a8 00C0 rjmp .L429 2467 .L543: 2468 16aa 8091 0000 lds r24,Poti1 2469 16ae 8093 0000 sts Parameter_J17Timing,r24 2470 16b2 00C0 rjmp .L435 2471 .L551: 2472 16b4 8091 0000 lds r24,Poti1 2473 16b8 8093 0000 sts Parameter_ExternalControl,r24 2474 16bc 00C0 rjmp .L459 2475 .L548: 2476 16be 8091 0000 lds r24,Poti1 2477 16c2 8093 0000 sts Parameter_NaviGpsModeControl,r24 2478 16c6 00C0 rjmp .L449 2479 .L538: 2480 16c8 8091 0000 lds r24,Poti1 2481 16cc 8093 0000 sts Parameter_J16Timing,r24 2482 16d0 00C0 rjmp .L421 2483 .L532: 2484 16d2 8091 0000 lds r24,Poti1 2485 16d6 8093 0000 sts Parameter_CouplingYawCorrection,r24 2486 16da 00C0 rjmp .L401 2487 .L535: 2488 16dc 8091 0000 lds r24,Poti1 2489 16e0 8093 0000 sts Parameter_DynamicStability,r24 2490 16e4 00C0 rjmp .L411 2491 .L526: 2492 16e6 8091 0000 lds r24,Poti1 2493 16ea 8093 0000 sts Parameter_AchsKopplung1,r24 2494 16ee 00C0 rjmp .L381 2495 .L529: 2496 16f0 8091 0000 lds r24,Poti1 2497 16f4 8093 0000 sts Parameter_AchsKopplung2,r24 2498 16f8 00C0 rjmp .L391 2499 .L520: 2500 16fa 8091 0000 lds r24,Poti1 2501 16fe 8093 0000 sts Parameter_ServoNickControl,r24 2502 1702 00C0 rjmp .L361 2503 .L523: 2504 1704 8091 0000 lds r24,Poti1 2505 1708 8093 0000 sts Parameter_LoopGasLimit,r24 2506 170c 00C0 rjmp .L371 2507 .L514: 2508 170e 8091 0000 lds r24,Poti1 2509 1712 8093 0000 sts Parameter_UserParam7,r24 2510 1716 00C0 rjmp .L341 2511 .L517: 2512 1718 8091 0000 lds r24,Poti1 2513 171c 8093 0000 sts Parameter_UserParam8,r24 2514 1720 00C0 rjmp .L351 2515 .L508: 2516 1722 8091 0000 lds r24,Poti1 2517 1726 8093 0000 sts Parameter_UserParam5,r24 2518 172a 00C0 rjmp .L321 2519 .L511: 2520 172c 8091 0000 lds r24,Poti1 2521 1730 8093 0000 sts Parameter_UserParam6,r24 2522 1734 00C0 rjmp .L331 2523 .L502: 2524 1736 8091 0000 lds r24,Poti1 2525 173a 8093 0000 sts Parameter_UserParam3,r24 2526 173e 00C0 rjmp .L301 2527 .L505: 2528 1740 8091 0000 lds r24,Poti1 2529 1744 8093 0000 sts Parameter_UserParam4,r24 2530 1748 00C0 rjmp .L311 2531 .L490: 2532 174a 8091 0000 lds r24,Poti1 2533 174e 8093 0000 sts Parameter_Gyro_D,r24 2534 1752 00C0 rjmp .L261 2535 .L496: 2536 1754 8091 0000 lds r24,Poti1 2537 1758 8093 0000 sts Parameter_UserParam1,r24 2538 175c 00C0 rjmp .L281 2539 .L499: 2540 175e 8091 0000 lds r24,Poti1 2541 1762 8093 0000 sts Parameter_UserParam2,r24 2542 1766 00C0 rjmp .L291 2543 .L480: 2544 1768 8091 0000 lds r24,Poti1 2545 176c 8093 0000 sts Parameter_KompassWirkung,r24 2546 1770 00C0 rjmp .L227 2547 .L483: 2548 1772 8091 0000 lds r24,Poti1 2549 1776 8093 0000 sts Parameter_Gyro_P,r24 2550 177a 00C0 rjmp .L237 2551 .L486: 2552 177c 8091 0000 lds r24,Poti1 2553 1780 8093 0000 sts Parameter_Gyro_I,r24 2554 1784 00C0 rjmp .L251 2555 .L493: 2556 1786 8091 0000 lds r24,Poti1 2557 178a 8093 0000 sts Parameter_I_Faktor,r24 2558 178e 00C0 rjmp .L271 2559 .L466: 2560 1790 8091 0000 lds r24,Poti1 2561 1794 8093 0000 sts Parameter_MaxHoehe,r24 2562 1798 00C0 rjmp .L179 2563 .L469: 2564 179a 8091 0000 lds r24,Poti1 2565 179e 8093 0000 sts Parameter_Luftdruck_D,r24 2566 17a2 00C0 rjmp .L189 2567 .L476: 2568 17a4 8091 0000 lds r24,Poti1 2569 17a8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 2570 17ac 00C0 rjmp .L217 2571 .L472: 2572 17ae 8091 0000 lds r24,Poti1 2573 17b2 8093 0000 sts Parameter_Hoehe_P,r24 2574 17b6 00C0 rjmp .L203 2575 .L545: 2576 17b8 8091 0000 lds r24,Poti3 2577 17bc 8093 0000 sts Parameter_J17Timing,r24 2578 17c0 00C0 rjmp .L435 2579 .L550: 2580 17c2 8091 0000 lds r24,Poti3 2581 17c6 8093 0000 sts Parameter_NaviGpsModeControl,r24 2582 17ca 00C0 rjmp .L449 2583 .L553: 2584 17cc 8091 0000 lds r24,Poti3 2585 17d0 8093 0000 sts Parameter_ExternalControl,r24 2586 17d4 00C0 rjmp .L459 2587 .L485: 2588 17d6 8091 0000 lds r24,Poti3 2589 17da 8093 0000 sts Parameter_Gyro_P,r24 2590 17de 00C0 rjmp .L237 2591 .L488: 2592 17e0 8091 0000 lds r24,Poti3 2593 17e4 8093 0000 sts Parameter_Gyro_I,r24 2594 17e8 00C0 rjmp .L251 2595 .L492: 2596 17ea 8091 0000 lds r24,Poti3 2597 17ee 8093 0000 sts Parameter_Gyro_D,r24 2598 17f2 00C0 rjmp .L261 2599 .L482: 2600 17f4 8091 0000 lds r24,Poti3 2601 17f8 8093 0000 sts Parameter_KompassWirkung,r24 2602 17fc 00C0 rjmp .L227 2603 .L478: 2604 17fe 8091 0000 lds r24,Poti3 2605 1802 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 2606 1806 00C0 rjmp .L217 2607 .L468: 2608 1808 8091 0000 lds r24,Poti3 2609 180c 8093 0000 sts Parameter_MaxHoehe,r24 2610 1810 00C0 rjmp .L179 2611 .L471: 2612 1812 8091 0000 lds r24,Poti3 2613 1816 8093 0000 sts Parameter_Luftdruck_D,r24 2614 181a 00C0 rjmp .L189 2615 .L474: 2616 181c 8091 0000 lds r24,Poti3 2617 1820 8093 0000 sts Parameter_Hoehe_P,r24 2618 1824 00C0 rjmp .L203 2619 .L534: 2620 1826 8091 0000 lds r24,Poti3 2621 182a 8093 0000 sts Parameter_CouplingYawCorrection,r24 2622 182e 00C0 rjmp .L401 2623 .L537: 2624 1830 8091 0000 lds r24,Poti3 2625 1834 8093 0000 sts Parameter_DynamicStability,r24 2626 1838 00C0 rjmp .L411 2627 .L540: 2628 183a 8091 0000 lds r24,Poti3 2629 183e 8093 0000 sts Parameter_J16Timing,r24 2630 1842 00C0 rjmp .L421 2631 .L531: 2632 1844 8091 0000 lds r24,Poti3 2633 1848 8093 0000 sts Parameter_AchsKopplung2,r24 2634 184c 00C0 rjmp .L391 2635 .L504: 2636 184e 8091 0000 lds r24,Poti3 2637 1852 8093 0000 sts Parameter_UserParam3,r24 2638 1856 00C0 rjmp .L301 2639 .L495: 2640 1858 8091 0000 lds r24,Poti3 2641 185c 8093 0000 sts Parameter_I_Faktor,r24 2642 1860 00C0 rjmp .L271 2643 .L498: 2644 1862 8091 0000 lds r24,Poti3 2645 1866 8093 0000 sts Parameter_UserParam1,r24 2646 186a 00C0 rjmp .L281 2647 .L501: 2648 186c 8091 0000 lds r24,Poti3 2649 1870 8093 0000 sts Parameter_UserParam2,r24 2650 1874 00C0 rjmp .L291 2651 .L528: 2652 1876 8091 0000 lds r24,Poti3 2653 187a 8093 0000 sts Parameter_AchsKopplung1,r24 2654 187e 00C0 rjmp .L381 2655 .L519: 2656 1880 8091 0000 lds r24,Poti3 2657 1884 8093 0000 sts Parameter_UserParam8,r24 2658 1888 00C0 rjmp .L351 2659 .L522: 2660 188a 8091 0000 lds r24,Poti3 2661 188e 8093 0000 sts Parameter_ServoNickControl,r24 2662 1892 00C0 rjmp .L361 2663 .L525: 2664 1894 8091 0000 lds r24,Poti3 2665 1898 8093 0000 sts Parameter_LoopGasLimit,r24 2666 189c 00C0 rjmp .L371 2667 .L510: 2668 189e 8091 0000 lds r24,Poti3 2669 18a2 8093 0000 sts Parameter_UserParam5,r24 2670 18a6 00C0 rjmp .L321 2671 .L513: 2672 18a8 8091 0000 lds r24,Poti3 2673 18ac 8093 0000 sts Parameter_UserParam6,r24 2674 18b0 00C0 rjmp .L331 2675 .L516: 2676 18b2 8091 0000 lds r24,Poti3 2677 18b6 8093 0000 sts Parameter_UserParam7,r24 2678 18ba 00C0 rjmp .L341 2679 .L507: 2680 18bc 8091 0000 lds r24,Poti3 2681 18c0 8093 0000 sts Parameter_UserParam4,r24 2682 18c4 00C0 rjmp .L311 2683 .L506: 2684 18c6 8091 0000 lds r24,Poti2 2685 18ca 8093 0000 sts Parameter_UserParam4,r24 2686 18ce 00C0 rjmp .L311 2687 .L512: 2688 18d0 8091 0000 lds r24,Poti2 2689 18d4 8093 0000 sts Parameter_UserParam6,r24 2690 18d8 00C0 rjmp .L331 2691 .L515: 2692 18da 8091 0000 lds r24,Poti2 2693 18de 8093 0000 sts Parameter_UserParam7,r24 2694 18e2 00C0 rjmp .L341 2695 .L494: 2696 18e4 8091 0000 lds r24,Poti2 2697 18e8 8093 0000 sts Parameter_I_Faktor,r24 2698 18ec 00C0 rjmp .L271 2699 .L497: 2700 18ee 8091 0000 lds r24,Poti2 2701 18f2 8093 0000 sts Parameter_UserParam1,r24 2702 18f6 00C0 rjmp .L281 2703 .L500: 2704 18f8 8091 0000 lds r24,Poti2 2705 18fc 8093 0000 sts Parameter_UserParam2,r24 2706 1900 00C0 rjmp .L291 2707 .L527: 2708 1902 8091 0000 lds r24,Poti2 2709 1906 8093 0000 sts Parameter_AchsKopplung1,r24 2710 190a 00C0 rjmp .L381 2711 .L518: 2712 190c 8091 0000 lds r24,Poti2 2713 1910 8093 0000 sts Parameter_UserParam8,r24 2714 1914 00C0 rjmp .L351 2715 .L521: 2716 1916 8091 0000 lds r24,Poti2 2717 191a 8093 0000 sts Parameter_ServoNickControl,r24 2718 191e 00C0 rjmp .L361 2719 .L524: 2720 1920 8091 0000 lds r24,Poti2 2721 1924 8093 0000 sts Parameter_LoopGasLimit,r24 2722 1928 00C0 rjmp .L371 2723 .L509: 2724 192a 8091 0000 lds r24,Poti2 2725 192e 8093 0000 sts Parameter_UserParam5,r24 2726 1932 00C0 rjmp .L321 2727 .L467: 2728 1934 8091 0000 lds r24,Poti2 2729 1938 8093 0000 sts Parameter_MaxHoehe,r24 2730 193c 00C0 rjmp .L179 2731 .L470: 2732 193e 8091 0000 lds r24,Poti2 2733 1942 8093 0000 sts Parameter_Luftdruck_D,r24 2734 1946 00C0 rjmp .L189 2735 .L473: 2736 1948 8091 0000 lds r24,Poti2 2737 194c 8093 0000 sts Parameter_Hoehe_P,r24 2738 1950 00C0 rjmp .L203 2739 .L533: 2740 1952 8091 0000 lds r24,Poti2 2741 1956 8093 0000 sts Parameter_CouplingYawCorrection,r24 2742 195a 00C0 rjmp .L401 2743 .L536: 2744 195c 8091 0000 lds r24,Poti2 2745 1960 8093 0000 sts Parameter_DynamicStability,r24 2746 1964 00C0 rjmp .L411 2747 .L539: 2748 1966 8091 0000 lds r24,Poti2 2749 196a 8093 0000 sts Parameter_J16Timing,r24 2750 196e 00C0 rjmp .L421 2751 .L530: 2752 1970 8091 0000 lds r24,Poti2 2753 1974 8093 0000 sts Parameter_AchsKopplung2,r24 2754 1978 00C0 rjmp .L391 2755 .L503: 2756 197a 8091 0000 lds r24,Poti2 2757 197e 8093 0000 sts Parameter_UserParam3,r24 2758 1982 00C0 rjmp .L301 2759 .L544: 2760 1984 8091 0000 lds r24,Poti2 2761 1988 8093 0000 sts Parameter_J17Timing,r24 2762 198c 00C0 rjmp .L435 2763 .L549: 2764 198e 8091 0000 lds r24,Poti2 2765 1992 8093 0000 sts Parameter_NaviGpsModeControl,r24 2766 1996 00C0 rjmp .L449 2767 .L552: 2768 1998 8091 0000 lds r24,Poti2 2769 199c 8093 0000 sts Parameter_ExternalControl,r24 2770 19a0 00C0 rjmp .L459 2771 .L484: 2772 19a2 8091 0000 lds r24,Poti2 2773 19a6 8093 0000 sts Parameter_Gyro_P,r24 2774 19aa 00C0 rjmp .L237 2775 .L487: 2776 19ac 8091 0000 lds r24,Poti2 2777 19b0 8093 0000 sts Parameter_Gyro_I,r24 2778 19b4 00C0 rjmp .L251 2779 .L491: 2780 19b6 8091 0000 lds r24,Poti2 2781 19ba 8093 0000 sts Parameter_Gyro_D,r24 2782 19be 00C0 rjmp .L261 2783 .L481: 2784 19c0 8091 0000 lds r24,Poti2 2785 19c4 8093 0000 sts Parameter_KompassWirkung,r24 2786 19c8 00C0 rjmp .L227 2787 .L477: 2788 19ca 8091 0000 lds r24,Poti2 2789 19ce 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 2790 19d2 00C0 rjmp .L217 2791 .L459: 2792 19d4 6091 0000 lds r22,Parameter_I_Faktor 2793 19d8 70E0 ldi r23,lo8(0) 2794 19da 6F5F subi r22,lo8(-(1)) 2795 19dc 7F4F sbci r23,hi8(-(1)) 2796 19de 8CE3 ldi r24,lo8(10300) 2797 19e0 98E2 ldi r25,hi8(10300) 2798 19e2 0E94 0000 call __divmodhi4 2799 19e6 7093 0000 sts (Ki)+1,r23 2800 19ea 6093 0000 sts Ki,r22 2801 19ee 8091 0000 lds r24,EE_Parameter+19 2802 19f2 8093 0000 sts MAX_GAS,r24 2803 19f6 8091 0000 lds r24,EE_Parameter+18 2804 19fa 8093 0000 sts MIN_GAS,r24 2805 /* epilogue: frame size=0 */ 2806 19fe 0895 ret 2807 /* epilogue end (size=1) */ 2808 /* function ParameterZuordnung size 1094 (1093) */ 2810 .global SendMotorData 2812 SendMotorData: 2813 /* prologue: frame size=0 */ 2814 /* prologue end (size=0) */ 2815 1a00 8091 0000 lds r24,MotorenEin 2816 1a04 8823 tst r24 2817 1a06 01F4 brne .L555 2818 1a08 1092 0000 sts Motor_Hinten,__zero_reg__ 2819 1a0c 1092 0000 sts Motor_Vorne,__zero_reg__ 2820 1a10 1092 0000 sts Motor_Rechts,__zero_reg__ 2821 1a14 1092 0000 sts Motor_Links,__zero_reg__ 2822 1a18 8091 0000 lds r24,MotorTest 2823 1a1c 8823 tst r24 2824 1a1e 01F0 breq .L557 2825 1a20 8093 0000 sts Motor_Vorne,r24 2826 .L557: 2827 1a24 8091 0000 lds r24,MotorTest+1 2828 1a28 8823 tst r24 2829 1a2a 01F0 breq .L559 2830 1a2c 8093 0000 sts Motor_Hinten,r24 2831 .L559: 2832 1a30 8091 0000 lds r24,MotorTest+2 2833 1a34 8823 tst r24 2834 1a36 01F0 breq .L561 2835 1a38 8093 0000 sts Motor_Links,r24 2836 .L561: 2837 1a3c 8091 0000 lds r24,MotorTest+3 2838 1a40 8823 tst r24 2839 1a42 01F4 brne .L567 2840 .L563: 2841 1a44 8091 0000 lds r24,MikroKopterFlags 2842 1a48 8C7F andi r24,lo8(-4) 2843 1a4a 8093 0000 sts MikroKopterFlags,r24 2844 1a4e 00C0 rjmp .L565 2845 .L555: 2846 1a50 8091 0000 lds r24,MikroKopterFlags 2847 1a54 8160 ori r24,lo8(1) 2848 1a56 8093 0000 sts MikroKopterFlags,r24 2849 1a5a 00C0 rjmp .L565 2850 .L567: 2851 1a5c 8093 0000 sts Motor_Rechts,r24 2852 1a60 00C0 rjmp .L563 2853 .L565: 2854 1a62 8091 0000 lds r24,Motor_Vorne 2855 1a66 90E0 ldi r25,lo8(0) 2856 1a68 9093 0000 sts (DebugOut+26)+1,r25 2857 1a6c 8093 0000 sts DebugOut+26,r24 2858 1a70 8091 0000 lds r24,Motor_Hinten 2859 1a74 90E0 ldi r25,lo8(0) 2860 1a76 9093 0000 sts (DebugOut+28)+1,r25 2861 1a7a 8093 0000 sts DebugOut+28,r24 2862 1a7e 8091 0000 lds r24,Motor_Links 2863 1a82 90E0 ldi r25,lo8(0) 2864 1a84 9093 0000 sts (DebugOut+30)+1,r25 2865 1a88 8093 0000 sts DebugOut+30,r24 2866 1a8c 8091 0000 lds r24,Motor_Rechts 2867 1a90 90E0 ldi r25,lo8(0) 2868 1a92 9093 0000 sts (DebugOut+32)+1,r25 2869 1a96 8093 0000 sts DebugOut+32,r24 2870 1a9a 1092 0000 sts twi_state,__zero_reg__ 2871 1a9e 1092 0000 sts motor,__zero_reg__ 2872 1aa2 0E94 0000 call i2c_start 2873 /* epilogue: frame size=0 */ 2874 1aa6 0895 ret 2875 /* epilogue end (size=1) */ 2876 /* function SendMotorData size 84 (83) */ 2878 .global CalibrierMittelwert 2880 CalibrierMittelwert: 2881 /* prologue: frame size=0 */ 2882 /* prologue end (size=0) */ 2883 1aa8 8091 0000 lds r24,PlatinenVersion 2884 1aac 8D30 cpi r24,lo8(13) 2885 1aae 01F4 brne .+2 2886 1ab0 00C0 rjmp .L608 2887 .L569: 2888 1ab2 1092 7A00 sts 122,__zero_reg__ 2889 1ab6 8091 0000 lds r24,AdWertNick 2890 1aba 9091 0000 lds r25,(AdWertNick)+1 2891 1abe 9093 0000 sts (MesswertNick)+1,r25 2892 1ac2 8093 0000 sts MesswertNick,r24 2893 1ac6 8091 0000 lds r24,AdWertRoll 2894 1aca 9091 0000 lds r25,(AdWertRoll)+1 2895 1ace 9093 0000 sts (MesswertRoll)+1,r25 2896 1ad2 8093 0000 sts MesswertRoll,r24 2897 1ad6 8091 0000 lds r24,AdWertGier 2898 1ada 9091 0000 lds r25,(AdWertGier)+1 2899 1ade 9093 0000 sts (MesswertGier)+1,r25 2900 1ae2 8093 0000 sts MesswertGier,r24 2901 1ae6 6091 0000 lds r22,AdWertAccNick 2902 1aea 7091 0000 lds r23,(AdWertAccNick)+1 2903 1aee 8827 clr r24 2904 1af0 77FD sbrc r23,7 2905 1af2 8095 com r24 2906 1af4 982F mov r25,r24 2907 1af6 26E0 ldi r18,lo8(6) 2908 1af8 30E0 ldi r19,hi8(6) 2909 1afa 40E0 ldi r20,hlo8(6) 2910 1afc 50E0 ldi r21,hhi8(6) 2911 1afe 0E94 0000 call __mulsi3 2912 1b02 7093 0000 sts (Mittelwert_AccNick)+1,r23 2913 1b06 6093 0000 sts Mittelwert_AccNick,r22 2914 1b0a 6091 0000 lds r22,AdWertAccRoll 2915 1b0e 7091 0000 lds r23,(AdWertAccRoll)+1 2916 1b12 8827 clr r24 2917 1b14 77FD sbrc r23,7 2918 1b16 8095 com r24 2919 1b18 982F mov r25,r24 2920 1b1a 0E94 0000 call __mulsi3 2921 1b1e 7093 0000 sts (Mittelwert_AccRoll)+1,r23 2922 1b22 6093 0000 sts Mittelwert_AccRoll,r22 2923 1b26 8091 0000 lds r24,AdWertAccHoch 2924 1b2a 9091 0000 lds r25,(AdWertAccHoch)+1 2925 1b2e 9093 0000 sts (Mittelwert_AccHoch)+1,r25 2926 1b32 8093 0000 sts Mittelwert_AccHoch,r24 2927 1b36 8FEC ldi r24,lo8(-49) 2928 1b38 8093 7A00 sts 122,r24 2929 1b3c 8091 0000 lds r24,EE_Parameter+4 2930 1b40 E82F mov r30,r24 2931 1b42 F0E0 ldi r31,lo8(0) 2932 1b44 EE0F lsl r30 2933 1b46 FF1F rol r31 2934 1b48 E050 subi r30,lo8(-(PPM_in)) 2935 1b4a F040 sbci r31,hi8(-(PPM_in)) 2936 1b4c 8081 ld r24,Z 2937 1b4e 9181 ldd r25,Z+1 2938 1b50 A091 0000 lds r26,Poti1 2939 1b54 B091 0000 lds r27,(Poti1)+1 2940 1b58 8259 subi r24,lo8(-(110)) 2941 1b5a 9F4F sbci r25,hi8(-(110)) 2942 1b5c A817 cp r26,r24 2943 1b5e B907 cpc r27,r25 2944 1b60 04F0 brlt .+2 2945 1b62 00C0 rjmp .L571 2946 1b64 1196 adiw r26,1 2947 1b66 B093 0000 sts (Poti1)+1,r27 2948 1b6a A093 0000 sts Poti1,r26 2949 .L573: 2950 1b6e 8091 0000 lds r24,EE_Parameter+5 2951 1b72 E82F mov r30,r24 2952 1b74 F0E0 ldi r31,lo8(0) 2953 1b76 EE0F lsl r30 2954 1b78 FF1F rol r31 2955 1b7a E050 subi r30,lo8(-(PPM_in)) 2956 1b7c F040 sbci r31,hi8(-(PPM_in)) 2957 1b7e 8081 ld r24,Z 2958 1b80 9181 ldd r25,Z+1 2959 1b82 6091 0000 lds r22,Poti2 2960 1b86 7091 0000 lds r23,(Poti2)+1 2961 1b8a 8259 subi r24,lo8(-(110)) 2962 1b8c 9F4F sbci r25,hi8(-(110)) 2963 1b8e 6817 cp r22,r24 2964 1b90 7907 cpc r23,r25 2965 1b92 04F0 brlt .+2 2966 1b94 00C0 rjmp .L576 2967 1b96 6F5F subi r22,lo8(-(1)) 2968 1b98 7F4F sbci r23,hi8(-(1)) 2969 1b9a 7093 0000 sts (Poti2)+1,r23 2970 1b9e 6093 0000 sts Poti2,r22 2971 .L578: 2972 1ba2 8091 0000 lds r24,EE_Parameter+6 2973 1ba6 E82F mov r30,r24 2974 1ba8 F0E0 ldi r31,lo8(0) 2975 1baa EE0F lsl r30 2976 1bac FF1F rol r31 2977 1bae E050 subi r30,lo8(-(PPM_in)) 2978 1bb0 F040 sbci r31,hi8(-(PPM_in)) 2979 1bb2 8081 ld r24,Z 2980 1bb4 9181 ldd r25,Z+1 2981 1bb6 4091 0000 lds r20,Poti3 2982 1bba 5091 0000 lds r21,(Poti3)+1 2983 1bbe 8259 subi r24,lo8(-(110)) 2984 1bc0 9F4F sbci r25,hi8(-(110)) 2985 1bc2 4817 cp r20,r24 2986 1bc4 5907 cpc r21,r25 2987 1bc6 04F0 brlt .+2 2988 1bc8 00C0 rjmp .L581 2989 1bca 4F5F subi r20,lo8(-(1)) 2990 1bcc 5F4F sbci r21,hi8(-(1)) 2991 1bce 5093 0000 sts (Poti3)+1,r21 2992 1bd2 4093 0000 sts Poti3,r20 2993 .L583: 2994 1bd6 8091 0000 lds r24,EE_Parameter+7 2995 1bda E82F mov r30,r24 2996 1bdc F0E0 ldi r31,lo8(0) 2997 1bde EE0F lsl r30 2998 1be0 FF1F rol r31 2999 1be2 E050 subi r30,lo8(-(PPM_in)) 3000 1be4 F040 sbci r31,hi8(-(PPM_in)) 3001 1be6 8081 ld r24,Z 3002 1be8 9181 ldd r25,Z+1 3003 1bea 2091 0000 lds r18,Poti4 3004 1bee 3091 0000 lds r19,(Poti4)+1 3005 1bf2 8259 subi r24,lo8(-(110)) 3006 1bf4 9F4F sbci r25,hi8(-(110)) 3007 1bf6 2817 cp r18,r24 3008 1bf8 3907 cpc r19,r25 3009 1bfa 04F4 brge .L586 3010 1bfc 2F5F subi r18,lo8(-(1)) 3011 1bfe 3F4F sbci r19,hi8(-(1)) 3012 1c00 3093 0000 sts (Poti4)+1,r19 3013 1c04 2093 0000 sts Poti4,r18 3014 .L588: 3015 1c08 B7FD sbrc r27,7 3016 1c0a 00C0 rjmp .L609 3017 .L591: 3018 1c0c AF3F cpi r26,255 3019 1c0e B105 cpc r27,__zero_reg__ 3020 1c10 01F0 breq .+4 3021 1c12 04F0 brlt .+2 3022 1c14 00C0 rjmp .L610 3023 .L593: 3024 1c16 77FD sbrc r23,7 3025 1c18 00C0 rjmp .L611 3026 .L595: 3027 1c1a 6F3F cpi r22,255 3028 1c1c 7105 cpc r23,__zero_reg__ 3029 1c1e 01F0 breq .+4 3030 1c20 04F0 brlt .+2 3031 1c22 00C0 rjmp .L612 3032 .L597: 3033 1c24 57FD sbrc r21,7 3034 1c26 00C0 rjmp .L613 3035 .L599: 3036 1c28 4F3F cpi r20,255 3037 1c2a 5105 cpc r21,__zero_reg__ 3038 1c2c 01F0 breq .+4 3039 1c2e 04F0 brlt .+2 3040 1c30 00C0 rjmp .L614 3041 .L601: 3042 1c32 37FD sbrc r19,7 3043 1c34 00C0 rjmp .L615 3044 .L603: 3045 1c36 2F3F cpi r18,255 3046 1c38 3105 cpc r19,__zero_reg__ 3047 1c3a 01F0 breq .+2 3048 1c3c 04F4 brge .+2 3049 1c3e 00C0 rjmp .L605 3050 1c40 8FEF ldi r24,lo8(255) 3051 1c42 90E0 ldi r25,hi8(255) 3052 1c44 9093 0000 sts (Poti4)+1,r25 3053 1c48 8093 0000 sts Poti4,r24 3054 1c4c 00C0 rjmp .L605 3055 .L586: 3056 1c4e 8081 ld r24,Z 3057 1c50 9181 ldd r25,Z+1 3058 1c52 8259 subi r24,lo8(-(110)) 3059 1c54 9F4F sbci r25,hi8(-(110)) 3060 1c56 8217 cp r24,r18 3061 1c58 9307 cpc r25,r19 3062 1c5a 04F4 brge .L588 3063 1c5c 2115 cp r18,__zero_reg__ 3064 1c5e 3105 cpc r19,__zero_reg__ 3065 1c60 01F0 breq .L588 3066 1c62 2150 subi r18,lo8(-(-1)) 3067 1c64 3040 sbci r19,hi8(-(-1)) 3068 1c66 3093 0000 sts (Poti4)+1,r19 3069 1c6a 2093 0000 sts Poti4,r18 3070 1c6e B7FF sbrs r27,7 3071 1c70 00C0 rjmp .L591 3072 .L609: 3073 1c72 1092 0000 sts (Poti1)+1,__zero_reg__ 3074 1c76 1092 0000 sts Poti1,__zero_reg__ 3075 1c7a 77FF sbrs r23,7 3076 1c7c 00C0 rjmp .L595 3077 .L611: 3078 1c7e 1092 0000 sts (Poti2)+1,__zero_reg__ 3079 1c82 1092 0000 sts Poti2,__zero_reg__ 3080 1c86 57FF sbrs r21,7 3081 1c88 00C0 rjmp .L599 3082 .L613: 3083 1c8a 1092 0000 sts (Poti3)+1,__zero_reg__ 3084 1c8e 1092 0000 sts Poti3,__zero_reg__ 3085 1c92 37FF sbrs r19,7 3086 1c94 00C0 rjmp .L603 3087 .L615: 3088 1c96 1092 0000 sts (Poti4)+1,__zero_reg__ 3089 1c9a 1092 0000 sts Poti4,__zero_reg__ 3090 1c9e 00C0 rjmp .L605 3091 .L581: 3092 1ca0 8081 ld r24,Z 3093 1ca2 9181 ldd r25,Z+1 3094 1ca4 8259 subi r24,lo8(-(110)) 3095 1ca6 9F4F sbci r25,hi8(-(110)) 3096 1ca8 8417 cp r24,r20 3097 1caa 9507 cpc r25,r21 3098 1cac 04F0 brlt .+2 3099 1cae 00C0 rjmp .L583 3100 1cb0 4115 cp r20,__zero_reg__ 3101 1cb2 5105 cpc r21,__zero_reg__ 3102 1cb4 01F4 brne .+2 3103 1cb6 00C0 rjmp .L583 3104 1cb8 4150 subi r20,lo8(-(-1)) 3105 1cba 5040 sbci r21,hi8(-(-1)) 3106 1cbc 5093 0000 sts (Poti3)+1,r21 3107 1cc0 4093 0000 sts Poti3,r20 3108 1cc4 00C0 rjmp .L583 3109 .L576: 3110 1cc6 8081 ld r24,Z 3111 1cc8 9181 ldd r25,Z+1 3112 1cca 8259 subi r24,lo8(-(110)) 3113 1ccc 9F4F sbci r25,hi8(-(110)) 3114 1cce 8617 cp r24,r22 3115 1cd0 9707 cpc r25,r23 3116 1cd2 04F0 brlt .+2 3117 1cd4 00C0 rjmp .L578 3118 1cd6 6115 cp r22,__zero_reg__ 3119 1cd8 7105 cpc r23,__zero_reg__ 3120 1cda 01F4 brne .+2 3121 1cdc 00C0 rjmp .L578 3122 1cde 6150 subi r22,lo8(-(-1)) 3123 1ce0 7040 sbci r23,hi8(-(-1)) 3124 1ce2 7093 0000 sts (Poti2)+1,r23 3125 1ce6 6093 0000 sts Poti2,r22 3126 1cea 00C0 rjmp .L578 3127 .L571: 3128 1cec 8081 ld r24,Z 3129 1cee 9181 ldd r25,Z+1 3130 1cf0 8259 subi r24,lo8(-(110)) 3131 1cf2 9F4F sbci r25,hi8(-(110)) 3132 1cf4 8A17 cp r24,r26 3133 1cf6 9B07 cpc r25,r27 3134 1cf8 04F0 brlt .+2 3135 1cfa 00C0 rjmp .L573 3136 1cfc 1097 sbiw r26,0 3137 1cfe 01F4 brne .+2 3138 1d00 00C0 rjmp .L573 3139 1d02 1197 sbiw r26,1 3140 1d04 B093 0000 sts (Poti1)+1,r27 3141 1d08 A093 0000 sts Poti1,r26 3142 1d0c 00C0 rjmp .L573 3143 .L614: 3144 1d0e 8FEF ldi r24,lo8(255) 3145 1d10 90E0 ldi r25,hi8(255) 3146 1d12 9093 0000 sts (Poti3)+1,r25 3147 1d16 8093 0000 sts Poti3,r24 3148 1d1a 00C0 rjmp .L601 3149 .L612: 3150 1d1c 8FEF ldi r24,lo8(255) 3151 1d1e 90E0 ldi r25,hi8(255) 3152 1d20 9093 0000 sts (Poti2)+1,r25 3153 1d24 8093 0000 sts Poti2,r24 3154 1d28 00C0 rjmp .L597 3155 .L610: 3156 1d2a 8FEF ldi r24,lo8(255) 3157 1d2c 90E0 ldi r25,hi8(255) 3158 1d2e 9093 0000 sts (Poti1)+1,r25 3159 1d32 8093 0000 sts Poti1,r24 3160 1d36 00C0 rjmp .L593 3161 .L608: 3162 1d38 0E94 0000 call SucheGyroOffset 3163 1d3c 00C0 rjmp .L569 3164 .L605: 3165 1d3e 6091 0000 lds r22,EE_Parameter+45 3166 1d42 70E0 ldi r23,lo8(0) 3167 1d44 80E0 ldi r24,lo8(0) 3168 1d46 90E0 ldi r25,hi8(0) 3169 1d48 24EC ldi r18,lo8(2500) 3170 1d4a 39E0 ldi r19,hi8(2500) 3171 1d4c 40E0 ldi r20,hlo8(2500) 3172 1d4e 50E0 ldi r21,hhi8(2500) 3173 1d50 0E94 0000 call __mulsi3 3174 1d54 6093 0000 sts Umschlag180Nick,r22 3175 1d58 7093 0000 sts (Umschlag180Nick)+1,r23 3176 1d5c 8093 0000 sts (Umschlag180Nick)+2,r24 3177 1d60 9093 0000 sts (Umschlag180Nick)+3,r25 3178 1d64 6091 0000 lds r22,EE_Parameter+46 3179 1d68 70E0 ldi r23,lo8(0) 3180 1d6a 80E0 ldi r24,lo8(0) 3181 1d6c 90E0 ldi r25,hi8(0) 3182 1d6e 0E94 0000 call __mulsi3 3183 1d72 6093 0000 sts Umschlag180Roll,r22 3184 1d76 7093 0000 sts (Umschlag180Roll)+1,r23 3185 1d7a 8093 0000 sts (Umschlag180Roll)+2,r24 3186 1d7e 9093 0000 sts (Umschlag180Roll)+3,r25 3187 /* epilogue: frame size=0 */ 3188 1d82 0895 ret 3189 /* epilogue end (size=1) */ 3190 /* function CalibrierMittelwert size 366 (365) */ 3192 .global SetNeutral 3194 SetNeutral: 3195 /* prologue: frame size=0 */ 3196 1d84 6F92 push r6 3197 1d86 7F92 push r7 3198 1d88 8F92 push r8 3199 1d8a 9F92 push r9 3200 1d8c AF92 push r10 3201 1d8e BF92 push r11 3202 1d90 CF92 push r12 3203 1d92 DF92 push r13 3204 1d94 EF92 push r14 3205 1d96 FF92 push r15 3206 1d98 0F93 push r16 3207 1d9a 1F93 push r17 3208 1d9c CF93 push r28 3209 1d9e DF93 push r29 3210 /* prologue end (size=14) */ 3211 1da0 1092 0000 sts ServoActive,__zero_reg__ 3212 1da4 469A sbi 40-0x20,6 3213 1da6 1092 0000 sts (NeutralAccX)+1,__zero_reg__ 3214 1daa 1092 0000 sts NeutralAccX,__zero_reg__ 3215 1dae 1092 0000 sts (NeutralAccY)+1,__zero_reg__ 3216 1db2 1092 0000 sts NeutralAccY,__zero_reg__ 3217 1db6 80E0 ldi r24,lo8(0x0) 3218 1db8 90E0 ldi r25,hi8(0x0) 3219 1dba A0E0 ldi r26,hlo8(0x0) 3220 1dbc B0E0 ldi r27,hhi8(0x0) 3221 1dbe 8093 0000 sts NeutralAccZ,r24 3222 1dc2 9093 0000 sts (NeutralAccZ)+1,r25 3223 1dc6 A093 0000 sts (NeutralAccZ)+2,r26 3224 1dca B093 0000 sts (NeutralAccZ)+3,r27 3225 1dce 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ 3226 1dd2 1092 0000 sts AdNeutralNick,__zero_reg__ 3227 1dd6 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ 3228 1dda 1092 0000 sts AdNeutralRoll,__zero_reg__ 3229 1dde 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ 3230 1de2 1092 0000 sts AdNeutralGier,__zero_reg__ 3231 1de6 1092 0000 sts (AdNeutralGierBias)+1,__zero_reg__ 3232 1dea 1092 0000 sts AdNeutralGierBias,__zero_reg__ 3233 1dee 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 3234 1df2 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 3235 1df6 1092 0000 sts ExpandBaro,__zero_reg__ 3236 1dfa 0E94 0000 call CalibrierMittelwert 3237 1dfe 84E6 ldi r24,lo8(100) 3238 1e00 90E0 ldi r25,hi8(100) 3239 1e02 0E94 0000 call Delay_ms_Mess 3240 1e06 0E94 0000 call CalibrierMittelwert 3241 1e0a 8091 0000 lds r24,EE_Parameter+8 3242 1e0e 80FF sbrs r24,0 3243 1e10 00C0 rjmp .L617 3244 1e12 8091 0000 lds r24,MessLuftdruck 3245 1e16 9091 0000 lds r25,(MessLuftdruck)+1 3246 1e1a 875B subi r24,lo8(951) 3247 1e1c 9340 sbci r25,hi8(951) 3248 1e1e 00F0 brlo .+2 3249 1e20 00C0 rjmp .L619 3250 1e22 8091 0000 lds r24,MessLuftdruck 3251 1e26 9091 0000 lds r25,(MessLuftdruck)+1 3252 1e2a 8E5E subi r24,lo8(750) 3253 1e2c 9240 sbci r25,hi8(750) 3254 1e2e 00F4 brsh .+2 3255 1e30 00C0 rjmp .L619 3256 .L617: 3257 1e32 EE24 clr r14 3258 1e34 CC24 clr r12 3259 1e36 DD24 clr r13 3260 1e38 C0E0 ldi r28,lo8(0) 3261 1e3a D0E0 ldi r29,hi8(0) 3262 1e3c 00E0 ldi r16,lo8(0) 3263 1e3e 10E0 ldi r17,hi8(0) 3264 .L621: 3265 1e40 8AE0 ldi r24,lo8(10) 3266 1e42 90E0 ldi r25,hi8(10) 3267 1e44 0E94 0000 call Delay_ms_Mess 3268 1e48 8091 0000 lds r24,AdWertGier 3269 1e4c 9091 0000 lds r25,(AdWertGier)+1 3270 1e50 C80E add r12,r24 3271 1e52 D91E adc r13,r25 3272 1e54 8091 0000 lds r24,AdWertNick 3273 1e58 9091 0000 lds r25,(AdWertNick)+1 3274 1e5c C80F add r28,r24 3275 1e5e D91F adc r29,r25 3276 1e60 8091 0000 lds r24,AdWertRoll 3277 1e64 9091 0000 lds r25,(AdWertRoll)+1 3278 1e68 080F add r16,r24 3279 1e6a 191F adc r17,r25 3280 1e6c E394 inc r14 3281 1e6e 80E2 ldi r24,lo8(32) 3282 1e70 E816 cp r14,r24 3283 1e72 01F4 brne .L621 3284 1e74 AE01 movw r20,r28 3285 1e76 405F subi r20,lo8(-(16)) 3286 1e78 5F4F sbci r21,hi8(-(16)) 3287 1e7a 5695 lsr r21 3288 1e7c 4795 ror r20 3289 1e7e 5695 lsr r21 3290 1e80 4795 ror r20 3291 1e82 5093 0000 sts (AdNeutralNick)+1,r21 3292 1e86 4093 0000 sts AdNeutralNick,r20 3293 1e8a 9801 movw r18,r16 3294 1e8c 205F subi r18,lo8(-(16)) 3295 1e8e 3F4F sbci r19,hi8(-(16)) 3296 1e90 3695 lsr r19 3297 1e92 2795 ror r18 3298 1e94 3695 lsr r19 3299 1e96 2795 ror r18 3300 1e98 3093 0000 sts (AdNeutralRoll)+1,r19 3301 1e9c 2093 0000 sts AdNeutralRoll,r18 3302 1ea0 C601 movw r24,r12 3303 1ea2 4096 adiw r24,16 3304 1ea4 9695 lsr r25 3305 1ea6 8795 ror r24 3306 1ea8 9295 swap r25 3307 1eaa 8295 swap r24 3308 1eac 8F70 andi r24,0x0f 3309 1eae 8927 eor r24,r25 3310 1eb0 9F70 andi r25,0x0f 3311 1eb2 8927 eor r24,r25 3312 1eb4 9093 0000 sts (AdNeutralGier)+1,r25 3313 1eb8 8093 0000 sts AdNeutralGier,r24 3314 1ebc 9093 0000 sts (AdNeutralGierBias)+1,r25 3315 1ec0 8093 0000 sts AdNeutralGierBias,r24 3316 1ec4 3093 0000 sts (StartNeutralRoll)+1,r19 3317 1ec8 2093 0000 sts StartNeutralRoll,r18 3318 1ecc 5093 0000 sts (StartNeutralNick)+1,r21 3319 1ed0 4093 0000 sts StartNeutralNick,r20 3320 1ed4 40E0 ldi r20,lo8(EEPromArray+4) 3321 1ed6 50E0 ldi r21,hi8(EEPromArray+4) 3322 1ed8 DA01 movw r26,r20 3323 /* #APP */ 3324 1eda 0E94 0000 call __eeprom_read_byte_1F2021 3325 1ede 802D mov r24,__tmp_reg__ 3326 /* #NOAPP */ 3327 1ee0 8530 cpi r24,lo8(5) 3328 1ee2 00F0 brlo .L623 3329 1ee4 8091 0000 lds r24,Mittelwert_AccRoll 3330 1ee8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 3331 1eec 97FD sbrc r25,7 3332 1eee 00C0 rjmp .L631 3333 .L625: 3334 1ef0 6CE0 ldi r22,lo8(12) 3335 1ef2 70E0 ldi r23,hi8(12) 3336 1ef4 0E94 0000 call __divmodhi4 3337 1ef8 7093 0000 sts (NeutralAccY)+1,r23 3338 1efc 6093 0000 sts NeutralAccY,r22 3339 1f00 8091 0000 lds r24,Mittelwert_AccNick 3340 1f04 9091 0000 lds r25,(Mittelwert_AccNick)+1 3341 1f08 97FD sbrc r25,7 3342 1f0a 00C0 rjmp .L632 3343 .L626: 3344 1f0c 6CE0 ldi r22,lo8(12) 3345 1f0e 70E0 ldi r23,hi8(12) 3346 1f10 0E94 0000 call __divmodhi4 3347 1f14 7093 0000 sts (NeutralAccX)+1,r23 3348 1f18 6093 0000 sts NeutralAccX,r22 3349 1f1c 6091 0000 lds r22,Aktuell_az 3350 1f20 7091 0000 lds r23,(Aktuell_az)+1 3351 1f24 8827 clr r24 3352 1f26 77FD sbrc r23,7 3353 1f28 8095 com r24 3354 1f2a 982F mov r25,r24 3355 1f2c 0E94 0000 call __floatsisf 3356 1f30 6093 0000 sts NeutralAccZ,r22 3357 1f34 7093 0000 sts (NeutralAccZ)+1,r23 3358 1f38 8093 0000 sts (NeutralAccZ)+2,r24 3359 1f3c 9093 0000 sts (NeutralAccZ)+3,r25 3360 1f40 00C0 rjmp .L627 3361 .L623: 3362 1f42 DA01 movw r26,r20 3363 /* #APP */ 3364 1f44 0E94 0000 call __eeprom_read_byte_1F2021 3365 1f48 802D mov r24,__tmp_reg__ 3366 /* #NOAPP */ 3367 1f4a 4F5F subi r20,lo8(-(1)) 3368 1f4c 5F4F sbci r21,hi8(-(1)) 3369 1f4e DA01 movw r26,r20 3370 /* #APP */ 3371 1f50 0E94 0000 call __eeprom_read_byte_1F2021 3372 1f54 202D mov r18,__tmp_reg__ 3373 /* #NOAPP */ 3374 1f56 90E0 ldi r25,lo8(0) 3375 1f58 982F mov r25,r24 3376 1f5a 8827 clr r24 3377 1f5c 820F add r24,r18 3378 1f5e 911D adc r25,__zero_reg__ 3379 1f60 9093 0000 sts (NeutralAccX)+1,r25 3380 1f64 8093 0000 sts NeutralAccX,r24 3381 1f68 4F5F subi r20,lo8(-(1)) 3382 1f6a 5F4F sbci r21,hi8(-(1)) 3383 1f6c DA01 movw r26,r20 3384 /* #APP */ 3385 1f6e 0E94 0000 call __eeprom_read_byte_1F2021 3386 1f72 802D mov r24,__tmp_reg__ 3387 /* #NOAPP */ 3388 1f74 4F5F subi r20,lo8(-(1)) 3389 1f76 5F4F sbci r21,hi8(-(1)) 3390 1f78 DA01 movw r26,r20 3391 /* #APP */ 3392 1f7a 0E94 0000 call __eeprom_read_byte_1F2021 3393 1f7e 202D mov r18,__tmp_reg__ 3394 /* #NOAPP */ 3395 1f80 90E0 ldi r25,lo8(0) 3396 1f82 982F mov r25,r24 3397 1f84 8827 clr r24 3398 1f86 820F add r24,r18 3399 1f88 911D adc r25,__zero_reg__ 3400 1f8a 9093 0000 sts (NeutralAccY)+1,r25 3401 1f8e 8093 0000 sts NeutralAccY,r24 3402 1f92 4F5F subi r20,lo8(-(1)) 3403 1f94 5F4F sbci r21,hi8(-(1)) 3404 1f96 DA01 movw r26,r20 3405 /* #APP */ 3406 1f98 0E94 0000 call __eeprom_read_byte_1F2021 3407 1f9c 602D mov r22,__tmp_reg__ 3408 /* #NOAPP */ 3409 1f9e 4F5F subi r20,lo8(-(1)) 3410 1fa0 5F4F sbci r21,hi8(-(1)) 3411 1fa2 DA01 movw r26,r20 3412 /* #APP */ 3413 1fa4 0E94 0000 call __eeprom_read_byte_1F2021 3414 1fa8 202D mov r18,__tmp_reg__ 3415 /* #NOAPP */ 3416 1faa 70E0 ldi r23,lo8(0) 3417 1fac 762F mov r23,r22 3418 1fae 6627 clr r22 3419 1fb0 620F add r22,r18 3420 1fb2 711D adc r23,__zero_reg__ 3421 1fb4 8827 clr r24 3422 1fb6 77FD sbrc r23,7 3423 1fb8 8095 com r24 3424 1fba 982F mov r25,r24 3425 1fbc 0E94 0000 call __floatsisf 3426 1fc0 6093 0000 sts NeutralAccZ,r22 3427 1fc4 7093 0000 sts (NeutralAccZ)+1,r23 3428 1fc8 8093 0000 sts (NeutralAccZ)+2,r24 3429 1fcc 9093 0000 sts (NeutralAccZ)+3,r25 3430 1fd0 00C0 rjmp .L627 3431 .L619: 3432 1fd2 0E94 0000 call SucheLuftruckOffset 3433 1fd6 00C0 rjmp .L617 3434 .L632: 3435 1fd8 9095 com r25 3436 1fda 8195 neg r24 3437 1fdc 9F4F sbci r25,lo8(-1) 3438 1fde 00C0 rjmp .L626 3439 .L631: 3440 1fe0 9095 com r25 3441 1fe2 8195 neg r24 3442 1fe4 9F4F sbci r25,lo8(-1) 3443 1fe6 00C0 rjmp .L625 3444 .L627: 3445 1fe8 1092 0000 sts (MesswertNick)+1,__zero_reg__ 3446 1fec 1092 0000 sts MesswertNick,__zero_reg__ 3447 1ff0 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 3448 1ff4 1092 0000 sts MesswertRoll,__zero_reg__ 3449 1ff8 1092 0000 sts (MesswertGier)+1,__zero_reg__ 3450 1ffc 1092 0000 sts MesswertGier,__zero_reg__ 3451 2000 84E6 ldi r24,lo8(100) 3452 2002 90E0 ldi r25,hi8(100) 3453 2004 0E94 0000 call Delay_ms_Mess 3454 2008 6091 0000 lds r22,AdWertAccNick 3455 200c 7091 0000 lds r23,(AdWertAccNick)+1 3456 2010 8827 clr r24 3457 2012 77FD sbrc r23,7 3458 2014 8095 com r24 3459 2016 982F mov r25,r24 3460 2018 26E0 ldi r18,lo8(6) 3461 201a 30E0 ldi r19,hi8(6) 3462 201c 40E0 ldi r20,hlo8(6) 3463 201e 50E0 ldi r21,hhi8(6) 3464 2020 0E94 0000 call __mulsi3 3465 2024 3B01 movw r6,r22 3466 2026 4C01 movw r8,r24 3467 2028 7093 0000 sts (Mittelwert_AccNick)+1,r23 3468 202c 6093 0000 sts Mittelwert_AccNick,r22 3469 2030 6091 0000 lds r22,AdWertAccRoll 3470 2034 7091 0000 lds r23,(AdWertAccRoll)+1 3471 2038 8827 clr r24 3472 203a 77FD sbrc r23,7 3473 203c 8095 com r24 3474 203e 982F mov r25,r24 3475 2040 0E94 0000 call __mulsi3 3476 2044 5B01 movw r10,r22 3477 2046 6C01 movw r12,r24 3478 2048 7093 0000 sts (Mittelwert_AccRoll)+1,r23 3479 204c 6093 0000 sts Mittelwert_AccRoll,r22 3480 2050 E090 0000 lds r14,EE_Parameter+20 3481 2054 FF24 clr r15 3482 2056 00E0 ldi r16,lo8(0) 3483 2058 10E0 ldi r17,hi8(0) 3484 205a 8824 clr r8 3485 205c 77FC sbrc r7,7 3486 205e 8094 com r8 3487 2060 982C mov r9,r8 3488 2062 C401 movw r24,r8 3489 2064 B301 movw r22,r6 3490 2066 A801 movw r20,r16 3491 2068 9701 movw r18,r14 3492 206a 0E94 0000 call __mulsi3 3493 206e 3B01 movw r6,r22 3494 2070 4C01 movw r8,r24 3495 2072 6093 0000 sts IntegralNick,r22 3496 2076 7093 0000 sts (IntegralNick)+1,r23 3497 207a 8093 0000 sts (IntegralNick)+2,r24 3498 207e 9093 0000 sts (IntegralNick)+3,r25 3499 2082 CC24 clr r12 3500 2084 B7FC sbrc r11,7 3501 2086 C094 com r12 3502 2088 DC2C mov r13,r12 3503 208a C601 movw r24,r12 3504 208c B501 movw r22,r10 3505 208e 0E94 0000 call __mulsi3 3506 2092 6093 0000 sts IntegralRoll,r22 3507 2096 7093 0000 sts (IntegralRoll)+1,r23 3508 209a 8093 0000 sts (IntegralRoll)+2,r24 3509 209e 9093 0000 sts (IntegralRoll)+3,r25 3510 20a2 6092 0000 sts Mess_IntegralNick2,r6 3511 20a6 7092 0000 sts (Mess_IntegralNick2)+1,r7 3512 20aa 8092 0000 sts (Mess_IntegralNick2)+2,r8 3513 20ae 9092 0000 sts (Mess_IntegralNick2)+3,r9 3514 20b2 6093 0000 sts Mess_IntegralRoll2,r22 3515 20b6 7093 0000 sts (Mess_IntegralRoll2)+1,r23 3516 20ba 8093 0000 sts (Mess_IntegralRoll2)+2,r24 3517 20be 9093 0000 sts (Mess_IntegralRoll2)+3,r25 3518 20c2 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 3519 20c6 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 3520 20ca 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 3521 20ce 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 3522 20d2 8091 0000 lds r24,Luftdruck 3523 20d6 9091 0000 lds r25,(Luftdruck)+1 3524 20da A091 0000 lds r26,(Luftdruck)+2 3525 20de B091 0000 lds r27,(Luftdruck)+3 3526 20e2 9093 0000 sts (StartLuftdruck)+1,r25 3527 20e6 8093 0000 sts StartLuftdruck,r24 3528 20ea 1092 0000 sts (HoeheD)+1,__zero_reg__ 3529 20ee 1092 0000 sts HoeheD,__zero_reg__ 3530 20f2 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 3531 20f6 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 3532 20fa 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 3533 20fe 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 3534 2102 8091 0000 lds r24,KompassValue 3535 2106 9091 0000 lds r25,(KompassValue)+1 3536 210a 9093 0000 sts (KompassStartwert)+1,r25 3537 210e 8093 0000 sts KompassStartwert,r24 3538 2112 0E94 0000 call GPS_Neutral 3539 2116 82E3 ldi r24,lo8(50) 3540 2118 90E0 ldi r25,hi8(50) 3541 211a 9093 0000 sts (beeptime)+1,r25 3542 211e 8093 0000 sts beeptime,r24 3543 2122 6091 0000 lds r22,EE_Parameter+45 3544 2126 70E0 ldi r23,lo8(0) 3545 2128 80E0 ldi r24,lo8(0) 3546 212a 90E0 ldi r25,hi8(0) 3547 212c 24EC ldi r18,lo8(2500) 3548 212e 39E0 ldi r19,hi8(2500) 3549 2130 40E0 ldi r20,hlo8(2500) 3550 2132 50E0 ldi r21,hhi8(2500) 3551 2134 0E94 0000 call __mulsi3 3552 2138 6856 subi r22,lo8(-(15000)) 3553 213a 754C sbci r23,hi8(-(15000)) 3554 213c 8F4F sbci r24,hlo8(-(15000)) 3555 213e 9F4F sbci r25,hhi8(-(15000)) 3556 2140 6093 0000 sts Umschlag180Nick,r22 3557 2144 7093 0000 sts (Umschlag180Nick)+1,r23 3558 2148 8093 0000 sts (Umschlag180Nick)+2,r24 3559 214c 9093 0000 sts (Umschlag180Nick)+3,r25 3560 2150 6091 0000 lds r22,EE_Parameter+46 3561 2154 70E0 ldi r23,lo8(0) 3562 2156 80E0 ldi r24,lo8(0) 3563 2158 90E0 ldi r25,hi8(0) 3564 215a 0E94 0000 call __mulsi3 3565 215e 6856 subi r22,lo8(-(15000)) 3566 2160 754C sbci r23,hi8(-(15000)) 3567 2162 8F4F sbci r24,hlo8(-(15000)) 3568 2164 9F4F sbci r25,hhi8(-(15000)) 3569 2166 6093 0000 sts Umschlag180Roll,r22 3570 216a 7093 0000 sts (Umschlag180Roll)+1,r23 3571 216e 8093 0000 sts (Umschlag180Roll)+2,r24 3572 2172 9093 0000 sts (Umschlag180Roll)+3,r25 3573 2176 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 3574 217a 1092 0000 sts ExternHoehenValue,__zero_reg__ 3575 217e 6091 0000 lds r22,KompassValue 3576 2182 7091 0000 lds r23,(KompassValue)+1 3577 2186 8827 clr r24 3578 2188 77FD sbrc r23,7 3579 218a 8095 com r24 3580 218c 982F mov r25,r24 3581 218e 2091 0000 lds r18,GIER_GRAD_FAKTOR 3582 2192 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 3583 2196 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 3584 219a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 3585 219e 0E94 0000 call __mulsi3 3586 21a2 6093 0000 sts ErsatzKompass,r22 3587 21a6 7093 0000 sts (ErsatzKompass)+1,r23 3588 21aa 8093 0000 sts (ErsatzKompass)+2,r24 3589 21ae 9093 0000 sts (ErsatzKompass)+3,r25 3590 21b2 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 3591 21b6 1092 0000 sts GierGyroFehler,__zero_reg__ 3592 21ba 11E0 ldi r17,lo8(1) 3593 21bc 1093 0000 sts SendVersionToNavi,r17 3594 21c0 0E94 0000 call LED_Init 3595 21c4 8091 0000 lds r24,MikroKopterFlags 3596 21c8 8460 ori r24,lo8(4) 3597 21ca 8093 0000 sts MikroKopterFlags,r24 3598 21ce 8FEF ldi r24,lo8(-1) 3599 21d0 8093 0000 sts FromNaviCtrl_Value,r24 3600 21d4 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 3601 21d8 80E2 ldi r24,lo8(32) 3602 21da 8093 0000 sts FromNaviCtrl_Value+2,r24 3603 21de E091 0000 lds r30,EE_Parameter+4 3604 21e2 F0E0 ldi r31,lo8(0) 3605 21e4 EE0F lsl r30 3606 21e6 FF1F rol r31 3607 21e8 E050 subi r30,lo8(-(PPM_in)) 3608 21ea F040 sbci r31,hi8(-(PPM_in)) 3609 21ec 8081 ld r24,Z 3610 21ee 9181 ldd r25,Z+1 3611 21f0 8259 subi r24,lo8(-(110)) 3612 21f2 9F4F sbci r25,hi8(-(110)) 3613 21f4 9093 0000 sts (Poti1)+1,r25 3614 21f8 8093 0000 sts Poti1,r24 3615 21fc E091 0000 lds r30,EE_Parameter+5 3616 2200 F0E0 ldi r31,lo8(0) 3617 2202 EE0F lsl r30 3618 2204 FF1F rol r31 3619 2206 E050 subi r30,lo8(-(PPM_in)) 3620 2208 F040 sbci r31,hi8(-(PPM_in)) 3621 220a 8081 ld r24,Z 3622 220c 9181 ldd r25,Z+1 3623 220e 8259 subi r24,lo8(-(110)) 3624 2210 9F4F sbci r25,hi8(-(110)) 3625 2212 9093 0000 sts (Poti2)+1,r25 3626 2216 8093 0000 sts Poti2,r24 3627 221a E091 0000 lds r30,EE_Parameter+6 3628 221e F0E0 ldi r31,lo8(0) 3629 2220 EE0F lsl r30 3630 2222 FF1F rol r31 3631 2224 E050 subi r30,lo8(-(PPM_in)) 3632 2226 F040 sbci r31,hi8(-(PPM_in)) 3633 2228 8081 ld r24,Z 3634 222a 9181 ldd r25,Z+1 3635 222c 8259 subi r24,lo8(-(110)) 3636 222e 9F4F sbci r25,hi8(-(110)) 3637 2230 9093 0000 sts (Poti3)+1,r25 3638 2234 8093 0000 sts Poti3,r24 3639 2238 E091 0000 lds r30,EE_Parameter+7 3640 223c F0E0 ldi r31,lo8(0) 3641 223e EE0F lsl r30 3642 2240 FF1F rol r31 3643 2242 E050 subi r30,lo8(-(PPM_in)) 3644 2244 F040 sbci r31,hi8(-(PPM_in)) 3645 2246 8081 ld r24,Z 3646 2248 9181 ldd r25,Z+1 3647 224a 8259 subi r24,lo8(-(110)) 3648 224c 9F4F sbci r25,hi8(-(110)) 3649 224e 9093 0000 sts (Poti4)+1,r25 3650 2252 8093 0000 sts Poti4,r24 3651 2256 1093 0000 sts ServoActive,r17 3652 225a 84E6 ldi r24,lo8(100) 3653 225c 8093 0000 sts SenderOkay,r24 3654 /* epilogue: frame size=0 */ 3655 2260 DF91 pop r29 3656 2262 CF91 pop r28 3657 2264 1F91 pop r17 3658 2266 0F91 pop r16 3659 2268 FF90 pop r15 3660 226a EF90 pop r14 3661 226c DF90 pop r13 3662 226e CF90 pop r12 3663 2270 BF90 pop r11 3664 2272 AF90 pop r10 3665 2274 9F90 pop r9 3666 2276 8F90 pop r8 3667 2278 7F90 pop r7 3668 227a 6F90 pop r6 3669 227c 0895 ret 3670 /* epilogue end (size=15) */ 3671 /* function SetNeutral size 646 (617) */ 3673 .global Piep 3675 Piep: 3676 /* prologue: frame size=0 */ 3677 227e 1F93 push r17 3678 /* prologue end (size=1) */ 3679 2280 182F mov r17,r24 3680 2282 1150 subi r17,lo8(-(-1)) 3681 2284 1F3F cpi r17,lo8(-1) 3682 2286 01F0 breq .L638 3683 2288 8091 0000 lds r24,MotorenEin 3684 228c 8823 tst r24 3685 228e 01F0 breq .L639 3686 2290 00C0 rjmp .L638 3687 .L637: 3688 2292 8091 0000 lds r24,MotorenEin 3689 2296 8823 tst r24 3690 2298 01F4 brne .L638 3691 .L639: 3692 229a 84E6 ldi r24,lo8(100) 3693 229c 90E0 ldi r25,hi8(100) 3694 229e 9093 0000 sts (beeptime)+1,r25 3695 22a2 8093 0000 sts beeptime,r24 3696 22a6 8AEF ldi r24,lo8(250) 3697 22a8 90E0 ldi r25,hi8(250) 3698 22aa 0E94 0000 call Delay_ms 3699 22ae 1150 subi r17,1 3700 22b0 00F4 brcc .L637 3701 .L638: 3702 /* epilogue: frame size=0 */ 3703 22b2 1F91 pop r17 3704 22b4 0895 ret 3705 /* epilogue end (size=2) */ 3706 /* function Piep size 29 (26) */ 3708 .data 3709 .LC0: 3710 0000 4265 6769 .string "Beginner" 3710 6E6E 6572 3710 00 3711 0009 00 .string "" 3712 .text 3713 .global DefaultKonstanten3 3715 DefaultKonstanten3: 3716 /* prologue: frame size=0 */ 3717 /* prologue end (size=0) */ 3718 22b6 88EE ldi r24,lo8(-24) 3719 22b8 8093 0000 sts EE_Parameter+8,r24 3720 22bc 3EE1 ldi r19,lo8(30) 3721 22be 3093 0000 sts EE_Parameter+9,r19 3722 22c2 8BEF ldi r24,lo8(-5) 3723 22c4 8093 0000 sts EE_Parameter+11,r24 3724 22c8 8AE0 ldi r24,lo8(10) 3725 22ca 8093 0000 sts EE_Parameter+12,r24 3726 22ce 3093 0000 sts EE_Parameter+10,r19 3727 22d2 3093 0000 sts EE_Parameter+14,r19 3728 22d6 93E0 ldi r25,lo8(3) 3729 22d8 9093 0000 sts EE_Parameter+13,r25 3730 22dc 58E0 ldi r21,lo8(8) 3731 22de 5093 0000 sts EE_Parameter+15,r21 3732 22e2 20E1 ldi r18,lo8(16) 3733 22e4 2093 0000 sts EE_Parameter+16,r18 3734 22e8 66E0 ldi r22,lo8(6) 3735 22ea 6093 0000 sts EE_Parameter+17,r22 3736 22ee 5093 0000 sts EE_Parameter+18,r21 3737 22f2 86EE ldi r24,lo8(-26) 3738 22f4 8093 0000 sts EE_Parameter+19,r24 3739 22f8 3093 0000 sts EE_Parameter+20,r19 3740 22fc 80E8 ldi r24,lo8(-128) 3741 22fe 8093 0000 sts EE_Parameter+21,r24 3742 2302 44E6 ldi r20,lo8(100) 3743 2304 4093 0000 sts EE_Parameter+22,r20 3744 2308 88E7 ldi r24,lo8(120) 3745 230a 8093 0000 sts EE_Parameter+23,r24 3746 230e 9093 0000 sts EE_Parameter+24,r25 3747 2312 8EE5 ldi r24,lo8(94) 3748 2314 8093 0000 sts EE_Parameter+25,r24 3749 2318 83E2 ldi r24,lo8(35) 3750 231a 8093 0000 sts EE_Parameter+26,r24 3751 231e 84E1 ldi r24,lo8(20) 3752 2320 8093 0000 sts EE_Parameter+27,r24 3753 2324 1092 0000 sts EE_Parameter+28,__zero_reg__ 3754 2328 2093 0000 sts EE_Parameter+29,r18 3755 232c 1092 0000 sts EE_Parameter+30,__zero_reg__ 3756 2330 1092 0000 sts EE_Parameter+31,__zero_reg__ 3757 2334 1092 0000 sts EE_Parameter+32,__zero_reg__ 3758 2338 1092 0000 sts EE_Parameter+33,__zero_reg__ 3759 233c 1092 0000 sts EE_Parameter+50,__zero_reg__ 3760 2340 1092 0000 sts EE_Parameter+51,__zero_reg__ 3761 2344 1092 0000 sts EE_Parameter+52,__zero_reg__ 3762 2348 1092 0000 sts EE_Parameter+53,__zero_reg__ 3763 234c 4093 0000 sts EE_Parameter+34,r20 3764 2350 88E2 ldi r24,lo8(40) 3765 2352 8093 0000 sts EE_Parameter+35,r24 3766 2356 1092 0000 sts EE_Parameter+76,__zero_reg__ 3767 235a 92E3 ldi r25,lo8(50) 3768 235c 9093 0000 sts EE_Parameter+36,r25 3769 2360 86E9 ldi r24,lo8(-106) 3770 2362 8093 0000 sts EE_Parameter+37,r24 3771 2366 85E0 ldi r24,lo8(5) 3772 2368 8093 0000 sts EE_Parameter+38,r24 3773 236c 9093 0000 sts EE_Parameter+39,r25 3774 2370 2AE5 ldi r18,lo8(90) 3775 2372 2093 0000 sts EE_Parameter+40,r18 3776 2376 9093 0000 sts EE_Parameter+41,r25 3777 237a 1092 0000 sts EE_Parameter+75,__zero_reg__ 3778 237e 2093 0000 sts EE_Parameter+42,r18 3779 2382 83E4 ldi r24,lo8(67) 3780 2384 8093 0000 sts EE_Parameter+43,r24 3781 2388 86E4 ldi r24,lo8(70) 3782 238a 8093 0000 sts EE_Parameter+44,r24 3783 238e 85E5 ldi r24,lo8(85) 3784 2390 8093 0000 sts EE_Parameter+45,r24 3785 2394 8093 0000 sts EE_Parameter+46,r24 3786 2398 80E2 ldi r24,lo8(32) 3787 239a 8093 0000 sts EE_Parameter+47,r24 3788 239e 8093 0000 sts EE_Parameter+48,r24 3789 23a2 9093 0000 sts EE_Parameter+49,r25 3790 23a6 8FE5 ldi r24,lo8(95) 3791 23a8 8093 0000 sts EE_Parameter+54,r24 3792 23ac 83EF ldi r24,lo8(-13) 3793 23ae 8093 0000 sts EE_Parameter+56,r24 3794 23b2 3093 0000 sts EE_Parameter+55,r19 3795 23b6 3093 0000 sts EE_Parameter+57,r19 3796 23ba 8DEF ldi r24,lo8(-3) 3797 23bc 8093 0000 sts EE_Parameter+58,r24 3798 23c0 4093 0000 sts EE_Parameter+59,r20 3799 23c4 2093 0000 sts EE_Parameter+60,r18 3800 23c8 2093 0000 sts EE_Parameter+61,r18 3801 23cc 2093 0000 sts EE_Parameter+62,r18 3802 23d0 8BE4 ldi r24,lo8(75) 3803 23d2 8093 0000 sts EE_Parameter+63,r24 3804 23d6 8093 0000 sts EE_Parameter+64,r24 3805 23da 8093 0000 sts EE_Parameter+65,r24 3806 23de 1092 0000 sts EE_Parameter+66,__zero_reg__ 3807 23e2 6093 0000 sts EE_Parameter+67,r22 3808 23e6 5093 0000 sts EE_Parameter+68,r21 3809 23ea 2093 0000 sts EE_Parameter+69,r18 3810 23ee 3093 0000 sts EE_Parameter+70,r19 3811 23f2 4093 0000 sts EE_Parameter+71,r20 3812 23f6 4093 0000 sts EE_Parameter+72,r20 3813 23fa 84E0 ldi r24,lo8(4) 3814 23fc 8093 0000 sts EE_Parameter+73,r24 3815 2400 A0E0 ldi r26,lo8(EE_Parameter+81) 3816 2402 B0E0 ldi r27,hi8(EE_Parameter+81) 3817 2404 E0E0 ldi r30,lo8(.LC0) 3818 2406 F0E0 ldi r31,hi8(.LC0) 3819 2408 8CE0 ldi r24,lo8(12) 3820 .L641: 3821 240a 0190 ld r0,Z+ 3822 240c 0D92 st X+,r0 3823 240e 8150 subi r24,lo8(-(-1)) 3824 2410 01F4 brne .L641 3825 /* epilogue: frame size=0 */ 3826 2412 0895 ret 3827 /* epilogue end (size=1) */ 3828 /* function DefaultKonstanten3 size 176 (175) */ 3830 .data 3831 .LC1: 3832 000a 4E6F 726D .string "Normal" 3832 616C 00 3833 0011 00 .string "" 3834 .text 3835 .global DefaultKonstanten2 3837 DefaultKonstanten2: 3838 /* prologue: frame size=0 */ 3839 /* prologue end (size=0) */ 3840 2414 88E6 ldi r24,lo8(104) 3841 2416 8093 0000 sts EE_Parameter+8,r24 3842 241a 5EE1 ldi r21,lo8(30) 3843 241c 5093 0000 sts EE_Parameter+9,r21 3844 2420 8BEF ldi r24,lo8(-5) 3845 2422 8093 0000 sts EE_Parameter+11,r24 3846 2426 8AE0 ldi r24,lo8(10) 3847 2428 8093 0000 sts EE_Parameter+12,r24 3848 242c 5093 0000 sts EE_Parameter+10,r21 3849 2430 5093 0000 sts EE_Parameter+14,r21 3850 2434 93E0 ldi r25,lo8(3) 3851 2436 9093 0000 sts EE_Parameter+13,r25 3852 243a 8CE0 ldi r24,lo8(12) 3853 243c 8093 0000 sts EE_Parameter+15,r24 3854 2440 80E1 ldi r24,lo8(16) 3855 2442 8093 0000 sts EE_Parameter+16,r24 3856 2446 76E0 ldi r23,lo8(6) 3857 2448 7093 0000 sts EE_Parameter+17,r23 3858 244c 68E0 ldi r22,lo8(8) 3859 244e 6093 0000 sts EE_Parameter+18,r22 3860 2452 86EE ldi r24,lo8(-26) 3861 2454 8093 0000 sts EE_Parameter+19,r24 3862 2458 5093 0000 sts EE_Parameter+20,r21 3863 245c 80E8 ldi r24,lo8(-128) 3864 245e 8093 0000 sts EE_Parameter+21,r24 3865 2462 80E5 ldi r24,lo8(80) 3866 2464 8093 0000 sts EE_Parameter+22,r24 3867 2468 88E7 ldi r24,lo8(120) 3868 246a 8093 0000 sts EE_Parameter+23,r24 3869 246e 9093 0000 sts EE_Parameter+24,r25 3870 2472 8EE5 ldi r24,lo8(94) 3871 2474 8093 0000 sts EE_Parameter+25,r24 3872 2478 83E2 ldi r24,lo8(35) 3873 247a 8093 0000 sts EE_Parameter+26,r24 3874 247e 5093 0000 sts EE_Parameter+27,r21 3875 2482 1092 0000 sts EE_Parameter+28,__zero_reg__ 3876 2486 30E2 ldi r19,lo8(32) 3877 2488 3093 0000 sts EE_Parameter+29,r19 3878 248c 1092 0000 sts EE_Parameter+30,__zero_reg__ 3879 2490 1092 0000 sts EE_Parameter+31,__zero_reg__ 3880 2494 1092 0000 sts EE_Parameter+32,__zero_reg__ 3881 2498 1092 0000 sts EE_Parameter+33,__zero_reg__ 3882 249c 1092 0000 sts EE_Parameter+50,__zero_reg__ 3883 24a0 1092 0000 sts EE_Parameter+51,__zero_reg__ 3884 24a4 1092 0000 sts EE_Parameter+52,__zero_reg__ 3885 24a8 1092 0000 sts EE_Parameter+53,__zero_reg__ 3886 24ac 44E6 ldi r20,lo8(100) 3887 24ae 4093 0000 sts EE_Parameter+34,r20 3888 24b2 88E2 ldi r24,lo8(40) 3889 24b4 8093 0000 sts EE_Parameter+35,r24 3890 24b8 1092 0000 sts EE_Parameter+76,__zero_reg__ 3891 24bc 92E3 ldi r25,lo8(50) 3892 24be 9093 0000 sts EE_Parameter+36,r25 3893 24c2 86E9 ldi r24,lo8(-106) 3894 24c4 8093 0000 sts EE_Parameter+37,r24 3895 24c8 85E0 ldi r24,lo8(5) 3896 24ca 8093 0000 sts EE_Parameter+38,r24 3897 24ce 9093 0000 sts EE_Parameter+39,r25 3898 24d2 2AE5 ldi r18,lo8(90) 3899 24d4 2093 0000 sts EE_Parameter+40,r18 3900 24d8 9093 0000 sts EE_Parameter+41,r25 3901 24dc 1092 0000 sts EE_Parameter+75,__zero_reg__ 3902 24e0 2093 0000 sts EE_Parameter+42,r18 3903 24e4 83E4 ldi r24,lo8(67) 3904 24e6 8093 0000 sts EE_Parameter+43,r24 3905 24ea 8CE3 ldi r24,lo8(60) 3906 24ec 8093 0000 sts EE_Parameter+44,r24 3907 24f0 85E5 ldi r24,lo8(85) 3908 24f2 8093 0000 sts EE_Parameter+45,r24 3909 24f6 8093 0000 sts EE_Parameter+46,r24 3910 24fa 3093 0000 sts EE_Parameter+47,r19 3911 24fe 3093 0000 sts EE_Parameter+48,r19 3912 2502 9BE4 ldi r25,lo8(75) 3913 2504 9093 0000 sts EE_Parameter+49,r25 3914 2508 8FE5 ldi r24,lo8(95) 3915 250a 8093 0000 sts EE_Parameter+54,r24 3916 250e 83EF ldi r24,lo8(-13) 3917 2510 8093 0000 sts EE_Parameter+56,r24 3918 2514 84E1 ldi r24,lo8(20) 3919 2516 8093 0000 sts EE_Parameter+55,r24 3920 251a 8093 0000 sts EE_Parameter+57,r24 3921 251e 8DEF ldi r24,lo8(-3) 3922 2520 8093 0000 sts EE_Parameter+58,r24 3923 2524 4093 0000 sts EE_Parameter+59,r20 3924 2528 2093 0000 sts EE_Parameter+60,r18 3925 252c 2093 0000 sts EE_Parameter+61,r18 3926 2530 2093 0000 sts EE_Parameter+62,r18 3927 2534 9093 0000 sts EE_Parameter+63,r25 3928 2538 9093 0000 sts EE_Parameter+64,r25 3929 253c 9093 0000 sts EE_Parameter+65,r25 3930 2540 1092 0000 sts EE_Parameter+66,__zero_reg__ 3931 2544 7093 0000 sts EE_Parameter+67,r23 3932 2548 6093 0000 sts EE_Parameter+68,r22 3933 254c 2093 0000 sts EE_Parameter+69,r18 3934 2550 5093 0000 sts EE_Parameter+70,r21 3935 2554 4093 0000 sts EE_Parameter+71,r20 3936 2558 4093 0000 sts EE_Parameter+72,r20 3937 255c 84E0 ldi r24,lo8(4) 3938 255e 8093 0000 sts EE_Parameter+73,r24 3939 2562 A0E0 ldi r26,lo8(EE_Parameter+81) 3940 2564 B0E0 ldi r27,hi8(EE_Parameter+81) 3941 2566 E0E0 ldi r30,lo8(.LC1) 3942 2568 F0E0 ldi r31,hi8(.LC1) 3943 256a 8CE0 ldi r24,lo8(12) 3944 .L646: 3945 256c 0190 ld r0,Z+ 3946 256e 0D92 st X+,r0 3947 2570 8150 subi r24,lo8(-(-1)) 3948 2572 01F4 brne .L646 3949 /* epilogue: frame size=0 */ 3950 2574 0895 ret 3951 /* epilogue end (size=1) */ 3952 /* function DefaultKonstanten2 size 178 (177) */ 3954 .data 3955 .LC2: 3956 0012 5370 6F72 .string "Sport" 3956 7400 3957 0018 00 .string "" 3958 .text 3959 .global DefaultKonstanten1 3961 DefaultKonstanten1: 3962 /* prologue: frame size=0 */ 3963 /* prologue end (size=0) */ 3964 2576 88E6 ldi r24,lo8(104) 3965 2578 8093 0000 sts EE_Parameter+8,r24 3966 257c 3EE1 ldi r19,lo8(30) 3967 257e 3093 0000 sts EE_Parameter+9,r19 3968 2582 8BEF ldi r24,lo8(-5) 3969 2584 8093 0000 sts EE_Parameter+11,r24 3970 2588 8AE0 ldi r24,lo8(10) 3971 258a 8093 0000 sts EE_Parameter+12,r24 3972 258e 3093 0000 sts EE_Parameter+10,r19 3973 2592 3093 0000 sts EE_Parameter+14,r19 3974 2596 E4E0 ldi r30,lo8(4) 3975 2598 E093 0000 sts EE_Parameter+13,r30 3976 259c 5FE0 ldi r21,lo8(15) 3977 259e 5093 0000 sts EE_Parameter+15,r21 3978 25a2 3093 0000 sts EE_Parameter+16,r19 3979 25a6 8CE0 ldi r24,lo8(12) 3980 25a8 8093 0000 sts EE_Parameter+17,r24 3981 25ac 78E0 ldi r23,lo8(8) 3982 25ae 7093 0000 sts EE_Parameter+18,r23 3983 25b2 86EE ldi r24,lo8(-26) 3984 25b4 8093 0000 sts EE_Parameter+19,r24 3985 25b8 3093 0000 sts EE_Parameter+20,r19 3986 25bc 80E8 ldi r24,lo8(-128) 3987 25be 8093 0000 sts EE_Parameter+21,r24 3988 25c2 80E5 ldi r24,lo8(80) 3989 25c4 8093 0000 sts EE_Parameter+22,r24 3990 25c8 26E9 ldi r18,lo8(-106) 3991 25ca 2093 0000 sts EE_Parameter+23,r18 3992 25ce 83E0 ldi r24,lo8(3) 3993 25d0 8093 0000 sts EE_Parameter+24,r24 3994 25d4 8EE5 ldi r24,lo8(94) 3995 25d6 8093 0000 sts EE_Parameter+25,r24 3996 25da 83E2 ldi r24,lo8(35) 3997 25dc 8093 0000 sts EE_Parameter+26,r24 3998 25e0 3093 0000 sts EE_Parameter+27,r19 3999 25e4 1092 0000 sts EE_Parameter+28,__zero_reg__ 4000 25e8 60E2 ldi r22,lo8(32) 4001 25ea 6093 0000 sts EE_Parameter+29,r22 4002 25ee 1092 0000 sts EE_Parameter+30,__zero_reg__ 4003 25f2 1092 0000 sts EE_Parameter+31,__zero_reg__ 4004 25f6 1092 0000 sts EE_Parameter+32,__zero_reg__ 4005 25fa 1092 0000 sts EE_Parameter+33,__zero_reg__ 4006 25fe 1092 0000 sts EE_Parameter+50,__zero_reg__ 4007 2602 1092 0000 sts EE_Parameter+51,__zero_reg__ 4008 2606 1092 0000 sts EE_Parameter+52,__zero_reg__ 4009 260a 1092 0000 sts EE_Parameter+53,__zero_reg__ 4010 260e 44E6 ldi r20,lo8(100) 4011 2610 4093 0000 sts EE_Parameter+34,r20 4012 2614 88E2 ldi r24,lo8(40) 4013 2616 8093 0000 sts EE_Parameter+35,r24 4014 261a 1092 0000 sts EE_Parameter+76,__zero_reg__ 4015 261e 92E3 ldi r25,lo8(50) 4016 2620 9093 0000 sts EE_Parameter+36,r25 4017 2624 2093 0000 sts EE_Parameter+37,r18 4018 2628 85E0 ldi r24,lo8(5) 4019 262a 8093 0000 sts EE_Parameter+38,r24 4020 262e 9093 0000 sts EE_Parameter+39,r25 4021 2632 2AE5 ldi r18,lo8(90) 4022 2634 2093 0000 sts EE_Parameter+40,r18 4023 2638 9093 0000 sts EE_Parameter+41,r25 4024 263c 1092 0000 sts EE_Parameter+75,__zero_reg__ 4025 2640 2093 0000 sts EE_Parameter+42,r18 4026 2644 83E4 ldi r24,lo8(67) 4027 2646 8093 0000 sts EE_Parameter+43,r24 4028 264a 1092 0000 sts EE_Parameter+44,__zero_reg__ 4029 264e 85E5 ldi r24,lo8(85) 4030 2650 8093 0000 sts EE_Parameter+45,r24 4031 2654 8093 0000 sts EE_Parameter+46,r24 4032 2658 80E1 ldi r24,lo8(16) 4033 265a 8093 0000 sts EE_Parameter+47,r24 4034 265e 6093 0000 sts EE_Parameter+48,r22 4035 2662 4093 0000 sts EE_Parameter+49,r20 4036 2666 8FE5 ldi r24,lo8(95) 4037 2668 8093 0000 sts EE_Parameter+54,r24 4038 266c 83EF ldi r24,lo8(-13) 4039 266e 8093 0000 sts EE_Parameter+56,r24 4040 2672 5093 0000 sts EE_Parameter+55,r21 4041 2676 5093 0000 sts EE_Parameter+57,r21 4042 267a 8DEF ldi r24,lo8(-3) 4043 267c 8093 0000 sts EE_Parameter+58,r24 4044 2680 4093 0000 sts EE_Parameter+59,r20 4045 2684 2093 0000 sts EE_Parameter+60,r18 4046 2688 2093 0000 sts EE_Parameter+61,r18 4047 268c 2093 0000 sts EE_Parameter+62,r18 4048 2690 8BE4 ldi r24,lo8(75) 4049 2692 8093 0000 sts EE_Parameter+63,r24 4050 2696 8093 0000 sts EE_Parameter+64,r24 4051 269a 8093 0000 sts EE_Parameter+65,r24 4052 269e 1092 0000 sts EE_Parameter+66,__zero_reg__ 4053 26a2 86E0 ldi r24,lo8(6) 4054 26a4 8093 0000 sts EE_Parameter+67,r24 4055 26a8 7093 0000 sts EE_Parameter+68,r23 4056 26ac 2093 0000 sts EE_Parameter+69,r18 4057 26b0 3093 0000 sts EE_Parameter+70,r19 4058 26b4 4093 0000 sts EE_Parameter+71,r20 4059 26b8 4093 0000 sts EE_Parameter+72,r20 4060 26bc E093 0000 sts EE_Parameter+73,r30 4061 26c0 A0E0 ldi r26,lo8(EE_Parameter+81) 4062 26c2 B0E0 ldi r27,hi8(EE_Parameter+81) 4063 26c4 E0E0 ldi r30,lo8(.LC2) 4064 26c6 F0E0 ldi r31,hi8(.LC2) 4065 26c8 8CE0 ldi r24,lo8(12) 4066 .L651: 4067 26ca 0190 ld r0,Z+ 4068 26cc 0D92 st X+,r0 4069 26ce 8150 subi r24,lo8(-(-1)) 4070 26d0 01F4 brne .L651 4071 /* epilogue: frame size=0 */ 4072 26d2 0895 ret 4073 /* epilogue end (size=1) */ 4074 /* function DefaultKonstanten1 size 176 (175) */ 4076 .global MotorRegler 4078 MotorRegler: 4079 /* prologue: frame size=46 */ 4080 26d4 2F92 push r2 4081 26d6 3F92 push r3 4082 26d8 4F92 push r4 4083 26da 5F92 push r5 4084 26dc 6F92 push r6 4085 26de 7F92 push r7 4086 26e0 8F92 push r8 4087 26e2 9F92 push r9 4088 26e4 AF92 push r10 4089 26e6 BF92 push r11 4090 26e8 CF92 push r12 4091 26ea DF92 push r13 4092 26ec EF92 push r14 4093 26ee FF92 push r15 4094 26f0 0F93 push r16 4095 26f2 1F93 push r17 4096 26f4 CF93 push r28 4097 26f6 DF93 push r29 4098 26f8 CDB7 in r28,__SP_L__ 4099 26fa DEB7 in r29,__SP_H__ 4100 26fc AE97 sbiw r28,46 4101 26fe 0FB6 in __tmp_reg__,__SREG__ 4102 2700 F894 cli 4103 2702 DEBF out __SP_H__,r29 4104 2704 0FBE out __SREG__,__tmp_reg__ 4105 2706 CDBF out __SP_L__,r28 4106 /* prologue end (size=26) */ 4107 2708 0E94 0000 call Mittelwert 4108 270c 4091 0000 lds r20,PlatinenVersion 4109 2710 4C30 cpi r20,lo8(12) 4110 2712 00F0 brlo .+2 4111 2714 00C0 rjmp .L656 4112 2716 299A sbi 37-0x20,1 4113 .L658: 4114 2718 2091 0000 lds r18,StickGas 4115 271c 3091 0000 lds r19,(StickGas)+1 4116 2720 8091 0000 lds r24,MIN_GAS 4117 2724 682F mov r22,r24 4118 2726 70E0 ldi r23,lo8(0) 4119 2728 665F subi r22,lo8(-(10)) 4120 272a 7F4F sbci r23,hi8(-(10)) 4121 272c 798B std Y+17,r23 4122 272e 688B std Y+16,r22 4123 2730 6217 cp r22,r18 4124 2732 7307 cpc r23,r19 4125 2734 04F4 brge .L659 4126 2736 398B std Y+17,r19 4127 2738 288B std Y+16,r18 4128 .L659: 4129 273a 8091 0000 lds r24,SenderOkay 4130 273e 8436 cpi r24,lo8(100) 4131 2740 00F0 brlo .+2 4132 2742 00C0 rjmp .L660 4133 2744 8091 0000 lds r24,PcZugriff 4134 2748 8823 tst r24 4135 274a 01F4 brne .L662 4136 274c 8091 0000 lds r24,BeepMuster 4137 2750 9091 0000 lds r25,(BeepMuster)+1 4138 2754 8F5F subi r24,lo8(-1) 4139 2756 9F4F sbci r25,hi8(-1) 4140 2758 01F4 brne .+4 4141 275a 0C94 0000 jmp .L1068 4142 .L662: 4143 275e 8091 0000 lds r24,RcLostTimer.3075 4144 2762 9091 0000 lds r25,(RcLostTimer.3075)+1 4145 2766 0097 sbiw r24,0 4146 2768 01F4 brne .+2 4147 276a 00C0 rjmp .L665 4148 276c 0197 sbiw r24,1 4149 276e 9093 0000 sts (RcLostTimer.3075)+1,r25 4150 2772 8093 0000 sts RcLostTimer.3075,r24 4151 2776 4A30 cpi r20,lo8(10) 4152 2778 01F4 brne .+2 4153 277a 00C0 rjmp .L668 4154 .L1107: 4155 277c 4431 cpi r20,lo8(20) 4156 277e 01F4 brne .+2 4157 2780 00C0 rjmp .L668 4158 2782 2898 cbi 37-0x20,0 4159 .L671: 4160 2784 8091 0000 lds r24,modell_fliegt 4161 2788 9091 0000 lds r25,(modell_fliegt)+1 4162 278c 895E subi r24,lo8(1001) 4163 278e 9340 sbci r25,hi8(1001) 4164 2790 00F4 brsh .+4 4165 2792 0C94 0000 jmp .L672 4166 2796 8091 0000 lds r24,EE_Parameter+26 4167 279a E82F mov r30,r24 4168 279c F0E0 ldi r31,lo8(0) 4169 279e F98B std Y+17,r31 4170 27a0 E88B std Y+16,r30 4171 27a2 F1E0 ldi r31,lo8(1) 4172 27a4 F093 0000 sts Notlandung,r31 4173 27a8 A091 0000 lds r26,EE_Parameter 4174 27ac B0E0 ldi r27,lo8(0) 4175 27ae AA0F lsl r26 4176 27b0 BB1F rol r27 4177 27b2 FD01 movw r30,r26 4178 27b4 E050 subi r30,lo8(-(PPM_diff)) 4179 27b6 F040 sbci r31,hi8(-(PPM_diff)) 4180 27b8 1182 std Z+1,__zero_reg__ 4181 27ba 1082 st Z,__zero_reg__ 4182 27bc E091 0000 lds r30,EE_Parameter+1 4183 27c0 2E2F mov r18,r30 4184 27c2 30E0 ldi r19,lo8(0) 4185 27c4 220F lsl r18 4186 27c6 331F rol r19 4187 27c8 C901 movw r24,r18 4188 27ca 8050 subi r24,lo8(-(PPM_diff)) 4189 27cc 9040 sbci r25,hi8(-(PPM_diff)) 4190 27ce FC01 movw r30,r24 4191 27d0 1182 std Z+1,__zero_reg__ 4192 27d2 1082 st Z,__zero_reg__ 4193 27d4 A050 subi r26,lo8(-(PPM_in)) 4194 27d6 B040 sbci r27,hi8(-(PPM_in)) 4195 27d8 1196 adiw r26,1 4196 27da 1C92 st X,__zero_reg__ 4197 27dc 1E92 st -X,__zero_reg__ 4198 27de 2050 subi r18,lo8(-(PPM_in)) 4199 27e0 3040 sbci r19,hi8(-(PPM_in)) 4200 27e2 D901 movw r26,r18 4201 27e4 1196 adiw r26,1 4202 27e6 1C92 st X,__zero_reg__ 4203 27e8 1E92 st -X,__zero_reg__ 4204 27ea E091 0000 lds r30,EE_Parameter+3 4205 27ee F0E0 ldi r31,lo8(0) 4206 27f0 EE0F lsl r30 4207 27f2 FF1F rol r31 4208 27f4 E050 subi r30,lo8(-(PPM_in)) 4209 27f6 F040 sbci r31,hi8(-(PPM_in)) 4210 27f8 1182 std Z+1,__zero_reg__ 4211 27fa 1082 st Z,__zero_reg__ 4212 .L674: 4213 27fc 8091 0000 lds r24,NewPpmData 4214 2800 8150 subi r24,lo8(-(-1)) 4215 2802 8093 0000 sts NewPpmData,r24 4216 2806 8091 0000 lds r24,NewPpmData 4217 280a 8F3F cpi r24,lo8(-1) 4218 280c 01F4 brne .+2 4219 280e 00C0 rjmp .L738 4220 2810 B091 0000 lds r27,Notlandung 4221 2814 BFA3 std Y+39,r27 4222 2816 BB23 tst r27 4223 2818 01F0 breq .+2 4224 281a 00C0 rjmp .L738 4225 281c B091 0000 lds r27,EE_Parameter+8 4226 .L740: 4227 2820 2091 0000 lds r18,Looping_Roll 4228 2824 2223 tst r18 4229 2826 01F4 brne .+4 4230 2828 0C94 0000 jmp .L1069 4231 .L804: 4232 282c 8091 0000 lds r24,EE_Parameter+39 4233 2830 90E0 ldi r25,lo8(0) 4234 2832 6889 ldd r22,Y+16 4235 2834 7989 ldd r23,Y+17 4236 2836 8617 cp r24,r22 4237 2838 9707 cpc r25,r23 4238 283a 04F4 brge .L807 4239 283c 998B std Y+17,r25 4240 283e 888B std Y+16,r24 4241 .L807: 4242 2840 71E0 ldi r23,lo8(1) 4243 2842 7093 0000 sts TrichterFlug,r23 4244 2846 8B2F mov r24,r27 4245 2848 90E0 ldi r25,lo8(0) 4246 284a 9B87 std Y+11,r25 4247 284c 8A87 std Y+10,r24 4248 .L806: 4249 284e 9FA1 ldd r25,Y+39 4250 2850 9923 tst r25 4251 2852 01F0 breq .L808 4252 2854 1092 0000 sts (StickGier)+1,__zero_reg__ 4253 2858 1092 0000 sts StickGier,__zero_reg__ 4254 285c 1092 0000 sts (StickNick)+1,__zero_reg__ 4255 2860 1092 0000 sts StickNick,__zero_reg__ 4256 2864 1092 0000 sts (StickRoll)+1,__zero_reg__ 4257 2868 1092 0000 sts StickRoll,__zero_reg__ 4258 286c 8AE5 ldi r24,lo8(90) 4259 286e 8093 0000 sts GyroFaktor,r24 4260 2872 A8E7 ldi r26,lo8(120) 4261 2874 A093 0000 sts IntegralFaktor,r26 4262 2878 1092 0000 sts Looping_Roll,__zero_reg__ 4263 287c 1092 0000 sts Looping_Nick,__zero_reg__ 4264 .L808: 4265 2880 2091 0000 lds r18,IntegralNick 4266 2884 3091 0000 lds r19,(IntegralNick)+1 4267 2888 4091 0000 lds r20,(IntegralNick)+2 4268 288c 5091 0000 lds r21,(IntegralNick)+3 4269 2890 2983 std Y+1,r18 4270 2892 3A83 std Y+2,r19 4271 2894 4B83 std Y+3,r20 4272 2896 5C83 std Y+4,r21 4273 2898 4091 0000 lds r20,MittelIntegralNick 4274 289c 5091 0000 lds r21,(MittelIntegralNick)+1 4275 28a0 6091 0000 lds r22,(MittelIntegralNick)+2 4276 28a4 7091 0000 lds r23,(MittelIntegralNick)+3 4277 28a8 48A7 std Y+40,r20 4278 28aa 59A7 std Y+41,r21 4279 28ac 6AA7 std Y+42,r22 4280 28ae 7BA7 std Y+43,r23 4281 28b0 8981 ldd r24,Y+1 4282 28b2 9A81 ldd r25,Y+2 4283 28b4 AB81 ldd r26,Y+3 4284 28b6 BC81 ldd r27,Y+4 4285 28b8 480F add r20,r24 4286 28ba 591F adc r21,r25 4287 28bc 6A1F adc r22,r26 4288 28be 7B1F adc r23,r27 4289 28c0 4093 0000 sts MittelIntegralNick,r20 4290 28c4 5093 0000 sts (MittelIntegralNick)+1,r21 4291 28c8 6093 0000 sts (MittelIntegralNick)+2,r22 4292 28cc 7093 0000 sts (MittelIntegralNick)+3,r23 4293 28d0 2091 0000 lds r18,IntegralRoll 4294 28d4 3091 0000 lds r19,(IntegralRoll)+1 4295 28d8 4091 0000 lds r20,(IntegralRoll)+2 4296 28dc 5091 0000 lds r21,(IntegralRoll)+3 4297 28e0 2D83 std Y+5,r18 4298 28e2 3E83 std Y+6,r19 4299 28e4 4F83 std Y+7,r20 4300 28e6 5887 std Y+8,r21 4301 28e8 2090 0000 lds r2,MittelIntegralRoll 4302 28ec 3090 0000 lds r3,(MittelIntegralRoll)+1 4303 28f0 4090 0000 lds r4,(MittelIntegralRoll)+2 4304 28f4 5090 0000 lds r5,(MittelIntegralRoll)+3 4305 28f8 220E add r2,r18 4306 28fa 331E adc r3,r19 4307 28fc 441E adc r4,r20 4308 28fe 551E adc r5,r21 4309 2900 2092 0000 sts MittelIntegralRoll,r2 4310 2904 3092 0000 sts (MittelIntegralRoll)+1,r3 4311 2908 4092 0000 sts (MittelIntegralRoll)+2,r4 4312 290c 5092 0000 sts (MittelIntegralRoll)+3,r5 4313 2910 4091 0000 lds r20,IntegralNick2 4314 2914 5091 0000 lds r21,(IntegralNick2)+1 4315 2918 6091 0000 lds r22,(IntegralNick2)+2 4316 291c 7091 0000 lds r23,(IntegralNick2)+3 4317 2920 49A3 std Y+33,r20 4318 2922 5AA3 std Y+34,r21 4319 2924 6BA3 std Y+35,r22 4320 2926 7CA3 std Y+36,r23 4321 2928 8091 0000 lds r24,MittelIntegralNick2 4322 292c 9091 0000 lds r25,(MittelIntegralNick2)+1 4323 2930 A091 0000 lds r26,(MittelIntegralNick2)+2 4324 2934 B091 0000 lds r27,(MittelIntegralNick2)+3 4325 2938 840F add r24,r20 4326 293a 951F adc r25,r21 4327 293c A61F adc r26,r22 4328 293e B71F adc r27,r23 4329 2940 8093 0000 sts MittelIntegralNick2,r24 4330 2944 9093 0000 sts (MittelIntegralNick2)+1,r25 4331 2948 A093 0000 sts (MittelIntegralNick2)+2,r26 4332 294c B093 0000 sts (MittelIntegralNick2)+3,r27 4333 2950 6091 0000 lds r22,IntegralRoll2 4334 2954 7091 0000 lds r23,(IntegralRoll2)+1 4335 2958 8091 0000 lds r24,(IntegralRoll2)+2 4336 295c 9091 0000 lds r25,(IntegralRoll2)+3 4337 2960 6D8F std Y+29,r22 4338 2962 7E8F std Y+30,r23 4339 2964 8F8F std Y+31,r24 4340 2966 98A3 std Y+32,r25 4341 2968 8091 0000 lds r24,MittelIntegralRoll2 4342 296c 9091 0000 lds r25,(MittelIntegralRoll2)+1 4343 2970 A091 0000 lds r26,(MittelIntegralRoll2)+2 4344 2974 B091 0000 lds r27,(MittelIntegralRoll2)+3 4345 2978 2D8D ldd r18,Y+29 4346 297a 3E8D ldd r19,Y+30 4347 297c 4F8D ldd r20,Y+31 4348 297e 58A1 ldd r21,Y+32 4349 2980 820F add r24,r18 4350 2982 931F adc r25,r19 4351 2984 A41F adc r26,r20 4352 2986 B51F adc r27,r21 4353 2988 8093 0000 sts MittelIntegralRoll2,r24 4354 298c 9093 0000 sts (MittelIntegralRoll2)+1,r25 4355 2990 A093 0000 sts (MittelIntegralRoll2)+2,r26 4356 2994 B093 0000 sts (MittelIntegralRoll2)+3,r27 4357 2998 3091 0000 lds r19,Looping_Nick 4358 299c 3987 std Y+9,r19 4359 299e 3323 tst r19 4360 29a0 01F4 brne .+4 4361 29a2 0C94 0000 jmp .L1070 4362 29a6 1092 0000 sts IntegralAccNick,__zero_reg__ 4363 29aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 4364 29ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 4365 29b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 4366 29b6 1092 0000 sts IntegralAccRoll,__zero_reg__ 4367 29ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 4368 29be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 4369 29c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 4370 29c6 1092 0000 sts MittelIntegralNick,__zero_reg__ 4371 29ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 4372 29ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 4373 29d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 4374 29d6 1092 0000 sts MittelIntegralRoll,__zero_reg__ 4375 29da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 4376 29de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 4377 29e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 4378 29e6 1092 0000 sts MittelIntegralNick2,__zero_reg__ 4379 29ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 4380 29ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 4381 29f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 4382 29f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 4383 29fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 4384 29fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 4385 2a02 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 4386 2a06 8091 0000 lds r24,Mess_IntegralNick 4387 2a0a 9091 0000 lds r25,(Mess_IntegralNick)+1 4388 2a0e A091 0000 lds r26,(Mess_IntegralNick)+2 4389 2a12 B091 0000 lds r27,(Mess_IntegralNick)+3 4390 2a16 8093 0000 sts Mess_IntegralNick2,r24 4391 2a1a 9093 0000 sts (Mess_IntegralNick2)+1,r25 4392 2a1e A093 0000 sts (Mess_IntegralNick2)+2,r26 4393 2a22 B093 0000 sts (Mess_IntegralNick2)+3,r27 4394 2a26 8091 0000 lds r24,Mess_IntegralRoll 4395 2a2a 9091 0000 lds r25,(Mess_IntegralRoll)+1 4396 2a2e A091 0000 lds r26,(Mess_IntegralRoll)+2 4397 2a32 B091 0000 lds r27,(Mess_IntegralRoll)+3 4398 2a36 8093 0000 sts Mess_IntegralRoll2,r24 4399 2a3a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4400 2a3e A093 0000 sts (Mess_IntegralRoll2)+2,r26 4401 2a42 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4402 2a46 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 4403 2a4a 1092 0000 sts ZaehlMessungen,__zero_reg__ 4404 2a4e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 4405 2a52 1092 0000 sts LageKorrekturNick,__zero_reg__ 4406 2a56 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 4407 2a5a 1092 0000 sts LageKorrekturRoll,__zero_reg__ 4408 2a5e 5091 0000 lds r21,Looping_Roll 4409 2a62 5CA7 std Y+44,r21 4410 .L814: 4411 2a64 8091 0000 lds r24,ZaehlMessungen 4412 2a68 9091 0000 lds r25,(ZaehlMessungen)+1 4413 2a6c 8F3F cpi r24,255 4414 2a6e 9105 cpc r25,__zero_reg__ 4415 2a70 01F0 breq .+2 4416 2a72 00F4 brsh .+4 4417 2a74 0C94 0000 jmp .L1059 4418 2a78 B985 ldd r27,Y+9 4419 2a7a BB23 tst r27 4420 2a7c 01F4 brne .L844 4421 2a7e ECA5 ldd r30,Y+44 4422 2a80 EE23 tst r30 4423 2a82 01F4 brne .+4 4424 2a84 0C94 0000 jmp .L1071 4425 .L844: 4426 2a88 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 4427 2a8c 1092 0000 sts LageKorrekturRoll,__zero_reg__ 4428 2a90 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 4429 2a94 1092 0000 sts LageKorrekturNick,__zero_reg__ 4430 2a98 1EA2 std Y+38,__zero_reg__ 4431 2a9a 1092 0000 sts TrichterFlug,__zero_reg__ 4432 2a9e 2091 0000 lds r18,MittelIntegralNick 4433 2aa2 3091 0000 lds r19,(MittelIntegralNick)+1 4434 2aa6 4091 0000 lds r20,(MittelIntegralNick)+2 4435 2aaa 5091 0000 lds r21,(MittelIntegralNick)+3 4436 2aae 28A7 std Y+40,r18 4437 2ab0 39A7 std Y+41,r19 4438 2ab2 4AA7 std Y+42,r20 4439 2ab4 5BA7 std Y+43,r21 4440 2ab6 2090 0000 lds r2,MittelIntegralRoll 4441 2aba 3090 0000 lds r3,(MittelIntegralRoll)+1 4442 2abe 4090 0000 lds r4,(MittelIntegralRoll)+2 4443 2ac2 5090 0000 lds r5,(MittelIntegralRoll)+3 4444 .L909: 4445 2ac6 3091 0000 lds r19,IntegralFaktor 4446 2aca 3DA3 std Y+37,r19 4447 2acc 3323 tst r19 4448 2ace 01F4 brne .L911 4449 2ad0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 4450 2ad4 1092 0000 sts LageKorrekturRoll,__zero_reg__ 4451 2ad8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 4452 2adc 1092 0000 sts LageKorrekturNick,__zero_reg__ 4453 .L911: 4454 2ae0 48A5 ldd r20,Y+40 4455 2ae2 59A5 ldd r21,Y+41 4456 2ae4 6AA5 ldd r22,Y+42 4457 2ae6 7BA5 ldd r23,Y+43 4458 2ae8 4093 0000 sts MittelIntegralNick_Alt.3105,r20 4459 2aec 5093 0000 sts (MittelIntegralNick_Alt.3105)+1,r21 4460 2af0 6093 0000 sts (MittelIntegralNick_Alt.3105)+2,r22 4461 2af4 7093 0000 sts (MittelIntegralNick_Alt.3105)+3,r23 4462 2af8 2092 0000 sts MittelIntegralRoll_Alt.3106,r2 4463 2afc 3092 0000 sts (MittelIntegralRoll_Alt.3106)+1,r3 4464 2b00 4092 0000 sts (MittelIntegralRoll_Alt.3106)+2,r4 4465 2b04 5092 0000 sts (MittelIntegralRoll_Alt.3106)+3,r5 4466 2b08 1092 0000 sts IntegralAccNick,__zero_reg__ 4467 2b0c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 4468 2b10 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 4469 2b14 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 4470 2b18 1092 0000 sts IntegralAccRoll,__zero_reg__ 4471 2b1c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 4472 2b20 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 4473 2b24 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 4474 2b28 1092 0000 sts IntegralAccZ,__zero_reg__ 4475 2b2c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 4476 2b30 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 4477 2b34 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 4478 2b38 1092 0000 sts MittelIntegralNick,__zero_reg__ 4479 2b3c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 4480 2b40 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 4481 2b44 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 4482 2b48 1092 0000 sts MittelIntegralRoll,__zero_reg__ 4483 2b4c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 4484 2b50 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 4485 2b54 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 4486 2b58 1092 0000 sts MittelIntegralNick2,__zero_reg__ 4487 2b5c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 4488 2b60 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 4489 2b64 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 4490 2b68 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 4491 2b6c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 4492 2b70 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 4493 2b74 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 4494 2b78 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 4495 2b7c 1092 0000 sts ZaehlMessungen,__zero_reg__ 4496 2b80 E090 0000 lds r14,StickGier 4497 2b84 F090 0000 lds r15,(StickGier)+1 4498 2b88 6701 movw r12,r14 4499 2b8a F7FE sbrs r15,7 4500 2b8c 00C0 rjmp .+4 4501 2b8e 0C94 0000 jmp .L1072 4502 .L913: 4503 2b92 70E1 ldi r23,lo8(16) 4504 2b94 C716 cp r12,r23 4505 2b96 D104 cpc r13,__zero_reg__ 4506 2b98 04F0 brlt .L914 4507 2b9a 88EE ldi r24,lo8(1000) 4508 2b9c 93E0 ldi r25,hi8(1000) 4509 2b9e 9093 0000 sts (KompassSignalSchlecht)+1,r25 4510 2ba2 8093 0000 sts KompassSignalSchlecht,r24 4511 2ba6 8A85 ldd r24,Y+10 4512 2ba8 84FD sbrc r24,4 4513 2baa 00C0 rjmp .L914 4514 2bac 81E0 ldi r24,lo8(1) 4515 2bae 8093 0000 sts NeueKompassRichtungMerken.3089,r24 4516 .L914: 4517 2bb2 0091 0000 lds r16,EE_Parameter+17 4518 2bb6 B701 movw r22,r14 4519 2bb8 8827 clr r24 4520 2bba 77FD sbrc r23,7 4521 2bbc 8095 com r24 4522 2bbe 982F mov r25,r24 4523 2bc0 202F mov r18,r16 4524 2bc2 30E0 ldi r19,lo8(0) 4525 2bc4 40E0 ldi r20,lo8(0) 4526 2bc6 50E0 ldi r21,hi8(0) 4527 2bc8 0E94 0000 call __mulsi3 4528 2bcc 9601 movw r18,r12 4529 2bce 4427 clr r20 4530 2bd0 37FD sbrc r19,7 4531 2bd2 4095 com r20 4532 2bd4 542F mov r21,r20 4533 2bd6 0E94 0000 call __mulsi3 4534 2bda 20E0 ldi r18,lo8(512) 4535 2bdc 32E0 ldi r19,hi8(512) 4536 2bde 40E0 ldi r20,hlo8(512) 4537 2be0 50E0 ldi r21,hhi8(512) 4538 2be2 0E94 0000 call __divmodsi4 4539 2be6 10E0 ldi r17,lo8(0) 4540 2be8 0E9D mul r16,r14 4541 2bea B001 movw r22,r0 4542 2bec 0F9D mul r16,r15 4543 2bee 700D add r23,r0 4544 2bf0 1E9D mul r17,r14 4545 2bf2 700D add r23,r0 4546 2bf4 1124 clr r1 4547 2bf6 77FF sbrs r23,7 4548 2bf8 00C0 rjmp .+4 4549 2bfa 0C94 0000 jmp .L1073 4550 .L917: 4551 2bfe 7595 asr r23 4552 2c00 6795 ror r22 4553 2c02 7595 asr r23 4554 2c04 6795 ror r22 4555 2c06 260F add r18,r22 4556 2c08 371F adc r19,r23 4557 2c0a A901 movw r20,r18 4558 2c0c 6627 clr r22 4559 2c0e 57FD sbrc r21,7 4560 2c10 6095 com r22 4561 2c12 762F mov r23,r22 4562 2c14 488F std Y+24,r20 4563 2c16 598F std Y+25,r21 4564 2c18 6A8F std Y+26,r22 4565 2c1a 7B8F std Y+27,r23 4566 2c1c 4093 0000 sts sollGier.3070,r20 4567 2c20 5093 0000 sts (sollGier.3070)+1,r21 4568 2c24 6093 0000 sts (sollGier.3070)+2,r22 4569 2c28 7093 0000 sts (sollGier.3070)+3,r23 4570 2c2c 8091 0000 lds r24,Mess_Integral_Gier 4571 2c30 9091 0000 lds r25,(Mess_Integral_Gier)+1 4572 2c34 A091 0000 lds r26,(Mess_Integral_Gier)+2 4573 2c38 B091 0000 lds r27,(Mess_Integral_Gier)+3 4574 2c3c 841B sub r24,r20 4575 2c3e 950B sbc r25,r21 4576 2c40 A60B sbc r26,r22 4577 2c42 B70B sbc r27,r23 4578 2c44 8093 0000 sts Mess_Integral_Gier,r24 4579 2c48 9093 0000 sts (Mess_Integral_Gier)+1,r25 4580 2c4c A093 0000 sts (Mess_Integral_Gier)+2,r26 4581 2c50 B093 0000 sts (Mess_Integral_Gier)+3,r27 4582 2c54 8135 cpi r24,lo8(50001) 4583 2c56 53EC ldi r21,hi8(50001) 4584 2c58 9507 cpc r25,r21 4585 2c5a 50E0 ldi r21,hlo8(50001) 4586 2c5c A507 cpc r26,r21 4587 2c5e 50E0 ldi r21,hhi8(50001) 4588 2c60 B507 cpc r27,r21 4589 2c62 04F4 brge .+4 4590 2c64 0C94 0000 jmp .L918 4591 2c68 80E5 ldi r24,lo8(50000) 4592 2c6a 93EC ldi r25,hi8(50000) 4593 2c6c A0E0 ldi r26,hlo8(50000) 4594 2c6e B0E0 ldi r27,hhi8(50000) 4595 2c70 8093 0000 sts Mess_Integral_Gier,r24 4596 2c74 9093 0000 sts (Mess_Integral_Gier)+1,r25 4597 2c78 A093 0000 sts (Mess_Integral_Gier)+2,r26 4598 2c7c B093 0000 sts (Mess_Integral_Gier)+3,r27 4599 .L920: 4600 2c80 2090 0000 lds r2,KompassValue 4601 2c84 3090 0000 lds r3,(KompassValue)+1 4602 2c88 2114 cp r2,__zero_reg__ 4603 2c8a 3104 cpc r3,__zero_reg__ 4604 2c8c 01F4 brne .+2 4605 2c8e 00C0 rjmp .L1062 4606 2c90 7A85 ldd r23,Y+10 4607 2c92 73FF sbrs r23,3 4608 2c94 00C0 rjmp .L1062 4609 2c96 6981 ldd r22,Y+1 4610 2c98 7A81 ldd r23,Y+2 4611 2c9a 8B81 ldd r24,Y+3 4612 2c9c 9C81 ldd r25,Y+4 4613 2c9e 20E0 ldi r18,lo8(512) 4614 2ca0 32E0 ldi r19,hi8(512) 4615 2ca2 40E0 ldi r20,hlo8(512) 4616 2ca4 50E0 ldi r21,hhi8(512) 4617 2ca6 0E94 0000 call __divmodsi4 4618 2caa 8901 movw r16,r18 4619 2cac 37FF sbrs r19,7 4620 2cae 00C0 rjmp .+4 4621 2cb0 0C94 0000 jmp .L1074 4622 .L925: 4623 2cb4 6D81 ldd r22,Y+5 4624 2cb6 7E81 ldd r23,Y+6 4625 2cb8 8F81 ldd r24,Y+7 4626 2cba 9885 ldd r25,Y+8 4627 2cbc 20E0 ldi r18,lo8(512) 4628 2cbe 32E0 ldi r19,hi8(512) 4629 2cc0 40E0 ldi r20,hlo8(512) 4630 2cc2 50E0 ldi r21,hhi8(512) 4631 2cc4 0E94 0000 call __divmodsi4 4632 2cc8 6901 movw r12,r18 4633 2cca 37FF sbrs r19,7 4634 2ccc 00C0 rjmp .+4 4635 2cce 0C94 0000 jmp .L1075 4636 .L926: 4637 2cd2 C016 cp r12,r16 4638 2cd4 D106 cpc r13,r17 4639 2cd6 04F4 brge .+4 4640 2cd8 0C94 0000 jmp .L1076 4641 .L927: 4642 2cdc 4090 0000 lds r4,ErsatzKompass 4643 2ce0 5090 0000 lds r5,(ErsatzKompass)+1 4644 2ce4 6090 0000 lds r6,(ErsatzKompass)+2 4645 2ce8 7090 0000 lds r7,(ErsatzKompass)+3 4646 2cec 8091 0000 lds r24,GIER_GRAD_FAKTOR 4647 2cf0 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 4648 2cf4 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 4649 2cf8 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 4650 2cfc 8C8B std Y+20,r24 4651 2cfe 9D8B std Y+21,r25 4652 2d00 AE8B std Y+22,r26 4653 2d02 BF8B std Y+23,r27 4654 2d04 8090 0000 lds r8,MesswertGier 4655 2d08 9090 0000 lds r9,(MesswertGier)+1 4656 2d0c C401 movw r24,r8 4657 2d0e 97FE sbrs r9,7 4658 2d10 00C0 rjmp .+4 4659 2d12 0C94 0000 jmp .L1077 4660 .L929: 4661 2d16 8138 cpi r24,129 4662 2d18 9105 cpc r25,__zero_reg__ 4663 2d1a 04F0 brlt .+4 4664 2d1c 0C94 0000 jmp .L1078 4665 2d20 ACE1 ldi r26,lo8(540) 4666 2d22 B2E0 ldi r27,hi8(540) 4667 2d24 2A0E add r2,r26 4668 2d26 3B1E adc r3,r27 4669 2d28 7101 movw r14,r2 4670 2d2a 0027 clr r16 4671 2d2c F7FC sbrc r15,7 4672 2d2e 0095 com r16 4673 2d30 102F mov r17,r16 4674 2d32 E4EE ldi r30,lo8(-540) 4675 2d34 FDEF ldi r31,hi8(-540) 4676 2d36 2E0E add r2,r30 4677 2d38 3F1E adc r3,r31 4678 2d3a C301 movw r24,r6 4679 2d3c B201 movw r22,r4 4680 2d3e 2C89 ldd r18,Y+20 4681 2d40 3D89 ldd r19,Y+21 4682 2d42 4E89 ldd r20,Y+22 4683 2d44 5F89 ldd r21,Y+23 4684 2d46 0E94 0000 call __divmodsi4 4685 2d4a E21A sub r14,r18 4686 2d4c F30A sbc r15,r19 4687 2d4e 040B sbc r16,r20 4688 2d50 150B sbc r17,r21 4689 2d52 C801 movw r24,r16 4690 2d54 B701 movw r22,r14 4691 2d56 28E6 ldi r18,lo8(360) 4692 2d58 31E0 ldi r19,hi8(360) 4693 2d5a 40E0 ldi r20,hlo8(360) 4694 2d5c 50E0 ldi r21,hhi8(360) 4695 2d5e 0E94 0000 call __divmodsi4 4696 2d62 645B subi r22,lo8(-(-180)) 4697 2d64 7040 sbci r23,hi8(-(-180)) 4698 2d66 8B01 movw r16,r22 4699 2d68 000F lsl r16 4700 2d6a 111F rol r17 4701 2d6c 000F lsl r16 4702 2d6e 111F rol r17 4703 2d70 000F lsl r16 4704 2d72 111F rol r17 4705 .L931: 4706 2d74 2091 0000 lds r18,NeueKompassRichtungMerken.3089 4707 2d78 E090 0000 lds r14,KompassSignalSchlecht 4708 2d7c F090 0000 lds r15,(KompassSignalSchlecht)+1 4709 2d80 E114 cp r14,__zero_reg__ 4710 2d82 F104 cpc r15,__zero_reg__ 4711 2d84 01F4 brne .L932 4712 2d86 F9E1 ldi r31,lo8(25) 4713 2d88 CF16 cp r12,r31 4714 2d8a D104 cpc r13,__zero_reg__ 4715 2d8c 04F4 brge .L932 4716 2d8e 8091 0000 lds r24,GierGyroFehler 4717 2d92 9091 0000 lds r25,(GierGyroFehler)+1 4718 2d96 860F add r24,r22 4719 2d98 971F adc r25,r23 4720 2d9a 9093 0000 sts (GierGyroFehler)+1,r25 4721 2d9e 8093 0000 sts GierGyroFehler,r24 4722 2da2 2223 tst r18 4723 2da4 01F0 breq .+4 4724 2da6 0C94 0000 jmp .L1079 4725 .L932: 4726 2daa B601 movw r22,r12 4727 2dac D7FE sbrs r13,7 4728 2dae 00C0 rjmp .+4 4729 2db0 0C94 0000 jmp .L1080 4730 .L936: 4731 2db4 7595 asr r23 4732 2db6 6795 ror r22 4733 2db8 7595 asr r23 4734 2dba 6795 ror r22 4735 2dbc 7595 asr r23 4736 2dbe 6795 ror r22 4737 2dc0 6F5F subi r22,lo8(-(1)) 4738 2dc2 7F4F sbci r23,hi8(-(1)) 4739 2dc4 C801 movw r24,r16 4740 2dc6 0E94 0000 call __divmodhi4 4741 2dca 9B01 movw r18,r22 4742 2dcc A901 movw r20,r18 4743 2dce 6627 clr r22 4744 2dd0 57FD sbrc r21,7 4745 2dd2 6095 com r22 4746 2dd4 762F mov r23,r22 4747 2dd6 440D add r20,r4 4748 2dd8 551D adc r21,r5 4749 2dda 661D adc r22,r6 4750 2ddc 771D adc r23,r7 4751 2dde 4093 0000 sts ErsatzKompass,r20 4752 2de2 5093 0000 sts (ErsatzKompass)+1,r21 4753 2de6 6093 0000 sts (ErsatzKompass)+2,r22 4754 2dea 7093 0000 sts (ErsatzKompass)+3,r23 4755 2dee 8091 0000 lds r24,Parameter_KompassWirkung 4756 2df2 A82E mov r10,r24 4757 2df4 BB24 clr r11 4758 2df6 CA9C mul r12,r10 4759 2df8 9001 movw r18,r0 4760 2dfa CB9C mul r12,r11 4761 2dfc 300D add r19,r0 4762 2dfe DA9C mul r13,r10 4763 2e00 300D add r19,r0 4764 2e02 1124 clr r1 4765 2e04 37FF sbrs r19,7 4766 2e06 00C0 rjmp .+4 4767 2e08 0C94 0000 jmp .L1081 4768 .L937: 4769 2e0c 3595 asr r19 4770 2e0e 2795 ror r18 4771 2e10 3595 asr r19 4772 2e12 2795 ror r18 4773 2e14 3595 asr r19 4774 2e16 2795 ror r18 4775 2e18 3595 asr r19 4776 2e1a 2795 ror r18 4777 2e1c 3595 asr r19 4778 2e1e 2795 ror r18 4779 2e20 6501 movw r12,r10 4780 2e22 C21A sub r12,r18 4781 2e24 D30A sbc r13,r19 4782 2e26 D7FE sbrs r13,7 4783 2e28 00C0 rjmp .+4 4784 2e2a 0C94 0000 jmp .L938 4785 2e2e E114 cp r14,__zero_reg__ 4786 2e30 F104 cpc r15,__zero_reg__ 4787 2e32 01F0 breq .+4 4788 2e34 0C94 0000 jmp .L940 4789 2e38 6090 0000 lds r6,MaxStickRoll 4790 2e3c 7090 0000 lds r7,(MaxStickRoll)+1 4791 2e40 8091 0000 lds r24,MaxStickNick 4792 2e44 9091 0000 lds r25,(MaxStickNick)+1 4793 2e48 680E add r6,r24 4794 2e4a 791E adc r7,r25 4795 2e4c 77FE sbrs r7,7 4796 2e4e 00C0 rjmp .+4 4797 2e50 0C94 0000 jmp .L1082 4798 .L942: 4799 2e54 7594 asr r7 4800 2e56 6794 ror r6 4801 2e58 7594 asr r7 4802 2e5a 6794 ror r6 4803 2e5c 7594 asr r7 4804 2e5e 6794 ror r6 4805 2e60 A0E4 ldi r26,lo8(64) 4806 2e62 B0E0 ldi r27,hi8(64) 4807 2e64 6A0E add r6,r26 4808 2e66 7B1E adc r7,r27 4809 2e68 8091 0000 lds r24,KompassStartwert 4810 2e6c 9091 0000 lds r25,(KompassStartwert)+1 4811 2e70 AA27 clr r26 4812 2e72 97FD sbrc r25,7 4813 2e74 A095 com r26 4814 2e76 BA2F mov r27,r26 4815 2e78 ECE1 ldi r30,lo8(540) 4816 2e7a EE2E mov r14,r30 4817 2e7c E2E0 ldi r30,hi8(540) 4818 2e7e FE2E mov r15,r30 4819 2e80 012D mov r16,__zero_reg__ 4820 2e82 112D mov r17,__zero_reg__ 4821 2e84 E81A sub r14,r24 4822 2e86 F90A sbc r15,r25 4823 2e88 0A0B sbc r16,r26 4824 2e8a 1B0B sbc r17,r27 4825 2e8c CB01 movw r24,r22 4826 2e8e BA01 movw r22,r20 4827 2e90 2C89 ldd r18,Y+20 4828 2e92 3D89 ldd r19,Y+21 4829 2e94 4E89 ldd r20,Y+22 4830 2e96 5F89 ldd r21,Y+23 4831 2e98 0E94 0000 call __divmodsi4 4832 2e9c E20E add r14,r18 4833 2e9e F31E adc r15,r19 4834 2ea0 041F adc r16,r20 4835 2ea2 151F adc r17,r21 4836 2ea4 C801 movw r24,r16 4837 2ea6 B701 movw r22,r14 4838 2ea8 28E6 ldi r18,lo8(360) 4839 2eaa 31E0 ldi r19,hi8(360) 4840 2eac 40E0 ldi r20,hlo8(360) 4841 2eae 50E0 ldi r21,hhi8(360) 4842 2eb0 0E94 0000 call __divmodsi4 4843 2eb4 645B subi r22,lo8(-(-180)) 4844 2eb6 7040 sbci r23,hi8(-(-180)) 4845 2eb8 6C9D mul r22,r12 4846 2eba C001 movw r24,r0 4847 2ebc 6D9D mul r22,r13 4848 2ebe 900D add r25,r0 4849 2ec0 7C9D mul r23,r12 4850 2ec2 900D add r25,r0 4851 2ec4 1124 clr r1 4852 2ec6 B301 movw r22,r6 4853 2ec8 0E94 0000 call __divmodhi4 4854 2ecc 9501 movw r18,r10 4855 2ece 220F lsl r18 4856 2ed0 331F rol r19 4857 2ed2 2A0D add r18,r10 4858 2ed4 3B1D adc r19,r11 4859 2ed6 2617 cp r18,r22 4860 2ed8 3707 cpc r19,r23 4861 2eda 04F4 brge .+4 4862 2edc 0C94 0000 jmp .L943 4863 2ee0 3095 com r19 4864 2ee2 2195 neg r18 4865 2ee4 3F4F sbci r19,lo8(-1) 4866 2ee6 6217 cp r22,r18 4867 2ee8 7307 cpc r23,r19 4868 2eea 04F4 brge .L945 4869 2eec B901 movw r22,r18 4870 .L945: 4871 2eee 9B01 movw r18,r22 4872 2ef0 4427 clr r20 4873 2ef2 37FD sbrc r19,7 4874 2ef4 4095 com r20 4875 2ef6 542F mov r21,r20 4876 2ef8 8091 0000 lds r24,Mess_Integral_Gier 4877 2efc 9091 0000 lds r25,(Mess_Integral_Gier)+1 4878 2f00 A091 0000 lds r26,(Mess_Integral_Gier)+2 4879 2f04 B091 0000 lds r27,(Mess_Integral_Gier)+3 4880 2f08 820F add r24,r18 4881 2f0a 931F adc r25,r19 4882 2f0c A41F adc r26,r20 4883 2f0e B51F adc r27,r21 4884 2f10 8093 0000 sts Mess_Integral_Gier,r24 4885 2f14 9093 0000 sts (Mess_Integral_Gier)+1,r25 4886 2f18 A093 0000 sts (Mess_Integral_Gier)+2,r26 4887 2f1c B093 0000 sts (Mess_Integral_Gier)+3,r27 4888 2f20 00C0 rjmp .L922 4889 .L660: 4890 2f22 8091 0000 lds r24,SenderOkay 4891 2f26 8D38 cpi r24,lo8(-115) 4892 2f28 00F4 brsh .+2 4893 2f2a 00C0 rjmp .L674 4894 2f2c 1092 0000 sts Notlandung,__zero_reg__ 4895 2f30 8091 0000 lds r24,EE_Parameter+27 4896 2f34 22E3 ldi r18,lo8(50) 4897 2f36 829F mul r24,r18 4898 2f38 C001 movw r24,r0 4899 2f3a 1124 clr r1 4900 2f3c 9093 0000 sts (RcLostTimer.3075)+1,r25 4901 2f40 8093 0000 sts RcLostTimer.3075,r24 4902 2f44 E889 ldd r30,Y+16 4903 2f46 F989 ldd r31,Y+17 4904 2f48 B997 sbiw r30,41 4905 2f4a 04F0 brlt .L676 4906 2f4c 8091 0000 lds r24,MotorenEin 4907 2f50 8823 tst r24 4908 2f52 01F0 breq .L676 4909 2f54 8091 0000 lds r24,modell_fliegt 4910 2f58 9091 0000 lds r25,(modell_fliegt)+1 4911 2f5c FFEF ldi r31,hi8(-1) 4912 2f5e 8F3F cpi r24,lo8(-1) 4913 2f60 9F07 cpc r25,r31 4914 2f62 01F0 breq .L679 4915 2f64 0196 adiw r24,1 4916 2f66 9093 0000 sts (modell_fliegt)+1,r25 4917 2f6a 8093 0000 sts modell_fliegt,r24 4918 .L676: 4919 2f6e 8091 0000 lds r24,modell_fliegt 4920 2f72 9091 0000 lds r25,(modell_fliegt)+1 4921 2f76 8F3F cpi r24,255 4922 2f78 9105 cpc r25,__zero_reg__ 4923 2f7a 01F0 breq .+2 4924 2f7c 00F4 brsh .+4 4925 2f7e 0C94 0000 jmp .L1083 4926 .L679: 4927 2f82 8091 0000 lds r24,MikroKopterFlags 4928 2f86 8260 ori r24,lo8(2) 4929 2f88 8093 0000 sts MikroKopterFlags,r24 4930 .L682: 4931 2f8c 8091 0000 lds r24,EE_Parameter+2 4932 2f90 A82F mov r26,r24 4933 2f92 B0E0 ldi r27,lo8(0) 4934 2f94 AA0F lsl r26 4935 2f96 BB1F rol r27 4936 2f98 FD01 movw r30,r26 4937 2f9a E050 subi r30,lo8(-(PPM_in)) 4938 2f9c F040 sbci r31,hi8(-(PPM_in)) 4939 2f9e 8081 ld r24,Z 4940 2fa0 9181 ldd r25,Z+1 4941 2fa2 8135 cpi r24,81 4942 2fa4 9105 cpc r25,__zero_reg__ 4943 2fa6 04F4 brge .+2 4944 2fa8 00C0 rjmp .L684 4945 2faa 8091 0000 lds r24,MotorenEin 4946 2fae 8823 tst r24 4947 2fb0 01F0 breq .+2 4948 2fb2 00C0 rjmp .L684 4949 2fb4 8091 0000 lds r24,EE_Parameter+3 4950 2fb8 E82F mov r30,r24 4951 2fba F0E0 ldi r31,lo8(0) 4952 2fbc EE0F lsl r30 4953 2fbe FF1F rol r31 4954 2fc0 E050 subi r30,lo8(-(PPM_in)) 4955 2fc2 F040 sbci r31,hi8(-(PPM_in)) 4956 2fc4 8081 ld r24,Z 4957 2fc6 9181 ldd r25,Z+1 4958 2fc8 8C34 cpi r24,76 4959 2fca 9105 cpc r25,__zero_reg__ 4960 2fcc 04F4 brge .+4 4961 2fce 0C94 0000 jmp .L687 4962 2fd2 8091 0000 lds r24,delay_neutral.3076 4963 2fd6 8F5F subi r24,lo8(-(1)) 4964 2fd8 8093 0000 sts delay_neutral.3076,r24 4965 2fdc 893C cpi r24,lo8(-55) 4966 2fde 00F4 brsh .+2 4967 2fe0 00C0 rjmp .L684 4968 2fe2 4C30 cpi r20,lo8(12) 4969 2fe4 00F0 brlo .+4 4970 2fe6 0C94 0000 jmp .L690 4971 2fea 2998 cbi 37-0x20,1 4972 .L692: 4973 2fec 1092 0000 sts MotorenEin,__zero_reg__ 4974 2ff0 1092 0000 sts delay_neutral.3076,__zero_reg__ 4975 2ff4 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4976 2ff8 1092 0000 sts modell_fliegt,__zero_reg__ 4977 2ffc 8091 0000 lds r24,EE_Parameter 4978 3000 282F mov r18,r24 4979 3002 30E0 ldi r19,lo8(0) 4980 3004 220F lsl r18 4981 3006 331F rol r19 4982 3008 F901 movw r30,r18 4983 300a E050 subi r30,lo8(-(PPM_in)) 4984 300c F040 sbci r31,hi8(-(PPM_in)) 4985 300e 8081 ld r24,Z 4986 3010 9181 ldd r25,Z+1 4987 3012 8734 cpi r24,71 4988 3014 9105 cpc r25,__zero_reg__ 4989 3016 04F4 brge .+4 4990 3018 0C94 0000 jmp .L693 4991 301c 8091 0000 lds r24,EE_Parameter+1 4992 3020 A82F mov r26,r24 4993 3022 B0E0 ldi r27,lo8(0) 4994 3024 AA0F lsl r26 4995 3026 BB1F rol r27 4996 .L695: 4997 3028 AD01 movw r20,r26 4998 302a 4050 subi r20,lo8(-(PPM_in)) 4999 302c 5040 sbci r21,hi8(-(PPM_in)) 5000 302e FA01 movw r30,r20 5001 3030 8081 ld r24,Z 5002 3032 9181 ldd r25,Z+1 5003 3034 8734 cpi r24,71 5004 3036 9105 cpc r25,__zero_reg__ 5005 3038 04F0 brlt .L698 5006 303a F901 movw r30,r18 5007 303c E050 subi r30,lo8(-(PPM_in)) 5008 303e F040 sbci r31,hi8(-(PPM_in)) 5009 3040 8081 ld r24,Z 5010 3042 9181 ldd r25,Z+1 5011 .L698: 5012 3044 FA01 movw r30,r20 5013 3046 8081 ld r24,Z 5014 3048 9181 ldd r25,Z+1 5015 304a 8734 cpi r24,71 5016 304c 9105 cpc r25,__zero_reg__ 5017 304e 04F4 brge .+4 5018 3050 0C94 0000 jmp .L700 5019 3054 F901 movw r30,r18 5020 3056 E050 subi r30,lo8(-(PPM_in)) 5021 3058 F040 sbci r31,hi8(-(PPM_in)) 5022 305a 8081 ld r24,Z 5023 305c 9181 ldd r25,Z+1 5024 305e 8734 cpi r24,71 5025 3060 9105 cpc r25,__zero_reg__ 5026 3062 04F4 brge .+4 5027 3064 0C94 0000 jmp .L700 5028 3068 42E0 ldi r20,lo8(2) 5029 .L703: 5030 306a FD01 movw r30,r26 5031 306c E050 subi r30,lo8(-(PPM_in)) 5032 306e F040 sbci r31,hi8(-(PPM_in)) 5033 3070 8081 ld r24,Z 5034 3072 9181 ldd r25,Z+1 5035 3074 8634 cpi r24,70 5036 3076 9105 cpc r25,__zero_reg__ 5037 3078 04F4 brge .L704 5038 307a F901 movw r30,r18 5039 307c E050 subi r30,lo8(-(PPM_in)) 5040 307e F040 sbci r31,hi8(-(PPM_in)) 5041 3080 8081 ld r24,Z 5042 3082 9181 ldd r25,Z+1 5043 3084 8734 cpi r24,71 5044 3086 9105 cpc r25,__zero_reg__ 5045 3088 04F0 brlt .L704 5046 308a 43E0 ldi r20,lo8(3) 5047 .L704: 5048 308c FD01 movw r30,r26 5049 308e E050 subi r30,lo8(-(PPM_in)) 5050 3090 F040 sbci r31,hi8(-(PPM_in)) 5051 3092 8081 ld r24,Z 5052 3094 9181 ldd r25,Z+1 5053 3096 8A5B subi r24,lo8(-70) 5054 3098 9F4F sbci r25,hi8(-70) 5055 309a 04F4 brge .L707 5056 309c F901 movw r30,r18 5057 309e E050 subi r30,lo8(-(PPM_in)) 5058 30a0 F040 sbci r31,hi8(-(PPM_in)) 5059 30a2 8081 ld r24,Z 5060 30a4 9181 ldd r25,Z+1 5061 30a6 8734 cpi r24,71 5062 30a8 9105 cpc r25,__zero_reg__ 5063 30aa 04F0 brlt .L707 5064 30ac 44E0 ldi r20,lo8(4) 5065 .L707: 5066 30ae A050 subi r26,lo8(-(PPM_in)) 5067 30b0 B040 sbci r27,hi8(-(PPM_in)) 5068 30b2 8D91 ld r24,X+ 5069 30b4 9C91 ld r25,X 5070 30b6 8A5B subi r24,lo8(-70) 5071 30b8 9F4F sbci r25,hi8(-70) 5072 30ba 04F4 brge .L710 5073 30bc 2050 subi r18,lo8(-(PPM_in)) 5074 30be 3040 sbci r19,hi8(-(PPM_in)) 5075 30c0 D901 movw r26,r18 5076 30c2 8D91 ld r24,X+ 5077 30c4 9C91 ld r25,X 5078 30c6 8634 cpi r24,70 5079 30c8 9105 cpc r25,__zero_reg__ 5080 30ca 04F4 brge .L710 5081 30cc 45E0 ldi r20,lo8(5) 5082 .L710: 5083 30ce 842F mov r24,r20 5084 30d0 0E94 0000 call SetActiveParamSetNumber 5085 30d4 8091 0000 lds r24,EE_Parameter+1 5086 30d8 A82F mov r26,r24 5087 30da B0E0 ldi r27,lo8(0) 5088 30dc AA0F lsl r26 5089 30de BB1F rol r27 5090 .L696: 5091 30e0 A050 subi r26,lo8(-(PPM_in)) 5092 30e2 B040 sbci r27,hi8(-(PPM_in)) 5093 30e4 8D91 ld r24,X+ 5094 30e6 9C91 ld r25,X 5095 30e8 97FF sbrs r25,7 5096 30ea 00C0 rjmp .+4 5097 30ec 0C94 0000 jmp .L1084 5098 .L714: 5099 30f0 4E97 sbiw r24,30 5100 30f2 04F0 brlt .+4 5101 30f4 0C94 0000 jmp .L713 5102 30f8 E091 0000 lds r30,EE_Parameter 5103 30fc F0E0 ldi r31,lo8(0) 5104 30fe EE0F lsl r30 5105 3100 FF1F rol r31 5106 3102 E050 subi r30,lo8(-(PPM_in)) 5107 3104 F040 sbci r31,hi8(-(PPM_in)) 5108 3106 8081 ld r24,Z 5109 3108 9181 ldd r25,Z+1 5110 310a 8A5B subi r24,lo8(-70) 5111 310c 9F4F sbci r25,hi8(-70) 5112 310e 04F0 brlt .+4 5113 3110 0C94 0000 jmp .L713 5114 3114 81E0 ldi r24,lo8(1) 5115 3116 8093 0000 sts WinkelOut+6,r24 5116 311a 88EE ldi r24,lo8(1000) 5117 311c 93E0 ldi r25,hi8(1000) 5118 311e 9093 0000 sts (beeptime)+1,r25 5119 3122 8093 0000 sts beeptime,r24 5120 3126 8091 0000 lds r24,EE_Parameter+2 5121 312a A82F mov r26,r24 5122 312c B0E0 ldi r27,lo8(0) 5123 312e AA0F lsl r26 5124 3130 BB1F rol r27 5125 .L684: 5126 3132 A050 subi r26,lo8(-(PPM_in)) 5127 3134 B040 sbci r27,hi8(-(PPM_in)) 5128 3136 8D91 ld r24,X+ 5129 3138 9C91 ld r25,X 5130 313a 8B5A subi r24,lo8(-85) 5131 313c 9F4F sbci r25,hi8(-85) 5132 313e 04F0 brlt .+2 5133 3140 00C0 rjmp .L674 5134 3142 8091 0000 lds r24,EE_Parameter+3 5135 3146 C82E mov r12,r24 5136 3148 DD24 clr r13 5137 314a CC0C lsl r12 5138 314c DD1C rol r13 5139 314e F601 movw r30,r12 5140 3150 E050 subi r30,lo8(-(PPM_in)) 5141 3152 F040 sbci r31,hi8(-(PPM_in)) 5142 3154 8081 ld r24,Z 5143 3156 9181 ldd r25,Z+1 5144 3158 855B subi r24,lo8(-75) 5145 315a 9F4F sbci r25,hi8(-75) 5146 315c 04F0 brlt .+4 5147 315e 0C94 0000 jmp .L731 5148 3162 8091 0000 lds r24,delay_einschalten.3077 5149 3166 8F5F subi r24,lo8(-(1)) 5150 3168 8093 0000 sts delay_einschalten.3077,r24 5151 316c 893C cpi r24,lo8(-55) 5152 316e 00F0 brlo .+4 5153 3170 0C94 0000 jmp .L1085 5154 .L733: 5155 3174 60E0 ldi r22,lo8(PPM_in) 5156 3176 70E0 ldi r23,hi8(PPM_in) 5157 3178 C60E add r12,r22 5158 317a D71E adc r13,r23 5159 317c D601 movw r26,r12 5160 317e 8D91 ld r24,X+ 5161 3180 9C91 ld r25,X 5162 3182 8C34 cpi r24,76 5163 3184 9105 cpc r25,__zero_reg__ 5164 3186 04F4 brge .+4 5165 3188 0C94 0000 jmp .L735 5166 318c 8091 0000 lds r24,delay_ausschalten.3078 5167 3190 8F5F subi r24,lo8(-(1)) 5168 3192 8093 0000 sts delay_ausschalten.3078,r24 5169 3196 893C cpi r24,lo8(-55) 5170 3198 00F4 brsh .+2 5171 319a 00C0 rjmp .L674 5172 319c 1092 0000 sts MotorenEin,__zero_reg__ 5173 31a0 88EC ldi r24,lo8(-56) 5174 31a2 8093 0000 sts delay_ausschalten.3078,r24 5175 31a6 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 5176 31aa 1092 0000 sts modell_fliegt,__zero_reg__ 5177 31ae 00C0 rjmp .L674 5178 .L738: 5179 31b0 0E94 0000 call ParameterZuordnung 5180 31b4 8091 0000 lds r24,EE_Parameter 5181 31b8 A82E mov r10,r24 5182 31ba BB24 clr r11 5183 31bc AA0C lsl r10 5184 31be BB1C rol r11 5185 31c0 F501 movw r30,r10 5186 31c2 E050 subi r30,lo8(-(PPM_in)) 5187 31c4 F040 sbci r31,hi8(-(PPM_in)) 5188 31c6 2081 ld r18,Z 5189 31c8 3181 ldd r19,Z+1 5190 31ca 8091 0000 lds r24,EE_Parameter+15 5191 31ce 882E mov r8,r24 5192 31d0 9924 clr r9 5193 31d2 F501 movw r30,r10 5194 31d4 E050 subi r30,lo8(-(PPM_diff)) 5195 31d6 F040 sbci r31,hi8(-(PPM_diff)) 5196 31d8 0190 ld __tmp_reg__,Z+ 5197 31da F081 ld r31,Z 5198 31dc E02D mov r30,__tmp_reg__ 5199 31de 8091 0000 lds r24,EE_Parameter+16 5200 31e2 682F mov r22,r24 5201 31e4 70E0 ldi r23,lo8(0) 5202 31e6 289D mul r18,r8 5203 31e8 A001 movw r20,r0 5204 31ea 299D mul r18,r9 5205 31ec 500D add r21,r0 5206 31ee 389D mul r19,r8 5207 31f0 500D add r21,r0 5208 31f2 1124 clr r1 5209 31f4 2091 0000 lds r18,stick_nick.3096 5210 31f8 3091 0000 lds r19,(stick_nick.3096)+1 5211 31fc C901 movw r24,r18 5212 31fe 880F lsl r24 5213 3200 991F rol r25 5214 3202 820F add r24,r18 5215 3204 931F adc r25,r19 5216 3206 480F add r20,r24 5217 3208 591F adc r21,r25 5218 320a 57FF sbrs r21,7 5219 320c 00C0 rjmp .+4 5220 320e 0C94 0000 jmp .L1086 5221 .L741: 5222 3212 9A01 movw r18,r20 5223 3214 3595 asr r19 5224 3216 2795 ror r18 5225 3218 3595 asr r19 5226 321a 2795 ror r18 5227 321c E69F mul r30,r22 5228 321e C001 movw r24,r0 5229 3220 E79F mul r30,r23 5230 3222 900D add r25,r0 5231 3224 F69F mul r31,r22 5232 3226 900D add r25,r0 5233 3228 1124 clr r1 5234 322a 280F add r18,r24 5235 322c 391F adc r19,r25 5236 322e 3093 0000 sts (stick_nick.3096)+1,r19 5237 3232 2093 0000 sts stick_nick.3096,r18 5238 3236 8091 0000 lds r24,GPS_Nick2 5239 323a 9091 0000 lds r25,(GPS_Nick2)+1 5240 323e 4091 0000 lds r20,GPS_Nick 5241 3242 5091 0000 lds r21,(GPS_Nick)+1 5242 3246 6901 movw r12,r18 5243 3248 C81A sub r12,r24 5244 324a D90A sbc r13,r25 5245 324c C41A sub r12,r20 5246 324e D50A sbc r13,r21 5247 3250 D092 0000 sts (StickNick)+1,r13 5248 3254 C092 0000 sts StickNick,r12 5249 3258 8091 0000 lds r24,EE_Parameter+1 5250 325c E82E mov r14,r24 5251 325e FF24 clr r15 5252 3260 EE0C lsl r14 5253 3262 FF1C rol r15 5254 3264 F701 movw r30,r14 5255 3266 E050 subi r30,lo8(-(PPM_in)) 5256 3268 F040 sbci r31,hi8(-(PPM_in)) 5257 326a 8081 ld r24,Z 5258 326c 9181 ldd r25,Z+1 5259 326e F701 movw r30,r14 5260 3270 E050 subi r30,lo8(-(PPM_diff)) 5261 3272 F040 sbci r31,hi8(-(PPM_diff)) 5262 3274 0190 ld __tmp_reg__,Z+ 5263 3276 F081 ld r31,Z 5264 3278 E02D mov r30,__tmp_reg__ 5265 327a 889D mul r24,r8 5266 327c A001 movw r20,r0 5267 327e 899D mul r24,r9 5268 3280 500D add r21,r0 5269 3282 989D mul r25,r8 5270 3284 500D add r21,r0 5271 3286 1124 clr r1 5272 3288 2091 0000 lds r18,stick_roll.3097 5273 328c 3091 0000 lds r19,(stick_roll.3097)+1 5274 3290 C901 movw r24,r18 5275 3292 880F lsl r24 5276 3294 991F rol r25 5277 3296 820F add r24,r18 5278 3298 931F adc r25,r19 5279 329a 480F add r20,r24 5280 329c 591F adc r21,r25 5281 329e 57FF sbrs r21,7 5282 32a0 00C0 rjmp .+4 5283 32a2 0C94 0000 jmp .L1087 5284 .L742: 5285 32a6 9A01 movw r18,r20 5286 32a8 3595 asr r19 5287 32aa 2795 ror r18 5288 32ac 3595 asr r19 5289 32ae 2795 ror r18 5290 32b0 E69F mul r30,r22 5291 32b2 C001 movw r24,r0 5292 32b4 E79F mul r30,r23 5293 32b6 900D add r25,r0 5294 32b8 F69F mul r31,r22 5295 32ba 900D add r25,r0 5296 32bc 1124 clr r1 5297 32be 280F add r18,r24 5298 32c0 391F adc r19,r25 5299 32c2 3093 0000 sts (stick_roll.3097)+1,r19 5300 32c6 2093 0000 sts stick_roll.3097,r18 5301 32ca 8091 0000 lds r24,GPS_Roll2 5302 32ce 9091 0000 lds r25,(GPS_Roll2)+1 5303 32d2 4091 0000 lds r20,GPS_Roll 5304 32d6 5091 0000 lds r21,(GPS_Roll)+1 5305 32da 8901 movw r16,r18 5306 32dc 081B sub r16,r24 5307 32de 190B sbc r17,r25 5308 32e0 041B sub r16,r20 5309 32e2 150B sbc r17,r21 5310 32e4 1093 0000 sts (StickRoll)+1,r17 5311 32e8 0093 0000 sts StickRoll,r16 5312 32ec E091 0000 lds r30,EE_Parameter+3 5313 32f0 F0E0 ldi r31,lo8(0) 5314 32f2 EE0F lsl r30 5315 32f4 FF1F rol r31 5316 32f6 E050 subi r30,lo8(-(PPM_in)) 5317 32f8 F040 sbci r31,hi8(-(PPM_in)) 5318 32fa 8081 ld r24,Z 5319 32fc 9181 ldd r25,Z+1 5320 32fe 9095 com r25 5321 3300 8195 neg r24 5322 3302 9F4F sbci r25,lo8(-1) 5323 3304 9093 0000 sts (StickGier)+1,r25 5324 3308 8093 0000 sts StickGier,r24 5325 330c 8330 cpi r24,3 5326 330e 9105 cpc r25,__zero_reg__ 5327 3310 04F4 brge .+2 5328 3312 00C0 rjmp .L743 5329 3314 0297 sbiw r24,2 5330 3316 9093 0000 sts (StickGier)+1,r25 5331 331a 8093 0000 sts StickGier,r24 5332 .L745: 5333 331e E091 0000 lds r30,EE_Parameter+2 5334 3322 F0E0 ldi r31,lo8(0) 5335 3324 EE0F lsl r30 5336 3326 FF1F rol r31 5337 3328 E050 subi r30,lo8(-(PPM_in)) 5338 332a F040 sbci r31,hi8(-(PPM_in)) 5339 332c 6080 ld r6,Z 5340 332e 7180 ldd r7,Z+1 5341 3330 28E7 ldi r18,lo8(120) 5342 3332 30E0 ldi r19,hi8(120) 5343 3334 620E add r6,r18 5344 3336 731E adc r7,r19 5345 3338 7092 0000 sts (StickGas)+1,r7 5346 333c 6092 0000 sts StickGas,r6 5347 3340 6091 0000 lds r22,Parameter_Gyro_P 5348 3344 70E0 ldi r23,lo8(0) 5349 3346 8827 clr r24 5350 3348 77FD sbrc r23,7 5351 334a 8095 com r24 5352 334c 982F mov r25,r24 5353 334e 0E94 0000 call __floatsisf 5354 3352 20E0 ldi r18,lo8(0x41200000) 5355 3354 30E0 ldi r19,hi8(0x41200000) 5356 3356 40E2 ldi r20,hlo8(0x41200000) 5357 3358 51E4 ldi r21,hhi8(0x41200000) 5358 335a 0E94 0000 call __addsf3 5359 335e 0E94 0000 call __fixunssfsi 5360 3362 6093 0000 sts GyroFaktor,r22 5361 3366 3091 0000 lds r19,Parameter_Gyro_I 5362 336a 3093 0000 sts IntegralFaktor,r19 5363 336e 8091 0000 lds r24,ExternControl+10 5364 3372 80FF sbrs r24,0 5365 3374 00C0 rjmp .L748 5366 3376 8091 0000 lds r24,Parameter_ExternalControl 5367 337a 8138 cpi r24,lo8(-127) 5368 337c 00F0 brlo .+4 5369 337e 0C94 0000 jmp .L1088 5370 .L748: 5371 3382 8091 0000 lds r24,StickGas 5372 3386 9091 0000 lds r25,(StickGas)+1 5373 338a 97FF sbrs r25,7 5374 338c 00C0 rjmp .+4 5375 338e 0C94 0000 jmp .L1089 5376 .L752: 5377 3392 B091 0000 lds r27,EE_Parameter+8 5378 3396 B2FF sbrs r27,2 5379 3398 00C0 rjmp .L754 5380 339a 1092 0000 sts IntegralFaktor,__zero_reg__ 5381 .L754: 5382 339e 2091 0000 lds r18,StickNick 5383 33a2 3091 0000 lds r19,(StickNick)+1 5384 33a6 4091 0000 lds r20,MaxStickNick 5385 33aa 5091 0000 lds r21,(MaxStickNick)+1 5386 33ae C901 movw r24,r18 5387 33b0 37FF sbrs r19,7 5388 33b2 00C0 rjmp .+4 5389 33b4 0C94 0000 jmp .L1090 5390 .L757: 5391 33b8 9595 asr r25 5392 33ba 8795 ror r24 5393 33bc 9595 asr r25 5394 33be 8795 ror r24 5395 33c0 97FF sbrs r25,7 5396 33c2 00C0 rjmp .+4 5397 33c4 0C94 0000 jmp .L1091 5398 .L758: 5399 33c8 4817 cp r20,r24 5400 33ca 5907 cpc r21,r25 5401 33cc 04F0 brlt .+2 5402 33ce 00C0 rjmp .L756 5403 33d0 C901 movw r24,r18 5404 33d2 37FF sbrs r19,7 5405 33d4 00C0 rjmp .+4 5406 33d6 0C94 0000 jmp .L1092 5407 .L760: 5408 33da 97FF sbrs r25,7 5409 33dc 00C0 rjmp .+4 5410 33de 0C94 0000 jmp .L1093 5411 .L761: 5412 33e2 9595 asr r25 5413 33e4 8795 ror r24 5414 33e6 9595 asr r25 5415 33e8 8795 ror r24 5416 33ea 9093 0000 sts (MaxStickNick)+1,r25 5417 33ee 8093 0000 sts MaxStickNick,r24 5418 33f2 8536 cpi r24,101 5419 33f4 9105 cpc r25,__zero_reg__ 5420 33f6 04F0 brlt .+4 5421 33f8 0C94 0000 jmp .L1094 5422 .L762: 5423 33fc 2091 0000 lds r18,StickRoll 5424 3400 3091 0000 lds r19,(StickRoll)+1 5425 3404 4091 0000 lds r20,MaxStickRoll 5426 3408 5091 0000 lds r21,(MaxStickRoll)+1 5427 340c C901 movw r24,r18 5428 340e 37FF sbrs r19,7 5429 3410 00C0 rjmp .+4 5430 3412 0C94 0000 jmp .L1095 5431 3416 9595 asr r25 5432 3418 8795 ror r24 5433 341a 9595 asr r25 5434 341c 8795 ror r24 5435 341e 97FF sbrs r25,7 5436 3420 00C0 rjmp .+4 5437 3422 0C94 0000 jmp .L1096 5438 .L766: 5439 3426 4817 cp r20,r24 5440 3428 5907 cpc r21,r25 5441 342a 04F0 brlt .+2 5442 342c 00C0 rjmp .L764 5443 342e C901 movw r24,r18 5444 3430 37FF sbrs r19,7 5445 3432 00C0 rjmp .+4 5446 3434 0C94 0000 jmp .L1097 5447 .L768: 5448 3438 97FF sbrs r25,7 5449 343a 00C0 rjmp .+4 5450 343c 0C94 0000 jmp .L1098 5451 .L769: 5452 3440 9595 asr r25 5453 3442 8795 ror r24 5454 3444 9595 asr r25 5455 3446 8795 ror r24 5456 3448 9093 0000 sts (MaxStickRoll)+1,r25 5457 344c 8093 0000 sts MaxStickRoll,r24 5458 3450 8536 cpi r24,101 5459 3452 9105 cpc r25,__zero_reg__ 5460 3454 04F0 brlt .+2 5461 3456 00C0 rjmp .L1099 5462 .L770: 5463 3458 E091 0000 lds r30,Notlandung 5464 345c EFA3 std Y+39,r30 5465 345e EE23 tst r30 5466 3460 01F0 breq .L772 5467 3462 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5468 3466 1092 0000 sts MaxStickNick,__zero_reg__ 5469 346a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5470 346e 1092 0000 sts MaxStickRoll,__zero_reg__ 5471 .L772: 5472 3472 F701 movw r30,r14 5473 3474 E050 subi r30,lo8(-(PPM_in)) 5474 3476 F040 sbci r31,hi8(-(PPM_in)) 5475 3478 2081 ld r18,Z 5476 347a 3181 ldd r19,Z+1 5477 347c 8091 0000 lds r24,EE_Parameter+40 5478 3480 482F mov r20,r24 5479 3482 50E0 ldi r21,lo8(0) 5480 3484 4217 cp r20,r18 5481 3486 5307 cpc r21,r19 5482 3488 04F4 brge .L774 5483 348a 8091 0000 lds r24,EE_Parameter+75 5484 348e 82FD sbrc r24,2 5485 3490 00C0 rjmp .L1100 5486 .L774: 5487 3492 F701 movw r30,r14 5488 3494 E050 subi r30,lo8(-(PPM_in)) 5489 3496 F040 sbci r31,hi8(-(PPM_in)) 5490 3498 2081 ld r18,Z 5491 349a 3181 ldd r19,Z+1 5492 349c 8091 0000 lds r24,EE_Parameter+41 5493 34a0 BA01 movw r22,r20 5494 34a2 681B sub r22,r24 5495 34a4 7109 sbc r23,__zero_reg__ 5496 34a6 2617 cp r18,r22 5497 34a8 3707 cpc r19,r23 5498 34aa 04F4 brge .L777 5499 34ac 1092 0000 sts Looping_Links,__zero_reg__ 5500 .L777: 5501 34b0 F701 movw r30,r14 5502 34b2 E050 subi r30,lo8(-(PPM_in)) 5503 34b4 F040 sbci r31,hi8(-(PPM_in)) 5504 34b6 8081 ld r24,Z 5505 34b8 9181 ldd r25,Z+1 5506 34ba 6627 clr r22 5507 34bc 7727 clr r23 5508 34be 641B sub r22,r20 5509 34c0 750B sbc r23,r21 5510 34c2 8617 cp r24,r22 5511 34c4 9707 cpc r25,r23 5512 34c6 04F4 brge .L779 5513 34c8 8091 0000 lds r24,EE_Parameter+75 5514 34cc 83FD sbrc r24,3 5515 34ce 00C0 rjmp .L1101 5516 .L779: 5517 34d0 8091 0000 lds r24,Looping_Rechts 5518 34d4 8823 tst r24 5519 34d6 01F0 breq .L782 5520 34d8 80E0 ldi r24,lo8(PPM_in) 5521 34da 90E0 ldi r25,hi8(PPM_in) 5522 34dc E80E add r14,r24 5523 34de F91E adc r15,r25 5524 34e0 F701 movw r30,r14 5525 34e2 2081 ld r18,Z 5526 34e4 3181 ldd r19,Z+1 5527 34e6 8091 0000 lds r24,EE_Parameter+41 5528 34ea 90E0 ldi r25,lo8(0) 5529 34ec 841B sub r24,r20 5530 34ee 950B sbc r25,r21 5531 34f0 8217 cp r24,r18 5532 34f2 9307 cpc r25,r19 5533 34f4 04F4 brge .+4 5534 34f6 0C94 0000 jmp .L1102 5535 .L782: 5536 34fa F501 movw r30,r10 5537 34fc E050 subi r30,lo8(-(PPM_in)) 5538 34fe F040 sbci r31,hi8(-(PPM_in)) 5539 3500 8081 ld r24,Z 5540 3502 9181 ldd r25,Z+1 5541 3504 4817 cp r20,r24 5542 3506 5907 cpc r21,r25 5543 3508 04F4 brge .L785 5544 350a 8091 0000 lds r24,EE_Parameter+75 5545 350e 80FD sbrc r24,0 5546 3510 00C0 rjmp .L1103 5547 .L785: 5548 3512 A091 0000 lds r26,Looping_Oben 5549 3516 AA23 tst r26 5550 3518 01F0 breq .L788 5551 351a F501 movw r30,r10 5552 351c E050 subi r30,lo8(-(PPM_in)) 5553 351e F040 sbci r31,hi8(-(PPM_in)) 5554 3520 2081 ld r18,Z 5555 3522 3181 ldd r19,Z+1 5556 3524 8091 0000 lds r24,EE_Parameter+41 5557 3528 FA01 movw r30,r20 5558 352a E81B sub r30,r24 5559 352c F109 sbc r31,__zero_reg__ 5560 352e 2E17 cp r18,r30 5561 3530 3F07 cpc r19,r31 5562 3532 04F4 brge .+4 5563 3534 0C94 0000 jmp .L1104 5564 .L788: 5565 3538 F501 movw r30,r10 5566 353a E050 subi r30,lo8(-(PPM_in)) 5567 353c F040 sbci r31,hi8(-(PPM_in)) 5568 353e 8081 ld r24,Z 5569 3540 9181 ldd r25,Z+1 5570 3542 8617 cp r24,r22 5571 3544 9707 cpc r25,r23 5572 3546 04F4 brge .L791 5573 3548 8091 0000 lds r24,EE_Parameter+75 5574 354c 81FD sbrc r24,1 5575 354e 00C0 rjmp .L1105 5576 .L791: 5577 3550 8091 0000 lds r24,Looping_Unten 5578 3554 8823 tst r24 5579 3556 01F0 breq .L794 5580 3558 20E0 ldi r18,lo8(PPM_in) 5581 355a 30E0 ldi r19,hi8(PPM_in) 5582 355c A20E add r10,r18 5583 355e B31E adc r11,r19 5584 3560 F501 movw r30,r10 5585 3562 2081 ld r18,Z 5586 3564 3181 ldd r19,Z+1 5587 3566 8091 0000 lds r24,EE_Parameter+41 5588 356a 90E0 ldi r25,lo8(0) 5589 356c 841B sub r24,r20 5590 356e 950B sbc r25,r21 5591 3570 8217 cp r24,r18 5592 3572 9307 cpc r25,r19 5593 3574 04F4 brge .+4 5594 3576 0C94 0000 jmp .L1106 5595 .L794: 5596 357a 8091 0000 lds r24,Looping_Links 5597 357e 8823 tst r24 5598 3580 01F4 brne .L797 5599 3582 8091 0000 lds r24,Looping_Rechts 5600 3586 8823 tst r24 5601 3588 01F4 brne .+2 5602 358a 00C0 rjmp .L799 5603 .L797: 5604 358c F1E0 ldi r31,lo8(1) 5605 358e F093 0000 sts Looping_Roll,r31 5606 .L800: 5607 3592 AA23 tst r26 5608 3594 01F4 brne .L801 5609 3596 8091 0000 lds r24,Looping_Unten 5610 359a 8823 tst r24 5611 359c 01F4 brne .+2 5612 359e 00C0 rjmp .L803 5613 .L801: 5614 35a0 81E0 ldi r24,lo8(1) 5615 35a2 8093 0000 sts Looping_Nick,r24 5616 35a6 1092 0000 sts Looping_Roll,__zero_reg__ 5617 35aa 1092 0000 sts Looping_Links,__zero_reg__ 5618 35ae 1092 0000 sts Looping_Rechts,__zero_reg__ 5619 35b2 00C0 rjmp .L804 5620 .L656: 5621 35b4 2998 cbi 37-0x20,1 5622 35b6 00C0 rjmp .L658 5623 .L743: 5624 35b8 EFEF ldi r30,hi8(-2) 5625 35ba 8E3F cpi r24,lo8(-2) 5626 35bc 9E07 cpc r25,r30 5627 35be 04F0 brlt .+2 5628 35c0 00C0 rjmp .L746 5629 35c2 0296 adiw r24,2 5630 35c4 9093 0000 sts (StickGier)+1,r25 5631 35c8 8093 0000 sts StickGier,r24 5632 35cc 00C0 rjmp .L745 5633 .L665: 5634 35ce 1092 0000 sts MotorenEin,__zero_reg__ 5635 35d2 1092 0000 sts Notlandung,__zero_reg__ 5636 35d6 4A30 cpi r20,lo8(10) 5637 35d8 01F0 breq .+2 5638 35da 00C0 rjmp .L1107 5639 .L668: 5640 35dc 289A sbi 37-0x20,0 5641 35de 00C0 rjmp .L671 5642 .L1062: 5643 35e0 8090 0000 lds r8,MesswertGier 5644 35e4 9090 0000 lds r9,(MesswertGier)+1 5645 .L922: 5646 35e8 8091 0000 lds r24,TimerWerteausgabe.3088 5647 35ec 8150 subi r24,lo8(-(-1)) 5648 35ee 8093 0000 sts TimerWerteausgabe.3088,r24 5649 35f2 8F3F cpi r24,lo8(-1) 5650 35f4 01F4 brne .+2 5651 35f6 00C0 rjmp .L1108 5652 .L946: 5653 35f8 BEA1 ldd r27,Y+38 5654 35fa BB23 tst r27 5655 35fc 01F0 breq .L950 5656 35fe 1092 0000 sts SummeRoll.3069,__zero_reg__ 5657 3602 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__ 5658 3606 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__ 5659 360a 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__ 5660 360e 1092 0000 sts SummeNick.3068,__zero_reg__ 5661 3612 1092 0000 sts (SummeNick.3068)+1,__zero_reg__ 5662 3616 1092 0000 sts (SummeNick.3068)+2,__zero_reg__ 5663 361a 1092 0000 sts (SummeNick.3068)+3,__zero_reg__ 5664 .L950: 5665 361e E985 ldd r30,Y+9 5666 3620 EE23 tst r30 5667 3622 01F4 brne .+2 5668 3624 00C0 rjmp .L952 5669 3626 1F86 std Y+15,__zero_reg__ 5670 3628 1E86 std Y+14,__zero_reg__ 5671 362a 4424 clr r4 5672 362c 5524 clr r5 5673 .L954: 5674 362e 2CA5 ldd r18,Y+44 5675 3630 2223 tst r18 5676 3632 01F4 brne .+2 5677 3634 00C0 rjmp .L955 5678 3636 1D86 std Y+13,__zero_reg__ 5679 3638 1C86 std Y+12,__zero_reg__ 5680 363a 2224 clr r2 5681 363c 3324 clr r3 5682 .L957: 5683 363e 8091 0000 lds r24,TrimNick 5684 3642 9091 0000 lds r25,(TrimNick)+1 5685 3646 893C cpi r24,201 5686 3648 9105 cpc r25,__zero_reg__ 5687 364a 04F4 brge .+2 5688 364c 00C0 rjmp .L958 5689 364e 88EC ldi r24,lo8(200) 5690 3650 90E0 ldi r25,hi8(200) 5691 3652 9093 0000 sts (TrimNick)+1,r25 5692 3656 8093 0000 sts TrimNick,r24 5693 .L960: 5694 365a 6091 0000 lds r22,TrimRoll 5695 365e 7091 0000 lds r23,(TrimRoll)+1 5696 3662 7EA7 std Y+46,r23 5697 3664 6DA7 std Y+45,r22 5698 3666 693C cpi r22,201 5699 3668 7105 cpc r23,__zero_reg__ 5700 366a 04F4 brge .+2 5701 366c 00C0 rjmp .L962 5702 366e A8EC ldi r26,lo8(200) 5703 3670 B0E0 ldi r27,hi8(200) 5704 3672 BEA7 std Y+46,r27 5705 3674 ADA7 std Y+45,r26 5706 3676 B093 0000 sts (TrimRoll)+1,r27 5707 367a A093 0000 sts TrimRoll,r26 5708 .L964: 5709 367e A090 0000 lds r10,GyroFaktor 5710 3682 BB24 clr r11 5711 3684 CC24 clr r12 5712 3686 DD24 clr r13 5713 3688 7C01 movw r14,r24 5714 368a 0027 clr r16 5715 368c F7FC sbrc r15,7 5716 368e 0095 com r16 5717 3690 102F mov r17,r16 5718 3692 EE0C lsl r14 5719 3694 FF1C rol r15 5720 3696 001F rol r16 5721 3698 111F rol r17 5722 369a EE0C lsl r14 5723 369c FF1C rol r15 5724 369e 001F rol r16 5725 36a0 111F rol r17 5726 36a2 EE0C lsl r14 5727 36a4 FF1C rol r15 5728 36a6 001F rol r16 5729 36a8 111F rol r17 5730 36aa EE0C lsl r14 5731 36ac FF1C rol r15 5732 36ae 001F rol r16 5733 36b0 111F rol r17 5734 36b2 EE0C lsl r14 5735 36b4 FF1C rol r15 5736 36b6 001F rol r16 5737 36b8 111F rol r17 5738 36ba EE0C lsl r14 5739 36bc FF1C rol r15 5740 36be 001F rol r16 5741 36c0 111F rol r17 5742 36c2 EE0C lsl r14 5743 36c4 FF1C rol r15 5744 36c6 001F rol r16 5745 36c8 111F rol r17 5746 36ca 6090 0000 lds r6,MesswertNick 5747 36ce 7090 0000 lds r7,(MesswertNick)+1 5748 36d2 9301 movw r18,r6 5749 36d4 4427 clr r20 5750 36d6 37FD sbrc r19,7 5751 36d8 4095 com r20 5752 36da 542F mov r21,r20 5753 36dc C601 movw r24,r12 5754 36de B501 movw r22,r10 5755 36e0 0E94 0000 call __mulsi3 5756 36e4 E60E add r14,r22 5757 36e6 F71E adc r15,r23 5758 36e8 081F adc r16,r24 5759 36ea 191F adc r17,r25 5760 36ec C801 movw r24,r16 5761 36ee B701 movw r22,r14 5762 36f0 20E4 ldi r18,lo8(64) 5763 36f2 30E0 ldi r19,hi8(64) 5764 36f4 40E0 ldi r20,hlo8(64) 5765 36f6 50E0 ldi r21,hhi8(64) 5766 36f8 0E94 0000 call __divmodsi4 5767 36fc 3201 movw r6,r4 5768 36fe 620E add r6,r18 5769 3700 731E adc r7,r19 5770 3702 7092 0000 sts (MesswertNick)+1,r7 5771 3706 6092 0000 sts MesswertNick,r6 5772 370a 6DA5 ldd r22,Y+45 5773 370c 7EA5 ldd r23,Y+46 5774 370e 7B01 movw r14,r22 5775 3710 0027 clr r16 5776 3712 F7FC sbrc r15,7 5777 3714 0095 com r16 5778 3716 102F mov r17,r16 5779 3718 EE0C lsl r14 5780 371a FF1C rol r15 5781 371c 001F rol r16 5782 371e 111F rol r17 5783 3720 EE0C lsl r14 5784 3722 FF1C rol r15 5785 3724 001F rol r16 5786 3726 111F rol r17 5787 3728 EE0C lsl r14 5788 372a FF1C rol r15 5789 372c 001F rol r16 5790 372e 111F rol r17 5791 3730 EE0C lsl r14 5792 3732 FF1C rol r15 5793 3734 001F rol r16 5794 3736 111F rol r17 5795 3738 EE0C lsl r14 5796 373a FF1C rol r15 5797 373c 001F rol r16 5798 373e 111F rol r17 5799 3740 EE0C lsl r14 5800 3742 FF1C rol r15 5801 3744 001F rol r16 5802 3746 111F rol r17 5803 3748 EE0C lsl r14 5804 374a FF1C rol r15 5805 374c 001F rol r16 5806 374e 111F rol r17 5807 3750 4090 0000 lds r4,MesswertRoll 5808 3754 5090 0000 lds r5,(MesswertRoll)+1 5809 3758 B201 movw r22,r4 5810 375a 8827 clr r24 5811 375c 77FD sbrc r23,7 5812 375e 8095 com r24 5813 3760 982F mov r25,r24 5814 3762 A601 movw r20,r12 5815 3764 9501 movw r18,r10 5816 3766 0E94 0000 call __mulsi3 5817 376a E60E add r14,r22 5818 376c F71E adc r15,r23 5819 376e 081F adc r16,r24 5820 3770 191F adc r17,r25 5821 3772 C801 movw r24,r16 5822 3774 B701 movw r22,r14 5823 3776 20E4 ldi r18,lo8(64) 5824 3778 30E0 ldi r19,hi8(64) 5825 377a 40E0 ldi r20,hlo8(64) 5826 377c 50E0 ldi r21,hhi8(64) 5827 377e 0E94 0000 call __divmodsi4 5828 3782 2101 movw r4,r2 5829 3784 420E add r4,r18 5830 3786 531E adc r5,r19 5831 3788 5092 0000 sts (MesswertRoll)+1,r5 5832 378c 4092 0000 sts MesswertRoll,r4 5833 3790 880C lsl r8 5834 3792 991C rol r9 5835 3794 B401 movw r22,r8 5836 3796 8827 clr r24 5837 3798 77FD sbrc r23,7 5838 379a 8095 com r24 5839 379c 982F mov r25,r24 5840 379e A601 movw r20,r12 5841 37a0 9501 movw r18,r10 5842 37a2 0E94 0000 call __mulsi3 5843 37a6 20E4 ldi r18,lo8(64) 5844 37a8 30E0 ldi r19,hi8(64) 5845 37aa 40E0 ldi r20,hlo8(64) 5846 37ac 50E0 ldi r21,hhi8(64) 5847 37ae 0E94 0000 call __divmodsi4 5848 37b2 7901 movw r14,r18 5849 37b4 8A01 movw r16,r20 5850 37b6 ADA1 ldd r26,Y+37 5851 37b8 6A2F mov r22,r26 5852 37ba 70E0 ldi r23,lo8(0) 5853 37bc 80E0 ldi r24,lo8(0) 5854 37be 90E0 ldi r25,hi8(0) 5855 37c0 2091 0000 lds r18,Integral_Gier 5856 37c4 3091 0000 lds r19,(Integral_Gier)+1 5857 37c8 4091 0000 lds r20,(Integral_Gier)+2 5858 37cc 5091 0000 lds r21,(Integral_Gier)+3 5859 37d0 0E94 0000 call __mulsi3 5860 37d4 20EF ldi r18,lo8(22000) 5861 37d6 35E5 ldi r19,hi8(22000) 5862 37d8 40E0 ldi r20,hlo8(22000) 5863 37da 50E0 ldi r21,hhi8(22000) 5864 37dc 0E94 0000 call __divmodsi4 5865 37e0 4701 movw r8,r14 5866 37e2 820E add r8,r18 5867 37e4 931E adc r9,r19 5868 37e6 9092 0000 sts (MesswertGier)+1,r9 5869 37ea 8092 0000 sts MesswertGier,r8 5870 37ee B1E0 ldi r27,lo8(16385) 5871 37f0 6B16 cp r6,r27 5872 37f2 B0E4 ldi r27,hi8(16385) 5873 37f4 7B06 cpc r7,r27 5874 37f6 04F4 brge .+2 5875 37f8 00C0 rjmp .L966 5876 37fa 612C mov r6,__zero_reg__ 5877 37fc 40E4 ldi r20,hi8(16384) 5878 37fe 742E mov r7,r20 5879 3800 7092 0000 sts (MesswertNick)+1,r7 5880 3804 6092 0000 sts MesswertNick,r6 5881 .L968: 5882 3808 F1E0 ldi r31,lo8(16385) 5883 380a 4F16 cp r4,r31 5884 380c F0E4 ldi r31,hi8(16385) 5885 380e 5F06 cpc r5,r31 5886 3810 04F4 brge .+2 5887 3812 00C0 rjmp .L970 5888 3814 412C mov r4,__zero_reg__ 5889 3816 20E4 ldi r18,hi8(16384) 5890 3818 522E mov r5,r18 5891 381a 5092 0000 sts (MesswertRoll)+1,r5 5892 381e 4092 0000 sts MesswertRoll,r4 5893 .L972: 5894 3822 31E0 ldi r19,lo8(16385) 5895 3824 8316 cp r8,r19 5896 3826 30E4 ldi r19,hi8(16385) 5897 3828 9306 cpc r9,r19 5898 382a 04F4 brge .+2 5899 382c 00C0 rjmp .L974 5900 382e 812C mov r8,__zero_reg__ 5901 3830 80E4 ldi r24,hi8(16384) 5902 3832 982E mov r9,r24 5903 3834 9092 0000 sts (MesswertGier)+1,r9 5904 3838 8092 0000 sts MesswertGier,r8 5905 .L976: 5906 383c 6889 ldd r22,Y+16 5907 383e 7989 ldd r23,Y+17 5908 3840 660F lsl r22 5909 3842 771F rol r23 5910 3844 660F lsl r22 5911 3846 771F rol r23 5912 3848 7EA7 std Y+46,r23 5913 384a 6DA7 std Y+45,r22 5914 384c 7A85 ldd r23,Y+10 5915 384e 70FF sbrs r23,0 5916 3850 00C0 rjmp .L978 5917 3852 71FF sbrs r23,1 5918 3854 00C0 rjmp .L980 5919 3856 8091 0000 lds r24,EE_Parameter+75 5920 385a 84FD sbrc r24,4 5921 385c 00C0 rjmp .+4 5922 385e 0C94 0000 jmp .L982 5923 3862 8091 0000 lds r24,Parameter_MaxHoehe 5924 3866 8155 subi r24,lo8(-(-81)) 5925 3868 8B33 cpi r24,lo8(59) 5926 386a 00F0 brlo .+4 5927 386c 0C94 0000 jmp .L985 5928 .L984: 5929 3870 8091 0000 lds r24,delay.3113 5930 3874 8150 subi r24,lo8(-(-1)) 5931 3876 8093 0000 sts delay.3113,r24 5932 387a 8F3F cpi r24,lo8(-1) 5933 387c 01F4 brne .+4 5934 387e 0C94 0000 jmp .L1109 5935 3882 2091 0000 lds r18,HoehenWert 5936 3886 3091 0000 lds r19,(HoehenWert)+1 5937 388a 00C0 rjmp .L986 5938 .L1001: 5939 388c EDA5 ldd r30,Y+45 5940 388e FEA5 ldd r31,Y+46 5941 3890 E217 cp r30,r18 5942 3892 F307 cpc r31,r19 5943 3894 04F4 brge .L1005 5944 3896 F093 0000 sts (hoehenregler.3079)+1,r31 5945 389a E093 0000 sts hoehenregler.3079,r30 5946 .L1005: 5947 389e 2091 0000 lds r18,hoehenregler.3079 5948 38a2 3091 0000 lds r19,(hoehenregler.3079)+1 5949 38a6 3EA7 std Y+46,r19 5950 38a8 2DA7 std Y+45,r18 5951 .L978: 5952 38aa 8091 0000 lds r24,MAX_GAS 5953 38ae 282E mov r2,r24 5954 38b0 3324 clr r3 5955 38b2 A101 movw r20,r2 5956 38b4 440F lsl r20 5957 38b6 551F rol r21 5958 38b8 440F lsl r20 5959 38ba 551F rol r21 5960 38bc CA01 movw r24,r20 5961 38be 8055 subi r24,lo8(-(-80)) 5962 38c0 9040 sbci r25,hi8(-(-80)) 5963 38c2 0DA5 ldd r16,Y+45 5964 38c4 1EA5 ldd r17,Y+46 5965 38c6 8017 cp r24,r16 5966 38c8 9107 cpc r25,r17 5967 38ca 04F4 brge .L1007 5968 38cc 8C01 movw r16,r24 5969 .L1007: 5970 38ce 1093 0000 sts (DebugOut+16)+1,r17 5971 38d2 0093 0000 sts DebugOut+16,r16 5972 38d6 688D ldd r22,Y+24 5973 38d8 798D ldd r23,Y+25 5974 38da 8A8D ldd r24,Y+26 5975 38dc 9B8D ldd r25,Y+27 5976 38de 660F lsl r22 5977 38e0 771F rol r23 5978 38e2 881F rol r24 5979 38e4 991F rol r25 5980 38e6 660F lsl r22 5981 38e8 771F rol r23 5982 38ea 881F rol r24 5983 38ec 991F rol r25 5984 38ee 7401 movw r14,r8 5985 38f0 E61A sub r14,r22 5986 38f2 F70A sbc r15,r23 5987 38f4 013A cpi r16,161 5988 38f6 1105 cpc r17,__zero_reg__ 5989 38f8 04F4 brge .+2 5990 38fa 00C0 rjmp .L1008 5991 38fc 9801 movw r18,r16 5992 38fe 3595 asr r19 5993 3900 2795 ror r18 5994 3902 2E15 cp r18,r14 5995 3904 3F05 cpc r19,r15 5996 3906 04F0 brlt .L1010 5997 3908 F801 movw r30,r16 5998 390a 17FF sbrs r17,7 5999 390c 00C0 rjmp .+4 6000 390e 0C94 0000 jmp .L1110 6001 .L1012: 6002 3912 F595 asr r31 6003 3914 E795 ror r30 6004 3916 2227 clr r18 6005 3918 3327 clr r19 6006 391a 2E1B sub r18,r30 6007 391c 3F0B sbc r19,r31 6008 391e 2E15 cp r18,r14 6009 3920 3F05 cpc r19,r15 6010 3922 04F4 brge .+4 6011 3924 0C94 0000 jmp .L1111 6012 .L1010: 6013 3928 CA01 movw r24,r20 6014 392a 801B sub r24,r16 6015 392c 910B sbc r25,r17 6016 392e 8217 cp r24,r18 6017 3930 9307 cpc r25,r19 6018 3932 04F4 brge .L1016 6019 3934 9C01 movw r18,r24 6020 .L1016: 6021 3936 C801 movw r24,r16 6022 3938 841B sub r24,r20 6023 393a 950B sbc r25,r21 6024 393c 5901 movw r10,r18 6025 393e 2817 cp r18,r24 6026 3940 3907 cpc r19,r25 6027 3942 04F4 brge .L1017 6028 3944 5C01 movw r10,r24 6029 .L1017: 6030 3946 8091 0000 lds r24,StickNick 6031 394a 9091 0000 lds r25,(StickNick)+1 6032 394e 6301 movw r12,r6 6033 3950 C81A sub r12,r24 6034 3952 D90A sbc r13,r25 6035 3954 D092 0000 sts (DiffNick)+1,r13 6036 3958 C092 0000 sts DiffNick,r12 6037 395c ADA1 ldd r26,Y+37 6038 395e AA23 tst r26 6039 3960 01F4 brne .+2 6040 3962 00C0 rjmp .L1018 6041 3964 EE85 ldd r30,Y+14 6042 3966 FF85 ldd r31,Y+15 6043 3968 E81B sub r30,r24 6044 396a F90B sbc r31,r25 6045 396c CF01 movw r24,r30 6046 396e AA27 clr r26 6047 3970 97FD sbrc r25,7 6048 3972 A095 com r26 6049 3974 BA2F mov r27,r26 6050 3976 2091 0000 lds r18,SummeNick.3068 6051 397a 3091 0000 lds r19,(SummeNick.3068)+1 6052 397e 4091 0000 lds r20,(SummeNick.3068)+2 6053 3982 5091 0000 lds r21,(SummeNick.3068)+3 6054 3986 280F add r18,r24 6055 3988 391F adc r19,r25 6056 398a 4A1F adc r20,r26 6057 398c 5B1F adc r21,r27 6058 398e 2093 0000 sts SummeNick.3068,r18 6059 3992 3093 0000 sts (SummeNick.3068)+1,r19 6060 3996 4093 0000 sts (SummeNick.3068)+2,r20 6061 399a 5093 0000 sts (SummeNick.3068)+3,r21 6062 .L1020: 6063 399e 2130 cpi r18,lo8(64001) 6064 39a0 FAEF ldi r31,hi8(64001) 6065 39a2 3F07 cpc r19,r31 6066 39a4 F0E0 ldi r31,hlo8(64001) 6067 39a6 4F07 cpc r20,r31 6068 39a8 F0E0 ldi r31,hhi8(64001) 6069 39aa 5F07 cpc r21,r31 6070 39ac 04F4 brge .+2 6071 39ae 00C0 rjmp .L1021 6072 39b0 20E0 ldi r18,lo8(64000) 6073 39b2 3AEF ldi r19,hi8(64000) 6074 39b4 40E0 ldi r20,hlo8(64000) 6075 39b6 50E0 ldi r21,hhi8(64000) 6076 39b8 2093 0000 sts SummeNick.3068,r18 6077 39bc 3093 0000 sts (SummeNick.3068)+1,r19 6078 39c0 4093 0000 sts (SummeNick.3068)+2,r20 6079 39c4 5093 0000 sts (SummeNick.3068)+3,r21 6080 .L1023: 6081 39c8 8091 0000 lds r24,Ki 6082 39cc 9091 0000 lds r25,(Ki)+1 6083 39d0 3C01 movw r6,r24 6084 39d2 8824 clr r8 6085 39d4 77FC sbrc r7,7 6086 39d6 8094 com r8 6087 39d8 982C mov r9,r8 6088 39da CA01 movw r24,r20 6089 39dc B901 movw r22,r18 6090 39de A401 movw r20,r8 6091 39e0 9301 movw r18,r6 6092 39e2 0E94 0000 call __divmodsi4 6093 39e6 C20E add r12,r18 6094 39e8 D31E adc r13,r19 6095 39ea B501 movw r22,r10 6096 39ec B7FC sbrc r11,7 6097 39ee 00C0 rjmp .L1112 6098 .L1025: 6099 39f0 77FD sbrc r23,7 6100 39f2 00C0 rjmp .L1113 6101 .L1026: 6102 39f4 7595 asr r23 6103 39f6 6795 ror r22 6104 39f8 600F add r22,r16 6105 39fa 711F adc r23,r17 6106 39fc 8827 clr r24 6107 39fe 77FD sbrc r23,7 6108 3a00 8095 com r24 6109 3a02 982F mov r25,r24 6110 3a04 2091 0000 lds r18,Parameter_DynamicStability 6111 3a08 30E0 ldi r19,lo8(0) 6112 3a0a 40E0 ldi r20,lo8(0) 6113 3a0c 50E0 ldi r21,hi8(0) 6114 3a0e 0E94 0000 call __mulsi3 6115 3a12 20E4 ldi r18,lo8(64) 6116 3a14 30E0 ldi r19,hi8(64) 6117 3a16 40E0 ldi r20,hlo8(64) 6118 3a18 50E0 ldi r21,hhi8(64) 6119 3a1a 0E94 0000 call __divmodsi4 6120 3a1e 7901 movw r14,r18 6121 3a20 C216 cp r12,r18 6122 3a22 D306 cpc r13,r19 6123 3a24 04F4 brge .L1027 6124 3a26 9601 movw r18,r12 6125 .L1027: 6126 3a28 CC24 clr r12 6127 3a2a DD24 clr r13 6128 3a2c CE18 sub r12,r14 6129 3a2e DF08 sbc r13,r15 6130 3a30 DB8A std Y+19,r13 6131 3a32 CA8A std Y+18,r12 6132 3a34 C216 cp r12,r18 6133 3a36 D306 cpc r13,r19 6134 3a38 04F4 brge .L1028 6135 3a3a 6901 movw r12,r18 6136 .L1028: 6137 3a3c 8091 0000 lds r24,StickRoll 6138 3a40 9091 0000 lds r25,(StickRoll)+1 6139 3a44 481A sub r4,r24 6140 3a46 590A sbc r5,r25 6141 3a48 5092 0000 sts (DiffRoll)+1,r5 6142 3a4c 4092 0000 sts DiffRoll,r4 6143 3a50 7DA1 ldd r23,Y+37 6144 3a52 7723 tst r23 6145 3a54 01F4 brne .+2 6146 3a56 00C0 rjmp .L1029 6147 3a58 AC85 ldd r26,Y+12 6148 3a5a BD85 ldd r27,Y+13 6149 3a5c A81B sub r26,r24 6150 3a5e B90B sbc r27,r25 6151 3a60 FD01 movw r30,r26 6152 3a62 CF01 movw r24,r30 6153 3a64 AA27 clr r26 6154 3a66 97FD sbrc r25,7 6155 3a68 A095 com r26 6156 3a6a BA2F mov r27,r26 6157 3a6c 2091 0000 lds r18,SummeRoll.3069 6158 3a70 3091 0000 lds r19,(SummeRoll.3069)+1 6159 3a74 4091 0000 lds r20,(SummeRoll.3069)+2 6160 3a78 5091 0000 lds r21,(SummeRoll.3069)+3 6161 3a7c 280F add r18,r24 6162 3a7e 391F adc r19,r25 6163 3a80 4A1F adc r20,r26 6164 3a82 5B1F adc r21,r27 6165 3a84 2093 0000 sts SummeRoll.3069,r18 6166 3a88 3093 0000 sts (SummeRoll.3069)+1,r19 6167 3a8c 4093 0000 sts (SummeRoll.3069)+2,r20 6168 3a90 5093 0000 sts (SummeRoll.3069)+3,r21 6169 .L1031: 6170 3a94 2130 cpi r18,lo8(64001) 6171 3a96 FAEF ldi r31,hi8(64001) 6172 3a98 3F07 cpc r19,r31 6173 3a9a F0E0 ldi r31,hlo8(64001) 6174 3a9c 4F07 cpc r20,r31 6175 3a9e F0E0 ldi r31,hhi8(64001) 6176 3aa0 5F07 cpc r21,r31 6177 3aa2 04F4 brge .+2 6178 3aa4 00C0 rjmp .L1032 6179 3aa6 20E0 ldi r18,lo8(64000) 6180 3aa8 3AEF ldi r19,hi8(64000) 6181 3aaa 40E0 ldi r20,hlo8(64000) 6182 3aac 50E0 ldi r21,hhi8(64000) 6183 3aae 2093 0000 sts SummeRoll.3069,r18 6184 3ab2 3093 0000 sts (SummeRoll.3069)+1,r19 6185 3ab6 4093 0000 sts (SummeRoll.3069)+2,r20 6186 3aba 5093 0000 sts (SummeRoll.3069)+3,r21 6187 .L1034: 6188 3abe CA01 movw r24,r20 6189 3ac0 B901 movw r22,r18 6190 3ac2 A401 movw r20,r8 6191 3ac4 9301 movw r18,r6 6192 3ac6 0E94 0000 call __divmodsi4 6193 3aca B201 movw r22,r4 6194 3acc 620F add r22,r18 6195 3ace 731F adc r23,r19 6196 3ad0 9701 movw r18,r14 6197 3ad2 6E15 cp r22,r14 6198 3ad4 7F05 cpc r23,r15 6199 3ad6 04F4 brge .L1036 6200 3ad8 9B01 movw r18,r22 6201 .L1036: 6202 3ada 7901 movw r14,r18 6203 3adc 8A89 ldd r24,Y+18 6204 3ade 9B89 ldd r25,Y+19 6205 3ae0 2817 cp r18,r24 6206 3ae2 3907 cpc r19,r25 6207 3ae4 04F4 brge .L1037 6208 3ae6 7C01 movw r14,r24 6209 .L1037: 6210 3ae8 4501 movw r8,r10 6211 3aea 800E add r8,r16 6212 3aec 911E adc r9,r17 6213 3aee 6091 0000 lds r22,motorwert1.3080 6214 3af2 7091 0000 lds r23,(motorwert1.3080)+1 6215 3af6 C601 movw r24,r12 6216 3af8 880D add r24,r8 6217 3afa 991D adc r25,r9 6218 3afc 0E94 0000 call MotorSmoothing 6219 3b00 9093 0000 sts (motorwert1.3080)+1,r25 6220 3b04 8093 0000 sts motorwert1.3080,r24 6221 3b08 97FD sbrc r25,7 6222 3b0a 00C0 rjmp .L1114 6223 .L1038: 6224 3b0c 9C01 movw r18,r24 6225 3b0e 3595 asr r19 6226 3b10 2795 ror r18 6227 3b12 3595 asr r19 6228 3b14 2795 ror r18 6229 3b16 8091 0000 lds r24,MIN_GAS 6230 3b1a 682E mov r6,r24 6231 3b1c 7724 clr r7 6232 3b1e 2615 cp r18,r6 6233 3b20 3705 cpc r19,r7 6234 3b22 04F0 brlt .+2 6235 3b24 00C0 rjmp .L1039 6236 3b26 C301 movw r24,r6 6237 .L1041: 6238 3b28 8093 0000 sts Motor_Vorne,r24 6239 3b2c 6091 0000 lds r22,motorwert2.3081 6240 3b30 7091 0000 lds r23,(motorwert2.3081)+1 6241 3b34 C401 movw r24,r8 6242 3b36 8C19 sub r24,r12 6243 3b38 9D09 sbc r25,r13 6244 3b3a 0E94 0000 call MotorSmoothing 6245 3b3e 9093 0000 sts (motorwert2.3081)+1,r25 6246 3b42 8093 0000 sts motorwert2.3081,r24 6247 3b46 97FD sbrc r25,7 6248 3b48 00C0 rjmp .L1115 6249 .L1043: 6250 3b4a 9595 asr r25 6251 3b4c 8795 ror r24 6252 3b4e 9595 asr r25 6253 3b50 8795 ror r24 6254 3b52 8615 cp r24,r6 6255 3b54 9705 cpc r25,r7 6256 3b56 04F0 brlt .+2 6257 3b58 00C0 rjmp .L1044 6258 3b5a C301 movw r24,r6 6259 .L1046: 6260 3b5c 8093 0000 sts Motor_Hinten,r24 6261 3b60 6091 0000 lds r22,motorwert3.3082 6262 3b64 7091 0000 lds r23,(motorwert3.3082)+1 6263 3b68 C801 movw r24,r16 6264 3b6a 8A19 sub r24,r10 6265 3b6c 9B09 sbc r25,r11 6266 3b6e 8E0D add r24,r14 6267 3b70 9F1D adc r25,r15 6268 3b72 0E94 0000 call MotorSmoothing 6269 3b76 9093 0000 sts (motorwert3.3082)+1,r25 6270 3b7a 8093 0000 sts motorwert3.3082,r24 6271 3b7e 97FD sbrc r25,7 6272 3b80 00C0 rjmp .L1116 6273 .L1048: 6274 3b82 9595 asr r25 6275 3b84 8795 ror r24 6276 3b86 9595 asr r25 6277 3b88 8795 ror r24 6278 3b8a 8615 cp r24,r6 6279 3b8c 9705 cpc r25,r7 6280 3b8e 04F4 brge .L1049 6281 3b90 C301 movw r24,r6 6282 .L1051: 6283 3b92 8093 0000 sts Motor_Links,r24 6284 3b96 6091 0000 lds r22,motorwert4.3083 6285 3b9a 7091 0000 lds r23,(motorwert4.3083)+1 6286 3b9e 0E19 sub r16,r14 6287 3ba0 1F09 sbc r17,r15 6288 3ba2 C801 movw r24,r16 6289 3ba4 8A19 sub r24,r10 6290 3ba6 9B09 sbc r25,r11 6291 3ba8 0E94 0000 call MotorSmoothing 6292 3bac 9093 0000 sts (motorwert4.3083)+1,r25 6293 3bb0 8093 0000 sts motorwert4.3083,r24 6294 3bb4 97FD sbrc r25,7 6295 3bb6 00C0 rjmp .L1117 6296 .L1053: 6297 3bb8 9595 asr r25 6298 3bba 8795 ror r24 6299 3bbc 9595 asr r25 6300 3bbe 8795 ror r24 6301 3bc0 8615 cp r24,r6 6302 3bc2 9705 cpc r25,r7 6303 3bc4 04F4 brge .+4 6304 3bc6 0C94 0000 jmp .L1054 6305 3bca 3C01 movw r6,r24 6306 3bcc 2816 cp r2,r24 6307 3bce 3906 cpc r3,r25 6308 3bd0 04F0 brlt .+4 6309 3bd2 0C94 0000 jmp .L1054 6310 3bd6 3101 movw r6,r2 6311 3bd8 0C94 0000 jmp .L1054 6312 .L1049: 6313 3bdc 2816 cp r2,r24 6314 3bde 3906 cpc r3,r25 6315 3be0 04F4 brge .L1051 6316 3be2 C101 movw r24,r2 6317 3be4 00C0 rjmp .L1051 6318 .L1044: 6319 3be6 2816 cp r2,r24 6320 3be8 3906 cpc r3,r25 6321 3bea 04F0 brlt .+2 6322 3bec 00C0 rjmp .L1046 6323 3bee C101 movw r24,r2 6324 3bf0 00C0 rjmp .L1046 6325 .L1039: 6326 3bf2 C901 movw r24,r18 6327 3bf4 2216 cp r2,r18 6328 3bf6 3306 cpc r3,r19 6329 3bf8 04F0 brlt .+2 6330 3bfa 00C0 rjmp .L1041 6331 3bfc C101 movw r24,r2 6332 3bfe 00C0 rjmp .L1041 6333 .L1032: 6334 3c00 2030 cpi r18,lo8(-64000) 6335 3c02 66E0 ldi r22,hi8(-64000) 6336 3c04 3607 cpc r19,r22 6337 3c06 6FEF ldi r22,hlo8(-64000) 6338 3c08 4607 cpc r20,r22 6339 3c0a 6FEF ldi r22,hhi8(-64000) 6340 3c0c 5607 cpc r21,r22 6341 3c0e 04F0 brlt .+2 6342 3c10 00C0 rjmp .L1034 6343 3c12 20E0 ldi r18,lo8(-64000) 6344 3c14 36E0 ldi r19,hi8(-64000) 6345 3c16 4FEF ldi r20,hlo8(-64000) 6346 3c18 5FEF ldi r21,hhi8(-64000) 6347 3c1a 2093 0000 sts SummeRoll.3069,r18 6348 3c1e 3093 0000 sts (SummeRoll.3069)+1,r19 6349 3c22 4093 0000 sts (SummeRoll.3069)+2,r20 6350 3c26 5093 0000 sts (SummeRoll.3069)+3,r21 6351 3c2a 00C0 rjmp .L1034 6352 .L1029: 6353 3c2c C201 movw r24,r4 6354 3c2e AA27 clr r26 6355 3c30 97FD sbrc r25,7 6356 3c32 A095 com r26 6357 3c34 BA2F mov r27,r26 6358 3c36 2091 0000 lds r18,SummeRoll.3069 6359 3c3a 3091 0000 lds r19,(SummeRoll.3069)+1 6360 3c3e 4091 0000 lds r20,(SummeRoll.3069)+2 6361 3c42 5091 0000 lds r21,(SummeRoll.3069)+3 6362 3c46 280F add r18,r24 6363 3c48 391F adc r19,r25 6364 3c4a 4A1F adc r20,r26 6365 3c4c 5B1F adc r21,r27 6366 3c4e 2093 0000 sts SummeRoll.3069,r18 6367 3c52 3093 0000 sts (SummeRoll.3069)+1,r19 6368 3c56 4093 0000 sts (SummeRoll.3069)+2,r20 6369 3c5a 5093 0000 sts (SummeRoll.3069)+3,r21 6370 3c5e 00C0 rjmp .L1031 6371 .L1021: 6372 3c60 2030 cpi r18,lo8(-64000) 6373 3c62 66E0 ldi r22,hi8(-64000) 6374 3c64 3607 cpc r19,r22 6375 3c66 6FEF ldi r22,hlo8(-64000) 6376 3c68 4607 cpc r20,r22 6377 3c6a 6FEF ldi r22,hhi8(-64000) 6378 3c6c 5607 cpc r21,r22 6379 3c6e 04F0 brlt .+2 6380 3c70 00C0 rjmp .L1023 6381 3c72 20E0 ldi r18,lo8(-64000) 6382 3c74 36E0 ldi r19,hi8(-64000) 6383 3c76 4FEF ldi r20,hlo8(-64000) 6384 3c78 5FEF ldi r21,hhi8(-64000) 6385 3c7a 2093 0000 sts SummeNick.3068,r18 6386 3c7e 3093 0000 sts (SummeNick.3068)+1,r19 6387 3c82 4093 0000 sts (SummeNick.3068)+2,r20 6388 3c86 5093 0000 sts (SummeNick.3068)+3,r21 6389 3c8a 00C0 rjmp .L1023 6390 .L1018: 6391 3c8c C601 movw r24,r12 6392 3c8e AA27 clr r26 6393 3c90 97FD sbrc r25,7 6394 3c92 A095 com r26 6395 3c94 BA2F mov r27,r26 6396 3c96 2091 0000 lds r18,SummeNick.3068 6397 3c9a 3091 0000 lds r19,(SummeNick.3068)+1 6398 3c9e 4091 0000 lds r20,(SummeNick.3068)+2 6399 3ca2 5091 0000 lds r21,(SummeNick.3068)+3 6400 3ca6 280F add r18,r24 6401 3ca8 391F adc r19,r25 6402 3caa 4A1F adc r20,r26 6403 3cac 5B1F adc r21,r27 6404 3cae 2093 0000 sts SummeNick.3068,r18 6405 3cb2 3093 0000 sts (SummeNick.3068)+1,r19 6406 3cb6 4093 0000 sts (SummeNick.3068)+2,r20 6407 3cba 5093 0000 sts (SummeNick.3068)+3,r21 6408 3cbe 00C0 rjmp .L1020 6409 .L1008: 6410 3cc0 9701 movw r18,r14 6411 3cc2 7FEF ldi r23,hi8(-80) 6412 3cc4 203B cpi r18,lo8(-80) 6413 3cc6 3707 cpc r19,r23 6414 3cc8 04F4 brge .L1014 6415 3cca 20EB ldi r18,lo8(-80) 6416 3ccc 3FEF ldi r19,hi8(-80) 6417 .L1014: 6418 3cce 2135 cpi r18,81 6419 3cd0 3105 cpc r19,__zero_reg__ 6420 3cd2 04F4 brge .+2 6421 3cd4 00C0 rjmp .L1010 6422 3cd6 20E5 ldi r18,lo8(80) 6423 3cd8 30E0 ldi r19,hi8(80) 6424 3cda 00C0 rjmp .L1010 6425 .L974: 6426 3cdc 40E0 ldi r20,lo8(-16384) 6427 3cde 8416 cp r8,r20 6428 3ce0 40EC ldi r20,hi8(-16384) 6429 3ce2 9406 cpc r9,r20 6430 3ce4 04F0 brlt .+2 6431 3ce6 00C0 rjmp .L976 6432 3ce8 812C mov r8,__zero_reg__ 6433 3cea 00EC ldi r16,hi8(-16384) 6434 3cec 902E mov r9,r16 6435 3cee 9092 0000 sts (MesswertGier)+1,r9 6436 3cf2 8092 0000 sts MesswertGier,r8 6437 3cf6 00C0 rjmp .L976 6438 .L970: 6439 3cf8 20E0 ldi r18,lo8(-16384) 6440 3cfa 4216 cp r4,r18 6441 3cfc 20EC ldi r18,hi8(-16384) 6442 3cfe 5206 cpc r5,r18 6443 3d00 04F0 brlt .+2 6444 3d02 00C0 rjmp .L972 6445 3d04 412C mov r4,__zero_reg__ 6446 3d06 90EC ldi r25,hi8(-16384) 6447 3d08 592E mov r5,r25 6448 3d0a 5092 0000 sts (MesswertRoll)+1,r5 6449 3d0e 4092 0000 sts MesswertRoll,r4 6450 3d12 00C0 rjmp .L972 6451 .L966: 6452 3d14 E0E0 ldi r30,lo8(-16384) 6453 3d16 6E16 cp r6,r30 6454 3d18 E0EC ldi r30,hi8(-16384) 6455 3d1a 7E06 cpc r7,r30 6456 3d1c 04F0 brlt .+2 6457 3d1e 00C0 rjmp .L968 6458 3d20 612C mov r6,__zero_reg__ 6459 3d22 30EC ldi r19,hi8(-16384) 6460 3d24 732E mov r7,r19 6461 3d26 7092 0000 sts (MesswertNick)+1,r7 6462 3d2a 6092 0000 sts MesswertNick,r6 6463 3d2e 00C0 rjmp .L968 6464 .L962: 6465 3d30 EDA5 ldd r30,Y+45 6466 3d32 FEA5 ldd r31,Y+46 6467 3d34 E853 subi r30,lo8(-200) 6468 3d36 FF4F sbci r31,hi8(-200) 6469 3d38 04F0 brlt .+2 6470 3d3a 00C0 rjmp .L964 6471 3d3c 48E3 ldi r20,lo8(-200) 6472 3d3e 5FEF ldi r21,hi8(-200) 6473 3d40 5EA7 std Y+46,r21 6474 3d42 4DA7 std Y+45,r20 6475 3d44 5093 0000 sts (TrimRoll)+1,r21 6476 3d48 4093 0000 sts TrimRoll,r20 6477 3d4c 00C0 rjmp .L964 6478 .L958: 6479 3d4e 4FEF ldi r20,hi8(-200) 6480 3d50 8833 cpi r24,lo8(-200) 6481 3d52 9407 cpc r25,r20 6482 3d54 04F0 brlt .+2 6483 3d56 00C0 rjmp .L960 6484 3d58 88E3 ldi r24,lo8(-200) 6485 3d5a 9FEF ldi r25,hi8(-200) 6486 3d5c 9093 0000 sts (TrimNick)+1,r25 6487 3d60 8093 0000 sts TrimNick,r24 6488 3d64 00C0 rjmp .L960 6489 .L955: 6490 3d66 3DA1 ldd r19,Y+37 6491 3d68 632F mov r22,r19 6492 3d6a 70E0 ldi r23,lo8(0) 6493 3d6c 80E0 ldi r24,lo8(0) 6494 3d6e 90E0 ldi r25,hi8(0) 6495 3d70 2D81 ldd r18,Y+5 6496 3d72 3E81 ldd r19,Y+6 6497 3d74 4F81 ldd r20,Y+7 6498 3d76 5885 ldd r21,Y+8 6499 3d78 0E94 0000 call __mulsi3 6500 3d7c 28EF ldi r18,lo8(11000) 6501 3d7e 3AE2 ldi r19,hi8(11000) 6502 3d80 40E0 ldi r20,hlo8(11000) 6503 3d82 50E0 ldi r21,hhi8(11000) 6504 3d84 0E94 0000 call __divmodsi4 6505 3d88 3D87 std Y+13,r19 6506 3d8a 2C87 std Y+12,r18 6507 3d8c 1901 movw r2,r18 6508 3d8e 00C0 rjmp .L957 6509 .L952: 6510 3d90 FDA1 ldd r31,Y+37 6511 3d92 6F2F mov r22,r31 6512 3d94 70E0 ldi r23,lo8(0) 6513 3d96 80E0 ldi r24,lo8(0) 6514 3d98 90E0 ldi r25,hi8(0) 6515 3d9a 2981 ldd r18,Y+1 6516 3d9c 3A81 ldd r19,Y+2 6517 3d9e 4B81 ldd r20,Y+3 6518 3da0 5C81 ldd r21,Y+4 6519 3da2 0E94 0000 call __mulsi3 6520 3da6 28EF ldi r18,lo8(11000) 6521 3da8 3AE2 ldi r19,hi8(11000) 6522 3daa 40E0 ldi r20,hlo8(11000) 6523 3dac 50E0 ldi r21,hhi8(11000) 6524 3dae 0E94 0000 call __divmodsi4 6525 3db2 3F87 std Y+15,r19 6526 3db4 2E87 std Y+14,r18 6527 3db6 2901 movw r4,r18 6528 3db8 00C0 rjmp .L954 6529 .L918: 6530 3dba 805B subi r24,lo8(-50000) 6531 3dbc 9C43 sbci r25,hi8(-50000) 6532 3dbe AF4F sbci r26,hlo8(-50000) 6533 3dc0 BF4F sbci r27,hhi8(-50000) 6534 3dc2 04F0 brlt .+4 6535 3dc4 0C94 0000 jmp .L920 6536 3dc8 80EB ldi r24,lo8(-50000) 6537 3dca 9CE3 ldi r25,hi8(-50000) 6538 3dcc AFEF ldi r26,hlo8(-50000) 6539 3dce BFEF ldi r27,hhi8(-50000) 6540 3dd0 8093 0000 sts Mess_Integral_Gier,r24 6541 3dd4 9093 0000 sts (Mess_Integral_Gier)+1,r25 6542 3dd8 A093 0000 sts (Mess_Integral_Gier)+2,r26 6543 3ddc B093 0000 sts (Mess_Integral_Gier)+3,r27 6544 3de0 0C94 0000 jmp .L920 6545 .L1059: 6546 3de4 5091 0000 lds r21,TrichterFlug 6547 3de8 5EA3 std Y+38,r21 6548 3dea 6091 0000 lds r22,IntegralFaktor 6549 3dee 6DA3 std Y+37,r22 6550 3df0 E090 0000 lds r14,StickGier 6551 3df4 F090 0000 lds r15,(StickGier)+1 6552 3df8 6701 movw r12,r14 6553 3dfa F7FC sbrc r15,7 6554 3dfc 00C0 rjmp .+4 6555 3dfe 0C94 0000 jmp .L913 6556 .L1072: 6557 3e02 CC24 clr r12 6558 3e04 DD24 clr r13 6559 3e06 CE18 sub r12,r14 6560 3e08 DF08 sbc r13,r15 6561 3e0a 0C94 0000 jmp .L913 6562 .L1070: 6563 3e0e 4091 0000 lds r20,Looping_Roll 6564 3e12 4CA7 std Y+44,r20 6565 3e14 4423 tst r20 6566 3e16 01F4 brne .+2 6567 3e18 00C0 rjmp .L1118 6568 3e1a 1092 0000 sts IntegralAccNick,__zero_reg__ 6569 3e1e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 6570 3e22 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 6571 3e26 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 6572 3e2a 1092 0000 sts IntegralAccRoll,__zero_reg__ 6573 3e2e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 6574 3e32 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 6575 3e36 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 6576 3e3a 1092 0000 sts MittelIntegralNick,__zero_reg__ 6577 3e3e 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 6578 3e42 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 6579 3e46 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 6580 3e4a 1092 0000 sts MittelIntegralRoll,__zero_reg__ 6581 3e4e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 6582 3e52 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 6583 3e56 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 6584 3e5a 1092 0000 sts MittelIntegralNick2,__zero_reg__ 6585 3e5e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 6586 3e62 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 6587 3e66 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 6588 3e6a 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 6589 3e6e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 6590 3e72 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 6591 3e76 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 6592 3e7a 8091 0000 lds r24,Mess_IntegralNick 6593 3e7e 9091 0000 lds r25,(Mess_IntegralNick)+1 6594 3e82 A091 0000 lds r26,(Mess_IntegralNick)+2 6595 3e86 B091 0000 lds r27,(Mess_IntegralNick)+3 6596 3e8a 8093 0000 sts Mess_IntegralNick2,r24 6597 3e8e 9093 0000 sts (Mess_IntegralNick2)+1,r25 6598 3e92 A093 0000 sts (Mess_IntegralNick2)+2,r26 6599 3e96 B093 0000 sts (Mess_IntegralNick2)+3,r27 6600 3e9a 8091 0000 lds r24,Mess_IntegralRoll 6601 3e9e 9091 0000 lds r25,(Mess_IntegralRoll)+1 6602 3ea2 A091 0000 lds r26,(Mess_IntegralRoll)+2 6603 3ea6 B091 0000 lds r27,(Mess_IntegralRoll)+3 6604 3eaa 8093 0000 sts Mess_IntegralRoll2,r24 6605 3eae 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6606 3eb2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 6607 3eb6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 6608 3eba 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 6609 3ebe 1092 0000 sts ZaehlMessungen,__zero_reg__ 6610 3ec2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 6611 3ec6 1092 0000 sts LageKorrekturNick,__zero_reg__ 6612 3eca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 6613 3ece 1092 0000 sts LageKorrekturRoll,__zero_reg__ 6614 3ed2 0C94 0000 jmp .L814 6615 .L1118: 6616 3ed6 8091 0000 lds r24,Aktuell_az 6617 3eda 9091 0000 lds r25,(Aktuell_az)+1 6618 3ede 8150 subi r24,lo8(513) 6619 3ee0 9240 sbci r25,hi8(513) 6620 3ee2 04F4 brge .+4 6621 3ee4 0C94 0000 jmp .L814 6622 3ee8 8091 0000 lds r24,FromNaviCtrl_Value 6623 3eec 8F3F cpi r24,lo8(-1) 6624 3eee 01F4 brne .+4 6625 3ef0 0C94 0000 jmp .L816 6626 3ef4 E090 0000 lds r14,EE_Parameter+20 6627 3ef8 FF24 clr r15 6628 3efa 00E0 ldi r16,lo8(0) 6629 3efc 10E0 ldi r17,hi8(0) 6630 3efe A82E mov r10,r24 6631 3f00 BB24 clr r11 6632 3f02 A7FC sbrc r10,7 6633 3f04 B094 com r11 6634 3f06 CB2C mov r12,r11 6635 3f08 DB2C mov r13,r11 6636 3f0a 6981 ldd r22,Y+1 6637 3f0c 7A81 ldd r23,Y+2 6638 3f0e 8B81 ldd r24,Y+3 6639 3f10 9C81 ldd r25,Y+4 6640 3f12 A801 movw r20,r16 6641 3f14 9701 movw r18,r14 6642 3f16 0E94 0000 call __divmodsi4 6643 3f1a 8091 0000 lds r24,Mittelwert_AccNick 6644 3f1e 9091 0000 lds r25,(Mittelwert_AccNick)+1 6645 3f22 AA27 clr r26 6646 3f24 97FD sbrc r25,7 6647 3f26 A095 com r26 6648 3f28 BA2F mov r27,r26 6649 3f2a 281B sub r18,r24 6650 3f2c 390B sbc r19,r25 6651 3f2e 4A0B sbc r20,r26 6652 3f30 5B0B sbc r21,r27 6653 3f32 CA01 movw r24,r20 6654 3f34 B901 movw r22,r18 6655 3f36 A601 movw r20,r12 6656 3f38 9501 movw r18,r10 6657 3f3a 0E94 0000 call __mulsi3 6658 3f3e 20E0 ldi r18,lo8(512) 6659 3f40 32E0 ldi r19,hi8(512) 6660 3f42 40E0 ldi r20,hlo8(512) 6661 3f44 50E0 ldi r21,hhi8(512) 6662 3f46 0E94 0000 call __divmodsi4 6663 3f4a 3901 movw r6,r18 6664 3f4c 4A01 movw r8,r20 6665 3f4e 6D81 ldd r22,Y+5 6666 3f50 7E81 ldd r23,Y+6 6667 3f52 8F81 ldd r24,Y+7 6668 3f54 9885 ldd r25,Y+8 6669 3f56 A801 movw r20,r16 6670 3f58 9701 movw r18,r14 6671 3f5a 0E94 0000 call __divmodsi4 6672 3f5e 8091 0000 lds r24,Mittelwert_AccRoll 6673 3f62 9091 0000 lds r25,(Mittelwert_AccRoll)+1 6674 3f66 AA27 clr r26 6675 3f68 97FD sbrc r25,7 6676 3f6a A095 com r26 6677 3f6c BA2F mov r27,r26 6678 3f6e 281B sub r18,r24 6679 3f70 390B sbc r19,r25 6680 3f72 4A0B sbc r20,r26 6681 3f74 5B0B sbc r21,r27 6682 3f76 CA01 movw r24,r20 6683 3f78 B901 movw r22,r18 6684 3f7a A601 movw r20,r12 6685 3f7c 9501 movw r18,r10 6686 3f7e 0E94 0000 call __mulsi3 6687 3f82 20E0 ldi r18,lo8(512) 6688 3f84 32E0 ldi r19,hi8(512) 6689 3f86 40E0 ldi r20,hlo8(512) 6690 3f88 50E0 ldi r21,hhi8(512) 6691 3f8a 0E94 0000 call __divmodsi4 6692 3f8e 5901 movw r10,r18 6693 3f90 6A01 movw r12,r20 6694 3f92 8091 0000 lds r24,MaxStickNick 6695 3f96 9091 0000 lds r25,(MaxStickNick)+1 6696 3f9a 8134 cpi r24,65 6697 3f9c 9105 cpc r25,__zero_reg__ 6698 3f9e 04F0 brlt .+2 6699 3fa0 00C0 rjmp .L818 6700 3fa2 8091 0000 lds r24,MaxStickRoll 6701 3fa6 9091 0000 lds r25,(MaxStickRoll)+1 6702 3faa 8134 cpi r24,65 6703 3fac 9105 cpc r25,__zero_reg__ 6704 3fae 04F0 brlt .+2 6705 3fb0 00C0 rjmp .L818 6706 .L820: 6707 3fb2 E091 0000 lds r30,EE_Parameter+3 6708 3fb6 F0E0 ldi r31,lo8(0) 6709 3fb8 EE0F lsl r30 6710 3fba FF1F rol r31 6711 3fbc E050 subi r30,lo8(-(PPM_in)) 6712 3fbe F040 sbci r31,hi8(-(PPM_in)) 6713 3fc0 0190 ld __tmp_reg__,Z+ 6714 3fc2 F081 ld r31,Z 6715 3fc4 E02D mov r30,__tmp_reg__ 6716 3fc6 F7FF sbrs r31,7 6717 3fc8 00C0 rjmp .+4 6718 3fca 0C94 0000 jmp .L1119 6719 .L822: 6720 3fce 7A97 sbiw r30,26 6721 3fd0 04F0 brlt .L821 6722 3fd2 C401 movw r24,r8 6723 3fd4 B301 movw r22,r6 6724 3fd6 23E0 ldi r18,lo8(3) 6725 3fd8 30E0 ldi r19,hi8(3) 6726 3fda 40E0 ldi r20,hlo8(3) 6727 3fdc 50E0 ldi r21,hhi8(3) 6728 3fde 0E94 0000 call __divmodsi4 6729 3fe2 3901 movw r6,r18 6730 3fe4 4A01 movw r8,r20 6731 3fe6 C601 movw r24,r12 6732 3fe8 B501 movw r22,r10 6733 3fea 23E0 ldi r18,lo8(3) 6734 3fec 30E0 ldi r19,hi8(3) 6735 3fee 40E0 ldi r20,hlo8(3) 6736 3ff0 50E0 ldi r21,hhi8(3) 6737 3ff2 0E94 0000 call __divmodsi4 6738 3ff6 5901 movw r10,r18 6739 3ff8 6A01 movw r12,r20 6740 .L821: 6741 3ffa 8091 0000 lds r24,FromNaviCtrl_Value+2 6742 3ffe E82E mov r14,r24 6743 4000 FF24 clr r15 6744 4002 E7FC sbrc r14,7 6745 4004 F094 com r15 6746 4006 0F2D mov r16,r15 6747 4008 1F2D mov r17,r15 6748 400a A401 movw r20,r8 6749 400c 9301 movw r18,r6 6750 400e E614 cp r14,r6 6751 4010 F704 cpc r15,r7 6752 4012 0805 cpc r16,r8 6753 4014 1905 cpc r17,r9 6754 4016 04F4 brge .L824 6755 4018 A801 movw r20,r16 6756 401a 9701 movw r18,r14 6757 .L824: 6758 401c 9927 clr r25 6759 401e 87FD sbrc r24,7 6760 4020 9095 com r25 6761 4022 9095 com r25 6762 4024 8195 neg r24 6763 4026 9F4F sbci r25,lo8(-1) 6764 4028 AA27 clr r26 6765 402a 97FD sbrc r25,7 6766 402c A095 com r26 6767 402e BA2F mov r27,r26 6768 4030 3901 movw r6,r18 6769 4032 4A01 movw r8,r20 6770 4034 2817 cp r18,r24 6771 4036 3907 cpc r19,r25 6772 4038 4A07 cpc r20,r26 6773 403a 5B07 cpc r21,r27 6774 403c 04F4 brge .L825 6775 403e 3C01 movw r6,r24 6776 4040 4D01 movw r8,r26 6777 .L825: 6778 4042 EA14 cp r14,r10 6779 4044 FB04 cpc r15,r11 6780 4046 0C05 cpc r16,r12 6781 4048 1D05 cpc r17,r13 6782 404a 04F4 brge .L826 6783 404c 5701 movw r10,r14 6784 404e 6801 movw r12,r16 6785 .L826: 6786 4050 A816 cp r10,r24 6787 4052 B906 cpc r11,r25 6788 4054 CA06 cpc r12,r26 6789 4056 DB06 cpc r13,r27 6790 4058 04F4 brge .L827 6791 405a 5C01 movw r10,r24 6792 405c 6D01 movw r12,r26 6793 .L827: 6794 405e 8091 0000 lds r24,Mess_IntegralNick 6795 4062 9091 0000 lds r25,(Mess_IntegralNick)+1 6796 4066 A091 0000 lds r26,(Mess_IntegralNick)+2 6797 406a B091 0000 lds r27,(Mess_IntegralNick)+3 6798 406e 8619 sub r24,r6 6799 4070 9709 sbc r25,r7 6800 4072 A809 sbc r26,r8 6801 4074 B909 sbc r27,r9 6802 4076 8093 0000 sts Mess_IntegralNick,r24 6803 407a 9093 0000 sts (Mess_IntegralNick)+1,r25 6804 407e A093 0000 sts (Mess_IntegralNick)+2,r26 6805 4082 B093 0000 sts (Mess_IntegralNick)+3,r27 6806 4086 8091 0000 lds r24,Mess_IntegralRoll 6807 408a 9091 0000 lds r25,(Mess_IntegralRoll)+1 6808 408e A091 0000 lds r26,(Mess_IntegralRoll)+2 6809 4092 B091 0000 lds r27,(Mess_IntegralRoll)+3 6810 4096 8A19 sub r24,r10 6811 4098 9B09 sbc r25,r11 6812 409a AC09 sbc r26,r12 6813 409c BD09 sbc r27,r13 6814 409e 8093 0000 sts Mess_IntegralRoll,r24 6815 40a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 6816 40a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 6817 40aa B093 0000 sts (Mess_IntegralRoll)+3,r27 6818 40ae 0C94 0000 jmp .L814 6819 .L1108: 6820 40b2 88E1 ldi r24,lo8(24) 6821 40b4 8093 0000 sts TimerWerteausgabe.3088,r24 6822 40b8 E090 0000 lds r14,EE_Parameter+20 6823 40bc FF24 clr r15 6824 40be EE0C lsl r14 6825 40c0 FF1C rol r15 6826 40c2 EE0C lsl r14 6827 40c4 FF1C rol r15 6828 40c6 0027 clr r16 6829 40c8 F7FC sbrc r15,7 6830 40ca 0095 com r16 6831 40cc 102F mov r17,r16 6832 40ce 6981 ldd r22,Y+1 6833 40d0 7A81 ldd r23,Y+2 6834 40d2 8B81 ldd r24,Y+3 6835 40d4 9C81 ldd r25,Y+4 6836 40d6 A801 movw r20,r16 6837 40d8 9701 movw r18,r14 6838 40da 0E94 0000 call __divmodsi4 6839 40de 3093 0000 sts (DebugOut+2)+1,r19 6840 40e2 2093 0000 sts DebugOut+2,r18 6841 40e6 6D81 ldd r22,Y+5 6842 40e8 7E81 ldd r23,Y+6 6843 40ea 8F81 ldd r24,Y+7 6844 40ec 9885 ldd r25,Y+8 6845 40ee A801 movw r20,r16 6846 40f0 9701 movw r18,r14 6847 40f2 0E94 0000 call __divmodsi4 6848 40f6 3093 0000 sts (DebugOut+4)+1,r19 6849 40fa 2093 0000 sts DebugOut+4,r18 6850 40fe 8091 0000 lds r24,Mittelwert_AccNick 6851 4102 9091 0000 lds r25,(Mittelwert_AccNick)+1 6852 4106 97FD sbrc r25,7 6853 4108 00C0 rjmp .L1120 6854 .L948: 6855 410a 9595 asr r25 6856 410c 8795 ror r24 6857 410e 9595 asr r25 6858 4110 8795 ror r24 6859 4112 9093 0000 sts (DebugOut+6)+1,r25 6860 4116 8093 0000 sts DebugOut+6,r24 6861 411a 8091 0000 lds r24,Mittelwert_AccRoll 6862 411e 9091 0000 lds r25,(Mittelwert_AccRoll)+1 6863 4122 97FD sbrc r25,7 6864 4124 00C0 rjmp .L1121 6865 .L949: 6866 4126 9595 asr r25 6867 4128 8795 ror r24 6868 412a 9595 asr r25 6869 412c 8795 ror r24 6870 412e 9093 0000 sts (DebugOut+8)+1,r25 6871 4132 8093 0000 sts DebugOut+8,r24 6872 4136 9092 0000 sts (DebugOut+10)+1,r9 6873 413a 8092 0000 sts DebugOut+10,r8 6874 413e 2091 0000 lds r18,HoehenWert 6875 4142 3091 0000 lds r19,(HoehenWert)+1 6876 4146 3093 0000 sts (DebugOut+12)+1,r19 6877 414a 2093 0000 sts DebugOut+12,r18 6878 414e 6091 0000 lds r22,Mess_Integral_Hoch 6879 4152 7091 0000 lds r23,(Mess_Integral_Hoch)+1 6880 4156 8091 0000 lds r24,(Mess_Integral_Hoch)+2 6881 415a 9091 0000 lds r25,(Mess_Integral_Hoch)+3 6882 415e 20E0 ldi r18,lo8(512) 6883 4160 32E0 ldi r19,hi8(512) 6884 4162 40E0 ldi r20,hlo8(512) 6885 4164 50E0 ldi r21,hhi8(512) 6886 4166 0E94 0000 call __divmodsi4 6887 416a 3093 0000 sts (DebugOut+14)+1,r19 6888 416e 2093 0000 sts DebugOut+14,r18 6889 4172 3092 0000 sts (DebugOut+18)+1,r3 6890 4176 2092 0000 sts DebugOut+18,r2 6891 417a 8091 0000 lds r24,UBat 6892 417e 9091 0000 lds r25,(UBat)+1 6893 4182 9093 0000 sts (DebugOut+20)+1,r25 6894 4186 8093 0000 sts DebugOut+20,r24 6895 418a 6091 0000 lds r22,ErsatzKompass 6896 418e 7091 0000 lds r23,(ErsatzKompass)+1 6897 4192 8091 0000 lds r24,(ErsatzKompass)+2 6898 4196 9091 0000 lds r25,(ErsatzKompass)+3 6899 419a 2091 0000 lds r18,GIER_GRAD_FAKTOR 6900 419e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 6901 41a2 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 6902 41a6 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 6903 41aa 0E94 0000 call __divmodsi4 6904 41ae 3093 0000 sts (DebugOut+24)+1,r19 6905 41b2 2093 0000 sts DebugOut+24,r18 6906 41b6 8091 0000 lds r24,SenderOkay 6907 41ba 90E0 ldi r25,lo8(0) 6908 41bc 9093 0000 sts (DebugOut+22)+1,r25 6909 41c0 8093 0000 sts DebugOut+22,r24 6910 41c4 8091 0000 lds r24,WinkelOut+6 6911 41c8 90E0 ldi r25,lo8(0) 6912 41ca 9093 0000 sts (DebugOut+40)+1,r25 6913 41ce 8093 0000 sts DebugOut+40,r24 6914 41d2 8091 0000 lds r24,ServoValue 6915 41d6 9091 0000 lds r25,(ServoValue)+1 6916 41da 9093 0000 sts (DebugOut+42)+1,r25 6917 41de 8093 0000 sts DebugOut+42,r24 6918 41e2 8091 0000 lds r24,FromNaviCtrl_Value+1 6919 41e6 9927 clr r25 6920 41e8 87FD sbrc r24,7 6921 41ea 9095 com r25 6922 41ec 9093 0000 sts (DebugOut+56)+1,r25 6923 41f0 8093 0000 sts DebugOut+56,r24 6924 41f4 8091 0000 lds r24,GPS_Nick 6925 41f8 9091 0000 lds r25,(GPS_Nick)+1 6926 41fc 9093 0000 sts (DebugOut+62)+1,r25 6927 4200 8093 0000 sts DebugOut+62,r24 6928 4204 8091 0000 lds r24,GPS_Roll 6929 4208 9091 0000 lds r25,(GPS_Roll)+1 6930 420c 9093 0000 sts (DebugOut+64)+1,r25 6931 4210 8093 0000 sts DebugOut+64,r24 6932 4214 00C0 rjmp .L946 6933 .L764: 6934 4216 4150 subi r20,lo8(-(-1)) 6935 4218 5040 sbci r21,hi8(-(-1)) 6936 421a 5093 0000 sts (MaxStickRoll)+1,r21 6937 421e 4093 0000 sts MaxStickRoll,r20 6938 4222 00C0 rjmp .L770 6939 .L756: 6940 4224 4150 subi r20,lo8(-(-1)) 6941 4226 5040 sbci r21,hi8(-(-1)) 6942 4228 5093 0000 sts (MaxStickNick)+1,r21 6943 422c 4093 0000 sts MaxStickNick,r20 6944 4230 00C0 rjmp .L762 6945 .L980: 6946 4232 8091 0000 lds r24,Parameter_MaxHoehe 6947 4236 2091 0000 lds r18,ExternHoehenValue 6948 423a 3091 0000 lds r19,(ExternHoehenValue)+1 6949 423e 280F add r18,r24 6950 4240 311D adc r19,__zero_reg__ 6951 4242 8091 0000 lds r24,EE_Parameter+13 6952 4246 90E0 ldi r25,lo8(0) 6953 4248 FC01 movw r30,r24 6954 424a 2E9F mul r18,r30 6955 424c C001 movw r24,r0 6956 424e 2F9F mul r18,r31 6957 4250 900D add r25,r0 6958 4252 3E9F mul r19,r30 6959 4254 900D add r25,r0 6960 4256 1124 clr r1 6961 4258 4497 sbiw r24,20 6962 425a 9093 0000 sts (SollHoehe)+1,r25 6963 425e 8093 0000 sts SollHoehe,r24 6964 4262 81E0 ldi r24,lo8(1) 6965 4264 8093 0000 sts HoehenReglerAktiv,r24 6966 4268 2091 0000 lds r18,HoehenWert 6967 426c 3091 0000 lds r19,(HoehenWert)+1 6968 .L986: 6969 4270 FFA1 ldd r31,Y+39 6970 4272 FF23 tst r31 6971 4274 01F0 breq .L992 6972 4276 1092 0000 sts (SollHoehe)+1,__zero_reg__ 6973 427a 1092 0000 sts SollHoehe,__zero_reg__ 6974 .L992: 6975 427e 4091 0000 lds r20,SollHoehe 6976 4282 5091 0000 lds r21,(SollHoehe)+1 6977 4286 4217 cp r20,r18 6978 4288 5307 cpc r21,r19 6979 428a 04F0 brlt .+2 6980 428c 00C0 rjmp .L978 6981 428e 8091 0000 lds r24,HoehenReglerAktiv 6982 4292 8823 tst r24 6983 4294 01F4 brne .+2 6984 4296 00C0 rjmp .L978 6985 4298 8091 0000 lds r24,Parameter_Hoehe_P 6986 429c 90E0 ldi r25,lo8(0) 6987 429e 241B sub r18,r20 6988 42a0 350B sbc r19,r21 6989 42a2 AC01 movw r20,r24 6990 42a4 429F mul r20,r18 6991 42a6 C001 movw r24,r0 6992 42a8 439F mul r20,r19 6993 42aa 900D add r25,r0 6994 42ac 529F mul r21,r18 6995 42ae 900D add r25,r0 6996 42b0 1124 clr r1 6997 42b2 97FD sbrc r25,7 6998 42b4 00C0 rjmp .L1122 6999 .L996: 7000 42b6 5C01 movw r10,r24 7001 42b8 B594 asr r11 7002 42ba A794 ror r10 7003 42bc B594 asr r11 7004 42be A794 ror r10 7005 42c0 C090 0000 lds r12,HoeheD 7006 42c4 D090 0000 lds r13,(HoeheD)+1 7007 42c8 6091 0000 lds r22,Mess_Integral_Hoch 7008 42cc 7091 0000 lds r23,(Mess_Integral_Hoch)+1 7009 42d0 8091 0000 lds r24,(Mess_Integral_Hoch)+2 7010 42d4 9091 0000 lds r25,(Mess_Integral_Hoch)+3 7011 42d8 E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung 7012 42dc FF24 clr r15 7013 42de 00E0 ldi r16,lo8(0) 7014 42e0 10E0 ldi r17,hi8(0) 7015 42e2 20E8 ldi r18,lo8(128) 7016 42e4 30E0 ldi r19,hi8(128) 7017 42e6 40E0 ldi r20,hlo8(128) 7018 42e8 50E0 ldi r21,hhi8(128) 7019 42ea 0E94 0000 call __divmodsi4 7020 42ee C801 movw r24,r16 7021 42f0 B701 movw r22,r14 7022 42f2 0E94 0000 call __mulsi3 7023 42f6 20E2 ldi r18,lo8(32) 7024 42f8 30E0 ldi r19,hi8(32) 7025 42fa 40E0 ldi r20,hlo8(32) 7026 42fc 50E0 ldi r21,hhi8(32) 7027 42fe 0E94 0000 call __divmodsi4 7028 4302 A901 movw r20,r18 7029 4304 285E subi r18,lo8(-280) 7030 4306 3E4F sbci r19,hi8(-280) 7031 4308 04F4 brge .L997 7032 430a 48EE ldi r20,lo8(-280) 7033 430c 5EEF ldi r21,hi8(-280) 7034 .L997: 7035 430e 2091 0000 lds r18,hoehenregler.3079 7036 4312 3091 0000 lds r19,(hoehenregler.3079)+1 7037 4316 C901 movw r24,r18 7038 4318 880F lsl r24 7039 431a 991F rol r25 7040 431c 820F add r24,r18 7041 431e 931F adc r25,r19 7042 4320 BC01 movw r22,r24 7043 4322 660F lsl r22 7044 4324 771F rol r23 7045 4326 660F lsl r22 7046 4328 771F rol r23 7047 432a 680F add r22,r24 7048 432c 791F adc r23,r25 7049 432e 9601 movw r18,r12 7050 4330 D7FC sbrc r13,7 7051 4332 00C0 rjmp .L1123 7052 .L998: 7053 4334 3595 asr r19 7054 4336 2795 ror r18 7055 4338 CB01 movw r24,r22 7056 433a 821B sub r24,r18 7057 433c 930B sbc r25,r19 7058 433e 9A01 movw r18,r20 7059 4340 4951 subi r20,lo8(281) 7060 4342 5140 sbci r21,hi8(281) 7061 4344 04F0 brlt .L999 7062 4346 28E1 ldi r18,lo8(280) 7063 4348 31E0 ldi r19,hi8(280) 7064 .L999: 7065 434a 821B sub r24,r18 7066 434c 930B sbc r25,r19 7067 434e 9C01 movw r18,r24 7068 4350 8DA5 ldd r24,Y+45 7069 4352 9EA5 ldd r25,Y+46 7070 4354 8A19 sub r24,r10 7071 4356 9B09 sbc r25,r11 7072 4358 280F add r18,r24 7073 435a 391F adc r19,r25 7074 435c 37FD sbrc r19,7 7075 435e 00C0 rjmp .L1124 7076 .L1000: 7077 4360 3595 asr r19 7078 4362 2795 ror r18 7079 4364 3595 asr r19 7080 4366 2795 ror r18 7081 4368 3595 asr r19 7082 436a 2795 ror r18 7083 436c 3595 asr r19 7084 436e 2795 ror r18 7085 4370 3093 0000 sts (hoehenregler.3079)+1,r19 7086 4374 2093 0000 sts hoehenregler.3079,r18 7087 4378 8091 0000 lds r24,EE_Parameter+9 7088 437c 682F mov r22,r24 7089 437e 70E0 ldi r23,lo8(0) 7090 4380 660F lsl r22 7091 4382 771F rol r23 7092 4384 660F lsl r22 7093 4386 771F rol r23 7094 4388 2617 cp r18,r22 7095 438a 3707 cpc r19,r23 7096 438c 04F0 brlt .+2 7097 438e 00C0 rjmp .L1001 7098 4390 8DA5 ldd r24,Y+45 7099 4392 9EA5 ldd r25,Y+46 7100 4394 8617 cp r24,r22 7101 4396 9707 cpc r25,r23 7102 4398 04F4 brge .+2 7103 439a 00C0 rjmp .L1003 7104 439c 7093 0000 sts (hoehenregler.3079)+1,r23 7105 43a0 6093 0000 sts hoehenregler.3079,r22 7106 43a4 00C0 rjmp .L1005 7107 .L672: 7108 43a6 1092 0000 sts MotorenEin,__zero_reg__ 7109 43aa 0C94 0000 jmp .L674 7110 .L1073: 7111 43ae 6D5F subi r22,lo8(-(3)) 7112 43b0 7F4F sbci r23,hi8(-(3)) 7113 43b2 0C94 0000 jmp .L917 7114 .L1113: 7115 43b6 6F5F subi r22,lo8(-(1)) 7116 43b8 7F4F sbci r23,hi8(-(1)) 7117 43ba 00C0 rjmp .L1026 7118 .L1112: 7119 43bc 6627 clr r22 7120 43be 7727 clr r23 7121 43c0 6A19 sub r22,r10 7122 43c2 7B09 sbc r23,r11 7123 43c4 00C0 rjmp .L1025 7124 .L1115: 7125 43c6 0396 adiw r24,3 7126 43c8 00C0 rjmp .L1043 7127 .L1114: 7128 43ca 0396 adiw r24,3 7129 43cc 00C0 rjmp .L1038 7130 .L1117: 7131 43ce 0396 adiw r24,3 7132 43d0 00C0 rjmp .L1053 7133 .L1116: 7134 43d2 0396 adiw r24,3 7135 43d4 00C0 rjmp .L1048 7136 .L803: 7137 43d6 1092 0000 sts Looping_Nick,__zero_reg__ 7138 43da 0C94 0000 jmp .L740 7139 .L799: 7140 43de 1092 0000 sts Looping_Roll,__zero_reg__ 7141 43e2 00C0 rjmp .L800 7142 .L1105: 7143 43e4 81E0 ldi r24,lo8(1) 7144 43e6 8093 0000 sts Looping_Unten,r24 7145 43ea 00C0 rjmp .L794 7146 .L1103: 7147 43ec A1E0 ldi r26,lo8(1) 7148 43ee A093 0000 sts Looping_Oben,r26 7149 43f2 00C0 rjmp .L788 7150 .L1101: 7151 43f4 81E0 ldi r24,lo8(1) 7152 43f6 8093 0000 sts Looping_Rechts,r24 7153 43fa 00C0 rjmp .L782 7154 .L1100: 7155 43fc 81E0 ldi r24,lo8(1) 7156 43fe 8093 0000 sts Looping_Links,r24 7157 4402 00C0 rjmp .L777 7158 .L1099: 7159 4404 84E6 ldi r24,lo8(100) 7160 4406 90E0 ldi r25,hi8(100) 7161 4408 9093 0000 sts (MaxStickRoll)+1,r25 7162 440c 8093 0000 sts MaxStickRoll,r24 7163 4410 00C0 rjmp .L770 7164 .L1094: 7165 4412 84E6 ldi r24,lo8(100) 7166 4414 90E0 ldi r25,hi8(100) 7167 4416 9093 0000 sts (MaxStickNick)+1,r25 7168 441a 8093 0000 sts MaxStickNick,r24 7169 441e 0C94 0000 jmp .L762 7170 .L1088: 7171 4422 8091 0000 lds r24,ExternControl+3 7172 4426 9927 clr r25 7173 4428 87FD sbrc r24,7 7174 442a 9095 com r25 7175 442c AC01 movw r20,r24 7176 442e 489D mul r20,r8 7177 4430 C001 movw r24,r0 7178 4432 499D mul r20,r9 7179 4434 900D add r25,r0 7180 4436 589D mul r21,r8 7181 4438 900D add r25,r0 7182 443a 1124 clr r1 7183 443c C80E add r12,r24 7184 443e D91E adc r13,r25 7185 4440 D092 0000 sts (StickNick)+1,r13 7186 4444 C092 0000 sts StickNick,r12 7187 4448 8091 0000 lds r24,ExternControl+4 7188 444c 9927 clr r25 7189 444e 87FD sbrc r24,7 7190 4450 9095 com r25 7191 4452 BC01 movw r22,r24 7192 4454 689D mul r22,r8 7193 4456 C001 movw r24,r0 7194 4458 699D mul r22,r9 7195 445a 900D add r25,r0 7196 445c 789D mul r23,r8 7197 445e 900D add r25,r0 7198 4460 1124 clr r1 7199 4462 080F add r16,r24 7200 4464 191F adc r17,r25 7201 4466 1093 0000 sts (StickRoll)+1,r17 7202 446a 0093 0000 sts StickRoll,r16 7203 446e 2091 0000 lds r18,ExternControl+5 7204 4472 3327 clr r19 7205 4474 27FD sbrc r18,7 7206 4476 3095 com r19 7207 4478 8091 0000 lds r24,StickGier 7208 447c 9091 0000 lds r25,(StickGier)+1 7209 4480 820F add r24,r18 7210 4482 931F adc r25,r19 7211 4484 9093 0000 sts (StickGier)+1,r25 7212 4488 8093 0000 sts StickGier,r24 7213 448c 2091 0000 lds r18,EE_Parameter+13 7214 4490 30E0 ldi r19,lo8(0) 7215 4492 8091 0000 lds r24,ExternControl+7 7216 4496 9927 clr r25 7217 4498 87FD sbrc r24,7 7218 449a 9095 com r25 7219 449c DC01 movw r26,r24 7220 449e 2A9F mul r18,r26 7221 44a0 C001 movw r24,r0 7222 44a2 2B9F mul r18,r27 7223 44a4 900D add r25,r0 7224 44a6 3A9F mul r19,r26 7225 44a8 900D add r25,r0 7226 44aa 1124 clr r1 7227 44ac 9093 0000 sts (ExternHoehenValue)+1,r25 7228 44b0 8093 0000 sts ExternHoehenValue,r24 7229 44b4 8091 0000 lds r24,ExternControl+6 7230 44b8 90E0 ldi r25,lo8(0) 7231 44ba 8615 cp r24,r6 7232 44bc 9705 cpc r25,r7 7233 44be 04F0 brlt .+4 7234 44c0 0C94 0000 jmp .L748 7235 44c4 9093 0000 sts (StickGas)+1,r25 7236 44c8 8093 0000 sts StickGas,r24 7237 44cc 0C94 0000 jmp .L748 7238 .L746: 7239 44d0 1092 0000 sts (StickGier)+1,__zero_reg__ 7240 44d4 1092 0000 sts StickGier,__zero_reg__ 7241 44d8 0C94 0000 jmp .L745 7242 .L1071: 7243 44dc F091 0000 lds r31,TrichterFlug 7244 44e0 FEA3 std Y+38,r31 7245 44e2 FF23 tst r31 7246 44e4 01F0 breq .+4 7247 44e6 0C94 0000 jmp .L844 7248 44ea 2091 0000 lds r18,EE_Parameter+48 7249 44ee 2C8F std Y+28,r18 7250 44f0 2223 tst r18 7251 44f2 01F4 brne .+4 7252 44f4 0C94 0000 jmp .L844 7253 44f8 4091 0000 lds r20,MittelIntegralNick 7254 44fc 5091 0000 lds r21,(MittelIntegralNick)+1 7255 4500 6091 0000 lds r22,(MittelIntegralNick)+2 7256 4504 7091 0000 lds r23,(MittelIntegralNick)+3 7257 4508 CB01 movw r24,r22 7258 450a BA01 movw r22,r20 7259 450c 20E0 ldi r18,lo8(256) 7260 450e 31E0 ldi r19,hi8(256) 7261 4510 40E0 ldi r20,hlo8(256) 7262 4512 50E0 ldi r21,hhi8(256) 7263 4514 0E94 0000 call __divmodsi4 7264 4518 28A7 std Y+40,r18 7265 451a 39A7 std Y+41,r19 7266 451c 4AA7 std Y+42,r20 7267 451e 5BA7 std Y+43,r21 7268 4520 2093 0000 sts MittelIntegralNick,r18 7269 4524 3093 0000 sts (MittelIntegralNick)+1,r19 7270 4528 4093 0000 sts (MittelIntegralNick)+2,r20 7271 452c 5093 0000 sts (MittelIntegralNick)+3,r21 7272 4530 2090 0000 lds r2,MittelIntegralRoll 7273 4534 3090 0000 lds r3,(MittelIntegralRoll)+1 7274 4538 4090 0000 lds r4,(MittelIntegralRoll)+2 7275 453c 5090 0000 lds r5,(MittelIntegralRoll)+3 7276 4540 C201 movw r24,r4 7277 4542 B101 movw r22,r2 7278 4544 20E0 ldi r18,lo8(256) 7279 4546 31E0 ldi r19,hi8(256) 7280 4548 40E0 ldi r20,hlo8(256) 7281 454a 50E0 ldi r21,hhi8(256) 7282 454c 0E94 0000 call __divmodsi4 7283 4550 1901 movw r2,r18 7284 4552 2A01 movw r4,r20 7285 4554 2093 0000 sts MittelIntegralRoll,r18 7286 4558 3093 0000 sts (MittelIntegralRoll)+1,r19 7287 455c 4093 0000 sts (MittelIntegralRoll)+2,r20 7288 4560 5093 0000 sts (MittelIntegralRoll)+3,r21 7289 4564 E090 0000 lds r14,EE_Parameter+20 7290 4568 FF24 clr r15 7291 456a 00E0 ldi r16,lo8(0) 7292 456c 10E0 ldi r17,hi8(0) 7293 456e 2091 0000 lds r18,IntegralAccNick 7294 4572 3091 0000 lds r19,(IntegralAccNick)+1 7295 4576 4091 0000 lds r20,(IntegralAccNick)+2 7296 457a 5091 0000 lds r21,(IntegralAccNick)+3 7297 457e C801 movw r24,r16 7298 4580 B701 movw r22,r14 7299 4582 0E94 0000 call __mulsi3 7300 4586 20E0 ldi r18,lo8(256) 7301 4588 31E0 ldi r19,hi8(256) 7302 458a 40E0 ldi r20,hlo8(256) 7303 458c 50E0 ldi r21,hhi8(256) 7304 458e 0E94 0000 call __divmodsi4 7305 4592 5901 movw r10,r18 7306 4594 6A01 movw r12,r20 7307 4596 2093 0000 sts IntegralAccNick,r18 7308 459a 3093 0000 sts (IntegralAccNick)+1,r19 7309 459e 4093 0000 sts (IntegralAccNick)+2,r20 7310 45a2 5093 0000 sts (IntegralAccNick)+3,r21 7311 45a6 2091 0000 lds r18,IntegralAccRoll 7312 45aa 3091 0000 lds r19,(IntegralAccRoll)+1 7313 45ae 4091 0000 lds r20,(IntegralAccRoll)+2 7314 45b2 5091 0000 lds r21,(IntegralAccRoll)+3 7315 45b6 C801 movw r24,r16 7316 45b8 B701 movw r22,r14 7317 45ba 0E94 0000 call __mulsi3 7318 45be 20E0 ldi r18,lo8(256) 7319 45c0 31E0 ldi r19,hi8(256) 7320 45c2 40E0 ldi r20,hlo8(256) 7321 45c4 50E0 ldi r21,hhi8(256) 7322 45c6 0E94 0000 call __divmodsi4 7323 45ca 3901 movw r6,r18 7324 45cc 4A01 movw r8,r20 7325 45ce 2093 0000 sts IntegralAccRoll,r18 7326 45d2 3093 0000 sts (IntegralAccRoll)+1,r19 7327 45d6 4093 0000 sts (IntegralAccRoll)+2,r20 7328 45da 5093 0000 sts (IntegralAccRoll)+3,r21 7329 45de 6091 0000 lds r22,IntegralAccZ 7330 45e2 7091 0000 lds r23,(IntegralAccZ)+1 7331 45e6 8091 0000 lds r24,(IntegralAccZ)+2 7332 45ea 9091 0000 lds r25,(IntegralAccZ)+3 7333 45ee 20E0 ldi r18,lo8(256) 7334 45f0 31E0 ldi r19,hi8(256) 7335 45f2 40E0 ldi r20,hlo8(256) 7336 45f4 50E0 ldi r21,hhi8(256) 7337 45f6 0E94 0000 call __divmodsi4 7338 45fa 2093 0000 sts IntegralAccZ,r18 7339 45fe 3093 0000 sts (IntegralAccZ)+1,r19 7340 4602 4093 0000 sts (IntegralAccZ)+2,r20 7341 4606 5093 0000 sts (IntegralAccZ)+3,r21 7342 460a E090 0000 lds r14,EE_Parameter+47 7343 460e FF24 clr r15 7344 4610 00E0 ldi r16,lo8(0) 7345 4612 10E0 ldi r17,hi8(0) 7346 4614 68A5 ldd r22,Y+40 7347 4616 79A5 ldd r23,Y+41 7348 4618 8AA5 ldd r24,Y+42 7349 461a 9BA5 ldd r25,Y+43 7350 461c 6A19 sub r22,r10 7351 461e 7B09 sbc r23,r11 7352 4620 8C09 sbc r24,r12 7353 4622 9D09 sbc r25,r13 7354 4624 A801 movw r20,r16 7355 4626 9701 movw r18,r14 7356 4628 0E94 0000 call __divmodsi4 7357 462c 2093 0000 sts ausgleichNick.3090,r18 7358 4630 3093 0000 sts (ausgleichNick.3090)+1,r19 7359 4634 4093 0000 sts (ausgleichNick.3090)+2,r20 7360 4638 5093 0000 sts (ausgleichNick.3090)+3,r21 7361 463c CA01 movw r24,r20 7362 463e B901 movw r22,r18 7363 4640 20E0 ldi r18,lo8(256) 7364 4642 31E0 ldi r19,hi8(256) 7365 4644 40E0 ldi r20,hlo8(256) 7366 4646 50E0 ldi r21,hhi8(256) 7367 4648 0E94 0000 call __divmodsi4 7368 464c 6901 movw r12,r18 7369 464e 3093 0000 sts (LageKorrekturNick)+1,r19 7370 4652 2093 0000 sts LageKorrekturNick,r18 7371 4656 C201 movw r24,r4 7372 4658 B101 movw r22,r2 7373 465a 6619 sub r22,r6 7374 465c 7709 sbc r23,r7 7375 465e 8809 sbc r24,r8 7376 4660 9909 sbc r25,r9 7377 4662 A801 movw r20,r16 7378 4664 9701 movw r18,r14 7379 4666 0E94 0000 call __divmodsi4 7380 466a CA01 movw r24,r20 7381 466c B901 movw r22,r18 7382 466e 20E0 ldi r18,lo8(256) 7383 4670 31E0 ldi r19,hi8(256) 7384 4672 40E0 ldi r20,hlo8(256) 7385 4674 50E0 ldi r21,hhi8(256) 7386 4676 0E94 0000 call __divmodsi4 7387 467a B901 movw r22,r18 7388 467c 3093 0000 sts (LageKorrekturRoll)+1,r19 7389 4680 2093 0000 sts LageKorrekturRoll,r18 7390 4684 8091 0000 lds r24,MaxStickNick 7391 4688 9091 0000 lds r25,(MaxStickNick)+1 7392 468c 8134 cpi r24,65 7393 468e 9105 cpc r25,__zero_reg__ 7394 4690 04F4 brge .L849 7395 4692 8091 0000 lds r24,MaxStickRoll 7396 4696 9091 0000 lds r25,(MaxStickRoll)+1 7397 469a 8134 cpi r24,65 7398 469c 9105 cpc r25,__zero_reg__ 7399 469e 04F4 brge .L849 7400 46a0 E091 0000 lds r30,EE_Parameter+3 7401 46a4 F0E0 ldi r31,lo8(0) 7402 46a6 EE0F lsl r30 7403 46a8 FF1F rol r31 7404 46aa E050 subi r30,lo8(-(PPM_in)) 7405 46ac F040 sbci r31,hi8(-(PPM_in)) 7406 46ae 0190 ld __tmp_reg__,Z+ 7407 46b0 F081 ld r31,Z 7408 46b2 E02D mov r30,__tmp_reg__ 7409 46b4 F7FD sbrc r31,7 7410 46b6 00C0 rjmp .L1125 7411 .L853: 7412 46b8 7A97 sbiw r30,26 7413 46ba 04F0 brlt .L852 7414 .L849: 7415 46bc 8091 0000 lds r24,FromNaviCtrl_Value 7416 46c0 8F3F cpi r24,lo8(-1) 7417 46c2 01F4 brne .+2 7418 46c4 00C0 rjmp .L1126 7419 .L852: 7420 46c6 6091 0000 lds r22,MittelIntegralNick2 7421 46ca 7091 0000 lds r23,(MittelIntegralNick2)+1 7422 46ce 8091 0000 lds r24,(MittelIntegralNick2)+2 7423 46d2 9091 0000 lds r25,(MittelIntegralNick2)+3 7424 46d6 20E0 ldi r18,lo8(256) 7425 46d8 31E0 ldi r19,hi8(256) 7426 46da 40E0 ldi r20,hlo8(256) 7427 46dc 50E0 ldi r21,hhi8(256) 7428 46de 0E94 0000 call __divmodsi4 7429 46e2 2093 0000 sts MittelIntegralNick2,r18 7430 46e6 3093 0000 sts (MittelIntegralNick2)+1,r19 7431 46ea 4093 0000 sts (MittelIntegralNick2)+2,r20 7432 46ee 5093 0000 sts (MittelIntegralNick2)+3,r21 7433 46f2 6091 0000 lds r22,MittelIntegralRoll2 7434 46f6 7091 0000 lds r23,(MittelIntegralRoll2)+1 7435 46fa 8091 0000 lds r24,(MittelIntegralRoll2)+2 7436 46fe 9091 0000 lds r25,(MittelIntegralRoll2)+3 7437 4702 20E0 ldi r18,lo8(256) 7438 4704 31E0 ldi r19,hi8(256) 7439 4706 40E0 ldi r20,hlo8(256) 7440 4708 50E0 ldi r21,hhi8(256) 7441 470a 0E94 0000 call __divmodsi4 7442 470e 2093 0000 sts MittelIntegralRoll2,r18 7443 4712 3093 0000 sts (MittelIntegralRoll2)+1,r19 7444 4716 4093 0000 sts (MittelIntegralRoll2)+2,r20 7445 471a 5093 0000 sts (MittelIntegralRoll2)+3,r21 7446 471e E9A0 ldd r14,Y+33 7447 4720 FAA0 ldd r15,Y+34 7448 4722 0BA1 ldd r16,Y+35 7449 4724 1CA1 ldd r17,Y+36 7450 4726 6981 ldd r22,Y+1 7451 4728 7A81 ldd r23,Y+2 7452 472a 8B81 ldd r24,Y+3 7453 472c 9C81 ldd r25,Y+4 7454 472e E61A sub r14,r22 7455 4730 F70A sbc r15,r23 7456 4732 080B sbc r16,r24 7457 4734 190B sbc r17,r25 7458 4736 E092 0000 sts tmp_long.3071,r14 7459 473a F092 0000 sts (tmp_long.3071)+1,r15 7460 473e 0093 0000 sts (tmp_long.3071)+2,r16 7461 4742 1093 0000 sts (tmp_long.3071)+3,r17 7462 4746 AD8C ldd r10,Y+29 7463 4748 BE8C ldd r11,Y+30 7464 474a CF8C ldd r12,Y+31 7465 474c D8A0 ldd r13,Y+32 7466 474e 8D81 ldd r24,Y+5 7467 4750 9E81 ldd r25,Y+6 7468 4752 AF81 ldd r26,Y+7 7469 4754 B885 ldd r27,Y+8 7470 4756 A81A sub r10,r24 7471 4758 B90A sbc r11,r25 7472 475a CA0A sbc r12,r26 7473 475c DB0A sbc r13,r27 7474 475e A092 0000 sts tmp_long2.3072,r10 7475 4762 B092 0000 sts (tmp_long2.3072)+1,r11 7476 4766 C092 0000 sts (tmp_long2.3072)+2,r12 7477 476a D092 0000 sts (tmp_long2.3072)+3,r13 7478 476e E092 0000 sts IntegralFehlerNick.3073,r14 7479 4772 F092 0000 sts (IntegralFehlerNick.3073)+1,r15 7480 4776 0093 0000 sts (IntegralFehlerNick.3073)+2,r16 7481 477a 1093 0000 sts (IntegralFehlerNick.3073)+3,r17 7482 477e A092 0000 sts IntegralFehlerRoll.3074,r10 7483 4782 B092 0000 sts (IntegralFehlerRoll.3074)+1,r11 7484 4786 C092 0000 sts (IntegralFehlerRoll.3074)+2,r12 7485 478a D092 0000 sts (IntegralFehlerRoll.3074)+3,r13 7486 478e 8091 0000 lds r24,Mess_IntegralNick2 7487 4792 9091 0000 lds r25,(Mess_IntegralNick2)+1 7488 4796 A091 0000 lds r26,(Mess_IntegralNick2)+2 7489 479a B091 0000 lds r27,(Mess_IntegralNick2)+3 7490 479e 8E19 sub r24,r14 7491 47a0 9F09 sbc r25,r15 7492 47a2 A00B sbc r26,r16 7493 47a4 B10B sbc r27,r17 7494 47a6 8093 0000 sts Mess_IntegralNick2,r24 7495 47aa 9093 0000 sts (Mess_IntegralNick2)+1,r25 7496 47ae A093 0000 sts (Mess_IntegralNick2)+2,r26 7497 47b2 B093 0000 sts (Mess_IntegralNick2)+3,r27 7498 47b6 8091 0000 lds r24,Mess_IntegralRoll2 7499 47ba 9091 0000 lds r25,(Mess_IntegralRoll2)+1 7500 47be A091 0000 lds r26,(Mess_IntegralRoll2)+2 7501 47c2 B091 0000 lds r27,(Mess_IntegralRoll2)+3 7502 47c6 8A19 sub r24,r10 7503 47c8 9B09 sbc r25,r11 7504 47ca AC09 sbc r26,r12 7505 47cc BD09 sbc r27,r13 7506 47ce 8093 0000 sts Mess_IntegralRoll2,r24 7507 47d2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 7508 47d6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 7509 47da B093 0000 sts (Mess_IntegralRoll2)+3,r27 7510 47de 2091 0000 lds r18,GierGyroFehler 7511 47e2 3091 0000 lds r19,(GierGyroFehler)+1 7512 47e6 2138 cpi r18,129 7513 47e8 3105 cpc r19,__zero_reg__ 7514 47ea 04F0 brlt .L857 7515 47ec 8091 0000 lds r24,AdNeutralGier 7516 47f0 9091 0000 lds r25,(AdNeutralGier)+1 7517 47f4 0196 adiw r24,1 7518 47f6 9093 0000 sts (AdNeutralGier)+1,r25 7519 47fa 8093 0000 sts AdNeutralGier,r24 7520 47fe 8091 0000 lds r24,AdNeutralGierBias 7521 4802 9091 0000 lds r25,(AdNeutralGierBias)+1 7522 4806 0196 adiw r24,1 7523 4808 9093 0000 sts (AdNeutralGierBias)+1,r25 7524 480c 8093 0000 sts AdNeutralGierBias,r24 7525 .L857: 7526 4810 2058 subi r18,lo8(-128) 7527 4812 3F4F sbci r19,hi8(-128) 7528 4814 04F4 brge .L859 7529 4816 8091 0000 lds r24,AdNeutralGier 7530 481a 9091 0000 lds r25,(AdNeutralGier)+1 7531 481e 0197 sbiw r24,1 7532 4820 9093 0000 sts (AdNeutralGier)+1,r25 7533 4824 8093 0000 sts AdNeutralGier,r24 7534 4828 8091 0000 lds r24,AdNeutralGierBias 7535 482c 9091 0000 lds r25,(AdNeutralGierBias)+1 7536 4830 0197 sbiw r24,1 7537 4832 9093 0000 sts (AdNeutralGierBias)+1,r25 7538 4836 8093 0000 sts AdNeutralGierBias,r24 7539 .L859: 7540 483a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 7541 483e 1092 0000 sts GierGyroFehler,__zero_reg__ 7542 4842 81E0 ldi r24,lo8(1) 7543 4844 90E0 ldi r25,hi8(1) 7544 4846 9093 0000 sts (cnt.3100)+1,r25 7545 484a 8093 0000 sts cnt.3100,r24 7546 484e 8091 0000 lds r24,MittelIntegralNick_Alt.3105 7547 4852 9091 0000 lds r25,(MittelIntegralNick_Alt.3105)+1 7548 4856 A091 0000 lds r26,(MittelIntegralNick_Alt.3105)+2 7549 485a B091 0000 lds r27,(MittelIntegralNick_Alt.3105)+3 7550 485e 28A5 ldd r18,Y+40 7551 4860 39A5 ldd r19,Y+41 7552 4862 4AA5 ldd r20,Y+42 7553 4864 5BA5 ldd r21,Y+43 7554 4866 821B sub r24,r18 7555 4868 930B sbc r25,r19 7556 486a A40B sbc r26,r20 7557 486c B50B sbc r27,r21 7558 486e 815E subi r24,lo8(-(19999)) 7559 4870 914B sbci r25,hi8(-(19999)) 7560 4872 AF4F sbci r26,hlo8(-(19999)) 7561 4874 BF4F sbci r27,hhi8(-(19999)) 7562 4876 8F53 subi r24,lo8(39999) 7563 4878 9C49 sbci r25,hi8(39999) 7564 487a A040 sbci r26,hlo8(39999) 7565 487c B040 sbci r27,hhi8(39999) 7566 487e 00F4 brsh .+2 7567 4880 00C0 rjmp .L1060 7568 4882 9090 0000 lds r9,FromNaviCtrl_Value+1 7569 4886 48E1 ldi r20,lo8(24) 7570 4888 4915 cp r20,r9 7571 488a 04F4 brge .+2 7572 488c 00C0 rjmp .L861 7573 488e 1092 0000 sts (cnt.3100)+1,__zero_reg__ 7574 4892 1092 0000 sts cnt.3100,__zero_reg__ 7575 4896 88EE ldi r24,lo8(1000) 7576 4898 93E0 ldi r25,hi8(1000) 7577 489a 9093 0000 sts (KompassSignalSchlecht)+1,r25 7578 489e 8093 0000 sts KompassSignalSchlecht,r24 7579 .L876: 7580 48a2 9C8D ldd r25,Y+28 7581 48a4 692E mov r6,r25 7582 48a6 7724 clr r7 7583 48a8 8091 0000 lds r24,cnt.3100 7584 48ac 9091 0000 lds r25,(cnt.3100)+1 7585 48b0 6816 cp r6,r24 7586 48b2 7906 cpc r7,r25 7587 48b4 04F4 brge .L877 7588 48b6 7092 0000 sts (cnt.3100)+1,r7 7589 48ba 6092 0000 sts cnt.3100,r6 7590 .L877: 7591 48be 9920 tst r9 7592 48c0 01F0 breq .L879 7593 48c2 292D mov r18,r9 7594 48c4 3327 clr r19 7595 48c6 27FD sbrc r18,7 7596 48c8 3095 com r19 7597 48ca 8091 0000 lds r24,cnt.3100 7598 48ce 9091 0000 lds r25,(cnt.3100)+1 7599 48d2 2817 cp r18,r24 7600 48d4 3907 cpc r19,r25 7601 48d6 04F4 brge .L879 7602 48d8 3093 0000 sts (cnt.3100)+1,r19 7603 48dc 2093 0000 sts cnt.3100,r18 7604 .L879: 7605 48e0 A1E0 ldi r26,lo8(1025) 7606 48e2 EA16 cp r14,r26 7607 48e4 A4E0 ldi r26,hi8(1025) 7608 48e6 FA06 cpc r15,r26 7609 48e8 A0E0 ldi r26,hlo8(1025) 7610 48ea 0A07 cpc r16,r26 7611 48ec A0E0 ldi r26,hhi8(1025) 7612 48ee 1A07 cpc r17,r26 7613 48f0 04F0 brlt .L882 7614 48f2 8091 0000 lds r24,AdNeutralNick 7615 48f6 9091 0000 lds r25,(AdNeutralNick)+1 7616 48fa 2091 0000 lds r18,cnt.3100 7617 48fe 3091 0000 lds r19,(cnt.3100)+1 7618 4902 820F add r24,r18 7619 4904 931F adc r25,r19 7620 4906 9093 0000 sts (AdNeutralNick)+1,r25 7621 490a 8093 0000 sts AdNeutralNick,r24 7622 .L882: 7623 490e B0E0 ldi r27,lo8(-1024) 7624 4910 EB16 cp r14,r27 7625 4912 BCEF ldi r27,hi8(-1024) 7626 4914 FB06 cpc r15,r27 7627 4916 BFEF ldi r27,hlo8(-1024) 7628 4918 0B07 cpc r16,r27 7629 491a BFEF ldi r27,hhi8(-1024) 7630 491c 1B07 cpc r17,r27 7631 491e 04F4 brge .L884 7632 4920 8091 0000 lds r24,AdNeutralNick 7633 4924 9091 0000 lds r25,(AdNeutralNick)+1 7634 4928 2091 0000 lds r18,cnt.3100 7635 492c 3091 0000 lds r19,(cnt.3100)+1 7636 4930 821B sub r24,r18 7637 4932 930B sbc r25,r19 7638 4934 9093 0000 sts (AdNeutralNick)+1,r25 7639 4938 8093 0000 sts AdNeutralNick,r24 7640 .L884: 7641 493c 81E0 ldi r24,lo8(1) 7642 493e 90E0 ldi r25,hi8(1) 7643 4940 9093 0000 sts (cnt.3100)+1,r25 7644 4944 8093 0000 sts cnt.3100,r24 7645 4948 1092 0000 sts ausgleichRoll.3091,__zero_reg__ 7646 494c 1092 0000 sts (ausgleichRoll.3091)+1,__zero_reg__ 7647 4950 1092 0000 sts (ausgleichRoll.3091)+2,__zero_reg__ 7648 4954 1092 0000 sts (ausgleichRoll.3091)+3,__zero_reg__ 7649 4958 8091 0000 lds r24,MittelIntegralRoll_Alt.3106 7650 495c 9091 0000 lds r25,(MittelIntegralRoll_Alt.3106)+1 7651 4960 A091 0000 lds r26,(MittelIntegralRoll_Alt.3106)+2 7652 4964 B091 0000 lds r27,(MittelIntegralRoll_Alt.3106)+3 7653 4968 8219 sub r24,r2 7654 496a 9309 sbc r25,r3 7655 496c A409 sbc r26,r4 7656 496e B509 sbc r27,r5 7657 4970 815E subi r24,lo8(-(19999)) 7658 4972 914B sbci r25,hi8(-(19999)) 7659 4974 AF4F sbci r26,hlo8(-(19999)) 7660 4976 BF4F sbci r27,hhi8(-(19999)) 7661 4978 8F53 subi r24,lo8(39999) 7662 497a 9C49 sbci r25,hi8(39999) 7663 497c A040 sbci r26,hlo8(39999) 7664 497e B040 sbci r27,hhi8(39999) 7665 4980 00F4 brsh .+2 7666 4982 00C0 rjmp .L886 7667 4984 F8E1 ldi r31,lo8(24) 7668 4986 F915 cp r31,r9 7669 4988 04F4 brge .+2 7670 498a 00C0 rjmp .L886 7671 498c 1092 0000 sts (cnt.3100)+1,__zero_reg__ 7672 4990 1092 0000 sts cnt.3100,__zero_reg__ 7673 4994 88EE ldi r24,lo8(1000) 7674 4996 93E0 ldi r25,hi8(1000) 7675 4998 9093 0000 sts (KompassSignalSchlecht)+1,r25 7676 499c 8093 0000 sts KompassSignalSchlecht,r24 7677 .L901: 7678 49a0 8091 0000 lds r24,cnt.3100 7679 49a4 9091 0000 lds r25,(cnt.3100)+1 7680 49a8 6816 cp r6,r24 7681 49aa 7906 cpc r7,r25 7682 49ac 04F4 brge .L902 7683 49ae 7092 0000 sts (cnt.3100)+1,r7 7684 49b2 6092 0000 sts cnt.3100,r6 7685 .L902: 7686 49b6 9920 tst r9 7687 49b8 01F0 breq .L904 7688 49ba 292D mov r18,r9 7689 49bc 3327 clr r19 7690 49be 27FD sbrc r18,7 7691 49c0 3095 com r19 7692 49c2 8091 0000 lds r24,cnt.3100 7693 49c6 9091 0000 lds r25,(cnt.3100)+1 7694 49ca 2817 cp r18,r24 7695 49cc 3907 cpc r19,r25 7696 49ce 04F4 brge .L904 7697 49d0 3093 0000 sts (cnt.3100)+1,r19 7698 49d4 2093 0000 sts cnt.3100,r18 7699 .L904: 7700 49d8 71E0 ldi r23,lo8(1025) 7701 49da A716 cp r10,r23 7702 49dc 74E0 ldi r23,hi8(1025) 7703 49de B706 cpc r11,r23 7704 49e0 70E0 ldi r23,hlo8(1025) 7705 49e2 C706 cpc r12,r23 7706 49e4 70E0 ldi r23,hhi8(1025) 7707 49e6 D706 cpc r13,r23 7708 49e8 04F0 brlt .L907 7709 49ea 8091 0000 lds r24,AdNeutralRoll 7710 49ee 9091 0000 lds r25,(AdNeutralRoll)+1 7711 49f2 2091 0000 lds r18,cnt.3100 7712 49f6 3091 0000 lds r19,(cnt.3100)+1 7713 49fa 820F add r24,r18 7714 49fc 931F adc r25,r19 7715 49fe 9093 0000 sts (AdNeutralRoll)+1,r25 7716 4a02 8093 0000 sts AdNeutralRoll,r24 7717 .L907: 7718 4a06 80E0 ldi r24,lo8(-1024) 7719 4a08 A816 cp r10,r24 7720 4a0a 8CEF ldi r24,hi8(-1024) 7721 4a0c B806 cpc r11,r24 7722 4a0e 8FEF ldi r24,hlo8(-1024) 7723 4a10 C806 cpc r12,r24 7724 4a12 8FEF ldi r24,hhi8(-1024) 7725 4a14 D806 cpc r13,r24 7726 4a16 04F0 brlt .+4 7727 4a18 0C94 0000 jmp .L909 7728 4a1c 8091 0000 lds r24,AdNeutralRoll 7729 4a20 9091 0000 lds r25,(AdNeutralRoll)+1 7730 4a24 2091 0000 lds r18,cnt.3100 7731 4a28 3091 0000 lds r19,(cnt.3100)+1 7732 4a2c 821B sub r24,r18 7733 4a2e 930B sbc r25,r19 7734 4a30 9093 0000 sts (AdNeutralRoll)+1,r25 7735 4a34 8093 0000 sts AdNeutralRoll,r24 7736 4a38 0C94 0000 jmp .L909 7737 .L1111: 7738 4a3c 9701 movw r18,r14 7739 4a3e 0C94 0000 jmp .L1010 7740 .L1076: 7741 4a42 6801 movw r12,r16 7742 4a44 0C94 0000 jmp .L927 7743 .L1078: 7744 4a48 60E0 ldi r22,lo8(0) 7745 4a4a 70E0 ldi r23,hi8(0) 7746 4a4c 00E0 ldi r16,lo8(0) 7747 4a4e 10E0 ldi r17,hi8(0) 7748 4a50 0C94 0000 jmp .L931 7749 .L982: 7750 4a54 8091 0000 lds r24,Parameter_MaxHoehe 7751 4a58 8233 cpi r24,lo8(50) 7752 4a5a 00F4 brsh .+4 7753 4a5c 0C94 0000 jmp .L984 7754 .L985: 7755 4a60 81E0 ldi r24,lo8(1) 7756 4a62 8093 0000 sts HoehenReglerAktiv,r24 7757 4a66 88EC ldi r24,lo8(-56) 7758 4a68 8093 0000 sts delay.3113,r24 7759 4a6c 2091 0000 lds r18,HoehenWert 7760 4a70 3091 0000 lds r19,(HoehenWert)+1 7761 4a74 00C0 rjmp .L986 7762 .L1086: 7763 4a76 4D5F subi r20,lo8(-(3)) 7764 4a78 5F4F sbci r21,hi8(-(3)) 7765 4a7a 0C94 0000 jmp .L741 7766 .L1087: 7767 4a7e 4D5F subi r20,lo8(-(3)) 7768 4a80 5F4F sbci r21,hi8(-(3)) 7769 4a82 0C94 0000 jmp .L742 7770 .L1083: 7771 4a86 1092 0000 sts SummeNick.3068,__zero_reg__ 7772 4a8a 1092 0000 sts (SummeNick.3068)+1,__zero_reg__ 7773 4a8e 1092 0000 sts (SummeNick.3068)+2,__zero_reg__ 7774 4a92 1092 0000 sts (SummeNick.3068)+3,__zero_reg__ 7775 4a96 1092 0000 sts SummeRoll.3069,__zero_reg__ 7776 4a9a 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__ 7777 4a9e 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__ 7778 4aa2 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__ 7779 4aa6 8A3F cpi r24,250 7780 4aa8 9105 cpc r25,__zero_reg__ 7781 4aaa 01F0 breq .+4 7782 4aac 0C94 0000 jmp .L682 7783 4ab0 81E0 ldi r24,lo8(1) 7784 4ab2 8093 0000 sts NeueKompassRichtungMerken.3089,r24 7785 4ab6 1092 0000 sts sollGier.3070,__zero_reg__ 7786 4aba 1092 0000 sts (sollGier.3070)+1,__zero_reg__ 7787 4abe 1092 0000 sts (sollGier.3070)+2,__zero_reg__ 7788 4ac2 1092 0000 sts (sollGier.3070)+3,__zero_reg__ 7789 4ac6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 7790 4aca 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 7791 4ace 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 7792 4ad2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 7793 4ad6 0C94 0000 jmp .L682 7794 .L1104: 7795 4ada A0E0 ldi r26,lo8(0) 7796 4adc 1092 0000 sts Looping_Oben,__zero_reg__ 7797 4ae0 0C94 0000 jmp .L788 7798 .L1106: 7799 4ae4 1092 0000 sts Looping_Unten,__zero_reg__ 7800 4ae8 0C94 0000 jmp .L794 7801 .L1102: 7802 4aec 1092 0000 sts Looping_Rechts,__zero_reg__ 7803 4af0 0C94 0000 jmp .L782 7804 .L1068: 7805 4af4 88E9 ldi r24,lo8(15000) 7806 4af6 9AE3 ldi r25,hi8(15000) 7807 4af8 9093 0000 sts (beeptime)+1,r25 7808 4afc 8093 0000 sts beeptime,r24 7809 4b00 80E0 ldi r24,lo8(3072) 7810 4b02 9CE0 ldi r25,hi8(3072) 7811 4b04 9093 0000 sts (BeepMuster)+1,r25 7812 4b08 8093 0000 sts BeepMuster,r24 7813 4b0c 0C94 0000 jmp .L662 7814 .L1075: 7815 4b10 D094 com r13 7816 4b12 C194 neg r12 7817 4b14 D108 sbc r13,__zero_reg__ 7818 4b16 D394 inc r13 7819 4b18 0C94 0000 jmp .L926 7820 .L1074: 7821 4b1c 1095 com r17 7822 4b1e 0195 neg r16 7823 4b20 1F4F sbci r17,lo8(-1) 7824 4b22 0C94 0000 jmp .L925 7825 .L1077: 7826 4b26 8827 clr r24 7827 4b28 9927 clr r25 7828 4b2a 8819 sub r24,r8 7829 4b2c 9909 sbc r25,r9 7830 4b2e 0C94 0000 jmp .L929 7831 .L1110: 7832 4b32 3196 adiw r30,1 7833 4b34 0C94 0000 jmp .L1012 7834 .L818: 7835 4b38 C401 movw r24,r8 7836 4b3a B301 movw r22,r6 7837 4b3c 22E0 ldi r18,lo8(2) 7838 4b3e 30E0 ldi r19,hi8(2) 7839 4b40 40E0 ldi r20,hlo8(2) 7840 4b42 50E0 ldi r21,hhi8(2) 7841 4b44 0E94 0000 call __divmodsi4 7842 4b48 3901 movw r6,r18 7843 4b4a 4A01 movw r8,r20 7844 4b4c C601 movw r24,r12 7845 4b4e B501 movw r22,r10 7846 4b50 22E0 ldi r18,lo8(2) 7847 4b52 30E0 ldi r19,hi8(2) 7848 4b54 40E0 ldi r20,hlo8(2) 7849 4b56 50E0 ldi r21,hhi8(2) 7850 4b58 0E94 0000 call __divmodsi4 7851 4b5c 5901 movw r10,r18 7852 4b5e 6A01 movw r12,r20 7853 4b60 00C0 rjmp .L820 7854 .L1089: 7855 4b62 1092 0000 sts (StickGas)+1,__zero_reg__ 7856 4b66 1092 0000 sts StickGas,__zero_reg__ 7857 4b6a 0C94 0000 jmp .L752 7858 .L1091: 7859 4b6e 9095 com r25 7860 4b70 8195 neg r24 7861 4b72 9F4F sbci r25,lo8(-1) 7862 4b74 0C94 0000 jmp .L758 7863 .L1090: 7864 4b78 0396 adiw r24,3 7865 4b7a 0C94 0000 jmp .L757 7866 .L1095: 7867 4b7e 0396 adiw r24,3 7868 4b80 9595 asr r25 7869 4b82 8795 ror r24 7870 4b84 9595 asr r25 7871 4b86 8795 ror r24 7872 4b88 97FD sbrc r25,7 7873 4b8a 00C0 rjmp .+4 7874 4b8c 0C94 0000 jmp .L766 7875 .L1096: 7876 4b90 9095 com r25 7877 4b92 8195 neg r24 7878 4b94 9F4F sbci r25,lo8(-1) 7879 4b96 0C94 0000 jmp .L766 7880 .L940: 7881 4b9a 0894 sec 7882 4b9c E108 sbc r14,__zero_reg__ 7883 4b9e F108 sbc r15,__zero_reg__ 7884 4ba0 F092 0000 sts (KompassSignalSchlecht)+1,r15 7885 4ba4 E092 0000 sts KompassSignalSchlecht,r14 7886 4ba8 0C94 0000 jmp .L922 7887 .L1069: 7888 4bac 4B2F mov r20,r27 7889 4bae 50E0 ldi r21,lo8(0) 7890 4bb0 5B87 std Y+11,r21 7891 4bb2 4A87 std Y+10,r20 7892 4bb4 8091 0000 lds r24,Looping_Nick 7893 4bb8 8823 tst r24 7894 4bba 01F4 brne .+4 7895 4bbc 0C94 0000 jmp .L806 7896 4bc0 0C94 0000 jmp .L804 7897 .L731: 7898 4bc4 1092 0000 sts delay_einschalten.3077,__zero_reg__ 7899 4bc8 0C94 0000 jmp .L733 7900 .L735: 7901 4bcc 1092 0000 sts delay_ausschalten.3078,__zero_reg__ 7902 4bd0 0C94 0000 jmp .L674 7903 .L1121: 7904 4bd4 0396 adiw r24,3 7905 4bd6 00C0 rjmp .L949 7906 .L1120: 7907 4bd8 0396 adiw r24,3 7908 4bda 00C0 rjmp .L948 7909 .L1098: 7910 4bdc 0396 adiw r24,3 7911 4bde 0C94 0000 jmp .L769 7912 .L1097: 7913 4be2 9095 com r25 7914 4be4 8195 neg r24 7915 4be6 9F4F sbci r25,lo8(-1) 7916 4be8 0C94 0000 jmp .L768 7917 .L1093: 7918 4bec 0396 adiw r24,3 7919 4bee 0C94 0000 jmp .L761 7920 .L1092: 7921 4bf2 9095 com r25 7922 4bf4 8195 neg r24 7923 4bf6 9F4F sbci r25,lo8(-1) 7924 4bf8 0C94 0000 jmp .L760 7925 .L938: 7926 4bfc 84EF ldi r24,lo8(500) 7927 4bfe 91E0 ldi r25,hi8(500) 7928 4c00 9093 0000 sts (KompassSignalSchlecht)+1,r25 7929 4c04 8093 0000 sts KompassSignalSchlecht,r24 7930 4c08 0C94 0000 jmp .L922 7931 .L1081: 7932 4c0c 215E subi r18,lo8(-(31)) 7933 4c0e 3F4F sbci r19,hi8(-(31)) 7934 4c10 0C94 0000 jmp .L937 7935 .L1080: 7936 4c14 695F subi r22,lo8(-(7)) 7937 4c16 7F4F sbci r23,hi8(-(7)) 7938 4c18 0C94 0000 jmp .L936 7939 .L943: 7940 4c1c 4427 clr r20 7941 4c1e 37FD sbrc r19,7 7942 4c20 4095 com r20 7943 4c22 542F mov r21,r20 7944 4c24 8091 0000 lds r24,Mess_Integral_Gier 7945 4c28 9091 0000 lds r25,(Mess_Integral_Gier)+1 7946 4c2c A091 0000 lds r26,(Mess_Integral_Gier)+2 7947 4c30 B091 0000 lds r27,(Mess_Integral_Gier)+3 7948 4c34 820F add r24,r18 7949 4c36 931F adc r25,r19 7950 4c38 A41F adc r26,r20 7951 4c3a B51F adc r27,r21 7952 4c3c 8093 0000 sts Mess_Integral_Gier,r24 7953 4c40 9093 0000 sts (Mess_Integral_Gier)+1,r25 7954 4c44 A093 0000 sts (Mess_Integral_Gier)+2,r26 7955 4c48 B093 0000 sts (Mess_Integral_Gier)+3,r27 7956 4c4c 0C94 0000 jmp .L922 7957 .L687: 7958 4c50 8081 ld r24,Z 7959 4c52 9181 ldd r25,Z+1 7960 4c54 855B subi r24,lo8(-75) 7961 4c56 9F4F sbci r25,hi8(-75) 7962 4c58 04F0 brlt .+2 7963 4c5a 00C0 rjmp .L721 7964 4c5c 8091 0000 lds r24,delay_neutral.3076 7965 4c60 8F5F subi r24,lo8(-(1)) 7966 4c62 8093 0000 sts delay_neutral.3076,r24 7967 4c66 893C cpi r24,lo8(-55) 7968 4c68 00F4 brsh .+4 7969 4c6a 0C94 0000 jmp .L684 7970 4c6e 4C30 cpi r20,lo8(12) 7971 4c70 00F0 brlo .+2 7972 4c72 00C0 rjmp .L724 7973 4c74 2998 cbi 37-0x20,1 7974 .L726: 7975 4c76 8FEF ldi r24,lo8(-1) 7976 4c78 00E0 ldi r16,lo8(EEPromArray+4) 7977 4c7a 10E0 ldi r17,hi8(EEPromArray+4) 7978 4c7c D801 movw r26,r16 7979 /* #APP */ 7980 4c7e 082E mov __tmp_reg__,r24 7981 4c80 0E94 0000 call __eeprom_write_byte_1F2021 7982 /* #NOAPP */ 7983 4c84 1092 0000 sts MotorenEin,__zero_reg__ 7984 4c88 1092 0000 sts delay_neutral.3076,__zero_reg__ 7985 4c8c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 7986 4c90 1092 0000 sts modell_fliegt,__zero_reg__ 7987 4c94 0E94 0000 call SetNeutral 7988 4c98 8091 0000 lds r24,NeutralAccX 7989 4c9c 9091 0000 lds r25,(NeutralAccX)+1 7990 4ca0 97FD sbrc r25,7 7991 4ca2 00C0 rjmp .L1127 7992 .L727: 7993 4ca4 892F mov r24,r25 7994 4ca6 990F lsl r25 7995 4ca8 990B sbc r25,r25 7996 4caa D801 movw r26,r16 7997 /* #APP */ 7998 4cac 082E mov __tmp_reg__,r24 7999 4cae 0E94 0000 call __eeprom_write_byte_1F2021 8000 /* #NOAPP */ 8001 4cb2 8091 0000 lds r24,NeutralAccX 8002 4cb6 9091 0000 lds r25,(NeutralAccX)+1 8003 4cba 60E0 ldi r22,lo8(256) 8004 4cbc 71E0 ldi r23,hi8(256) 8005 4cbe 0E94 0000 call __divmodhi4 8006 4cc2 0F5F subi r16,lo8(-(1)) 8007 4cc4 1F4F sbci r17,hi8(-(1)) 8008 4cc6 D801 movw r26,r16 8009 /* #APP */ 8010 4cc8 082E mov __tmp_reg__,r24 8011 4cca 0E94 0000 call __eeprom_write_byte_1F2021 8012 /* #NOAPP */ 8013 4cce 0150 subi r16,lo8(-(-1)) 8014 4cd0 1040 sbci r17,hi8(-(-1)) 8015 4cd2 2091 0000 lds r18,NeutralAccY 8016 4cd6 3091 0000 lds r19,(NeutralAccY)+1 8017 4cda 37FD sbrc r19,7 8018 4cdc 00C0 rjmp .L1128 8019 .L728: 8020 4cde 832F mov r24,r19 8021 4ce0 9927 clr r25 8022 4ce2 87FD sbrc r24,7 8023 4ce4 9A95 dec r25 8024 4ce6 0E5F subi r16,lo8(-(2)) 8025 4ce8 1F4F sbci r17,hi8(-(2)) 8026 4cea D801 movw r26,r16 8027 /* #APP */ 8028 4cec 082E mov __tmp_reg__,r24 8029 4cee 0E94 0000 call __eeprom_write_byte_1F2021 8030 /* #NOAPP */ 8031 4cf2 8091 0000 lds r24,NeutralAccY 8032 4cf6 9091 0000 lds r25,(NeutralAccY)+1 8033 4cfa 60E0 ldi r22,lo8(256) 8034 4cfc 71E0 ldi r23,hi8(256) 8035 4cfe 0E94 0000 call __divmodhi4 8036 4d02 0F5F subi r16,lo8(-(1)) 8037 4d04 1F4F sbci r17,hi8(-(1)) 8038 4d06 D801 movw r26,r16 8039 /* #APP */ 8040 4d08 082E mov __tmp_reg__,r24 8041 4d0a 0E94 0000 call __eeprom_write_byte_1F2021 8042 /* #NOAPP */ 8043 4d0e 0350 subi r16,lo8(-(-3)) 8044 4d10 1040 sbci r17,hi8(-(-3)) 8045 4d12 6091 0000 lds r22,NeutralAccZ 8046 4d16 7091 0000 lds r23,(NeutralAccZ)+1 8047 4d1a 8091 0000 lds r24,(NeutralAccZ)+2 8048 4d1e 9091 0000 lds r25,(NeutralAccZ)+3 8049 4d22 0E94 0000 call __fixsfsi 8050 4d26 9B01 movw r18,r22 8051 4d28 77FD sbrc r23,7 8052 4d2a 00C0 rjmp .L1129 8053 .L729: 8054 4d2c 832F mov r24,r19 8055 4d2e 9927 clr r25 8056 4d30 87FD sbrc r24,7 8057 4d32 9A95 dec r25 8058 4d34 0C5F subi r16,lo8(-(4)) 8059 4d36 1F4F sbci r17,hi8(-(4)) 8060 4d38 D801 movw r26,r16 8061 /* #APP */ 8062 4d3a 082E mov __tmp_reg__,r24 8063 4d3c 0E94 0000 call __eeprom_write_byte_1F2021 8064 /* #NOAPP */ 8065 4d40 6091 0000 lds r22,NeutralAccZ 8066 4d44 7091 0000 lds r23,(NeutralAccZ)+1 8067 4d48 8091 0000 lds r24,(NeutralAccZ)+2 8068 4d4c 9091 0000 lds r25,(NeutralAccZ)+3 8069 4d50 0E94 0000 call __fixsfsi 8070 4d54 DC01 movw r26,r24 8071 4d56 CB01 movw r24,r22 8072 4d58 60E0 ldi r22,lo8(256) 8073 4d5a 71E0 ldi r23,hi8(256) 8074 4d5c 0E94 0000 call __divmodhi4 8075 4d60 0F5F subi r16,lo8(-(1)) 8076 4d62 1F4F sbci r17,hi8(-(1)) 8077 4d64 D801 movw r26,r16 8078 /* #APP */ 8079 4d66 082E mov __tmp_reg__,r24 8080 4d68 0E94 0000 call __eeprom_write_byte_1F2021 8081 /* #NOAPP */ 8082 .L1066: 8083 4d6c 0E94 0000 call GetActiveParamSetNumber 8084 4d70 0E94 0000 call Piep 8085 4d74 8091 0000 lds r24,EE_Parameter+2 8086 4d78 A82F mov r26,r24 8087 4d7a B0E0 ldi r27,lo8(0) 8088 4d7c AA0F lsl r26 8089 4d7e BB1F rol r27 8090 4d80 0C94 0000 jmp .L684 8091 .L1079: 8092 4d84 88EC ldi r24,lo8(200) 8093 4d86 90E0 ldi r25,hi8(200) 8094 4d88 9093 0000 sts (beeptime)+1,r25 8095 4d8c 8093 0000 sts beeptime,r24 8096 4d90 B101 movw r22,r2 8097 4d92 8827 clr r24 8098 4d94 77FD sbrc r23,7 8099 4d96 8095 com r24 8100 4d98 982F mov r25,r24 8101 4d9a 2C89 ldd r18,Y+20 8102 4d9c 3D89 ldd r19,Y+21 8103 4d9e 4E89 ldd r20,Y+22 8104 4da0 5F89 ldd r21,Y+23 8105 4da2 0E94 0000 call __mulsi3 8106 4da6 2B01 movw r4,r22 8107 4da8 3C01 movw r6,r24 8108 4daa 6093 0000 sts ErsatzKompass,r22 8109 4dae 7093 0000 sts (ErsatzKompass)+1,r23 8110 4db2 8093 0000 sts (ErsatzKompass)+2,r24 8111 4db6 9093 0000 sts (ErsatzKompass)+3,r25 8112 4dba 0E94 0000 call __divmodsi4 8113 4dbe 3093 0000 sts (KompassStartwert)+1,r19 8114 4dc2 2093 0000 sts KompassStartwert,r18 8115 4dc6 1092 0000 sts NeueKompassRichtungMerken.3089,__zero_reg__ 8116 4dca 0C94 0000 jmp .L932 8117 .L1085: 8118 4dce 88EC ldi r24,lo8(-56) 8119 4dd0 8093 0000 sts delay_einschalten.3077,r24 8120 4dd4 81E0 ldi r24,lo8(1) 8121 4dd6 90E0 ldi r25,hi8(1) 8122 4dd8 9093 0000 sts (modell_fliegt)+1,r25 8123 4ddc 8093 0000 sts modell_fliegt,r24 8124 4de0 81E0 ldi r24,lo8(1) 8125 4de2 8093 0000 sts MotorenEin,r24 8126 4de6 1092 0000 sts sollGier.3070,__zero_reg__ 8127 4dea 1092 0000 sts (sollGier.3070)+1,__zero_reg__ 8128 4dee 1092 0000 sts (sollGier.3070)+2,__zero_reg__ 8129 4df2 1092 0000 sts (sollGier.3070)+3,__zero_reg__ 8130 4df6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 8131 4dfa 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 8132 4dfe 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 8133 4e02 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 8134 4e06 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 8135 4e0a 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 8136 4e0e 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 8137 4e12 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 8138 4e16 E090 0000 lds r14,EE_Parameter+20 8139 4e1a FF24 clr r15 8140 4e1c 00E0 ldi r16,lo8(0) 8141 4e1e 10E0 ldi r17,hi8(0) 8142 4e20 6091 0000 lds r22,Mittelwert_AccNick 8143 4e24 7091 0000 lds r23,(Mittelwert_AccNick)+1 8144 4e28 8827 clr r24 8145 4e2a 77FD sbrc r23,7 8146 4e2c 8095 com r24 8147 4e2e 982F mov r25,r24 8148 4e30 A801 movw r20,r16 8149 4e32 9701 movw r18,r14 8150 4e34 0E94 0000 call __mulsi3 8151 4e38 6093 0000 sts Mess_IntegralNick,r22 8152 4e3c 7093 0000 sts (Mess_IntegralNick)+1,r23 8153 4e40 8093 0000 sts (Mess_IntegralNick)+2,r24 8154 4e44 9093 0000 sts (Mess_IntegralNick)+3,r25 8155 4e48 6091 0000 lds r22,Mittelwert_AccRoll 8156 4e4c 7091 0000 lds r23,(Mittelwert_AccRoll)+1 8157 4e50 8827 clr r24 8158 4e52 77FD sbrc r23,7 8159 4e54 8095 com r24 8160 4e56 982F mov r25,r24 8161 4e58 0E94 0000 call __mulsi3 8162 4e5c 6093 0000 sts Mess_IntegralRoll,r22 8163 4e60 7093 0000 sts (Mess_IntegralRoll)+1,r23 8164 4e64 8093 0000 sts (Mess_IntegralRoll)+2,r24 8165 4e68 9093 0000 sts (Mess_IntegralRoll)+3,r25 8166 4e6c 8091 0000 lds r24,IntegralNick 8167 4e70 9091 0000 lds r25,(IntegralNick)+1 8168 4e74 A091 0000 lds r26,(IntegralNick)+2 8169 4e78 B091 0000 lds r27,(IntegralNick)+3 8170 4e7c 8093 0000 sts Mess_IntegralNick2,r24 8171 4e80 9093 0000 sts (Mess_IntegralNick2)+1,r25 8172 4e84 A093 0000 sts (Mess_IntegralNick2)+2,r26 8173 4e88 B093 0000 sts (Mess_IntegralNick2)+3,r27 8174 4e8c 8091 0000 lds r24,IntegralRoll 8175 4e90 9091 0000 lds r25,(IntegralRoll)+1 8176 4e94 A091 0000 lds r26,(IntegralRoll)+2 8177 4e98 B091 0000 lds r27,(IntegralRoll)+3 8178 4e9c 8093 0000 sts Mess_IntegralRoll2,r24 8179 4ea0 9093 0000 sts (Mess_IntegralRoll2)+1,r25 8180 4ea4 A093 0000 sts (Mess_IntegralRoll2)+2,r26 8181 4ea8 B093 0000 sts (Mess_IntegralRoll2)+3,r27 8182 4eac 1092 0000 sts SummeNick.3068,__zero_reg__ 8183 4eb0 1092 0000 sts (SummeNick.3068)+1,__zero_reg__ 8184 4eb4 1092 0000 sts (SummeNick.3068)+2,__zero_reg__ 8185 4eb8 1092 0000 sts (SummeNick.3068)+3,__zero_reg__ 8186 4ebc 1092 0000 sts SummeRoll.3069,__zero_reg__ 8187 4ec0 1092 0000 sts (SummeRoll.3069)+1,__zero_reg__ 8188 4ec4 1092 0000 sts (SummeRoll.3069)+2,__zero_reg__ 8189 4ec8 1092 0000 sts (SummeRoll.3069)+3,__zero_reg__ 8190 4ecc 8091 0000 lds r24,MikroKopterFlags 8191 4ed0 8860 ori r24,lo8(8) 8192 4ed2 8093 0000 sts MikroKopterFlags,r24 8193 4ed6 0C94 0000 jmp .L733 8194 .L1003: 8195 4eda ADA5 ldd r26,Y+45 8196 4edc BEA5 ldd r27,Y+46 8197 4ede B093 0000 sts (hoehenregler.3079)+1,r27 8198 4ee2 A093 0000 sts hoehenregler.3079,r26 8199 4ee6 0C94 0000 jmp .L1005 8200 .L816: 8201 4eea E090 0000 lds r14,EE_Parameter+20 8202 4eee FF24 clr r15 8203 4ef0 00E0 ldi r16,lo8(0) 8204 4ef2 10E0 ldi r17,hi8(0) 8205 4ef4 6981 ldd r22,Y+1 8206 4ef6 7A81 ldd r23,Y+2 8207 4ef8 8B81 ldd r24,Y+3 8208 4efa 9C81 ldd r25,Y+4 8209 4efc A801 movw r20,r16 8210 4efe 9701 movw r18,r14 8211 4f00 0E94 0000 call __divmodsi4 8212 4f04 5901 movw r10,r18 8213 4f06 6A01 movw r12,r20 8214 4f08 8091 0000 lds r24,Mittelwert_AccNick 8215 4f0c 9091 0000 lds r25,(Mittelwert_AccNick)+1 8216 4f10 AA27 clr r26 8217 4f12 97FD sbrc r25,7 8218 4f14 A095 com r26 8219 4f16 BA2F mov r27,r26 8220 4f18 A81A sub r10,r24 8221 4f1a B90A sbc r11,r25 8222 4f1c CA0A sbc r12,r26 8223 4f1e DB0A sbc r13,r27 8224 4f20 6D81 ldd r22,Y+5 8225 4f22 7E81 ldd r23,Y+6 8226 4f24 8F81 ldd r24,Y+7 8227 4f26 9885 ldd r25,Y+8 8228 4f28 A801 movw r20,r16 8229 4f2a 9701 movw r18,r14 8230 4f2c 0E94 0000 call __divmodsi4 8231 4f30 7901 movw r14,r18 8232 4f32 8A01 movw r16,r20 8233 4f34 8091 0000 lds r24,Mittelwert_AccRoll 8234 4f38 9091 0000 lds r25,(Mittelwert_AccRoll)+1 8235 4f3c AA27 clr r26 8236 4f3e 97FD sbrc r25,7 8237 4f40 A095 com r26 8238 4f42 BA2F mov r27,r26 8239 4f44 E81A sub r14,r24 8240 4f46 F90A sbc r15,r25 8241 4f48 0A0B sbc r16,r26 8242 4f4a 1B0B sbc r17,r27 8243 4f4c C601 movw r24,r12 8244 4f4e B501 movw r22,r10 8245 4f50 20E1 ldi r18,lo8(16) 8246 4f52 30E0 ldi r19,hi8(16) 8247 4f54 40E0 ldi r20,hlo8(16) 8248 4f56 50E0 ldi r21,hhi8(16) 8249 4f58 0E94 0000 call __divmodsi4 8250 4f5c 3901 movw r6,r18 8251 4f5e 4A01 movw r8,r20 8252 4f60 C801 movw r24,r16 8253 4f62 B701 movw r22,r14 8254 4f64 20E1 ldi r18,lo8(16) 8255 4f66 30E0 ldi r19,hi8(16) 8256 4f68 40E0 ldi r20,hlo8(16) 8257 4f6a 50E0 ldi r21,hhi8(16) 8258 4f6c 0E94 0000 call __divmodsi4 8259 4f70 5901 movw r10,r18 8260 4f72 6A01 movw r12,r20 8261 4f74 8091 0000 lds r24,MaxStickNick 8262 4f78 9091 0000 lds r25,(MaxStickNick)+1 8263 4f7c 8134 cpi r24,65 8264 4f7e 9105 cpc r25,__zero_reg__ 8265 4f80 04F4 brge .L829 8266 4f82 8091 0000 lds r24,MaxStickRoll 8267 4f86 9091 0000 lds r25,(MaxStickRoll)+1 8268 4f8a 8134 cpi r24,65 8269 4f8c 9105 cpc r25,__zero_reg__ 8270 4f8e 04F0 brlt .L831 8271 .L829: 8272 4f90 C401 movw r24,r8 8273 4f92 B301 movw r22,r6 8274 4f94 23E0 ldi r18,lo8(3) 8275 4f96 30E0 ldi r19,hi8(3) 8276 4f98 40E0 ldi r20,hlo8(3) 8277 4f9a 50E0 ldi r21,hhi8(3) 8278 4f9c 0E94 0000 call __divmodsi4 8279 4fa0 3901 movw r6,r18 8280 4fa2 4A01 movw r8,r20 8281 4fa4 C601 movw r24,r12 8282 4fa6 B501 movw r22,r10 8283 4fa8 23E0 ldi r18,lo8(3) 8284 4faa 30E0 ldi r19,hi8(3) 8285 4fac 40E0 ldi r20,hlo8(3) 8286 4fae 50E0 ldi r21,hhi8(3) 8287 4fb0 0E94 0000 call __divmodsi4 8288 4fb4 5901 movw r10,r18 8289 4fb6 6A01 movw r12,r20 8290 .L831: 8291 4fb8 E091 0000 lds r30,EE_Parameter+3 8292 4fbc F0E0 ldi r31,lo8(0) 8293 4fbe EE0F lsl r30 8294 4fc0 FF1F rol r31 8295 4fc2 E050 subi r30,lo8(-(PPM_in)) 8296 4fc4 F040 sbci r31,hi8(-(PPM_in)) 8297 4fc6 0190 ld __tmp_reg__,Z+ 8298 4fc8 F081 ld r31,Z 8299 4fca E02D mov r30,__tmp_reg__ 8300 4fcc F7FD sbrc r31,7 8301 4fce 00C0 rjmp .L1130 8302 .L833: 8303 4fd0 7A97 sbiw r30,26 8304 4fd2 04F0 brlt .L832 8305 4fd4 C401 movw r24,r8 8306 4fd6 B301 movw r22,r6 8307 4fd8 23E0 ldi r18,lo8(3) 8308 4fda 30E0 ldi r19,hi8(3) 8309 4fdc 40E0 ldi r20,hlo8(3) 8310 4fde 50E0 ldi r21,hhi8(3) 8311 4fe0 0E94 0000 call __divmodsi4 8312 4fe4 3901 movw r6,r18 8313 4fe6 4A01 movw r8,r20 8314 4fe8 C601 movw r24,r12 8315 4fea B501 movw r22,r10 8316 4fec 23E0 ldi r18,lo8(3) 8317 4fee 30E0 ldi r19,hi8(3) 8318 4ff0 40E0 ldi r20,hlo8(3) 8319 4ff2 50E0 ldi r21,hhi8(3) 8320 4ff4 0E94 0000 call __divmodsi4 8321 4ff8 5901 movw r10,r18 8322 4ffa 6A01 movw r12,r20 8323 .L832: 8324 4ffc 71E2 ldi r23,lo8(33) 8325 4ffe 6716 cp r6,r23 8326 5000 7104 cpc r7,__zero_reg__ 8327 5002 8104 cpc r8,__zero_reg__ 8328 5004 9104 cpc r9,__zero_reg__ 8329 5006 04F4 brge .+2 8330 5008 00C0 rjmp .L835 8331 500a 80E2 ldi r24,lo8(32) 8332 500c 682E mov r6,r24 8333 500e 712C mov r7,__zero_reg__ 8334 5010 812C mov r8,__zero_reg__ 8335 5012 912C mov r9,__zero_reg__ 8336 .L837: 8337 5014 91E2 ldi r25,lo8(33) 8338 5016 A916 cp r10,r25 8339 5018 B104 cpc r11,__zero_reg__ 8340 501a C104 cpc r12,__zero_reg__ 8341 501c D104 cpc r13,__zero_reg__ 8342 501e 04F4 brge .+2 8343 5020 00C0 rjmp .L839 8344 5022 10E2 ldi r17,lo8(32) 8345 5024 A12E mov r10,r17 8346 5026 B12C mov r11,__zero_reg__ 8347 5028 C12C mov r12,__zero_reg__ 8348 502a D12C mov r13,__zero_reg__ 8349 502c 00C0 rjmp .L827 8350 .L1109: 8351 502e 8091 0000 lds r24,MessLuftdruck 8352 5032 9091 0000 lds r25,(MessLuftdruck)+1 8353 5036 895E subi r24,lo8(1001) 8354 5038 9340 sbci r25,hi8(1001) 8355 503a 00F4 brsh .+2 8356 503c 00C0 rjmp .L988 8357 503e 9091 0000 lds r25,ExpandBaro 8358 5042 9A50 subi r25,lo8(-(-10)) 8359 .L1067: 8360 5044 9093 0000 sts ExpandBaro,r25 8361 5048 8091 0000 lds r24,DruckOffsetSetting 8362 504c 891B sub r24,r25 8363 504e 87BD out 71-0x20,r24 8364 5050 8CE2 ldi r24,lo8(300) 8365 5052 91E0 ldi r25,hi8(300) 8366 5054 9093 0000 sts (beeptime)+1,r25 8367 5058 8093 0000 sts beeptime,r24 8368 505c 8AEF ldi r24,lo8(-6) 8369 505e 8093 0000 sts delay.3113,r24 8370 5062 2091 0000 lds r18,HoehenWert 8371 5066 3091 0000 lds r19,(HoehenWert)+1 8372 506a 00C0 rjmp .L986 8373 .L1122: 8374 506c 0396 adiw r24,3 8375 506e 00C0 rjmp .L996 8376 .L1124: 8377 5070 215F subi r18,lo8(-(15)) 8378 5072 3F4F sbci r19,hi8(-(15)) 8379 5074 00C0 rjmp .L1000 8380 .L1123: 8381 5076 2F5F subi r18,lo8(-(1)) 8382 5078 3F4F sbci r19,hi8(-(1)) 8383 507a 00C0 rjmp .L998 8384 .L886: 8385 507c 21E0 ldi r18,lo8(4097) 8386 507e A216 cp r10,r18 8387 5080 20E1 ldi r18,hi8(4097) 8388 5082 B206 cpc r11,r18 8389 5084 20E0 ldi r18,hlo8(4097) 8390 5086 C206 cpc r12,r18 8391 5088 20E0 ldi r18,hhi8(4097) 8392 508a D206 cpc r13,r18 8393 508c 04F4 brge .+2 8394 508e 00C0 rjmp .L889 8395 5090 8091 0000 lds r24,last_r_p.3103 8396 5094 8823 tst r24 8397 5096 01F4 brne .+2 8398 5098 00C0 rjmp .L891 8399 509a D601 movw r26,r12 8400 509c C501 movw r24,r10 8401 509e 49E0 ldi r20,9 8402 50a0 B595 1: asr r27 8403 50a2 A795 ror r26 8404 50a4 9795 ror r25 8405 50a6 8795 ror r24 8406 50a8 4A95 dec r20 8407 50aa 01F4 brne 1b 8408 50ac 0196 adiw r24,1 8409 50ae 9093 0000 sts (cnt.3100)+1,r25 8410 50b2 8093 0000 sts cnt.3100,r24 8411 50b6 D601 movw r26,r12 8412 50b8 C501 movw r24,r10 8413 50ba 33E0 ldi r19,3 8414 50bc B595 1: asr r27 8415 50be A795 ror r26 8416 50c0 9795 ror r25 8417 50c2 8795 ror r24 8418 50c4 3A95 dec r19 8419 50c6 01F4 brne 1b 8420 50c8 8093 0000 sts ausgleichRoll.3091,r24 8421 50cc 9093 0000 sts (ausgleichRoll.3091)+1,r25 8422 50d0 A093 0000 sts (ausgleichRoll.3091)+2,r26 8423 50d4 B093 0000 sts (ausgleichRoll.3091)+3,r27 8424 50d8 8958 subi r24,lo8(5001) 8425 50da 9341 sbci r25,hi8(5001) 8426 50dc A040 sbci r26,hlo8(5001) 8427 50de B040 sbci r27,hhi8(5001) 8428 50e0 04F0 brlt .L893 8429 50e2 88E8 ldi r24,lo8(5000) 8430 50e4 93E1 ldi r25,hi8(5000) 8431 50e6 A0E0 ldi r26,hlo8(5000) 8432 50e8 B0E0 ldi r27,hhi8(5000) 8433 50ea 8093 0000 sts ausgleichRoll.3091,r24 8434 50ee 9093 0000 sts (ausgleichRoll.3091)+1,r25 8435 50f2 A093 0000 sts (ausgleichRoll.3091)+2,r26 8436 50f6 B093 0000 sts (ausgleichRoll.3091)+3,r27 8437 .L893: 8438 50fa 6091 0000 lds r22,ausgleichRoll.3091 8439 50fe 7091 0000 lds r23,(ausgleichRoll.3091)+1 8440 5102 8091 0000 lds r24,(ausgleichRoll.3091)+2 8441 5106 9091 0000 lds r25,(ausgleichRoll.3091)+3 8442 510a 20E0 ldi r18,lo8(256) 8443 510c 31E0 ldi r19,hi8(256) 8444 510e 40E0 ldi r20,hlo8(256) 8445 5110 50E0 ldi r21,hhi8(256) 8446 5112 0E94 0000 call __divmodsi4 8447 5116 8091 0000 lds r24,LageKorrekturRoll 8448 511a 9091 0000 lds r25,(LageKorrekturRoll)+1 8449 511e 820F add r24,r18 8450 5120 931F adc r25,r19 8451 5122 9093 0000 sts (LageKorrekturRoll)+1,r25 8452 5126 8093 0000 sts LageKorrekturRoll,r24 8453 .L895: 8454 512a 1092 0000 sts last_r_n.3104,__zero_reg__ 8455 512e 00C0 rjmp .L901 8456 .L1060: 8457 5130 9090 0000 lds r9,FromNaviCtrl_Value+1 8458 .L861: 8459 5134 51E0 ldi r21,lo8(4097) 8460 5136 E516 cp r14,r21 8461 5138 50E1 ldi r21,hi8(4097) 8462 513a F506 cpc r15,r21 8463 513c 50E0 ldi r21,hlo8(4097) 8464 513e 0507 cpc r16,r21 8465 5140 50E0 ldi r21,hhi8(4097) 8466 5142 1507 cpc r17,r21 8467 5144 04F4 brge .+2 8468 5146 00C0 rjmp .L864 8469 5148 8091 0000 lds r24,last_n_p.3101 8470 514c 8823 tst r24 8471 514e 01F4 brne .+2 8472 5150 00C0 rjmp .L866 8473 5152 D801 movw r26,r16 8474 5154 C701 movw r24,r14 8475 5156 79E0 ldi r23,9 8476 5158 B595 1: asr r27 8477 515a A795 ror r26 8478 515c 9795 ror r25 8479 515e 8795 ror r24 8480 5160 7A95 dec r23 8481 5162 01F4 brne 1b 8482 5164 0196 adiw r24,1 8483 5166 9093 0000 sts (cnt.3100)+1,r25 8484 516a 8093 0000 sts cnt.3100,r24 8485 516e D801 movw r26,r16 8486 5170 C701 movw r24,r14 8487 5172 63E0 ldi r22,3 8488 5174 B595 1: asr r27 8489 5176 A795 ror r26 8490 5178 9795 ror r25 8491 517a 8795 ror r24 8492 517c 6A95 dec r22 8493 517e 01F4 brne 1b 8494 5180 8093 0000 sts ausgleichNick.3090,r24 8495 5184 9093 0000 sts (ausgleichNick.3090)+1,r25 8496 5188 A093 0000 sts (ausgleichNick.3090)+2,r26 8497 518c B093 0000 sts (ausgleichNick.3090)+3,r27 8498 5190 8958 subi r24,lo8(5001) 8499 5192 9341 sbci r25,hi8(5001) 8500 5194 A040 sbci r26,hlo8(5001) 8501 5196 B040 sbci r27,hhi8(5001) 8502 5198 04F0 brlt .L868 8503 519a 88E8 ldi r24,lo8(5000) 8504 519c 93E1 ldi r25,hi8(5000) 8505 519e A0E0 ldi r26,hlo8(5000) 8506 51a0 B0E0 ldi r27,hhi8(5000) 8507 51a2 8093 0000 sts ausgleichNick.3090,r24 8508 51a6 9093 0000 sts (ausgleichNick.3090)+1,r25 8509 51aa A093 0000 sts (ausgleichNick.3090)+2,r26 8510 51ae B093 0000 sts (ausgleichNick.3090)+3,r27 8511 .L868: 8512 51b2 6091 0000 lds r22,ausgleichNick.3090 8513 51b6 7091 0000 lds r23,(ausgleichNick.3090)+1 8514 51ba 8091 0000 lds r24,(ausgleichNick.3090)+2 8515 51be 9091 0000 lds r25,(ausgleichNick.3090)+3 8516 51c2 20E0 ldi r18,lo8(256) 8517 51c4 31E0 ldi r19,hi8(256) 8518 51c6 40E0 ldi r20,hlo8(256) 8519 51c8 50E0 ldi r21,hhi8(256) 8520 51ca 0E94 0000 call __divmodsi4 8521 51ce 8091 0000 lds r24,LageKorrekturNick 8522 51d2 9091 0000 lds r25,(LageKorrekturNick)+1 8523 51d6 820F add r24,r18 8524 51d8 931F adc r25,r19 8525 51da 9093 0000 sts (LageKorrekturNick)+1,r25 8526 51de 8093 0000 sts LageKorrekturNick,r24 8527 .L870: 8528 51e2 1092 0000 sts last_n_n.3102,__zero_reg__ 8529 51e6 00C0 rjmp .L876 8530 .L1119: 8531 51e8 F095 com r31 8532 51ea E195 neg r30 8533 51ec FF4F sbci r31,lo8(-1) 8534 51ee 0C94 0000 jmp .L822 8535 .L839: 8536 51f2 A0EE ldi r26,lo8(-32) 8537 51f4 AA16 cp r10,r26 8538 51f6 AFEF ldi r26,hi8(-32) 8539 51f8 BA06 cpc r11,r26 8540 51fa AFEF ldi r26,hlo8(-32) 8541 51fc CA06 cpc r12,r26 8542 51fe AFEF ldi r26,hhi8(-32) 8543 5200 DA06 cpc r13,r26 8544 5202 04F0 brlt .+4 8545 5204 0C94 0000 jmp .L827 8546 5208 B0EE ldi r27,lo8(-32) 8547 520a AB2E mov r10,r27 8548 520c BFEF ldi r27,hi8(-32) 8549 520e BB2E mov r11,r27 8550 5210 BFEF ldi r27,hlo8(-32) 8551 5212 CB2E mov r12,r27 8552 5214 BFEF ldi r27,hhi8(-32) 8553 5216 DB2E mov r13,r27 8554 5218 0C94 0000 jmp .L827 8555 .L835: 8556 521c 80EE ldi r24,lo8(-32) 8557 521e 6816 cp r6,r24 8558 5220 8FEF ldi r24,hi8(-32) 8559 5222 7806 cpc r7,r24 8560 5224 8FEF ldi r24,hlo8(-32) 8561 5226 8806 cpc r8,r24 8562 5228 8FEF ldi r24,hhi8(-32) 8563 522a 9806 cpc r9,r24 8564 522c 04F0 brlt .+2 8565 522e 00C0 rjmp .L837 8566 5230 00EE ldi r16,lo8(-32) 8567 5232 602E mov r6,r16 8568 5234 0FEF ldi r16,hi8(-32) 8569 5236 702E mov r7,r16 8570 5238 0FEF ldi r16,hlo8(-32) 8571 523a 802E mov r8,r16 8572 523c 0FEF ldi r16,hhi8(-32) 8573 523e 902E mov r9,r16 8574 5240 00C0 rjmp .L837 8575 .L1082: 8576 5242 87E0 ldi r24,lo8(7) 8577 5244 90E0 ldi r25,hi8(7) 8578 5246 680E add r6,r24 8579 5248 791E adc r7,r25 8580 524a 0C94 0000 jmp .L942 8581 .L988: 8582 524e 8091 0000 lds r24,MessLuftdruck 8583 5252 9091 0000 lds r25,(MessLuftdruck)+1 8584 5256 8436 cpi r24,100 8585 5258 9105 cpc r25,__zero_reg__ 8586 525a 00F0 brlo .+2 8587 525c 00C0 rjmp .L990 8588 525e 9091 0000 lds r25,ExpandBaro 8589 5262 965F subi r25,lo8(-(10)) 8590 5264 00C0 rjmp .L1067 8591 .L721: 8592 5266 1092 0000 sts delay_neutral.3076,__zero_reg__ 8593 526a 0C94 0000 jmp .L684 8594 .L864: 8595 526e 1092 0000 sts last_n_p.3101,__zero_reg__ 8596 5272 70E0 ldi r23,lo8(-4096) 8597 5274 E716 cp r14,r23 8598 5276 70EF ldi r23,hi8(-4096) 8599 5278 F706 cpc r15,r23 8600 527a 7FEF ldi r23,hlo8(-4096) 8601 527c 0707 cpc r16,r23 8602 527e 7FEF ldi r23,hhi8(-4096) 8603 5280 1707 cpc r17,r23 8604 5282 04F0 brlt .+2 8605 5284 00C0 rjmp .L870 8606 5286 8091 0000 lds r24,last_n_n.3102 8607 528a 8823 tst r24 8608 528c 01F4 brne .+2 8609 528e 00C0 rjmp .L872 8610 5290 8827 clr r24 8611 5292 9927 clr r25 8612 5294 DC01 movw r26,r24 8613 5296 8E19 sub r24,r14 8614 5298 9F09 sbc r25,r15 8615 529a A00B sbc r26,r16 8616 529c B10B sbc r27,r17 8617 529e 59E0 ldi r21,9 8618 52a0 B595 1: asr r27 8619 52a2 A795 ror r26 8620 52a4 9795 ror r25 8621 52a6 8795 ror r24 8622 52a8 5A95 dec r21 8623 52aa 01F4 brne 1b 8624 52ac 0196 adiw r24,1 8625 52ae 9093 0000 sts (cnt.3100)+1,r25 8626 52b2 8093 0000 sts cnt.3100,r24 8627 52b6 C801 movw r24,r16 8628 52b8 B701 movw r22,r14 8629 52ba 28E0 ldi r18,lo8(8) 8630 52bc 30E0 ldi r19,hi8(8) 8631 52be 40E0 ldi r20,hlo8(8) 8632 52c0 50E0 ldi r21,hhi8(8) 8633 52c2 0E94 0000 call __divmodsi4 8634 52c6 2093 0000 sts ausgleichNick.3090,r18 8635 52ca 3093 0000 sts (ausgleichNick.3090)+1,r19 8636 52ce 4093 0000 sts (ausgleichNick.3090)+2,r20 8637 52d2 5093 0000 sts (ausgleichNick.3090)+3,r21 8638 52d6 2857 subi r18,lo8(-5000) 8639 52d8 3C4E sbci r19,hi8(-5000) 8640 52da 4F4F sbci r20,hlo8(-5000) 8641 52dc 5F4F sbci r21,hhi8(-5000) 8642 52de 04F4 brge .L874 8643 52e0 88E7 ldi r24,lo8(-5000) 8644 52e2 9CEE ldi r25,hi8(-5000) 8645 52e4 AFEF ldi r26,hlo8(-5000) 8646 52e6 BFEF ldi r27,hhi8(-5000) 8647 52e8 8093 0000 sts ausgleichNick.3090,r24 8648 52ec 9093 0000 sts (ausgleichNick.3090)+1,r25 8649 52f0 A093 0000 sts (ausgleichNick.3090)+2,r26 8650 52f4 B093 0000 sts (ausgleichNick.3090)+3,r27 8651 .L874: 8652 52f8 6091 0000 lds r22,ausgleichNick.3090 8653 52fc 7091 0000 lds r23,(ausgleichNick.3090)+1 8654 5300 8091 0000 lds r24,(ausgleichNick.3090)+2 8655 5304 9091 0000 lds r25,(ausgleichNick.3090)+3 8656 5308 20E0 ldi r18,lo8(256) 8657 530a 31E0 ldi r19,hi8(256) 8658 530c 40E0 ldi r20,hlo8(256) 8659 530e 50E0 ldi r21,hhi8(256) 8660 5310 0E94 0000 call __divmodsi4 8661 5314 8091 0000 lds r24,LageKorrekturNick 8662 5318 9091 0000 lds r25,(LageKorrekturNick)+1 8663 531c 820F add r24,r18 8664 531e 931F adc r25,r19 8665 5320 9093 0000 sts (LageKorrekturNick)+1,r25 8666 5324 8093 0000 sts LageKorrekturNick,r24 8667 5328 00C0 rjmp .L876 8668 .L889: 8669 532a 1092 0000 sts last_r_p.3103,__zero_reg__ 8670 532e 40E0 ldi r20,lo8(-4096) 8671 5330 A416 cp r10,r20 8672 5332 40EF ldi r20,hi8(-4096) 8673 5334 B406 cpc r11,r20 8674 5336 4FEF ldi r20,hlo8(-4096) 8675 5338 C406 cpc r12,r20 8676 533a 4FEF ldi r20,hhi8(-4096) 8677 533c D406 cpc r13,r20 8678 533e 04F0 brlt .+2 8679 5340 00C0 rjmp .L895 8680 5342 8091 0000 lds r24,last_r_n.3104 8681 5346 8823 tst r24 8682 5348 01F4 brne .+2 8683 534a 00C0 rjmp .L897 8684 534c 8827 clr r24 8685 534e 9927 clr r25 8686 5350 DC01 movw r26,r24 8687 5352 8A19 sub r24,r10 8688 5354 9B09 sbc r25,r11 8689 5356 AC09 sbc r26,r12 8690 5358 BD09 sbc r27,r13 8691 535a 29E0 ldi r18,9 8692 535c B595 1: asr r27 8693 535e A795 ror r26 8694 5360 9795 ror r25 8695 5362 8795 ror r24 8696 5364 2A95 dec r18 8697 5366 01F4 brne 1b 8698 5368 0196 adiw r24,1 8699 536a 9093 0000 sts (cnt.3100)+1,r25 8700 536e 8093 0000 sts cnt.3100,r24 8701 5372 C601 movw r24,r12 8702 5374 B501 movw r22,r10 8703 5376 28E0 ldi r18,lo8(8) 8704 5378 30E0 ldi r19,hi8(8) 8705 537a 40E0 ldi r20,hlo8(8) 8706 537c 50E0 ldi r21,hhi8(8) 8707 537e 0E94 0000 call __divmodsi4 8708 5382 2093 0000 sts ausgleichRoll.3091,r18 8709 5386 3093 0000 sts (ausgleichRoll.3091)+1,r19 8710 538a 4093 0000 sts (ausgleichRoll.3091)+2,r20 8711 538e 5093 0000 sts (ausgleichRoll.3091)+3,r21 8712 5392 2857 subi r18,lo8(-5000) 8713 5394 3C4E sbci r19,hi8(-5000) 8714 5396 4F4F sbci r20,hlo8(-5000) 8715 5398 5F4F sbci r21,hhi8(-5000) 8716 539a 04F4 brge .L899 8717 539c 88E7 ldi r24,lo8(-5000) 8718 539e 9CEE ldi r25,hi8(-5000) 8719 53a0 AFEF ldi r26,hlo8(-5000) 8720 53a2 BFEF ldi r27,hhi8(-5000) 8721 53a4 8093 0000 sts ausgleichRoll.3091,r24 8722 53a8 9093 0000 sts (ausgleichRoll.3091)+1,r25 8723 53ac A093 0000 sts (ausgleichRoll.3091)+2,r26 8724 53b0 B093 0000 sts (ausgleichRoll.3091)+3,r27 8725 .L899: 8726 53b4 6091 0000 lds r22,ausgleichRoll.3091 8727 53b8 7091 0000 lds r23,(ausgleichRoll.3091)+1 8728 53bc 8091 0000 lds r24,(ausgleichRoll.3091)+2 8729 53c0 9091 0000 lds r25,(ausgleichRoll.3091)+3 8730 53c4 20E0 ldi r18,lo8(256) 8731 53c6 31E0 ldi r19,hi8(256) 8732 53c8 40E0 ldi r20,hlo8(256) 8733 53ca 50E0 ldi r21,hhi8(256) 8734 53cc 0E94 0000 call __divmodsi4 8735 53d0 8091 0000 lds r24,LageKorrekturRoll 8736 53d4 9091 0000 lds r25,(LageKorrekturRoll)+1 8737 53d8 820F add r24,r18 8738 53da 931F adc r25,r19 8739 53dc 9093 0000 sts (LageKorrekturRoll)+1,r25 8740 53e0 8093 0000 sts LageKorrekturRoll,r24 8741 53e4 00C0 rjmp .L901 8742 .L713: 8743 53e6 0E94 0000 call GetActiveParamSetNumber 8744 53ea 4CE5 ldi r20,lo8(92) 8745 53ec 60E0 ldi r22,lo8(EE_Parameter) 8746 53ee 70E0 ldi r23,hi8(EE_Parameter) 8747 53f0 0E94 0000 call ReadParameterSet 8748 53f4 8091 0000 lds r24,EE_Parameter+8 8749 53f8 80FF sbrs r24,0 8750 53fa 00C0 rjmp .L717 8751 53fc 8091 0000 lds r24,MessLuftdruck 8752 5400 9091 0000 lds r25,(MessLuftdruck)+1 8753 5404 875B subi r24,lo8(951) 8754 5406 9340 sbci r25,hi8(951) 8755 5408 00F4 brsh .L719 8756 540a 8091 0000 lds r24,MessLuftdruck 8757 540e 9091 0000 lds r25,(MessLuftdruck)+1 8758 5412 8E5E subi r24,lo8(750) 8759 5414 9240 sbci r25,hi8(750) 8760 5416 00F4 brsh .L717 8761 .L719: 8762 5418 0E94 0000 call SucheLuftruckOffset 8763 .L717: 8764 541c 0E94 0000 call SetNeutral 8765 5420 00C0 rjmp .L1066 8766 .L1130: 8767 5422 F095 com r31 8768 5424 E195 neg r30 8769 5426 FF4F sbci r31,lo8(-1) 8770 5428 00C0 rjmp .L833 8771 .L990: 8772 542a 2091 0000 lds r18,HoehenWert 8773 542e 3091 0000 lds r19,(HoehenWert)+1 8774 5432 2451 subi r18,lo8(-(-20)) 8775 5434 3040 sbci r19,hi8(-(-20)) 8776 5436 3093 0000 sts (SollHoehe)+1,r19 8777 543a 2093 0000 sts SollHoehe,r18 8778 543e 2C5E subi r18,lo8(-(20)) 8779 5440 3F4F sbci r19,hi8(-(20)) 8780 5442 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 8781 5446 81E0 ldi r24,lo8(1) 8782 5448 8093 0000 sts delay.3113,r24 8783 544c 0C94 0000 jmp .L986 8784 .L700: 8785 5450 41E0 ldi r20,lo8(1) 8786 5452 0C94 0000 jmp .L703 8787 .L1126: 8788 5456 9601 movw r18,r12 8789 5458 D7FC sbrc r13,7 8790 545a 00C0 rjmp .L1131 8791 .L855: 8792 545c 3595 asr r19 8793 545e 2795 ror r18 8794 5460 3093 0000 sts (LageKorrekturNick)+1,r19 8795 5464 2093 0000 sts LageKorrekturNick,r18 8796 5468 9B01 movw r18,r22 8797 546a 77FD sbrc r23,7 8798 546c 00C0 rjmp .L1132 8799 .L856: 8800 546e 3595 asr r19 8801 5470 2795 ror r18 8802 5472 3093 0000 sts (LageKorrekturRoll)+1,r19 8803 5476 2093 0000 sts LageKorrekturRoll,r18 8804 547a 00C0 rjmp .L852 8805 .L693: 8806 547c 8091 0000 lds r24,EE_Parameter+1 8807 5480 A82F mov r26,r24 8808 5482 B0E0 ldi r27,lo8(0) 8809 5484 AA0F lsl r26 8810 5486 BB1F rol r27 8811 5488 FD01 movw r30,r26 8812 548a E050 subi r30,lo8(-(PPM_in)) 8813 548c F040 sbci r31,hi8(-(PPM_in)) 8814 548e 0190 ld __tmp_reg__,Z+ 8815 5490 F081 ld r31,Z 8816 5492 E02D mov r30,__tmp_reg__ 8817 5494 F7FD sbrc r31,7 8818 5496 00C0 rjmp .L1133 8819 .L697: 8820 5498 E734 cpi r30,71 8821 549a F105 cpc r31,__zero_reg__ 8822 549c 04F4 brge .+4 8823 549e 0C94 0000 jmp .L696 8824 54a2 0C94 0000 jmp .L695 8825 .L690: 8826 54a6 299A sbi 37-0x20,1 8827 54a8 0C94 0000 jmp .L692 8828 .L866: 8829 54ac 81E0 ldi r24,lo8(1) 8830 54ae 8093 0000 sts last_n_p.3101,r24 8831 54b2 00C0 rjmp .L870 8832 .L891: 8833 54b4 81E0 ldi r24,lo8(1) 8834 54b6 8093 0000 sts last_r_p.3103,r24 8835 54ba 00C0 rjmp .L895 8836 .L724: 8837 54bc 299A sbi 37-0x20,1 8838 54be 00C0 rjmp .L726 8839 .L1084: 8840 54c0 9095 com r25 8841 54c2 8195 neg r24 8842 54c4 9F4F sbci r25,lo8(-1) 8843 54c6 0C94 0000 jmp .L714 8844 .L897: 8845 54ca 81E0 ldi r24,lo8(1) 8846 54cc 8093 0000 sts last_r_n.3104,r24 8847 54d0 00C0 rjmp .L901 8848 .L872: 8849 54d2 81E0 ldi r24,lo8(1) 8850 54d4 8093 0000 sts last_n_n.3102,r24 8851 54d8 00C0 rjmp .L876 8852 .L1132: 8853 54da 2F5F subi r18,lo8(-(1)) 8854 54dc 3F4F sbci r19,hi8(-(1)) 8855 54de 00C0 rjmp .L856 8856 .L1131: 8857 54e0 2F5F subi r18,lo8(-(1)) 8858 54e2 3F4F sbci r19,hi8(-(1)) 8859 54e4 00C0 rjmp .L855 8860 .L1125: 8861 54e6 F095 com r31 8862 54e8 E195 neg r30 8863 54ea FF4F sbci r31,lo8(-1) 8864 54ec 00C0 rjmp .L853 8865 .L1128: 8866 54ee 2150 subi r18,lo8(-(255)) 8867 54f0 3F4F sbci r19,hi8(-(255)) 8868 54f2 00C0 rjmp .L728 8869 .L1127: 8870 54f4 8150 subi r24,lo8(-(255)) 8871 54f6 9F4F sbci r25,hi8(-(255)) 8872 54f8 00C0 rjmp .L727 8873 .L1129: 8874 54fa 2150 subi r18,lo8(-(255)) 8875 54fc 3F4F sbci r19,hi8(-(255)) 8876 54fe 00C0 rjmp .L729 8877 .L1133: 8878 5500 F095 com r31 8879 5502 E195 neg r30 8880 5504 FF4F sbci r31,lo8(-1) 8881 5506 00C0 rjmp .L697 8882 .L1054: 8883 5508 6092 0000 sts Motor_Rechts,r6 8884 /* epilogue: frame size=46 */ 8885 550c AE96 adiw r28,46 8886 550e 0FB6 in __tmp_reg__,__SREG__ 8887 5510 F894 cli 8888 5512 DEBF out __SP_H__,r29 8889 5514 0FBE out __SREG__,__tmp_reg__ 8890 5516 CDBF out __SP_L__,r28 8891 5518 DF91 pop r29 8892 551a CF91 pop r28 8893 551c 1F91 pop r17 8894 551e 0F91 pop r16 8895 5520 FF90 pop r15 8896 5522 EF90 pop r14 8897 5524 DF90 pop r13 8898 5526 CF90 pop r12 8899 5528 BF90 pop r11 8900 552a AF90 pop r10 8901 552c 9F90 pop r9 8902 552e 8F90 pop r8 8903 5530 7F90 pop r7 8904 5532 6F90 pop r6 8905 5534 5F90 pop r5 8906 5536 4F90 pop r4 8907 5538 3F90 pop r3 8908 553a 2F90 pop r2 8909 553c 0895 ret 8910 /* epilogue end (size=25) */ 8911 /* function MotorRegler size 5990 (5939) */ 8913 .global I2CTimeout 8914 .data 8917 I2CTimeout: 8918 0019 6400 .word 100 8919 .global AdNeutralNick 8920 .global AdNeutralNick 8921 .section .bss 8924 AdNeutralNick: 8925 0000 0000 .skip 2,0 8926 .global AdNeutralRoll 8927 .global AdNeutralRoll 8930 AdNeutralRoll: 8931 0002 0000 .skip 2,0 8932 .global AdNeutralGier 8933 .global AdNeutralGier 8936 AdNeutralGier: 8937 0004 0000 .skip 2,0 8938 .global StartNeutralRoll 8939 .global StartNeutralRoll 8942 StartNeutralRoll: 8943 0006 0000 .skip 2,0 8944 .global StartNeutralNick 8945 .global StartNeutralNick 8948 StartNeutralNick: 8949 0008 0000 .skip 2,0 8950 .global NeutralAccX 8951 .global NeutralAccX 8954 NeutralAccX: 8955 000a 0000 .skip 2,0 8956 .global NeutralAccY 8957 .global NeutralAccY 8960 NeutralAccY: 8961 000c 0000 .skip 2,0 8962 .global NaviCntAcc 8963 .global NaviCntAcc 8966 NaviCntAcc: 8967 000e 0000 .skip 2,0 8968 .global NeutralAccZ 8969 .global NeutralAccZ 8972 NeutralAccZ: 8973 0010 0000 0000 .skip 4,0 8974 .global CosinusNickWinkel 8975 .global CosinusNickWinkel 8978 CosinusNickWinkel: 8979 0014 00 .skip 1,0 8980 .global CosinusRollWinkel 8981 .global CosinusRollWinkel 8984 CosinusRollWinkel: 8985 0015 00 .skip 1,0 8986 .global IntegralNick 8987 .global IntegralNick 8990 IntegralNick: 8991 0016 0000 0000 .skip 4,0 8992 .global IntegralNick2 8993 .global IntegralNick2 8996 IntegralNick2: 8997 001a 0000 0000 .skip 4,0 8998 .global IntegralRoll 8999 .global IntegralRoll 9002 IntegralRoll: 9003 001e 0000 0000 .skip 4,0 9004 .global IntegralRoll2 9005 .global IntegralRoll2 9008 IntegralRoll2: 9009 0022 0000 0000 .skip 4,0 9010 .global IntegralAccNick 9011 .global IntegralAccNick 9014 IntegralAccNick: 9015 0026 0000 0000 .skip 4,0 9016 .global IntegralAccRoll 9017 .global IntegralAccRoll 9020 IntegralAccRoll: 9021 002a 0000 0000 .skip 4,0 9022 .global IntegralAccZ 9023 .global IntegralAccZ 9026 IntegralAccZ: 9027 002e 0000 0000 .skip 4,0 9028 .global Integral_Gier 9029 .global Integral_Gier 9032 Integral_Gier: 9033 0032 0000 0000 .skip 4,0 9034 .global Mess_IntegralNick 9035 .global Mess_IntegralNick 9038 Mess_IntegralNick: 9039 0036 0000 0000 .skip 4,0 9040 .global Mess_IntegralNick2 9041 .global Mess_IntegralNick2 9044 Mess_IntegralNick2: 9045 003a 0000 0000 .skip 4,0 9046 .global Mess_IntegralRoll 9047 .global Mess_IntegralRoll 9050 Mess_IntegralRoll: 9051 003e 0000 0000 .skip 4,0 9052 .global Mess_IntegralRoll2 9053 .global Mess_IntegralRoll2 9056 Mess_IntegralRoll2: 9057 0042 0000 0000 .skip 4,0 9058 .global Mess_Integral_Gier 9059 .global Mess_Integral_Gier 9062 Mess_Integral_Gier: 9063 0046 0000 0000 .skip 4,0 9064 .global Mess_Integral_Gier2 9065 .global Mess_Integral_Gier2 9068 Mess_Integral_Gier2: 9069 004a 0000 0000 .skip 4,0 9070 .global Mess_Integral_Hoch 9071 .global Mess_Integral_Hoch 9074 Mess_Integral_Hoch: 9075 004e 0000 0000 .skip 4,0 9076 .global KompassValue 9077 .global KompassValue 9080 KompassValue: 9081 0052 0000 .skip 2,0 9082 .global KompassStartwert 9083 .global KompassStartwert 9086 KompassStartwert: 9087 0054 0000 .skip 2,0 9088 .global KompassRichtung 9089 .global KompassRichtung 9092 KompassRichtung: 9093 0056 0000 .skip 2,0 9094 .global KompassSignalSchlecht 9095 .data 9098 KompassSignalSchlecht: 9099 001b F401 .word 500 9100 .global Notlandung 9101 .global Notlandung 9102 .section .bss 9105 Notlandung: 9106 0058 00 .skip 1,0 9107 .global HoehenReglerAktiv 9108 .global HoehenReglerAktiv 9111 HoehenReglerAktiv: 9112 0059 00 .skip 1,0 9113 .global TrichterFlug 9114 .global TrichterFlug 9117 TrichterFlug: 9118 005a 00 .skip 1,0 9119 .global Umschlag180Nick 9120 .data 9123 Umschlag180Nick: 9124 001d 90 .byte -112 9125 001e D0 .byte -48 9126 001f 03 .byte 3 9127 0020 00 .byte 0 9128 .global Umschlag180Roll 9131 Umschlag180Roll: 9132 0021 90 .byte -112 9133 0022 D0 .byte -48 9134 0023 03 .byte 3 9135 0024 00 .byte 0 9136 .global GierGyroFehler 9137 .global GierGyroFehler 9138 .section .bss 9141 GierGyroFehler: 9142 005b 0000 .skip 2,0 9143 .global Poti1 9144 .global Poti1 9147 Poti1: 9148 005d 0000 .skip 2,0 9149 .global Poti2 9150 .global Poti2 9153 Poti2: 9154 005f 0000 .skip 2,0 9155 .global Poti3 9156 .global Poti3 9159 Poti3: 9160 0061 0000 .skip 2,0 9161 .global Poti4 9162 .global Poti4 9165 Poti4: 9166 0063 0000 .skip 2,0 9167 .global SenderOkay 9168 .global SenderOkay 9171 SenderOkay: 9172 0065 00 .skip 1,0 9173 .global StickNick 9174 .global StickNick 9177 StickNick: 9178 0066 0000 .skip 2,0 9179 .global StickRoll 9180 .global StickRoll 9183 StickRoll: 9184 0068 0000 .skip 2,0 9185 .global StickGier 9186 .global StickGier 9189 StickGier: 9190 006a 0000 .skip 2,0 9191 .global StickGas 9192 .global StickGas 9195 StickGas: 9196 006c 0000 .skip 2,0 9197 .global MotorenEin 9198 .global MotorenEin 9201 MotorenEin: 9202 006e 00 .skip 1,0 9203 .global HoehenWert 9204 .global HoehenWert 9207 HoehenWert: 9208 006f 0000 .skip 2,0 9209 .global SollHoehe 9210 .global SollHoehe 9213 SollHoehe: 9214 0071 0000 .skip 2,0 9215 .global LageKorrekturRoll 9216 .global LageKorrekturRoll 9219 LageKorrekturRoll: 9220 0073 0000 .skip 2,0 9221 .global LageKorrekturNick 9222 .global LageKorrekturNick 9225 LageKorrekturNick: 9226 0075 0000 .skip 2,0 9227 .global Ki 9228 .data 9231 Ki: 9232 0025 3801 .word 312 9233 .global Looping_Nick 9234 .global Looping_Nick 9235 .section .bss 9238 Looping_Nick: 9239 0077 00 .skip 1,0 9240 .global Looping_Roll 9241 .global Looping_Roll 9244 Looping_Roll: 9245 0078 00 .skip 1,0 9246 .global Looping_Links 9247 .global Looping_Links 9250 Looping_Links: 9251 0079 00 .skip 1,0 9252 .global Looping_Rechts 9253 .global Looping_Rechts 9256 Looping_Rechts: 9257 007a 00 .skip 1,0 9258 .global Looping_Unten 9259 .global Looping_Unten 9262 Looping_Unten: 9263 007b 00 .skip 1,0 9264 .global Looping_Oben 9265 .global Looping_Oben 9268 Looping_Oben: 9269 007c 00 .skip 1,0 9270 .global Parameter_Luftdruck_D 9271 .data 9274 Parameter_Luftdruck_D: 9275 0027 30 .byte 48 9276 .global Parameter_MaxHoehe 9279 Parameter_MaxHoehe: 9280 0028 FB .byte -5 9281 .global Parameter_Hoehe_P 9284 Parameter_Hoehe_P: 9285 0029 10 .byte 16 9286 .global Parameter_Hoehe_ACC_Wirkung 9289 Parameter_Hoehe_ACC_Wirkung: 9290 002a 3A .byte 58 9291 .global Parameter_KompassWirkung 9294 Parameter_KompassWirkung: 9295 002b 40 .byte 64 9296 .global Parameter_Gyro_D 9299 Parameter_Gyro_D: 9300 002c 08 .byte 8 9301 .global Parameter_Gyro_P 9304 Parameter_Gyro_P: 9305 002d 96 .byte -106 9306 .global Parameter_Gyro_I 9309 Parameter_Gyro_I: 9310 002e 96 .byte -106 9311 .global Parameter_Gier_P 9314 Parameter_Gier_P: 9315 002f 02 .byte 2 9316 .global Parameter_I_Faktor 9319 Parameter_I_Faktor: 9320 0030 0A .byte 10 9321 .global Parameter_UserParam1 9322 .global Parameter_UserParam1 9323 .section .bss 9326 Parameter_UserParam1: 9327 007d 00 .skip 1,0 9328 .global Parameter_UserParam2 9329 .global Parameter_UserParam2 9332 Parameter_UserParam2: 9333 007e 00 .skip 1,0 9334 .global Parameter_UserParam3 9335 .global Parameter_UserParam3 9338 Parameter_UserParam3: 9339 007f 00 .skip 1,0 9340 .global Parameter_UserParam4 9341 .global Parameter_UserParam4 9344 Parameter_UserParam4: 9345 0080 00 .skip 1,0 9346 .global Parameter_UserParam5 9347 .global Parameter_UserParam5 9350 Parameter_UserParam5: 9351 0081 00 .skip 1,0 9352 .global Parameter_UserParam6 9353 .global Parameter_UserParam6 9356 Parameter_UserParam6: 9357 0082 00 .skip 1,0 9358 .global Parameter_UserParam7 9359 .global Parameter_UserParam7 9362 Parameter_UserParam7: 9363 0083 00 .skip 1,0 9364 .global Parameter_UserParam8 9365 .global Parameter_UserParam8 9368 Parameter_UserParam8: 9369 0084 00 .skip 1,0 9370 .global Parameter_ServoNickControl 9371 .data 9374 Parameter_ServoNickControl: 9375 0031 64 .byte 100 9376 .global Parameter_LoopGasLimit 9379 Parameter_LoopGasLimit: 9380 0032 46 .byte 70 9381 .global Parameter_AchsKopplung1 9384 Parameter_AchsKopplung1: 9385 0033 5A .byte 90 9386 .global Parameter_AchsKopplung2 9389 Parameter_AchsKopplung2: 9390 0034 41 .byte 65 9391 .global Parameter_CouplingYawCorrection 9394 Parameter_CouplingYawCorrection: 9395 0035 40 .byte 64 9396 .global Parameter_DynamicStability 9399 Parameter_DynamicStability: 9400 0036 64 .byte 100 9401 .global ExternStickNick 9402 .global ExternStickNick 9403 .section .bss 9406 ExternStickNick: 9407 0085 0000 .skip 2,0 9408 .global ExternStickRoll 9409 .global ExternStickRoll 9412 ExternStickRoll: 9413 0087 0000 .skip 2,0 9414 .global ExternStickGier 9415 .global ExternStickGier 9418 ExternStickGier: 9419 0089 0000 .skip 2,0 9420 .global ExternHoehenValue 9421 .data 9424 ExternHoehenValue: 9425 0037 ECFF .word -20 9426 .global MaxStickNick 9427 .global MaxStickNick 9428 .section .bss 9431 MaxStickNick: 9432 008b 0000 .skip 2,0 9433 .global MaxStickRoll 9434 .global MaxStickRoll 9437 MaxStickRoll: 9438 008d 0000 .skip 2,0 9439 .global modell_fliegt 9440 .global modell_fliegt 9443 modell_fliegt: 9444 008f 0000 .skip 2,0 9445 .global MikroKopterFlags 9446 .global MikroKopterFlags 9449 MikroKopterFlags: 9450 0091 00 .skip 1,0 9451 .global GIER_GRAD_FAKTOR 9452 .data 9455 GIER_GRAD_FAKTOR: 9456 0039 0B .byte 11 9457 003a 05 .byte 5 9458 003b 00 .byte 0 9459 003c 00 .byte 0 9462 delay.3113: 9463 003d 64 .byte 100 9464 .lcomm MittelIntegralRoll_Alt.3106,4 9465 .lcomm MittelIntegralNick_Alt.3105,4 9466 .lcomm last_r_n.3104,1 9467 .lcomm last_r_p.3103,1 9468 .lcomm last_n_n.3102,1 9469 .lcomm last_n_p.3101,1 9470 .lcomm cnt.3100,2 9471 .lcomm stick_roll.3097,2 9472 .lcomm stick_nick.3096,2 9473 .lcomm ausgleichRoll.3091,4 9474 .lcomm ausgleichNick.3090,4 9475 .lcomm NeueKompassRichtungMerken.3089,1 9476 .lcomm TimerWerteausgabe.3088,1 9477 .lcomm motorwert4.3083,2 9478 .lcomm motorwert3.3082,2 9479 .lcomm motorwert2.3081,2 9480 .lcomm motorwert1.3080,2 9481 .lcomm hoehenregler.3079,2 9482 .lcomm delay_ausschalten.3078,1 9483 .lcomm delay_einschalten.3077,1 9484 .lcomm delay_neutral.3076,1 9485 .lcomm RcLostTimer.3075,2 9486 .lcomm IntegralFehlerRoll.3074,4 9487 .lcomm IntegralFehlerNick.3073,4 9488 .lcomm tmp_long2.3072,4 9489 .lcomm tmp_long.3071,4 9490 .lcomm sollGier.3070,4 9491 .lcomm SummeRoll.3069,4 9492 .lcomm SummeNick.3068,4 9493 .lcomm d2Nick.2659,2 9494 .lcomm d2Roll.2658,2 9495 .lcomm oldRoll.2657,2 9496 .lcomm oldNick.2656,2 9497 .lcomm tmpl4.2655,4 9498 .lcomm tmpl3.2654,4 9499 .lcomm tmpl2.2653,4 9500 .lcomm tmpl.2652,4 9501 .comm TrimNick,2,1 9502 .comm TrimRoll,2,1 9503 .comm ErsatzKompass,4,1 9504 .comm ErsatzKompassInGrad,2,1 9505 .comm MesswertNick,2,1 9506 .comm MesswertRoll,2,1 9507 .comm MesswertGier,2,1 9508 .comm Mittelwert_AccNick,2,1 9509 .comm Mittelwert_AccRoll,2,1 9510 .comm Mittelwert_AccHoch,2,1 9511 .comm NaviAccNick,2,1 9512 .comm NaviAccRoll,2,1 9513 .comm h,1,1 9514 .comm m,1,1 9515 .comm s,1,1 9516 .comm DiffNick,2,1 9517 .comm DiffRoll,2,1 9518 .comm Motor_Vorne,1,1 9519 .comm Motor_Hinten,1,1 9520 .comm Motor_Rechts,1,1 9521 .comm Motor_Links,1,1 9522 .comm Motor1,1,1 9523 .comm Motor2,1,1 9524 .comm Motor3,1,1 9525 .comm Motor4,1,1 9526 .comm Motor5,1,1 9527 .comm Motor6,1,1 9528 .comm Motor7,1,1 9529 .comm Motor8,1,1 9530 .comm EE_Parameter,93,1 9531 .comm Parameter_J16Bitmask,1,1 9532 .comm Parameter_J16Timing,1,1 9533 .comm Parameter_J17Bitmask,1,1 9534 .comm Parameter_J17Timing,1,1 9535 .comm Parameter_NaviGpsModeControl,1,1 9536 .comm MesswertGierBias,2,1 9537 .comm RohMesswertNick,2,1 9538 .comm RohMesswertRoll,2,1 9539 .comm AdNeutralGierBias,2,1 9540 .comm MittelIntegralNick,4,1 9541 .comm MittelIntegralRoll,4,1 9542 .comm MittelIntegralNick2,4,1 9543 .comm MittelIntegralRoll2,4,1 9544 .comm MAX_GAS,1,1 9545 .comm MIN_GAS,1,1 9546 .comm GyroFaktor,1,1 9547 .comm IntegralFaktor,1,1 9548 .comm Parameter_NaviGpsGain,1,1 9549 .comm Parameter_NaviGpsP,1,1 9550 .comm Parameter_NaviGpsI,1,1 9551 .comm Parameter_NaviGpsD,1,1 9552 .comm Parameter_NaviGpsACC,1,1 9553 .comm Parameter_NaviOperatingRadius,1,1 9554 .comm Parameter_NaviWindCorrection,1,1 9555 .comm Parameter_NaviSpeedCompensation,1,1 9556 .comm Parameter_ExternalControl,1,1 9557 .comm KopplungsteilNickRoll,2,1 9558 .comm KopplungsteilRollNick,2,1 9559 /* File "fc.c": code 10996 = 0x2af4 (10855), prologues 67, epilogues 74 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2 *ABS*:0000003f __SREG__ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3 *ABS*:0000003e __SP_H__ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:4 *ABS*:0000003d __SP_L__ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:5 *ABS*:00000000 __tmp_reg__ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:6 *ABS*:00000001 __zero_reg__ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:12 .text:00000000 DefaultStickMapping *COM*:0000005d EE_Parameter C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:38 .text:00000032 MotorSmoothing C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:72 .text:0000005e Mittelwert C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8936 .bss:00000004 AdNeutralGier *COM*:00000002 MesswertGier *COM*:00000002 RohMesswertNick *COM*:00000002 RohMesswertRoll *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000002 Mittelwert_AccHoch C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9014 .bss:00000026 IntegralAccNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9020 .bss:0000002a IntegralAccRoll *COM*:00000002 NaviAccNick *COM*:00000002 NaviAccRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8966 .bss:0000000e NaviCntAcc C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8972 .bss:00000010 NeutralAccZ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9026 .bss:0000002e IntegralAccZ C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9050 .bss:0000003e Mess_IntegralRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9038 .bss:00000036 Mess_IntegralNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9062 .bss:00000046 Mess_Integral_Gier *COM*:00000004 ErsatzKompass C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9238 .bss:00000077 Looping_Nick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9244 .bss:00000078 Looping_Roll *COM*:00000002 KopplungsteilRollNick *COM*:00000002 KopplungsteilNickRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9498 .bss:000000e9 tmpl2.2653 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9499 .bss:000000ed tmpl.2652 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9394 .data:00000035 Parameter_CouplingYawCorrection *COM*:00000002 TrimRoll *COM*:00000002 TrimNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9455 .data:00000039 GIER_GRAD_FAKTOR C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9056 .bss:00000042 Mess_IntegralRoll2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9219 .bss:00000073 LageKorrekturRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9131 .data:00000021 Umschlag180Roll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9044 .bss:0000003a Mess_IntegralNick2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9225 .bss:00000075 LageKorrekturNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9123 .data:0000001d Umschlag180Nick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9032 .bss:00000032 Integral_Gier C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8990 .bss:00000016 IntegralNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9002 .bss:0000001e IntegralRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8996 .bss:0000001a IntegralNick2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9008 .bss:00000022 IntegralRoll2 *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9299 .data:0000002c Parameter_Gyro_D C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9495 .bss:000000df oldNick.2656 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9492 .bss:000000d9 d2Nick.2659 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9494 .bss:000000dd oldRoll.2657 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9493 .bss:000000db d2Roll.2658 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9147 .bss:0000005d Poti1 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9153 .bss:0000005f Poti2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9159 .bss:00000061 Poti3 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9165 .bss:00000063 Poti4 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9389 .data:00000034 Parameter_AchsKopplung2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9497 .bss:000000e5 tmpl3.2654 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9496 .bss:000000e1 tmpl4.2655 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9384 .data:00000033 Parameter_AchsKopplung1 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9117 .bss:0000005a TrichterFlug C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:1855 .text:00001174 ParameterZuordnung C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9279 .data:00000028 Parameter_MaxHoehe C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9274 .data:00000027 Parameter_Luftdruck_D C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9284 .data:00000029 Parameter_Hoehe_P C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9289 .data:0000002a Parameter_Hoehe_ACC_Wirkung C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9294 .data:0000002b Parameter_KompassWirkung C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9304 .data:0000002d Parameter_Gyro_P C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9309 .data:0000002e Parameter_Gyro_I C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9319 .data:00000030 Parameter_I_Faktor C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9326 .bss:0000007d Parameter_UserParam1 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9332 .bss:0000007e Parameter_UserParam2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9338 .bss:0000007f Parameter_UserParam3 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9344 .bss:00000080 Parameter_UserParam4 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9350 .bss:00000081 Parameter_UserParam5 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9356 .bss:00000082 Parameter_UserParam6 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9362 .bss:00000083 Parameter_UserParam7 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9368 .bss:00000084 Parameter_UserParam8 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9374 .data:00000031 Parameter_ServoNickControl C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9379 .data:00000032 Parameter_LoopGasLimit C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9399 .data:00000036 Parameter_DynamicStability *COM*:00000001 Parameter_J16Timing *COM*:00000001 Parameter_J17Timing *COM*:00000001 Parameter_NaviGpsModeControl *COM*:00000001 Parameter_ExternalControl C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9231 .data:00000025 Ki *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2812 .text:00001a00 SendMotorData C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9201 .bss:0000006e MotorenEin *COM*:00000001 Motor_Hinten *COM*:00000001 Motor_Vorne *COM*:00000001 Motor_Rechts *COM*:00000001 Motor_Links C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9449 .bss:00000091 MikroKopterFlags C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:2880 .text:00001aa8 CalibrierMittelwert C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3194 .text:00001d84 SetNeutral C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8954 .bss:0000000a NeutralAccX C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8960 .bss:0000000c NeutralAccY C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8924 .bss:00000000 AdNeutralNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8930 .bss:00000002 AdNeutralRoll *COM*:00000002 AdNeutralGierBias C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8942 .bss:00000006 StartNeutralRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8948 .bss:00000008 StartNeutralNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9074 .bss:0000004e Mess_Integral_Hoch C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9080 .bss:00000052 KompassValue C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9086 .bss:00000054 KompassStartwert C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9424 .data:00000037 ExternHoehenValue C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9141 .bss:0000005b GierGyroFehler C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9171 .bss:00000065 SenderOkay C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3675 .text:0000227e Piep C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3715 .text:000022b6 DefaultKonstanten3 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3837 .text:00002414 DefaultKonstanten2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:3961 .text:00002576 DefaultKonstanten1 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:4078 .text:000026d4 MotorRegler C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9195 .bss:0000006c StickGas C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9484 .bss:000000bb RcLostTimer.3075 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9443 .bss:0000008f modell_fliegt C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9105 .bss:00000058 Notlandung C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9189 .bss:0000006a StickGier C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9177 .bss:00000066 StickNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9183 .bss:00000068 StickRoll *COM*:00000001 GyroFaktor *COM*:00000001 IntegralFaktor *COM*:00000004 MittelIntegralNick *COM*:00000004 MittelIntegralRoll *COM*:00000004 MittelIntegralNick2 *COM*:00000004 MittelIntegralRoll2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9464 .bss:00000096 MittelIntegralNick_Alt.3105 .bss:00000092 MittelIntegralRoll_Alt.3106 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9098 .data:0000001b KompassSignalSchlecht C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9474 .bss:000000ac NeueKompassRichtungMerken.3089 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9489 .bss:000000cd sollGier.3070 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9437 .bss:0000008d MaxStickRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9431 .bss:0000008b MaxStickNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9483 .bss:000000ba delay_neutral.3076 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9482 .bss:000000b9 delay_einschalten.3077 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9481 .bss:000000b8 delay_ausschalten.3078 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9471 .bss:000000a2 stick_nick.3096 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9470 .bss:000000a0 stick_roll.3097 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9250 .bss:00000079 Looping_Links C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9256 .bss:0000007a Looping_Rechts C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9268 .bss:0000007c Looping_Oben C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9262 .bss:0000007b Looping_Unten C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9475 .bss:000000ad TimerWerteausgabe.3088 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9490 .bss:000000d1 SummeRoll.3069 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9491 .bss:000000d5 SummeNick.3068 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9462 .data:0000003d delay.3113 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9207 .bss:0000006f HoehenWert C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9480 .bss:000000b6 hoehenregler.3079 *COM*:00000002 DiffNick *COM*:00000002 DiffRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9479 .bss:000000b4 motorwert1.3080 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9478 .bss:000000b2 motorwert2.3081 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9477 .bss:000000b0 motorwert3.3082 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9476 .bss:000000ae motorwert4.3083 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9213 .bss:00000071 SollHoehe C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9111 .bss:00000059 HoehenReglerAktiv C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9473 .bss:000000a8 ausgleichNick.3090 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9488 .bss:000000c9 tmp_long.3071 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9487 .bss:000000c5 tmp_long2.3072 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9486 .bss:000000c1 IntegralFehlerNick.3073 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9485 .bss:000000bd IntegralFehlerRoll.3074 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9469 .bss:0000009e cnt.3100 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9472 .bss:000000a4 ausgleichRoll.3091 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9068 .bss:0000004a Mess_Integral_Gier2 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9466 .bss:0000009b last_r_p.3103 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9465 .bss:0000009a last_r_n.3104 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9468 .bss:0000009d last_n_p.3101 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9467 .bss:0000009c last_n_n.3102 C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8917 .data:00000019 I2CTimeout C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8978 .bss:00000014 CosinusNickWinkel C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:8984 .bss:00000015 CosinusRollWinkel C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9092 .bss:00000056 KompassRichtung C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9314 .data:0000002f Parameter_Gier_P C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9406 .bss:00000085 ExternStickNick C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9412 .bss:00000087 ExternStickRoll C:\DOKUME~1\David\LOKALE~1\Temp/ccr1SlG6.s:9418 .bss:00000089 ExternStickGier *COM*:00000002 ErsatzKompassInGrad *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Motor1 *COM*:00000001 Motor2 *COM*:00000001 Motor3 *COM*:00000001 Motor4 *COM*:00000001 Motor5 *COM*:00000001 Motor6 *COM*:00000001 Motor7 *COM*:00000001 Motor8 *COM*:00000001 Parameter_J16Bitmask *COM*:00000001 Parameter_J17Bitmask *COM*:00000002 MesswertGierBias *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 __do_copy_data __do_clear_bss AdWertGier AdWertNickFilter AdWertRollFilter AdWertAccNick __mulsi3 __divmodsi4 AdWertAccRoll AdWertAccHoch Aktuell_az __floatsisf __subsf3 __addsf3 __fixsfsi AdReady HiResNick HiResRoll AdWertNick PlatinenVersion AdWertRoll PPM_in __divmodhi4 MotorTest DebugOut twi_state motor i2c_start SucheGyroOffset ServoActive ExpandBaro Delay_ms_Mess MessLuftdruck EEPromArray __eeprom_read_byte_1F2021 SucheLuftruckOffset Luftdruck StartLuftdruck HoeheD GPS_Neutral beeptime SendVersionToNavi LED_Init FromNaviCtrl_Value Delay_ms PcZugriff BeepMuster PPM_diff NewPpmData ZaehlMessungen SetActiveParamSetNumber WinkelOut GPS_Nick2 GPS_Nick GPS_Roll2 GPS_Roll __fixunssfsi ExternControl UBat ServoValue __eeprom_write_byte_1F2021 GetActiveParamSetNumber DruckOffsetSetting ReadParameterSet