1 .file "timer0.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 __vector_18 12 __vector_18: 13 /* prologue: frame size=0 */ 14 0000 1F92 push __zero_reg__ 15 0002 0F92 push __tmp_reg__ 16 0004 0FB6 in __tmp_reg__,__SREG__ 17 0006 0F92 push __tmp_reg__ 18 0008 1124 clr __zero_reg__ 19 000a 2F93 push r18 20 000c 3F93 push r19 21 000e 5F93 push r21 22 0010 6F93 push r22 23 0012 7F93 push r23 24 0014 8F93 push r24 25 0016 9F93 push r25 26 0018 AF93 push r26 27 001a BF93 push r27 28 /* prologue end (size=14) */ 29 001c 8091 0000 lds r24,SendSPI 30 0020 8823 tst r24 31 0022 01F0 breq .L2 32 0024 8091 0000 lds r24,SendSPI 33 0028 8150 subi r24,lo8(-(-1)) 34 002a 8093 0000 sts SendSPI,r24 35 .L2: 36 002e 8091 0000 lds r24,cnt.2378 37 0032 8150 subi r24,lo8(-(-1)) 38 0034 8093 0000 sts cnt.2378,r24 39 0038 8F3F cpi r24,lo8(-1) 40 003a 01F4 brne .+2 41 003c 00C0 rjmp .L30 42 .L4: 43 003e 8091 0000 lds r24,beeptime 44 0042 9091 0000 lds r25,(beeptime)+1 45 0046 0297 sbiw r24,2 46 0048 00F0 brlo .L8 47 004a 8091 0000 lds r24,beeptime 48 004e 9091 0000 lds r25,(beeptime)+1 49 0052 0197 sbiw r24,1 50 0054 9093 0000 sts (beeptime)+1,r25 51 0058 8093 0000 sts beeptime,r24 52 005c 8091 0000 lds r24,beeptime 53 0060 9091 0000 lds r25,(beeptime)+1 54 0064 2091 0000 lds r18,BeepMuster 55 0068 3091 0000 lds r19,(BeepMuster)+1 56 006c 8223 and r24,r18 57 006e 9323 and r25,r19 58 0070 892B or r24,r25 59 0072 01F0 breq .L11 60 0074 8091 0000 lds r24,PlatinenVersion 61 0078 8A30 cpi r24,lo8(10) 62 007a 01F4 brne .+2 63 007c 00C0 rjmp .L31 64 007e 479A sbi 40-0x20,7 65 0080 00C0 rjmp .L15 66 .L8: 67 0082 8FEF ldi r24,lo8(-1) 68 0084 9FEF ldi r25,hi8(-1) 69 0086 9093 0000 sts (BeepMuster)+1,r25 70 008a 8093 0000 sts BeepMuster,r24 71 .L11: 72 008e 8091 0000 lds r24,PlatinenVersion 73 0092 8A30 cpi r24,lo8(10) 74 0094 01F4 brne .+2 75 0096 00C0 rjmp .L32 76 0098 4798 cbi 40-0x20,7 77 .L15: 78 009a 8091 0000 lds r24,EE_Parameter+8 79 009e 83FF sbrs r24,3 80 00a0 00C0 rjmp .L26 81 00a2 349B sbis 38-0x20,4 82 00a4 00C0 rjmp .L19 83 00a6 8091 0000 lds r24,cntKompass 84 00aa 9091 0000 lds r25,(cntKompass)+1 85 00ae 0196 adiw r24,1 86 00b0 9093 0000 sts (cntKompass)+1,r25 87 00b4 8093 0000 sts cntKompass,r24 88 00b8 00C0 rjmp .L26 89 .L19: 90 00ba 8091 0000 lds r24,cntKompass 91 00be 9091 0000 lds r25,(cntKompass)+1 92 00c2 892B or r24,r25 93 00c4 01F0 breq .L21 94 00c6 8091 0000 lds r24,cntKompass 95 00ca 9091 0000 lds r25,(cntKompass)+1 96 00ce 8A56 subi r24,lo8(362) 97 00d0 9140 sbci r25,hi8(362) 98 00d2 00F4 brsh .L21 99 00d4 8091 0000 lds r24,cntKompass 100 00d8 9091 0000 lds r25,(cntKompass)+1 101 00dc 2091 0000 lds r18,cntKompass 102 00e0 3091 0000 lds r19,(cntKompass)+1 103 00e4 69E2 ldi r22,lo8(41) 104 00e6 70E0 ldi r23,hi8(41) 105 00e8 0E94 0000 call __udivmodhi4 106 00ec 260F add r18,r22 107 00ee 371F adc r19,r23 108 00f0 3093 0000 sts (cntKompass)+1,r19 109 00f4 2093 0000 sts cntKompass,r18 110 00f8 8091 0000 lds r24,cntKompass 111 00fc 9091 0000 lds r25,(cntKompass)+1 112 0100 0B97 sbiw r24,11 113 0102 00F4 brsh .+2 114 0104 00C0 rjmp .L24 115 0106 8091 0000 lds r24,cntKompass 116 010a 9091 0000 lds r25,(cntKompass)+1 117 010e 0A97 sbiw r24,10 118 0110 9093 0000 sts (KompassValue)+1,r25 119 0114 8093 0000 sts KompassValue,r24 120 .L21: 121 0118 8091 0000 lds r24,KompassValue 122 011c 9091 0000 lds r25,(KompassValue)+1 123 0120 845E subi r24,lo8(-(540)) 124 0122 9D4F sbci r25,hi8(-(540)) 125 0124 2091 0000 lds r18,KompassStartwert 126 0128 3091 0000 lds r19,(KompassStartwert)+1 127 012c 821B sub r24,r18 128 012e 930B sbc r25,r19 129 0130 68E6 ldi r22,lo8(360) 130 0132 71E0 ldi r23,hi8(360) 131 0134 0E94 0000 call __divmodhi4 132 0138 845B subi r24,lo8(-(-180)) 133 013a 9040 sbci r25,hi8(-(-180)) 134 013c 9093 0000 sts (KompassRichtung)+1,r25 135 0140 8093 0000 sts KompassRichtung,r24 136 0144 1092 0000 sts (cntKompass)+1,__zero_reg__ 137 0148 1092 0000 sts cntKompass,__zero_reg__ 138 014c 00C0 rjmp .L26 139 .L30: 140 014e 89E0 ldi r24,lo8(9) 141 0150 8093 0000 sts cnt.2378,r24 142 0154 8091 0000 lds r24,cnt_1ms.2377 143 0158 8F5F subi r24,lo8(-(1)) 144 015a 8170 andi r24,lo8(1) 145 015c 8093 0000 sts cnt_1ms.2377,r24 146 0160 8823 tst r24 147 0162 01F4 brne .L6 148 0164 81E0 ldi r24,lo8(1) 149 0166 8093 0000 sts UpdateMotor,r24 150 .L6: 151 016a 8091 0000 lds r24,CountMilliseconds 152 016e 9091 0000 lds r25,(CountMilliseconds)+1 153 0172 0196 adiw r24,1 154 0174 9093 0000 sts (CountMilliseconds)+1,r25 155 0178 8093 0000 sts CountMilliseconds,r24 156 017c 00C0 rjmp .L4 157 .L32: 158 017e 5A98 cbi 43-0x20,2 159 0180 00C0 rjmp .L15 160 .L31: 161 0182 5A9A sbi 43-0x20,2 162 0184 00C0 rjmp .L15 163 .L24: 164 0186 1092 0000 sts (KompassValue)+1,__zero_reg__ 165 018a 1092 0000 sts KompassValue,__zero_reg__ 166 018e 00C0 rjmp .L21 167 .L26: 168 /* epilogue: frame size=0 */ 169 0190 BF91 pop r27 170 0192 AF91 pop r26 171 0194 9F91 pop r25 172 0196 8F91 pop r24 173 0198 7F91 pop r23 174 019a 6F91 pop r22 175 019c 5F91 pop r21 176 019e 3F91 pop r19 177 01a0 2F91 pop r18 178 01a2 0F90 pop __tmp_reg__ 179 01a4 0FBE out __SREG__,__tmp_reg__ 180 01a6 0F90 pop __tmp_reg__ 181 01a8 1F90 pop __zero_reg__ 182 01aa 1895 reti 183 /* epilogue end (size=14) */ 184 /* function __vector_18 size 217 (189) */ 186 .global SetDelay 188 SetDelay: 189 /* prologue: frame size=0 */ 190 /* prologue end (size=0) */ 191 01ac 2091 0000 lds r18,CountMilliseconds 192 01b0 3091 0000 lds r19,(CountMilliseconds)+1 193 01b4 2F5F subi r18,lo8(-(1)) 194 01b6 3F4F sbci r19,hi8(-(1)) 195 01b8 820F add r24,r18 196 01ba 931F adc r25,r19 197 /* epilogue: frame size=0 */ 198 01bc 0895 ret 199 /* epilogue end (size=1) */ 200 /* function SetDelay size 9 (8) */ 202 .global CheckDelay 204 CheckDelay: 205 /* prologue: frame size=0 */ 206 /* prologue end (size=0) */ 207 01be 2091 0000 lds r18,CountMilliseconds 208 01c2 3091 0000 lds r19,(CountMilliseconds)+1 209 01c6 821B sub r24,r18 210 01c8 930B sbc r25,r19 211 01ca 892F mov r24,r25 212 01cc 9927 clr r25 213 01ce 8695 lsr r24 214 01d0 8074 andi r24,lo8(64) 215 01d2 90E0 ldi r25,lo8(0) 216 /* epilogue: frame size=0 */ 217 01d4 0895 ret 218 /* epilogue end (size=1) */ 219 /* function CheckDelay size 12 (11) */ 221 .global Delay_ms 223 Delay_ms: 224 /* prologue: frame size=0 */ 225 01d6 CF93 push r28 226 01d8 DF93 push r29 227 /* prologue end (size=2) */ 228 01da 0E94 0000 call SetDelay 229 01de EC01 movw r28,r24 230 .L38: 231 01e0 CE01 movw r24,r28 232 01e2 0E94 0000 call CheckDelay 233 01e6 8823 tst r24 234 01e8 01F0 breq .L38 235 /* epilogue: frame size=0 */ 236 01ea DF91 pop r29 237 01ec CF91 pop r28 238 01ee 0895 ret 239 /* epilogue end (size=3) */ 240 /* function Delay_ms size 13 (8) */ 242 .global Delay_ms_Mess 244 Delay_ms_Mess: 245 /* prologue: frame size=0 */ 246 01f0 CF93 push r28 247 01f2 DF93 push r29 248 /* prologue end (size=2) */ 249 01f4 0E94 0000 call SetDelay 250 01f8 EC01 movw r28,r24 251 01fa 00C0 rjmp .L52 252 .L45: 253 01fc 8091 0000 lds r24,AdReady 254 0200 8823 tst r24 255 0202 01F0 breq .L52 256 0204 1092 0000 sts AdReady,__zero_reg__ 257 0208 8FEC ldi r24,lo8(-49) 258 020a 8093 7A00 sts 122,r24 259 .L52: 260 020e CE01 movw r24,r28 261 0210 0E94 0000 call CheckDelay 262 0214 8823 tst r24 263 0216 01F0 breq .L45 264 /* epilogue: frame size=0 */ 265 0218 DF91 pop r29 266 021a CF91 pop r28 267 021c 0895 ret 268 /* epilogue end (size=3) */ 269 /* function Delay_ms_Mess size 23 (18) */ 271 .global TIMER2_Init 273 TIMER2_Init: 274 /* prologue: frame size=0 */ 275 /* prologue end (size=0) */ 276 021e 9FB7 in r25,95-0x20 277 /* #APP */ 278 0220 F894 cli 279 /* #NOAPP */ 280 0222 579A sbi 42-0x20,7 281 0224 5F98 cbi 43-0x20,7 282 0226 3E9A sbi 39-0x20,6 283 0228 469A sbi 40-0x20,6 284 022a A0EB ldi r26,lo8(176) 285 022c B0E0 ldi r27,hi8(176) 286 022e 8C91 ld r24,X 287 0230 8F70 andi r24,lo8(15) 288 0232 8C93 st X,r24 289 0234 8C91 ld r24,X 290 0236 8360 ori r24,lo8(3) 291 0238 8C93 st X,r24 292 023a E1EB ldi r30,lo8(177) 293 023c F0E0 ldi r31,hi8(177) 294 023e 8081 ld r24,Z 295 0240 8B73 andi r24,lo8(59) 296 0242 8083 st Z,r24 297 0244 8081 ld r24,Z 298 0246 8B60 ori r24,lo8(11) 299 0248 8083 st Z,r24 300 024a 1092 B200 sts 178,__zero_reg__ 301 024e 8FEF ldi r24,lo8(-1) 302 0250 8093 B300 sts 179,r24 303 0254 8C91 ld r24,X 304 0256 8068 ori r24,lo8(-128) 305 0258 8C93 st X,r24 306 025a E0E7 ldi r30,lo8(112) 307 025c F0E0 ldi r31,hi8(112) 308 025e 8081 ld r24,Z 309 0260 8A7F andi r24,lo8(-6) 310 0262 8083 st Z,r24 311 0264 8081 ld r24,Z 312 0266 8260 ori r24,lo8(2) 313 0268 8083 st Z,r24 314 026a 9FBF out 95-0x20,r25 315 /* epilogue: frame size=0 */ 316 026c 0895 ret 317 /* epilogue end (size=1) */ 318 /* function TIMER2_Init size 41 (40) */ 320 .global Timer_Init 322 Timer_Init: 323 /* prologue: frame size=0 */ 324 /* prologue end (size=0) */ 325 026e 8AE0 ldi r24,lo8(10) 326 0270 90E0 ldi r25,hi8(10) 327 0272 0E94 0000 call SetDelay 328 0276 9093 0000 sts (tim_main)+1,r25 329 027a 8093 0000 sts tim_main,r24 330 027e 82E0 ldi r24,lo8(2) 331 0280 85BD out 69-0x20,r24 332 0282 83EA ldi r24,lo8(-93) 333 0284 84BD out 68-0x20,r24 334 0286 17BC out 71-0x20,__zero_reg__ 335 0288 88E7 ldi r24,lo8(120) 336 028a 88BD out 72-0x20,r24 337 028c 86E0 ldi r24,lo8(6) 338 028e 86BD out 70-0x20,r24 339 0290 EEE6 ldi r30,lo8(110) 340 0292 F0E0 ldi r31,hi8(110) 341 0294 8081 ld r24,Z 342 0296 8160 ori r24,lo8(1) 343 0298 8083 st Z,r24 344 /* epilogue: frame size=0 */ 345 029a 0895 ret 346 /* epilogue end (size=1) */ 347 /* function Timer_Init size 23 (22) */ 349 .global __vector_9 351 __vector_9: 352 /* prologue: frame size=0 */ 353 029c 1F92 push __zero_reg__ 354 029e 0F92 push __tmp_reg__ 355 02a0 0FB6 in __tmp_reg__,__SREG__ 356 02a2 0F92 push __tmp_reg__ 357 02a4 1124 clr __zero_reg__ 358 02a6 CF92 push r12 359 02a8 DF92 push r13 360 02aa EF92 push r14 361 02ac FF92 push r15 362 02ae 0F93 push r16 363 02b0 1F93 push r17 364 02b2 2F93 push r18 365 02b4 3F93 push r19 366 02b6 4F93 push r20 367 02b8 5F93 push r21 368 02ba 6F93 push r22 369 02bc 7F93 push r23 370 02be 8F93 push r24 371 02c0 9F93 push r25 372 02c2 AF93 push r26 373 02c4 BF93 push r27 374 02c6 EF93 push r30 375 02c8 FF93 push r31 376 /* prologue end (size=23) */ 377 02ca 8091 0000 lds r24,PlatinenVersion 378 02ce 8431 cpi r24,lo8(20) 379 02d0 00F4 brsh .L58 380 02d2 8091 0000 lds r24,PulseOutput.2520 381 02d6 8823 tst r24 382 02d8 01F4 brne .+2 383 02da 00C0 rjmp .L117 384 .L113: 385 02dc 2091 0000 lds r18,RemainingPulse.2521 386 02e0 3091 0000 lds r19,(RemainingPulse.2521)+1 387 .L60: 388 02e4 41E0 ldi r20,hi8(383) 389 02e6 2F37 cpi r18,lo8(383) 390 02e8 3407 cpc r19,r20 391 02ea 00F0 brlo .L104 392 02ec 8FEF ldi r24,lo8(-1) 393 02ee 8093 B300 sts 179,r24 394 02f2 2F5F subi r18,lo8(-(-255)) 395 02f4 3040 sbci r19,hi8(-(-255)) 396 02f6 3093 0000 sts (RemainingPulse.2521)+1,r19 397 02fa 2093 0000 sts RemainingPulse.2521,r18 398 02fe 00C0 rjmp .L111 399 .L58: 400 0300 8091 0000 lds r24,PulseOutput.2520 401 0304 8823 tst r24 402 0306 01F4 brne .L113 403 0308 8091 B000 lds r24,176 404 030c 86FF sbrs r24,6 405 030e 00C0 rjmp .L79 406 0310 8091 B000 lds r24,176 407 0314 8F7B andi r24,lo8(-65) 408 0316 8093 B000 sts 176,r24 409 031a E091 0000 lds r30,ServoIndex.2523 410 031e EE23 tst r30 411 0320 01F0 breq .+2 412 0322 00C0 rjmp .L81 413 0324 8091 0000 lds r24,EE_Parameter+38 414 0328 90E0 ldi r25,lo8(0) 415 032a 2DED ldi r18,lo8(1757) 416 032c 36E0 ldi r19,hi8(1757) 417 032e A901 movw r20,r18 418 0330 849F mul r24,r20 419 0332 9001 movw r18,r0 420 0334 859F mul r24,r21 421 0336 300D add r19,r0 422 0338 949F mul r25,r20 423 033a 300D add r19,r0 424 033c 1124 clr r1 425 033e 8091 0000 lds r24,ServoFrameTime.2522 426 0342 9091 0000 lds r25,(ServoFrameTime.2522)+1 427 0346 281B sub r18,r24 428 0348 390B sbc r19,r25 429 034a 3093 0000 sts (RemainingPulse.2521)+1,r19 430 034e 2093 0000 sts RemainingPulse.2521,r18 431 0352 1092 0000 sts (ServoFrameTime.2522)+1,__zero_reg__ 432 0356 1092 0000 sts ServoFrameTime.2522,__zero_reg__ 433 035a 469A sbi 40-0x20,6 434 035c 00C0 rjmp .L83 435 .L104: 436 035e 2F3F cpi r18,255 437 0360 3105 cpc r19,__zero_reg__ 438 0362 01F0 breq .L107 439 0364 00F0 brlo .L107 440 0366 51E0 ldi r21,hi8(382) 441 0368 2E37 cpi r18,lo8(382) 442 036a 3507 cpc r19,r21 443 036c 01F4 brne .+2 444 036e 00C0 rjmp .L109 445 0370 80E8 ldi r24,lo8(-128) 446 0372 8093 B300 sts 179,r24 447 0376 2058 subi r18,lo8(-(-128)) 448 0378 3040 sbci r19,hi8(-(-128)) 449 037a 3093 0000 sts (RemainingPulse.2521)+1,r19 450 037e 2093 0000 sts RemainingPulse.2521,r18 451 0382 00C0 rjmp .L111 452 .L107: 453 0384 2093 B300 sts 179,r18 454 0388 1092 0000 sts (RemainingPulse.2521)+1,__zero_reg__ 455 038c 1092 0000 sts RemainingPulse.2521,__zero_reg__ 456 0390 1092 0000 sts PulseOutput.2520,__zero_reg__ 457 0394 00C0 rjmp .L111 458 .L117: 459 0396 8091 B000 lds r24,176 460 039a 86FF sbrs r24,6 461 039c 00C0 rjmp .L62 462 039e 8091 B000 lds r24,176 463 03a2 8F7B andi r24,lo8(-65) 464 03a4 8093 B000 sts 176,r24 465 03a8 8091 0000 lds r24,Parameter_ServoNickControl 466 03ac 482F mov r20,r24 467 03ae 50E0 ldi r21,lo8(0) 468 03b0 440F lsl r20 469 03b2 551F rol r21 470 03b4 440F lsl r20 471 03b6 551F rol r21 472 03b8 2091 0000 lds r18,ServoNickOffset.2524 473 03bc 3091 0000 lds r19,(ServoNickOffset.2524)+1 474 03c0 C901 movw r24,r18 475 03c2 880F lsl r24 476 03c4 991F rol r25 477 03c6 820F add r24,r18 478 03c8 931F adc r25,r19 479 03ca 480F add r20,r24 480 03cc 591F adc r21,r25 481 03ce 57FD sbrc r21,7 482 03d0 00C0 rjmp .L118 483 .L64: 484 03d2 CA01 movw r24,r20 485 03d4 9595 asr r25 486 03d6 8795 ror r24 487 03d8 9595 asr r25 488 03da 8795 ror r24 489 03dc 9093 0000 sts (ServoNickOffset.2524)+1,r25 490 03e0 8093 0000 sts ServoNickOffset.2524,r24 491 03e4 9093 0000 sts (ServoNickValue)+1,r25 492 03e8 8093 0000 sts ServoNickValue,r24 493 03ec 8091 0000 lds r24,EE_Parameter+76 494 03f0 80FF sbrs r24,0 495 03f2 00C0 rjmp .L65 496 03f4 C090 0000 lds r12,ServoNickValue 497 03f8 D090 0000 lds r13,(ServoNickValue)+1 498 03fc E090 0000 lds r14,EE_Parameter+35 499 0400 FF24 clr r15 500 0402 00E0 ldi r16,lo8(0) 501 0404 10E0 ldi r17,hi8(0) 502 0406 6091 0000 lds r22,IntegralNick 503 040a 7091 0000 lds r23,(IntegralNick)+1 504 040e 8091 0000 lds r24,(IntegralNick)+2 505 0412 9091 0000 lds r25,(IntegralNick)+3 506 0416 20E8 ldi r18,lo8(128) 507 0418 30E0 ldi r19,hi8(128) 508 041a 40E0 ldi r20,hlo8(128) 509 041c 50E0 ldi r21,hhi8(128) 510 041e 0E94 0000 call __divmodsi4 511 0422 C801 movw r24,r16 512 0424 B701 movw r22,r14 513 0426 0E94 0000 call __mulsi3 514 042a 660F lsl r22 515 042c 771F rol r23 516 042e 881F rol r24 517 0430 991F rol r25 518 0432 660F lsl r22 519 0434 771F rol r23 520 0436 881F rol r24 521 0438 991F rol r25 522 043a 20E0 ldi r18,lo8(256) 523 043c 31E0 ldi r19,hi8(256) 524 043e 40E0 ldi r20,hlo8(256) 525 0440 50E0 ldi r21,hhi8(256) 526 0442 0E94 0000 call __divmodsi4 527 0446 C20E add r12,r18 528 0448 D31E adc r13,r19 529 044a D092 0000 sts (ServoNickValue)+1,r13 530 044e C092 0000 sts ServoNickValue,r12 531 .L67: 532 0452 8091 0000 lds r24,EE_Parameter+36 533 0456 282F mov r18,r24 534 0458 30E0 ldi r19,lo8(0) 535 045a 220F lsl r18 536 045c 331F rol r19 537 045e 220F lsl r18 538 0460 331F rol r19 539 0462 8091 0000 lds r24,ServoNickValue 540 0466 9091 0000 lds r25,(ServoNickValue)+1 541 046a 8217 cp r24,r18 542 046c 9307 cpc r25,r19 543 046e 04F4 brge .+2 544 0470 00C0 rjmp .L115 545 0472 8091 0000 lds r24,EE_Parameter+37 546 0476 282F mov r18,r24 547 0478 30E0 ldi r19,lo8(0) 548 047a 220F lsl r18 549 047c 331F rol r19 550 047e 220F lsl r18 551 0480 331F rol r19 552 0482 8091 0000 lds r24,ServoNickValue 553 0486 9091 0000 lds r25,(ServoNickValue)+1 554 048a 2817 cp r18,r24 555 048c 3907 cpc r19,r25 556 048e 04F4 brge .+2 557 0490 00C0 rjmp .L115 558 .L70: 559 0492 2091 0000 lds r18,ServoNickValue 560 0496 3091 0000 lds r19,(ServoNickValue)+1 561 049a 2755 subi r18,lo8(-(425)) 562 049c 3E4F sbci r19,hi8(-(425)) 563 049e 3093 0000 sts (RemainingPulse.2521)+1,r19 564 04a2 2093 0000 sts RemainingPulse.2521,r18 565 04a6 8091 0000 lds r24,ServoNickValue 566 04aa 9091 0000 lds r25,(ServoNickValue)+1 567 04ae 97FD sbrc r25,7 568 04b0 00C0 rjmp .L119 569 .L72: 570 04b2 9595 asr r25 571 04b4 8795 ror r24 572 04b6 9595 asr r25 573 04b8 8795 ror r24 574 04ba 9093 0000 sts (ServoNickValue)+1,r25 575 04be 8093 0000 sts ServoNickValue,r24 576 04c2 8091 0000 lds r24,ServoNickValue 577 04c6 9091 0000 lds r25,(ServoNickValue)+1 578 04ca 9093 0000 sts (DebugOut+42)+1,r25 579 04ce 8093 0000 sts DebugOut+42,r24 580 04d2 45E0 ldi r20,hi8(1501) 581 04d4 2D3D cpi r18,lo8(1501) 582 04d6 3407 cpc r19,r20 583 04d8 00F4 brsh .+2 584 04da 00C0 rjmp .L73 585 04dc 2CED ldi r18,lo8(1500) 586 04de 35E0 ldi r19,hi8(1500) 587 04e0 3093 0000 sts (RemainingPulse.2521)+1,r19 588 04e4 2093 0000 sts RemainingPulse.2521,r18 589 .L75: 590 04e8 2091 0000 lds r18,RemainingPulse.2521 591 04ec 3091 0000 lds r19,(RemainingPulse.2521)+1 592 04f0 3093 0000 sts (ServoFrameTime.2522)+1,r19 593 04f4 2093 0000 sts ServoFrameTime.2522,r18 594 04f8 00C0 rjmp .L83 595 .L62: 596 04fa 8091 B000 lds r24,176 597 04fe 8064 ori r24,lo8(64) 598 0500 8093 B000 sts 176,r24 599 0504 8091 0000 lds r24,EE_Parameter+38 600 0508 90E0 ldi r25,lo8(0) 601 050a 2DED ldi r18,lo8(1757) 602 050c 36E0 ldi r19,hi8(1757) 603 050e A901 movw r20,r18 604 0510 849F mul r24,r20 605 0512 9001 movw r18,r0 606 0514 859F mul r24,r21 607 0516 300D add r19,r0 608 0518 949F mul r25,r20 609 051a 300D add r19,r0 610 051c 1124 clr r1 611 051e 8091 0000 lds r24,ServoFrameTime.2522 612 0522 9091 0000 lds r25,(ServoFrameTime.2522)+1 613 0526 281B sub r18,r24 614 0528 390B sbc r19,r25 615 052a 3093 0000 sts (RemainingPulse.2521)+1,r19 616 052e 2093 0000 sts RemainingPulse.2521,r18 617 .L83: 618 0532 81E0 ldi r24,lo8(1) 619 0534 8093 0000 sts PulseOutput.2520,r24 620 0538 00C0 rjmp .L60 621 .L79: 622 053a 8091 B000 lds r24,176 623 053e 8064 ori r24,lo8(64) 624 0540 8093 B000 sts 176,r24 625 0544 2CEB ldi r18,lo8(188) 626 0546 30E0 ldi r19,hi8(188) 627 0548 3093 0000 sts (RemainingPulse.2521)+1,r19 628 054c 2093 0000 sts RemainingPulse.2521,r18 629 0550 8091 0000 lds r24,ServoFrameTime.2522 630 0554 9091 0000 lds r25,(ServoFrameTime.2522)+1 631 0558 8454 subi r24,lo8(-(188)) 632 055a 9F4F sbci r25,hi8(-(188)) 633 055c 9093 0000 sts (ServoFrameTime.2522)+1,r25 634 0560 8093 0000 sts ServoFrameTime.2522,r24 635 0564 8091 0000 lds r24,ServoActive 636 0568 8823 tst r24 637 056a 01F0 breq .L100 638 056c 8091 0000 lds r24,SenderOkay 639 0570 853B cpi r24,lo8(-75) 640 0572 00F0 brlo .+2 641 0574 00C0 rjmp .L120 642 .L100: 643 0576 8091 0000 lds r24,ServoIndex.2523 644 057a 8F5F subi r24,lo8(-(1)) 645 057c 8093 0000 sts ServoIndex.2523,r24 646 0580 9091 0000 lds r25,EE_Parameter+38 647 0584 9817 cp r25,r24 648 0586 00F0 brlo .+2 649 0588 00C0 rjmp .L114 650 058a 1092 0000 sts ServoIndex.2523,__zero_reg__ 651 058e 2091 0000 lds r18,RemainingPulse.2521 652 0592 3091 0000 lds r19,(RemainingPulse.2521)+1 653 0596 00C0 rjmp .L83 654 .L109: 655 0598 8FEF ldi r24,lo8(-1) 656 059a 8093 B300 sts 179,r24 657 059e 2FE7 ldi r18,lo8(127) 658 05a0 30E0 ldi r19,hi8(127) 659 05a2 3093 0000 sts (RemainingPulse.2521)+1,r19 660 05a6 2093 0000 sts RemainingPulse.2521,r18 661 05aa 00C0 rjmp .L111 662 .L115: 663 05ac 3093 0000 sts (ServoNickValue)+1,r19 664 05b0 2093 0000 sts ServoNickValue,r18 665 05b4 00C0 rjmp .L70 666 .L81: 667 05b6 29EA ldi r18,lo8(937) 668 05b8 33E0 ldi r19,hi8(937) 669 05ba 3093 0000 sts (RemainingPulse.2521)+1,r19 670 05be 2093 0000 sts RemainingPulse.2521,r18 671 05c2 E130 cpi r30,lo8(1) 672 05c4 01F4 brne .+2 673 05c6 00C0 rjmp .L121 674 05c8 F0E0 ldi r31,lo8(0) 675 05ca EE0F lsl r30 676 05cc FF1F rol r31 677 05ce E050 subi r30,lo8(-(PPM_in)) 678 05d0 F040 sbci r31,hi8(-(PPM_in)) 679 05d2 8081 ld r24,Z 680 05d4 9181 ldd r25,Z+1 681 05d6 880F lsl r24 682 05d8 991F rol r25 683 05da 8755 subi r24,lo8(-(937)) 684 05dc 9C4F sbci r25,hi8(-(937)) 685 05de 9093 0000 sts (RemainingPulse.2521)+1,r25 686 05e2 8093 0000 sts RemainingPulse.2521,r24 687 .L95: 688 05e6 2091 0000 lds r18,RemainingPulse.2521 689 05ea 3091 0000 lds r19,(RemainingPulse.2521)+1 690 05ee 55E0 ldi r21,hi8(1501) 691 05f0 2D3D cpi r18,lo8(1501) 692 05f2 3507 cpc r19,r21 693 05f4 00F4 brsh .+2 694 05f6 00C0 rjmp .L96 695 05f8 2CED ldi r18,lo8(1500) 696 05fa 35E0 ldi r19,hi8(1500) 697 05fc 3093 0000 sts (RemainingPulse.2521)+1,r19 698 0600 2093 0000 sts RemainingPulse.2521,r18 699 .L98: 700 0604 2C5B subi r18,lo8(-(-188)) 701 0606 3040 sbci r19,hi8(-(-188)) 702 0608 3093 0000 sts (RemainingPulse.2521)+1,r19 703 060c 2093 0000 sts RemainingPulse.2521,r18 704 0610 8091 0000 lds r24,ServoFrameTime.2522 705 0614 9091 0000 lds r25,(ServoFrameTime.2522)+1 706 0618 820F add r24,r18 707 061a 931F adc r25,r19 708 061c 9093 0000 sts (ServoFrameTime.2522)+1,r25 709 0620 8093 0000 sts ServoFrameTime.2522,r24 710 0624 00C0 rjmp .L83 711 .L73: 712 0626 2757 subi r18,lo8(375) 713 0628 3140 sbci r19,hi8(375) 714 062a 00F0 brlo .+2 715 062c 00C0 rjmp .L75 716 062e 27E7 ldi r18,lo8(375) 717 0630 31E0 ldi r19,hi8(375) 718 0632 3093 0000 sts (RemainingPulse.2521)+1,r19 719 0636 2093 0000 sts RemainingPulse.2521,r18 720 063a 00C0 rjmp .L75 721 .L65: 722 063c C090 0000 lds r12,ServoNickValue 723 0640 D090 0000 lds r13,(ServoNickValue)+1 724 0644 E090 0000 lds r14,EE_Parameter+35 725 0648 FF24 clr r15 726 064a 00E0 ldi r16,lo8(0) 727 064c 10E0 ldi r17,hi8(0) 728 064e 6091 0000 lds r22,IntegralNick 729 0652 7091 0000 lds r23,(IntegralNick)+1 730 0656 8091 0000 lds r24,(IntegralNick)+2 731 065a 9091 0000 lds r25,(IntegralNick)+3 732 065e 20E8 ldi r18,lo8(128) 733 0660 30E0 ldi r19,hi8(128) 734 0662 40E0 ldi r20,hlo8(128) 735 0664 50E0 ldi r21,hhi8(128) 736 0666 0E94 0000 call __divmodsi4 737 066a C801 movw r24,r16 738 066c B701 movw r22,r14 739 066e 0E94 0000 call __mulsi3 740 0672 660F lsl r22 741 0674 771F rol r23 742 0676 881F rol r24 743 0678 991F rol r25 744 067a 660F lsl r22 745 067c 771F rol r23 746 067e 881F rol r24 747 0680 991F rol r25 748 0682 20E0 ldi r18,lo8(256) 749 0684 31E0 ldi r19,hi8(256) 750 0686 40E0 ldi r20,hlo8(256) 751 0688 50E0 ldi r21,hhi8(256) 752 068a 0E94 0000 call __divmodsi4 753 068e C21A sub r12,r18 754 0690 D30A sbc r13,r19 755 0692 D092 0000 sts (ServoNickValue)+1,r13 756 0696 C092 0000 sts ServoNickValue,r12 757 069a 00C0 rjmp .L67 758 .L114: 759 069c 2091 0000 lds r18,RemainingPulse.2521 760 06a0 3091 0000 lds r19,(RemainingPulse.2521)+1 761 06a4 00C0 rjmp .L83 762 .L120: 763 06a6 4698 cbi 40-0x20,6 764 06a8 00C0 rjmp .L100 765 .L121: 766 06aa 8091 0000 lds r24,Parameter_ServoNickControl 767 06ae 482F mov r20,r24 768 06b0 50E0 ldi r21,lo8(0) 769 06b2 440F lsl r20 770 06b4 551F rol r21 771 06b6 440F lsl r20 772 06b8 551F rol r21 773 06ba 2091 0000 lds r18,ServoNickOffset.2524 774 06be 3091 0000 lds r19,(ServoNickOffset.2524)+1 775 06c2 C901 movw r24,r18 776 06c4 880F lsl r24 777 06c6 991F rol r25 778 06c8 820F add r24,r18 779 06ca 931F adc r25,r19 780 06cc 480F add r20,r24 781 06ce 591F adc r21,r25 782 06d0 57FD sbrc r21,7 783 06d2 00C0 rjmp .L122 784 .L86: 785 06d4 CA01 movw r24,r20 786 06d6 9595 asr r25 787 06d8 8795 ror r24 788 06da 9595 asr r25 789 06dc 8795 ror r24 790 06de 9093 0000 sts (ServoNickOffset.2524)+1,r25 791 06e2 8093 0000 sts ServoNickOffset.2524,r24 792 06e6 9093 0000 sts (ServoNickValue)+1,r25 793 06ea 8093 0000 sts ServoNickValue,r24 794 06ee 8091 0000 lds r24,EE_Parameter+76 795 06f2 80FF sbrs r24,0 796 06f4 00C0 rjmp .L87 797 06f6 C090 0000 lds r12,ServoNickValue 798 06fa D090 0000 lds r13,(ServoNickValue)+1 799 06fe E090 0000 lds r14,EE_Parameter+35 800 0702 FF24 clr r15 801 0704 00E0 ldi r16,lo8(0) 802 0706 10E0 ldi r17,hi8(0) 803 0708 6091 0000 lds r22,IntegralNick 804 070c 7091 0000 lds r23,(IntegralNick)+1 805 0710 8091 0000 lds r24,(IntegralNick)+2 806 0714 9091 0000 lds r25,(IntegralNick)+3 807 0718 20E8 ldi r18,lo8(128) 808 071a 30E0 ldi r19,hi8(128) 809 071c 40E0 ldi r20,hlo8(128) 810 071e 50E0 ldi r21,hhi8(128) 811 0720 0E94 0000 call __divmodsi4 812 0724 C801 movw r24,r16 813 0726 B701 movw r22,r14 814 0728 0E94 0000 call __mulsi3 815 072c 660F lsl r22 816 072e 771F rol r23 817 0730 881F rol r24 818 0732 991F rol r25 819 0734 660F lsl r22 820 0736 771F rol r23 821 0738 881F rol r24 822 073a 991F rol r25 823 073c 20E0 ldi r18,lo8(256) 824 073e 31E0 ldi r19,hi8(256) 825 0740 40E0 ldi r20,hlo8(256) 826 0742 50E0 ldi r21,hhi8(256) 827 0744 0E94 0000 call __divmodsi4 828 0748 C20E add r12,r18 829 074a D31E adc r13,r19 830 074c D092 0000 sts (ServoNickValue)+1,r13 831 0750 C092 0000 sts ServoNickValue,r12 832 .L89: 833 0754 8091 0000 lds r24,EE_Parameter+36 834 0758 282F mov r18,r24 835 075a 30E0 ldi r19,lo8(0) 836 075c 220F lsl r18 837 075e 331F rol r19 838 0760 220F lsl r18 839 0762 331F rol r19 840 0764 8091 0000 lds r24,ServoNickValue 841 0768 9091 0000 lds r25,(ServoNickValue)+1 842 076c 8217 cp r24,r18 843 076e 9307 cpc r25,r19 844 0770 04F0 brlt .L116 845 0772 8091 0000 lds r24,EE_Parameter+37 846 0776 282F mov r18,r24 847 0778 30E0 ldi r19,lo8(0) 848 077a 220F lsl r18 849 077c 331F rol r19 850 077e 220F lsl r18 851 0780 331F rol r19 852 0782 8091 0000 lds r24,ServoNickValue 853 0786 9091 0000 lds r25,(ServoNickValue)+1 854 078a 2817 cp r18,r24 855 078c 3907 cpc r19,r25 856 078e 04F4 brge .L92 857 .L116: 858 0790 3093 0000 sts (ServoNickValue)+1,r19 859 0794 2093 0000 sts ServoNickValue,r18 860 .L92: 861 0798 8091 0000 lds r24,ServoNickValue 862 079c 9091 0000 lds r25,(ServoNickValue)+1 863 07a0 8755 subi r24,lo8(-(425)) 864 07a2 9E4F sbci r25,hi8(-(425)) 865 07a4 9093 0000 sts (RemainingPulse.2521)+1,r25 866 07a8 8093 0000 sts RemainingPulse.2521,r24 867 07ac 8091 0000 lds r24,ServoNickValue 868 07b0 9091 0000 lds r25,(ServoNickValue)+1 869 07b4 97FD sbrc r25,7 870 07b6 00C0 rjmp .L123 871 .L94: 872 07b8 9595 asr r25 873 07ba 8795 ror r24 874 07bc 9595 asr r25 875 07be 8795 ror r24 876 07c0 9093 0000 sts (ServoNickValue)+1,r25 877 07c4 8093 0000 sts ServoNickValue,r24 878 07c8 8091 0000 lds r24,ServoNickValue 879 07cc 9091 0000 lds r25,(ServoNickValue)+1 880 07d0 9093 0000 sts (DebugOut+42)+1,r25 881 07d4 8093 0000 sts DebugOut+42,r24 882 07d8 00C0 rjmp .L95 883 .L96: 884 07da 81E0 ldi r24,hi8(375) 885 07dc 2737 cpi r18,lo8(375) 886 07de 3807 cpc r19,r24 887 07e0 00F0 brlo .+2 888 07e2 00C0 rjmp .L98 889 07e4 27E7 ldi r18,lo8(375) 890 07e6 31E0 ldi r19,hi8(375) 891 07e8 3093 0000 sts (RemainingPulse.2521)+1,r19 892 07ec 2093 0000 sts RemainingPulse.2521,r18 893 07f0 00C0 rjmp .L98 894 .L118: 895 07f2 4D5F subi r20,lo8(-(3)) 896 07f4 5F4F sbci r21,hi8(-(3)) 897 07f6 00C0 rjmp .L64 898 .L119: 899 07f8 0396 adiw r24,3 900 07fa 00C0 rjmp .L72 901 .L87: 902 07fc C090 0000 lds r12,ServoNickValue 903 0800 D090 0000 lds r13,(ServoNickValue)+1 904 0804 E090 0000 lds r14,EE_Parameter+35 905 0808 FF24 clr r15 906 080a 00E0 ldi r16,lo8(0) 907 080c 10E0 ldi r17,hi8(0) 908 080e 6091 0000 lds r22,IntegralNick 909 0812 7091 0000 lds r23,(IntegralNick)+1 910 0816 8091 0000 lds r24,(IntegralNick)+2 911 081a 9091 0000 lds r25,(IntegralNick)+3 912 081e 20E8 ldi r18,lo8(128) 913 0820 30E0 ldi r19,hi8(128) 914 0822 40E0 ldi r20,hlo8(128) 915 0824 50E0 ldi r21,hhi8(128) 916 0826 0E94 0000 call __divmodsi4 917 082a C801 movw r24,r16 918 082c B701 movw r22,r14 919 082e 0E94 0000 call __mulsi3 920 0832 660F lsl r22 921 0834 771F rol r23 922 0836 881F rol r24 923 0838 991F rol r25 924 083a 660F lsl r22 925 083c 771F rol r23 926 083e 881F rol r24 927 0840 991F rol r25 928 0842 20E0 ldi r18,lo8(256) 929 0844 31E0 ldi r19,hi8(256) 930 0846 40E0 ldi r20,hlo8(256) 931 0848 50E0 ldi r21,hhi8(256) 932 084a 0E94 0000 call __divmodsi4 933 084e C21A sub r12,r18 934 0850 D30A sbc r13,r19 935 0852 D092 0000 sts (ServoNickValue)+1,r13 936 0856 C092 0000 sts ServoNickValue,r12 937 085a 00C0 rjmp .L89 938 .L123: 939 085c 0396 adiw r24,3 940 085e 00C0 rjmp .L94 941 .L122: 942 0860 4D5F subi r20,lo8(-(3)) 943 0862 5F4F sbci r21,hi8(-(3)) 944 0864 00C0 rjmp .L86 945 .L111: 946 /* epilogue: frame size=0 */ 947 0866 FF91 pop r31 948 0868 EF91 pop r30 949 086a BF91 pop r27 950 086c AF91 pop r26 951 086e 9F91 pop r25 952 0870 8F91 pop r24 953 0872 7F91 pop r23 954 0874 6F91 pop r22 955 0876 5F91 pop r21 956 0878 4F91 pop r20 957 087a 3F91 pop r19 958 087c 2F91 pop r18 959 087e 1F91 pop r17 960 0880 0F91 pop r16 961 0882 FF90 pop r15 962 0884 EF90 pop r14 963 0886 DF90 pop r13 964 0888 CF90 pop r12 965 088a 0F90 pop __tmp_reg__ 966 088c 0FBE out __SREG__,__tmp_reg__ 967 088e 0F90 pop __tmp_reg__ 968 0890 1F90 pop __zero_reg__ 969 0892 1895 reti 970 /* epilogue end (size=23) */ 971 /* function __vector_9 size 765 (719) */ 973 .global CountMilliseconds 974 .global CountMilliseconds 975 .section .bss 978 CountMilliseconds: 979 0000 0000 .skip 2,0 980 .global UpdateMotor 981 .global UpdateMotor 984 UpdateMotor: 985 0002 00 .skip 1,0 986 .global cntKompass 987 .global cntKompass 990 cntKompass: 991 0003 0000 .skip 2,0 992 .global beeptime 993 .global beeptime 996 beeptime: 997 0005 0000 .skip 2,0 998 .global SendSPI 999 .global SendSPI 1002 SendSPI: 1003 0007 00 .skip 1,0 1004 .global ServoActive 1005 .global ServoActive 1008 ServoActive: 1009 0008 00 .skip 1,0 1010 .global BeepMuster 1011 .data 1014 BeepMuster: 1015 0000 FFFF .word -1 1016 .global ServoValue 1017 .global ServoValue 1018 .section .bss 1021 ServoValue: 1022 0009 0000 .skip 2,0 1023 .global ServoNickValue 1024 .global ServoNickValue 1027 ServoNickValue: 1028 000b 0000 .skip 2,0 1029 .global ServoRollValue 1030 .global ServoRollValue 1033 ServoRollValue: 1034 000d 0000 .skip 2,0 1035 .data 1038 ServoNickOffset.2524: 1039 0002 FC01 .word 508 1040 .lcomm ServoIndex.2523,1 1041 .lcomm ServoFrameTime.2522,2 1042 .lcomm RemainingPulse.2521,2 1043 .lcomm PulseOutput.2520,1 1044 .lcomm cnt.2378,1 1047 cnt_1ms.2377: 1048 0004 01 .byte 1 1049 .lcomm tim_main,2 1050 /* File "timer0.c": code 1103 = 0x044f (1015), prologues 41, epilogues 47 */ DEFINED SYMBOLS *ABS*:00000000 timer0.c C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:2 *ABS*:0000003f __SREG__ C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:3 *ABS*:0000003e __SP_H__ C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:4 *ABS*:0000003d __SP_L__ C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:5 *ABS*:00000000 __tmp_reg__ C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:6 *ABS*:00000001 __zero_reg__ C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:12 .text:00000000 __vector_18 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1002 .bss:00000007 SendSPI C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1043 .bss:00000015 cnt.2378 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:996 .bss:00000005 beeptime C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1014 .data:00000000 BeepMuster C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:990 .bss:00000003 cntKompass C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1047 .data:00000004 cnt_1ms.2377 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:984 .bss:00000002 UpdateMotor C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:978 .bss:00000000 CountMilliseconds C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:188 .text:000001ac SetDelay C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:204 .text:000001be CheckDelay C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:223 .text:000001d6 Delay_ms C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:244 .text:000001f0 Delay_ms_Mess C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:273 .text:0000021e TIMER2_Init C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:322 .text:0000026e Timer_Init C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1044 .bss:00000016 tim_main C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:351 .text:0000029c __vector_9 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1042 .bss:00000014 PulseOutput.2520 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1041 .bss:00000012 RemainingPulse.2521 .bss:0000000f ServoIndex.2523 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1040 .bss:00000010 ServoFrameTime.2522 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1038 .data:00000002 ServoNickOffset.2524 C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1027 .bss:0000000b ServoNickValue C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1008 .bss:00000008 ServoActive C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1021 .bss:00000009 ServoValue C:\DOKUME~1\David\LOKALE~1\Temp/ccAkFg6g.s:1033 .bss:0000000d ServoRollValue UNDEFINED SYMBOLS __do_copy_data __do_clear_bss PlatinenVersion EE_Parameter __udivmodhi4 KompassValue KompassStartwert __divmodhi4 KompassRichtung AdReady Parameter_ServoNickControl IntegralNick __divmodsi4 __mulsi3 DebugOut SenderOkay PPM_in