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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 21 | user | 1 | 1 .file "GPS.c" |
| 2 | 2 .arch atmega644 |
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| 3 | 3 __SREG__ = 0x3f |
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| 4 | 4 __SP_H__ = 0x3e |
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| 5 | 5 __SP_L__ = 0x3d |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .global __do_copy_data |
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| 9 | 9 .global __do_clear_bss |
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| 10 | 10 .text |
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| 11 | 11 .global gps_main |
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| 12 | 13 gps_main: |
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| 13 | 14 /* prologue: frame size=0 */ |
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| 14 | 15 0000 2F92 push r2 |
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| 15 | 16 0002 3F92 push r3 |
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| 16 | 17 0004 4F92 push r4 |
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| 17 | 18 0006 5F92 push r5 |
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| 18 | 19 0008 6F92 push r6 |
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| 19 | 20 000a 7F92 push r7 |
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| 20 | 21 000c 8F92 push r8 |
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| 21 | 22 000e 9F92 push r9 |
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| 22 | 23 0010 AF92 push r10 |
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| 23 | 24 0012 BF92 push r11 |
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| 24 | 25 0014 CF92 push r12 |
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| 25 | 26 0016 DF92 push r13 |
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| 26 | 27 0018 EF92 push r14 |
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| 27 | 28 001a FF92 push r15 |
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| 28 | 29 001c 0F93 push r16 |
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| 29 | 30 001e 1F93 push r17 |
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| 30 | 31 0020 CF93 push r28 |
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| 31 | 32 0022 DF93 push r29 |
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| 32 | 33 /* prologue end (size=18) */ |
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| 33 | 34 0024 8091 0000 lds r24,MotorenEin |
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| 34 | 35 0028 8230 cpi r24,lo8(2) |
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| 35 | 36 002a 00F0 brlo .L2 |
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| 36 | 37 002c 8091 0000 lds r24,gps_gethome |
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| 37 | 38 0030 9091 0000 lds r25,(gps_gethome)+1 |
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| 38 | 39 0034 892B or r24,r25 |
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| 39 | 40 0036 01F4 brne .L2 |
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| 40 | 41 0038 8091 0000 lds r24,actualPos+32 |
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| 41 | 42 003c 8823 tst r24 |
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| 42 | 43 003e 01F0 breq .L2 |
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| 43 | 44 0040 8091 0000 lds r24,actualPos |
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| 44 | 45 0044 9091 0000 lds r25,(actualPos)+1 |
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| 45 | 46 0048 A091 0000 lds r26,(actualPos)+2 |
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| 46 | 47 004c B091 0000 lds r27,(actualPos)+3 |
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| 47 | 48 0050 8093 0000 sts gps_home_n,r24 |
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| 48 | 49 0054 9093 0000 sts (gps_home_n)+1,r25 |
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| 49 | 50 0058 A093 0000 sts (gps_home_n)+2,r26 |
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| 50 | 51 005c B093 0000 sts (gps_home_n)+3,r27 |
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| 51 | 52 0060 8091 0000 lds r24,actualPos+4 |
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| 52 | 53 0064 9091 0000 lds r25,(actualPos+4)+1 |
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| 53 | 54 0068 A091 0000 lds r26,(actualPos+4)+2 |
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| 54 | 55 006c B091 0000 lds r27,(actualPos+4)+3 |
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| 55 | 56 0070 8093 0000 sts gps_home_e,r24 |
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| 56 | 57 0074 9093 0000 sts (gps_home_e)+1,r25 |
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| 57 | 58 0078 A093 0000 sts (gps_home_e)+2,r26 |
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| 58 | 59 007c B093 0000 sts (gps_home_e)+3,r27 |
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| 59 | 60 0080 80E5 ldi r24,lo8(80) |
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| 60 | 61 0082 90E0 ldi r25,hi8(80) |
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| 61 | 62 0084 9093 0000 sts (beeptime)+1,r25 |
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| 62 | 63 0088 8093 0000 sts beeptime,r24 |
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| 63 | 64 008c 81E0 ldi r24,lo8(1) |
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| 64 | 65 008e 90E0 ldi r25,hi8(1) |
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| 65 | 66 0090 9093 0000 sts (gps_gethome)+1,r25 |
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| 66 | 67 0094 8093 0000 sts gps_gethome,r24 |
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| 67 | 68 .L2: |
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| 68 | 69 0098 8091 0000 lds r24,Poti1 |
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| 69 | 70 009c 9091 0000 lds r25,(Poti1)+1 |
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| 70 | 71 00a0 1816 cp __zero_reg__,r24 |
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| 71 | 72 00a2 1906 cpc __zero_reg__,r25 |
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| 72 | 73 00a4 04F0 brlt .+2 |
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| 73 | 74 00a6 00C0 rjmp .L6 |
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| 74 | 75 00a8 8091 0000 lds r24,actualPos+32 |
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| 75 | 76 00ac 8823 tst r24 |
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| 76 | 77 00ae 01F4 brne .+2 |
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| 77 | 78 00b0 00C0 rjmp .L6 |
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| 78 | 79 00b2 8091 0000 lds r24,gps_getpos |
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| 79 | 80 00b6 9091 0000 lds r25,(gps_getpos)+1 |
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| 80 | 81 00ba 892B or r24,r25 |
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| 81 | 82 00bc 01F0 breq .L9 |
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| 82 | 83 00be 8091 0000 lds r24,actualPos |
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| 83 | 84 00c2 9091 0000 lds r25,(actualPos)+1 |
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| 84 | 85 00c6 A091 0000 lds r26,(actualPos)+2 |
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| 85 | 86 00ca B091 0000 lds r27,(actualPos)+3 |
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| 86 | 87 00ce 8093 0000 sts gps_northing,r24 |
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| 87 | 88 00d2 9093 0000 sts (gps_northing)+1,r25 |
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| 88 | 89 00d6 A093 0000 sts (gps_northing)+2,r26 |
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| 89 | 90 00da B093 0000 sts (gps_northing)+3,r27 |
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| 90 | 91 00de 8091 0000 lds r24,actualPos+4 |
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| 91 | 92 00e2 9091 0000 lds r25,(actualPos+4)+1 |
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| 92 | 93 00e6 A091 0000 lds r26,(actualPos+4)+2 |
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| 93 | 94 00ea B091 0000 lds r27,(actualPos+4)+3 |
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| 94 | 95 00ee 8093 0000 sts gps_easting,r24 |
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| 95 | 96 00f2 9093 0000 sts (gps_easting)+1,r25 |
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| 96 | 97 00f6 A093 0000 sts (gps_easting)+2,r26 |
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| 97 | 98 00fa B093 0000 sts (gps_easting)+3,r27 |
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| 98 | 99 00fe 82E3 ldi r24,lo8(50) |
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| 99 | 100 0100 90E0 ldi r25,hi8(50) |
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| 100 | 101 0102 9093 0000 sts (beeptime)+1,r25 |
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| 101 | 102 0106 8093 0000 sts beeptime,r24 |
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| 102 | 103 010a 1092 0000 sts (gps_getpos)+1,__zero_reg__ |
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| 103 | 104 010e 1092 0000 sts gps_getpos,__zero_reg__ |
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| 104 | 105 .L9: |
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| 105 | 106 0112 2091 0000 lds r18,gps_p |
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| 106 | 107 0116 3091 0000 lds r19,(gps_p)+1 |
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| 107 | 108 011a 6091 0000 lds r22,gps_northing |
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| 108 | 109 011e 7091 0000 lds r23,(gps_northing)+1 |
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| 109 | 110 0122 8091 0000 lds r24,(gps_northing)+2 |
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| 110 | 111 0126 9091 0000 lds r25,(gps_northing)+3 |
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| 111 | 112 012a E090 0000 lds r14,actualPos |
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| 112 | 113 012e F090 0000 lds r15,(actualPos)+1 |
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| 113 | 114 0132 0091 0000 lds r16,(actualPos)+2 |
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| 114 | 115 0136 1091 0000 lds r17,(actualPos)+3 |
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| 115 | 116 013a 6E19 sub r22,r14 |
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| 116 | 117 013c 7F09 sbc r23,r15 |
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| 117 | 118 013e 800B sbc r24,r16 |
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| 118 | 119 0140 910B sbc r25,r17 |
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| 119 | 120 0142 4427 clr r20 |
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| 120 | 121 0144 37FD sbrc r19,7 |
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| 121 | 122 0146 4095 com r20 |
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| 122 | 123 0148 542F mov r21,r20 |
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| 123 | 124 014a 0E94 0000 call __mulsi3 |
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| 124 | 125 014e 1B01 movw r2,r22 |
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| 125 | 126 0150 2C01 movw r4,r24 |
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| 126 | 127 0152 6093 0000 sts zwn,r22 |
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| 127 | 128 0156 7093 0000 sts (zwn)+1,r23 |
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| 128 | 129 015a 8093 0000 sts (zwn)+2,r24 |
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| 129 | 130 015e 9093 0000 sts (zwn)+3,r25 |
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| 130 | 131 0162 2091 0000 lds r18,gps_p |
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| 131 | 132 0166 3091 0000 lds r19,(gps_p)+1 |
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| 132 | 133 016a 6091 0000 lds r22,gps_easting |
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| 133 | 134 016e 7091 0000 lds r23,(gps_easting)+1 |
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| 134 | 135 0172 8091 0000 lds r24,(gps_easting)+2 |
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| 135 | 136 0176 9091 0000 lds r25,(gps_easting)+3 |
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| 136 | 137 017a E090 0000 lds r14,actualPos+4 |
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| 137 | 138 017e F090 0000 lds r15,(actualPos+4)+1 |
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| 138 | 139 0182 0091 0000 lds r16,(actualPos+4)+2 |
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| 139 | 140 0186 1091 0000 lds r17,(actualPos+4)+3 |
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| 140 | 141 018a 6E19 sub r22,r14 |
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| 141 | 142 018c 7F09 sbc r23,r15 |
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| 142 | 143 018e 800B sbc r24,r16 |
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| 143 | 144 0190 910B sbc r25,r17 |
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| 144 | 145 0192 4427 clr r20 |
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| 145 | 146 0194 37FD sbrc r19,7 |
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| 146 | 147 0196 4095 com r20 |
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| 147 | 148 0198 542F mov r21,r20 |
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| 148 | 149 019a 0E94 0000 call __mulsi3 |
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| 149 | 150 019e 5B01 movw r10,r22 |
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| 150 | 151 01a0 6C01 movw r12,r24 |
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| 151 | 152 01a2 6093 0000 sts zwe,r22 |
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| 152 | 153 01a6 7093 0000 sts (zwe)+1,r23 |
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| 153 | 154 01aa 8093 0000 sts (zwe)+2,r24 |
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| 154 | 155 01ae 9093 0000 sts (zwe)+3,r25 |
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| 155 | 156 01b2 1092 0000 sts zwn1,__zero_reg__ |
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| 156 | 157 01b6 1092 0000 sts (zwn1)+1,__zero_reg__ |
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| 157 | 158 01ba 1092 0000 sts (zwn1)+2,__zero_reg__ |
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| 158 | 159 01be 1092 0000 sts (zwn1)+3,__zero_reg__ |
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| 159 | 160 01c2 1092 0000 sts zwe1,__zero_reg__ |
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| 160 | 161 01c6 1092 0000 sts (zwe1)+1,__zero_reg__ |
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| 161 | 162 01ca 1092 0000 sts (zwe1)+2,__zero_reg__ |
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| 162 | 163 01ce 1092 0000 sts (zwe1)+3,__zero_reg__ |
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| 163 | 164 01d2 6091 0000 lds r22,gps_d |
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| 164 | 165 01d6 7091 0000 lds r23,(gps_d)+1 |
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| 165 | 166 01da 8827 clr r24 |
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| 166 | 167 01dc 77FD sbrc r23,7 |
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| 167 | 168 01de 8095 com r24 |
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| 168 | 169 01e0 982F mov r25,r24 |
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| 169 | 170 01e2 2091 0000 lds r18,actualPos+12 |
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| 170 | 171 01e6 3091 0000 lds r19,(actualPos+12)+1 |
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| 171 | 172 01ea 4091 0000 lds r20,(actualPos+12)+2 |
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| 172 | 173 01ee 5091 0000 lds r21,(actualPos+12)+3 |
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| 173 | 174 01f2 0E94 0000 call __mulsi3 |
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| 174 | 175 01f6 7B01 movw r14,r22 |
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| 175 | 176 01f8 8C01 movw r16,r24 |
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| 176 | 177 01fa 6093 0000 sts zwn2,r22 |
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| 177 | 178 01fe 7093 0000 sts (zwn2)+1,r23 |
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| 178 | 179 0202 8093 0000 sts (zwn2)+2,r24 |
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| 179 | 180 0206 9093 0000 sts (zwn2)+3,r25 |
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| 180 | 181 020a 6091 0000 lds r22,gps_d |
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| 181 | 182 020e 7091 0000 lds r23,(gps_d)+1 |
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| 182 | 183 0212 8827 clr r24 |
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| 183 | 184 0214 77FD sbrc r23,7 |
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| 184 | 185 0216 8095 com r24 |
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| 185 | 186 0218 982F mov r25,r24 |
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| 186 | 187 021a 2091 0000 lds r18,actualPos+16 |
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| 187 | 188 021e 3091 0000 lds r19,(actualPos+16)+1 |
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| 188 | 189 0222 4091 0000 lds r20,(actualPos+16)+2 |
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| 189 | 190 0226 5091 0000 lds r21,(actualPos+16)+3 |
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| 190 | 191 022a 0E94 0000 call __mulsi3 |
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| 191 | 192 022e 3B01 movw r6,r22 |
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| 192 | 193 0230 4C01 movw r8,r24 |
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| 193 | 194 0232 6093 0000 sts zwe2,r22 |
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| 194 | 195 0236 7093 0000 sts (zwe2)+1,r23 |
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| 195 | 196 023a 8093 0000 sts (zwe2)+2,r24 |
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| 196 | 197 023e 9093 0000 sts (zwe2)+3,r25 |
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| 197 | 198 0242 2091 0000 lds r18,skal |
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| 198 | 199 0246 3091 0000 lds r19,(skal)+1 |
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| 199 | 200 024a E218 sub r14,r2 |
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| 200 | 201 024c F308 sbc r15,r3 |
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| 201 | 202 024e 0409 sbc r16,r4 |
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| 202 | 203 0250 1509 sbc r17,r5 |
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| 203 | 204 0252 4427 clr r20 |
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| 204 | 205 0254 37FD sbrc r19,7 |
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| 205 | 206 0256 4095 com r20 |
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| 206 | 207 0258 542F mov r21,r20 |
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| 207 | 208 025a C801 movw r24,r16 |
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| 208 | 209 025c B701 movw r22,r14 |
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| 209 | 210 025e 0E94 0000 call __divmodsi4 |
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| 210 | 211 0262 E901 movw r28,r18 |
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| 211 | 212 0264 3093 0000 sts (GPS_Nick)+1,r19 |
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| 212 | 213 0268 2093 0000 sts GPS_Nick,r18 |
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| 213 | 214 026c 2091 0000 lds r18,skal |
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| 214 | 215 0270 3091 0000 lds r19,(skal)+1 |
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| 215 | 216 0274 A618 sub r10,r6 |
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| 216 | 217 0276 B708 sbc r11,r7 |
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| 217 | 218 0278 C808 sbc r12,r8 |
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| 218 | 219 027a D908 sbc r13,r9 |
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| 219 | 220 027c 4427 clr r20 |
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| 220 | 221 027e 37FD sbrc r19,7 |
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| 221 | 222 0280 4095 com r20 |
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| 222 | 223 0282 542F mov r21,r20 |
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| 223 | 224 0284 C601 movw r24,r12 |
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| 224 | 225 0286 B501 movw r22,r10 |
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| 225 | 226 0288 0E94 0000 call __divmodsi4 |
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| 226 | 227 028c B901 movw r22,r18 |
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| 227 | 228 028e 3093 0000 sts (GPS_Roll)+1,r19 |
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| 228 | 229 0292 2093 0000 sts GPS_Roll,r18 |
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| 229 | 230 0296 8091 0000 lds r24,gpsmax |
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| 230 | 231 029a 9091 0000 lds r25,(gpsmax)+1 |
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| 231 | 232 029e 8C17 cp r24,r28 |
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| 232 | 233 02a0 9D07 cpc r25,r29 |
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| 233 | 234 02a2 04F4 brge .L11 |
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| 234 | 235 02a4 8091 0000 lds r24,gpsmax |
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| 235 | 236 02a8 9091 0000 lds r25,(gpsmax)+1 |
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| 236 | 237 02ac 00C0 rjmp .L21 |
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| 237 | 238 .L11: |
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| 238 | 239 02ae 8091 0000 lds r24,gpsmax |
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| 239 | 240 02b2 9091 0000 lds r25,(gpsmax)+1 |
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| 240 | 241 02b6 9095 com r25 |
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| 241 | 242 02b8 8195 neg r24 |
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| 242 | 243 02ba 9F4F sbci r25,lo8(-1) |
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| 243 | 244 02bc C817 cp r28,r24 |
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| 244 | 245 02be D907 cpc r29,r25 |
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| 245 | 246 02c0 04F4 brge .L13 |
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| 246 | 247 02c2 8091 0000 lds r24,gpsmax |
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| 247 | 248 02c6 9091 0000 lds r25,(gpsmax)+1 |
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| 248 | 249 02ca 9095 com r25 |
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| 249 | 250 02cc 8195 neg r24 |
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| 250 | 251 02ce 9F4F sbci r25,lo8(-1) |
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| 251 | 252 .L21: |
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| 252 | 253 02d0 9093 0000 sts (GPS_Nick)+1,r25 |
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| 253 | 254 02d4 8093 0000 sts GPS_Nick,r24 |
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| 254 | 255 .L13: |
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| 255 | 256 02d8 8091 0000 lds r24,gpsmax |
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| 256 | 257 02dc 9091 0000 lds r25,(gpsmax)+1 |
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| 257 | 258 02e0 8617 cp r24,r22 |
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| 258 | 259 02e2 9707 cpc r25,r23 |
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| 259 | 260 02e4 04F4 brge .L15 |
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| 260 | 261 02e6 8091 0000 lds r24,gpsmax |
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| 261 | 262 02ea 9091 0000 lds r25,(gpsmax)+1 |
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| 262 | 263 02ee 00C0 rjmp .L22 |
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| 263 | 264 .L15: |
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| 264 | 265 02f0 8091 0000 lds r24,gpsmax |
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| 265 | 266 02f4 9091 0000 lds r25,(gpsmax)+1 |
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| 266 | 267 02f8 9095 com r25 |
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| 267 | 268 02fa 8195 neg r24 |
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| 268 | 269 02fc 9F4F sbci r25,lo8(-1) |
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| 269 | 270 02fe 6817 cp r22,r24 |
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| 270 | 271 0300 7907 cpc r23,r25 |
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| 271 | 272 0302 04F4 brge .L17 |
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| 272 | 273 0304 8091 0000 lds r24,gpsmax |
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| 273 | 274 0308 9091 0000 lds r25,(gpsmax)+1 |
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| 274 | 275 030c 9095 com r25 |
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| 275 | 276 030e 8195 neg r24 |
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| 276 | 277 0310 9F4F sbci r25,lo8(-1) |
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| 277 | 278 .L22: |
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| 278 | 279 0312 9093 0000 sts (GPS_Roll)+1,r25 |
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| 279 | 280 0316 8093 0000 sts GPS_Roll,r24 |
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| 280 | 281 .L17: |
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| 281 | 282 031a 1092 0000 sts (alpha)+1,__zero_reg__ |
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| 282 | 283 031e 1092 0000 sts alpha,__zero_reg__ |
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| 283 | 284 0322 E090 0000 lds r14,alpha |
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| 284 | 285 0326 F090 0000 lds r15,(alpha)+1 |
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| 285 | 286 032a 6091 0000 lds r22,GPS_Roll |
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| 286 | 287 032e 7091 0000 lds r23,(GPS_Roll)+1 |
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| 287 | 288 0332 8827 clr r24 |
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| 288 | 289 0334 77FD sbrc r23,7 |
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| 289 | 290 0336 8095 com r24 |
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| 290 | 291 0338 982F mov r25,r24 |
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| 291 | 292 033a 0E94 0000 call __floatsisf |
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| 292 | 293 033e 1B01 movw r2,r22 |
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| 293 | 294 0340 2C01 movw r4,r24 |
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| 294 | 295 0342 A090 0000 lds r10,alpha |
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| 295 | 296 0346 B090 0000 lds r11,(alpha)+1 |
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| 296 | 297 034a 0027 clr r16 |
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| 297 | 298 034c F7FC sbrc r15,7 |
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| 298 | 299 034e 0095 com r16 |
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| 299 | 300 0350 102F mov r17,r16 |
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| 300 | 301 0352 C801 movw r24,r16 |
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| 301 | 302 0354 B701 movw r22,r14 |
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| 302 | 303 0356 0E94 0000 call __floatsisf |
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| 303 | 304 035a 0E94 0000 call sin |
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| 304 | 305 035e A201 movw r20,r4 |
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| 305 | 306 0360 9101 movw r18,r2 |
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| 306 | 307 0362 0E94 0000 call __mulsf3 |
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| 307 | 308 0366 3B01 movw r6,r22 |
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| 308 | 309 0368 4C01 movw r8,r24 |
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| 309 | 310 036a CC24 clr r12 |
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| 310 | 311 036c B7FC sbrc r11,7 |
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| 311 | 312 036e C094 com r12 |
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| 312 | 313 0370 DC2C mov r13,r12 |
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| 313 | 314 0372 C601 movw r24,r12 |
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| 314 | 315 0374 B501 movw r22,r10 |
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| 315 | 316 0376 0E94 0000 call __floatsisf |
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| 316 | 317 037a 0E94 0000 call cos |
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| 317 | 318 037e 7B01 movw r14,r22 |
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| 318 | 319 0380 8C01 movw r16,r24 |
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| 319 | 320 0382 6091 0000 lds r22,GPS_Nick |
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| 320 | 321 0386 7091 0000 lds r23,(GPS_Nick)+1 |
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| 321 | 322 038a 8827 clr r24 |
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| 322 | 323 038c 77FD sbrc r23,7 |
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| 323 | 324 038e 8095 com r24 |
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| 324 | 325 0390 982F mov r25,r24 |
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| 325 | 326 0392 0E94 0000 call __floatsisf |
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| 326 | 327 0396 9B01 movw r18,r22 |
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| 327 | 328 0398 AC01 movw r20,r24 |
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| 328 | 329 039a C801 movw r24,r16 |
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| 329 | 330 039c B701 movw r22,r14 |
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| 330 | 331 039e 0E94 0000 call __mulsf3 |
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| 331 | 332 03a2 9B01 movw r18,r22 |
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| 332 | 333 03a4 AC01 movw r20,r24 |
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| 333 | 334 03a6 C401 movw r24,r8 |
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| 334 | 335 03a8 B301 movw r22,r6 |
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| 335 | 336 03aa 0E94 0000 call __addsf3 |
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| 336 | 337 03ae 0E94 0000 call __fixsfsi |
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| 337 | 338 03b2 7B01 movw r14,r22 |
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| 338 | 339 03b4 7093 0000 sts (GPS_Nick)+1,r23 |
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| 339 | 340 03b8 6093 0000 sts GPS_Nick,r22 |
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| 340 | 341 03bc 6091 0000 lds r22,alpha |
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| 341 | 342 03c0 7091 0000 lds r23,(alpha)+1 |
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| 342 | 343 03c4 A090 0000 lds r10,alpha |
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| 343 | 344 03c8 B090 0000 lds r11,(alpha)+1 |
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| 344 | 345 03cc 8827 clr r24 |
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| 345 | 346 03ce 77FD sbrc r23,7 |
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| 346 | 347 03d0 8095 com r24 |
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| 347 | 348 03d2 982F mov r25,r24 |
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| 348 | 349 03d4 0E94 0000 call __floatsisf |
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| 349 | 350 03d8 0E94 0000 call cos |
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| 350 | 351 03dc 3B01 movw r6,r22 |
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| 351 | 352 03de 4C01 movw r8,r24 |
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| 352 | 353 03e0 0027 clr r16 |
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| 353 | 354 03e2 F7FC sbrc r15,7 |
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| 354 | 355 03e4 0095 com r16 |
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| 355 | 356 03e6 102F mov r17,r16 |
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| 356 | 357 03e8 C801 movw r24,r16 |
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| 357 | 358 03ea B701 movw r22,r14 |
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| 358 | 359 03ec 0E94 0000 call __floatsisf |
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| 359 | 360 03f0 9B01 movw r18,r22 |
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| 360 | 361 03f2 AC01 movw r20,r24 |
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| 361 | 362 03f4 C401 movw r24,r8 |
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| 362 | 363 03f6 B301 movw r22,r6 |
||
| 363 | 364 03f8 0E94 0000 call __mulsf3 |
||
| 364 | 365 03fc 7B01 movw r14,r22 |
||
| 365 | 366 03fe 8C01 movw r16,r24 |
||
| 366 | 367 0400 CC24 clr r12 |
||
| 367 | 368 0402 B7FC sbrc r11,7 |
||
| 368 | 369 0404 C094 com r12 |
||
| 369 | 370 0406 DC2C mov r13,r12 |
||
| 370 | 371 0408 C601 movw r24,r12 |
||
| 371 | 372 040a B501 movw r22,r10 |
||
| 372 | 373 040c 0E94 0000 call __floatsisf |
||
| 373 | 374 0410 0E94 0000 call sin |
||
| 374 | 375 0414 A201 movw r20,r4 |
||
| 375 | 376 0416 9101 movw r18,r2 |
||
| 376 | 377 0418 0E94 0000 call __mulsf3 |
||
| 377 | 378 041c 9B01 movw r18,r22 |
||
| 378 | 379 041e AC01 movw r20,r24 |
||
| 379 | 380 0420 C801 movw r24,r16 |
||
| 380 | 381 0422 B701 movw r22,r14 |
||
| 381 | 382 0424 0E94 0000 call __subsf3 |
||
| 382 | 383 0428 0E94 0000 call __fixsfsi |
||
| 383 | 384 042c 7093 0000 sts (GPS_Roll)+1,r23 |
||
| 384 | 385 0430 6093 0000 sts GPS_Roll,r22 |
||
| 385 | 386 0434 00C0 rjmp .L20 |
||
| 386 | 387 .L6: |
||
| 387 | 388 0436 85E0 ldi r24,lo8(5) |
||
| 388 | 389 0438 90E0 ldi r25,hi8(5) |
||
| 389 | 390 043a 9093 0000 sts (gps_getpos)+1,r25 |
||
| 390 | 391 043e 8093 0000 sts gps_getpos,r24 |
||
| 391 | 392 0442 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
||
| 392 | 393 0446 1092 0000 sts GPS_Nick,__zero_reg__ |
||
| 393 | 394 044a 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
||
| 394 | 395 044e 1092 0000 sts GPS_Roll,__zero_reg__ |
||
| 395 | 396 0452 1092 0000 sts zwn1,__zero_reg__ |
||
| 396 | 397 0456 1092 0000 sts (zwn1)+1,__zero_reg__ |
||
| 397 | 398 045a 1092 0000 sts (zwn1)+2,__zero_reg__ |
||
| 398 | 399 045e 1092 0000 sts (zwn1)+3,__zero_reg__ |
||
| 399 | 400 0462 1092 0000 sts zwe1,__zero_reg__ |
||
| 400 | 401 0466 1092 0000 sts (zwe1)+1,__zero_reg__ |
||
| 401 | 402 046a 1092 0000 sts (zwe1)+2,__zero_reg__ |
||
| 402 | 403 046e 1092 0000 sts (zwe1)+3,__zero_reg__ |
||
| 403 | 404 .L20: |
||
| 404 | 405 /* epilogue: frame size=0 */ |
||
| 405 | 406 0472 DF91 pop r29 |
||
| 406 | 407 0474 CF91 pop r28 |
||
| 407 | 408 0476 1F91 pop r17 |
||
| 408 | 409 0478 0F91 pop r16 |
||
| 409 | 410 047a FF90 pop r15 |
||
| 410 | 411 047c EF90 pop r14 |
||
| 411 | 412 047e DF90 pop r13 |
||
| 412 | 413 0480 CF90 pop r12 |
||
| 413 | 414 0482 BF90 pop r11 |
||
| 414 | 415 0484 AF90 pop r10 |
||
| 415 | 416 0486 9F90 pop r9 |
||
| 416 | 417 0488 8F90 pop r8 |
||
| 417 | 418 048a 7F90 pop r7 |
||
| 418 | 419 048c 6F90 pop r6 |
||
| 419 | 420 048e 5F90 pop r5 |
||
| 420 | 421 0490 4F90 pop r4 |
||
| 421 | 422 0492 3F90 pop r3 |
||
| 422 | 423 0494 2F90 pop r2 |
||
| 423 | 424 0496 0895 ret |
||
| 424 | 425 /* epilogue end (size=19) */ |
||
| 425 | 426 /* function gps_main size 588 (551) */ |
||
| 426 | 428 .global loop |
||
| 427 | 429 .global loop |
||
| 428 | 430 .section .bss |
||
| 429 | 433 loop: |
||
| 430 | 434 0000 0000 .skip 2,0 |
||
| 431 | 435 .global gps_northing |
||
| 432 | 436 .global gps_northing |
||
| 433 | 439 gps_northing: |
||
| 434 | 440 0002 0000 0000 .skip 4,0 |
||
| 435 | 441 .global gps_easting |
||
| 436 | 442 .global gps_easting |
||
| 437 | 445 gps_easting: |
||
| 438 | 446 0006 0000 0000 .skip 4,0 |
||
| 439 | 447 .global alpha |
||
| 440 | 448 .global alpha |
||
| 441 | 451 alpha: |
||
| 442 | 452 000a 0000 .skip 2,0 |
||
| 443 | 453 .global zwn |
||
| 444 | 454 .global zwn |
||
| 445 | 457 zwn: |
||
| 446 | 458 000c 0000 0000 .skip 4,0 |
||
| 447 | 459 .global zwe |
||
| 448 | 460 .global zwe |
||
| 449 | 463 zwe: |
||
| 450 | 464 0010 0000 0000 .skip 4,0 |
||
| 451 | 465 .global zwn1 |
||
| 452 | 466 .global zwn1 |
||
| 453 | 469 zwn1: |
||
| 454 | 470 0014 0000 0000 .skip 4,0 |
||
| 455 | 471 .global zwe1 |
||
| 456 | 472 .global zwe1 |
||
| 457 | 475 zwe1: |
||
| 458 | 476 0018 0000 0000 .skip 4,0 |
||
| 459 | 477 .global zwn2 |
||
| 460 | 478 .global zwn2 |
||
| 461 | 481 zwn2: |
||
| 462 | 482 001c 0000 0000 .skip 4,0 |
||
| 463 | 483 .global zwe2 |
||
| 464 | 484 .global zwe2 |
||
| 465 | 487 zwe2: |
||
| 466 | 488 0020 0000 0000 .skip 4,0 |
||
| 467 | 489 .global gps_getpos |
||
| 468 | 490 .data |
||
| 469 | 493 gps_getpos: |
||
| 470 | 494 0000 0500 .word 5 |
||
| 471 | 495 .global gps_gethome |
||
| 472 | 496 .global gps_gethome |
||
| 473 | 497 .section .bss |
||
| 474 | 500 gps_gethome: |
||
| 475 | 501 0024 0000 .skip 2,0 |
||
| 476 | 502 .global gps_home_n |
||
| 477 | 503 .global gps_home_n |
||
| 478 | 506 gps_home_n: |
||
| 479 | 507 0026 0000 0000 .skip 4,0 |
||
| 480 | 508 .global gps_home_e |
||
| 481 | 509 .global gps_home_e |
||
| 482 | 512 gps_home_e: |
||
| 483 | 513 002a 0000 0000 .skip 4,0 |
||
| 484 | 514 .global komp_dreh |
||
| 485 | 515 .global komp_dreh |
||
| 486 | 518 komp_dreh: |
||
| 487 | 519 002e 0000 .skip 2,0 |
||
| 488 | 520 .global gpsmax |
||
| 489 | 521 .data |
||
| 490 | 524 gpsmax: |
||
| 491 | 525 0002 1E00 .word 30 |
||
| 492 | 526 .global GPS_Nick |
||
| 493 | 527 .global GPS_Nick |
||
| 494 | 528 .section .bss |
||
| 495 | 531 GPS_Nick: |
||
| 496 | 532 0030 0000 .skip 2,0 |
||
| 497 | 533 .global GPS_Roll |
||
| 498 | 534 .global GPS_Roll |
||
| 499 | 537 GPS_Roll: |
||
| 500 | 538 0032 0000 .skip 2,0 |
||
| 501 | 539 .comm DiffNick,2,1 |
||
| 502 | 540 .comm DiffRoll,2,1 |
||
| 503 | 541 .comm SenderOkay,1,1 |
||
| 504 | 542 .comm CosinusNickWinkel,1,1 |
||
| 505 | 543 .comm CosinusRollWinkel,1,1 |
||
| 506 | 544 .comm durchschnitt_northing,4,1 |
||
| 507 | 545 .comm durchschnitt_easting,4,1 |
||
| 508 | 546 .comm gps_p,2,1 |
||
| 509 | 547 .comm gps_d,2,1 |
||
| 510 | 548 .comm skal,2,1 |
||
| 511 | 549 .comm RemoteTasten,1,1 |
||
| 512 | 550 .comm Timeout,1,1 |
||
| 513 | 551 .comm IntegralNick,4,1 |
||
| 514 | 552 .comm IntegralNick2,4,1 |
||
| 515 | 553 .comm IntegralRoll,4,1 |
||
| 516 | 554 .comm IntegralRoll2,4,1 |
||
| 517 | 555 .comm Mess_IntegralNick,4,1 |
||
| 518 | 556 .comm Mess_IntegralNick2,4,1 |
||
| 519 | 557 .comm Mess_IntegralRoll,4,1 |
||
| 520 | 558 .comm Mess_IntegralRoll2,4,1 |
||
| 521 | 559 .comm Integral_Gier,4,1 |
||
| 522 | 560 .comm Mess_Integral_Gier,4,1 |
||
| 523 | 561 .comm h,1,1 |
||
| 524 | 562 .comm m,1,1 |
||
| 525 | 563 .comm s,1,1 |
||
| 526 | 564 .comm Motor_Vorne,1,1 |
||
| 527 | 565 .comm Motor_Hinten,1,1 |
||
| 528 | 566 .comm Motor_Rechts,1,1 |
||
| 529 | 567 .comm Motor_Links,1,1 |
||
| 530 | 568 .comm Count,1,1 |
||
| 531 | 569 .comm MotorWert,5,1 |
||
| 532 | 570 .comm StickNick,2,1 |
||
| 533 | 571 .comm StickRoll,2,1 |
||
| 534 | 572 .comm StickGier,2,1 |
||
| 535 | 573 .comm MotorenEin,1,1 |
||
| 536 | 574 /* File "GPS.c": code 588 = 0x024c ( 551), prologues 18, epilogues 19 */ |
||
| 537 | DEFINED SYMBOLS |
||
| 538 | *ABS*:00000000 GPS.c |
||
| 539 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:3 *ABS*:0000003f __SREG__ |
||
| 540 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:4 *ABS*:0000003e __SP_H__ |
||
| 541 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:5 *ABS*:0000003d __SP_L__ |
||
| 542 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 543 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:7 *ABS*:00000001 __zero_reg__ |
||
| 544 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:13 .text:00000000 gps_main |
||
| 545 | *COM*:00000001 MotorenEin |
||
| 546 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:500 .bss:00000024 gps_gethome |
||
| 547 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:506 .bss:00000026 gps_home_n |
||
| 548 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:512 .bss:0000002a gps_home_e |
||
| 549 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:493 .data:00000000 gps_getpos |
||
| 550 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:439 .bss:00000002 gps_northing |
||
| 551 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:445 .bss:00000006 gps_easting |
||
| 552 | *COM*:00000002 gps_p |
||
| 553 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:457 .bss:0000000c zwn |
||
| 554 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:463 .bss:00000010 zwe |
||
| 555 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:469 .bss:00000014 zwn1 |
||
| 556 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:475 .bss:00000018 zwe1 |
||
| 557 | *COM*:00000002 gps_d |
||
| 558 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:481 .bss:0000001c zwn2 |
||
| 559 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:487 .bss:00000020 zwe2 |
||
| 560 | *COM*:00000002 skal |
||
| 561 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:531 .bss:00000030 GPS_Nick |
||
| 562 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:537 .bss:00000032 GPS_Roll |
||
| 563 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:524 .data:00000002 gpsmax |
||
| 564 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:451 .bss:0000000a alpha |
||
| 565 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:433 .bss:00000000 loop |
||
| 566 | C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckOBDwn.s:518 .bss:0000002e komp_dreh |
||
| 567 | *COM*:00000002 DiffNick |
||
| 568 | *COM*:00000002 DiffRoll |
||
| 569 | *COM*:00000001 SenderOkay |
||
| 570 | *COM*:00000001 CosinusNickWinkel |
||
| 571 | *COM*:00000001 CosinusRollWinkel |
||
| 572 | *COM*:00000004 durchschnitt_northing |
||
| 573 | *COM*:00000004 durchschnitt_easting |
||
| 574 | *COM*:00000001 RemoteTasten |
||
| 575 | *COM*:00000001 Timeout |
||
| 576 | *COM*:00000004 IntegralNick |
||
| 577 | *COM*:00000004 IntegralNick2 |
||
| 578 | *COM*:00000004 IntegralRoll |
||
| 579 | *COM*:00000004 IntegralRoll2 |
||
| 580 | *COM*:00000004 Mess_IntegralNick |
||
| 581 | *COM*:00000004 Mess_IntegralNick2 |
||
| 582 | *COM*:00000004 Mess_IntegralRoll |
||
| 583 | *COM*:00000004 Mess_IntegralRoll2 |
||
| 584 | *COM*:00000004 Integral_Gier |
||
| 585 | *COM*:00000004 Mess_Integral_Gier |
||
| 586 | *COM*:00000001 h |
||
| 587 | *COM*:00000001 m |
||
| 588 | *COM*:00000001 s |
||
| 589 | *COM*:00000001 Motor_Vorne |
||
| 590 | *COM*:00000001 Motor_Hinten |
||
| 591 | *COM*:00000001 Motor_Rechts |
||
| 592 | *COM*:00000001 Motor_Links |
||
| 593 | *COM*:00000001 Count |
||
| 594 | *COM*:00000005 MotorWert |
||
| 595 | *COM*:00000002 StickNick |
||
| 596 | *COM*:00000002 StickRoll |
||
| 597 | *COM*:00000002 StickGier |
||
| 598 | |||
| 599 | UNDEFINED SYMBOLS |
||
| 600 | __do_copy_data |
||
| 601 | __do_clear_bss |
||
| 602 | actualPos |
||
| 603 | beeptime |
||
| 604 | Poti1 |
||
| 605 | __mulsi3 |
||
| 606 | __divmodsi4 |
||
| 607 | __floatsisf |
||
| 608 | sin |
||
| 609 | __mulsf3 |
||
| 610 | cos |
||
| 611 | __addsf3 |
||
| 612 | __fixsfsi |
||
| 613 | __subsf3 |